Plotting Location w/ Accellerometer Project

[Chris Hibner]

Originally Posted by Tom Line

The gyro+encoder routine is one that many teams currently use for autonomous. However, over time the errors due to wheel slip, collisions, and gyro drift make it inaccurate enough that you can't really depend on it through the match.

Originally Posted by faust1706

We have a constant problem with it climbing, as has been previously said in this tread. To account for the, we had a driver control of a gyro reset. While doing that would defeat the whole project idea, you could use your last calculated point as your new origin and go from there, no?

In past years when we needed high accuracy during turns and/or expect collisions or other sources of wheel slip or orientation change, we put the encoders on non-driven follower wheels. We put the wheels in line with the drive wheel, usually on a swing-arm and spring loaded them to keep in contact with the floor. The VEX omni wheels work great for this. In fact, doing it this way allowed us to remove the gyro, which was nice.