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#9
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The line:
yaw_command =(((1873 + yaw_error + yaw_error) Min 2000 Max 2254) -2000) contains yaw_error+yaw_error instead of yaw_error+p1_x on purpose, correct? Does it serve only to amplify the corrective measures that it takes when not turning fast enough (or too fast)? Also: Is the difference between the gyro's output and 127 a "linear interpolation" from 0 degrees/sec to ~75 degrees/sec? ALSO also: Have there been any successful implementations of an accellerometer with a FIRST robot? Last edited by Caleb Fulton : 10-04-2003 at 15:17. |
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