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Unread 06-11-2003, 11:16
Chris Hibner's Avatar Unsung FIRST Hero
Chris Hibner Chris Hibner is offline
Eschewing Obfuscation Since 1990
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Quote:
Originally posted by Andrew
For those of you who have used the gyro on FIRST robots, how much of a limitation is 75 degrees per second? Have you seen your robot exceed that value?

I would think that the errors introduced by scaling the value between 0...255 would introduce more overall error in the integration than the robot turning faster than 75 dps.
For the first question: Our robot typically turns at around 180 degrees per second. Due to this, the 75 degree/sec GyroChip is pretty much useless to us. If you want to use it for a different application, this limitation might not be a problem. You should also have some margin for unexpected occurances. For instance, our robot can turn at 180 deg/sec on its own, but when we get hit by another robot, it might be able to turn much faster. Therefore, the 300 deg/sec part gives us a little margin.

For the second part: Quantization of the signal (using 256 discrete values instead of infinitely many values of an analog signal) is not that much of a problem, especially if you have enough random noise with peaks above 1 A/D count. This will also be less of a problem with the new PIC micro since it has a 10-bit A/D (1024 discrete values, instead of 256 with the 8-bit A/D).


Random noise at the A/D can improve the apparent resolution of your A/D converter. This could actually be an entire whitepaper. If there is enough interest, I'll try and find time to write it up.
 


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