Quote:
Originally Posted by Nate Laverdure
the drift in FRC-grade gyros often makes them unusable after ~10 seconds.
|
Did you try all the suggested ways to mitigate this?
- make sure your robot is perfectly still when the gyro is being calibrated ("still" as in "not moving" and "not vibrating (e.g. compressor off)")
- make sure the gyro is at operating temperature before calibrating
- add a button for the driver to re-zero the gyro when the bot is pointing in the zero direction.
Quote:
|
I made sure the literature was provided, but I'm fairly certain my programming student derived everything from scratch.
|
Would he be interested in posting his equations for discussion on this forum? It's possible they were not exactly correct, and this could have affected your attempt to implement field-centric control.
Quote:
|
I believe he also threw out a couple of the WPI libraries and rewrote them.
|
I don't think the WPILib has any functions that would be usable for your 3-wheel asymmetric kiwi arrangement.
Force yourself now, today, to learn one new thing each day. When you lay down on your fluffy pillow at night, before you say your prayers, ask yourself if you have learned anything new. If the answer is "NO" then you better get up and find something. - Al Skierkiewicz [more] 
14-05-2014, 18:35
Threaded Mode