navx-mxp AHRS.getAngle() method

[Ether]

Originally Posted by schleprock

we have a method that normalizes the angle

What's your method?

[schleprock]

Originally Posted by Ether

What's your method?

this is for our pid controller that rotates the robot to a heaing. in our code we now always set a target of 0 ie PIDcontroller.setSetpoint(0)

for the PIDsource we do the following:

public double pidGet() {
double gyroAngle = m_navX.getAngle();

//adding math to normalize the heading for a target of 0
//always
double diff = gyroAngle - m_headingToTurnTo;
if(diff <= -180){
diff += 360;
} else if(diff > 180){
diff -= 360;
}

return(diff);
}

the term normalize may be incorrect, but i couldn't come up with a better way to explain it.

unfortunately, trying to use this to tune the PID controller in test mode is rather difficult, but it does work in our code for commands to turn the robot to a specific heading. well, at least the robot doesn't just continuously spin as it was when we set a heading that caused the robot to spin past an angle of 0 or 360...