Our experiments with omni drive (field centric)

[teslalab2]

off topic: I think anything to do with stats should be outlawed in public places I just posted that because in my complacency I have killed 3 routers this year from reverse polarity...

On topic: If anyone uses this make sure that you have the IsEnabled() in the main while loop because if the robot is disabled the integration will loose it mind causing it to go into an uncontrollable death spin when re-enabled.

[Pault]

Very clean and simple. I like it.

My only critique is that you did not use the teleopPeriodic() method properly. It will automatically loop every 20ms, so there is no need to include your own while loop. All of the initialization code (such as zeroing the gyro) can go into teleopInit(), which will be called once at the beginning of teleop.

[teslalab2]

Originally Posted by Pault

Very clean and simple. I like it.

My only critique is that you did not use the teleopPeriodic() method properly. It will automatically loop every 20ms, so there is no need to include your own while loop. All of the initialization code (such as zeroing the gyro) can go into teleopInit(), which will be called once at the beginning of teleop.

Thanks for the advice, I never new that, learn something everyday I guess.