Mecanum steering

[Alan Anderson]

Originally Posted by pfreivald

It was negligible throughout the build season and practice day, but went wonky during our first qualification match, with a drift pushing 5-10 degrees per second, easy.

Kit gyro, mounted to the frame (isolated, of course) near the CM, and we can watch the error accumulate by printing the values even when we strip all gyro-related everything from the code (besides getting the value we're printing, of course) and have the robot up on blocks so that it can't turn.

I'm sure you checked for broken wires, but that sort of "drift" is one symptom of the gyro not actually providing a voltage to be measured. That can happen if the gyro output isn't connected to the analog input, or if the gyro isn't getting power.