We built a 6-CIM Kiwi Drive. Criticisms please!

[Nate Laverdure]

Originally Posted by Ether

Did you try all the suggested ways to mitigate [gyro drift]?

I believe so. The "calibrate only when compressor is off" suggestion is an excellent one that I hadn't heard before. I understand that the quality of the KOP gyro varies considerably from batch to batch, and I think we got a good one.

Originally Posted by Ether

Would he be interested in posting his equations for discussion on this forum?

I will ask. He's going to be my intern this summer, so I can assign him this task as a special project

Originally Posted by Ether

I don't think the WPILib has any functions that would be usable for your 3-wheel asymmetric kiwi arrangement.

Excellent catch! We accounted for the asymmetry in the control design.