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#10
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your interpretation is correct - In technical terms, this is a proportional feedback loop with a gain of two (the errror signal is added twice = 2X gain)
i f your bot is jittery (shakey) with 2X try it with 1X gain instead. and yes, the yaw sensor is linear from -75°/sec to +75°/S with 127 (or 128) being zero (not turning) thats why you subtract 128 each time you integrate it - if the bot is not turning then 'angle' will stay the same. |
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