Mecanum Encoders

[gpetilli]

Originally Posted by Nunez4296

The way I envisioned it, and correct me if I'm wrong, is that the gyro will capture the value of the angle that it is currently facing. This would work for any direction so that when you strafe, rather than having part of the robot swing out, the gyro will force the robot to maintain this header.

One minor clarification. A gyro measures rotational velocity and the WPI API provides an integrated version, which is the change in angle from the initial starting orientation. Minor errors in velocity (gyro "drift") become big errors in angle. Usually not a big problem for 15 sec Autonomous, but many teams have added features to address this during Teleop.