Reducing Drift in KOP Gyroscope

[Gdeaver]

The gyro we will be using is a Invensense MPU-6050 on a break out board from Sparkfun. The MPU6050 has an on chip motion processing engine and output in quaternions. It takes allot of code to bring up the chip. We are using an Arduino Uno to handle this. We mounted the break out board on a Arduino Proto typing board. We then use the Arduino Ethernet shield to transfer the the data to the c-rio using UDP. The Arduino takes the quaternions and calculates the gravity corrected Yaw, pitch and roll. We also have put single channel encoders on the 2 rear wheels. Hopefully this will give the students enough input to actually do some autonomous navigation. Our swerve drive does not like to go straight and has given us lots of problems in the past. The gyro will also be used to develop field centric swerve control. The students will have a full plate this fall. Work begins next week. As a back up to acquire a high resolution X and Y motion, we have looked at a lazer gaming mouse with a ADNS9500 chip in it. Tracks good on carpet.