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 The best way to get to Einstein is to analyze the game, figure out which three robots would make up the ideal Einstein alliance, and then design, build, iterate, and polish the one that best matches your teams' capabilities. - Jared Russell [more] |
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#1
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keeping orientation with gyro
I am using Kevin Watson's sensor code, And I want to keep the robot in a constant orientation (We have mecannums).
My current method tends to over correct while strafing, and starts to oscilate. Has anybody done this in the past? Tomorrow I am going to do some testing to get some values for an equation that will take into account rotational velocity and determine a coast down time so that the robot doesn't overshoot so much. Currently I find a turn value with turn = .14111*tempgyro+127; and then put turn through my limit function. |
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#2
31-01-2008, 01:41
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Re: keeping orientation with gyro
The limit function should be a closed-loop feedback function, it sounds like. And if it's oscillating, it sounds like you're using just Integrated control (from the PID term you keep hearing). Try a good whitepaper on that subject...
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