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

[Caleb Sykes]

Originally Posted by Nate Laverdure

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.

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

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

Would you mind giving the relative positions/orientations of the wheels, I am trying to determine your theoretical max velocity in any given direction. My guesses are (back center wheel at (0,0) and oriented east/west):
front left: position = (-16,-25)in oriented 22.5 degrees west of north
front right: position = (16,-25)in oriented 22.5 degrees east of north

EDIT: changed front and back to reflect Nate's response.