6 CIM Drivetrains... What's Your Experience?

[SoftwareBug2.0]

Originally Posted by JamesTerm

Ah ok, thats what I thought you did (or something along these lines)... did you make some trapezoidal motion profiling on the anguar velocity to do this? Or was it a fixed angular velocity?

Either of those sound like good ideas, but here's the whole of how it worked:

twist = -( twist - m_gyro->GetRate() / 200. );