Programming SPI Gyro

[slibert]

Originally Posted by GeeTwo

We considered doing this immediately following bag-and-tag when our next-to-last analog gyro died. We had hoped to extend the AnalogChannel class and get the integration done for us by using the Gyro(AnalogChannel) constructor. We learned that the integration was done in hardware, so we would have to do it manually. A gyroscope gives you a rotation rate-of-change, so the computer must integrate that rate to determine the actual orientation. At that point, we switched to encoders instead, and trusted that the wheels didn't slip. For more info, see this thread on usfirst. We may tackle this as an off-season project, or get one of those integrated solutions (e.g. the AndyMark NavX MXP board) that are out of stock for next year.

The navX MXP's are in stock now at both AndyMark and the Kauai Labs store, feel free to private message me if you have any questions.

On the navX MXP wiki in the Application Example section, there are several robot examples for features including Field-centric drive, auto-balancing, motion detection and auto-rotate to angle. Team 2465's mecanum drive featured field-centric drive and auto-rotate to angle based on the navX MXP and it worked very well - and you can find the open-source code for this here.