|
we used the yaw rate sensor last year to close the loop on steering - it worked so well I cant believe we never tried it before
and it only takes two lines of code to implement.
You take the difference between the joysitck X input, and the yaw rate sensor output (the difference between what the driver is telling the bot to do and what it is actually doing)
mulitiply the differnce slightly if you want tighter response (we used 2X)
then use this difference signal in place of the joystick X axis command - it works SO nice - the robot responds like a servo.
|