Problem with NavX to turn around.

[Jared Russell]

Originally Posted by rich2202

In theory, PID is great. In practice, not so much.

I would argue that PID is much more elegant in practice than in theory

[RSNovi]

We use the Analog Devices supplied gyro without encoders with a PI controller for an algorithm to turn the robot to a set absolut degree. With a PI controller you can easily get within a half of a degree or better.

[virtuald]

I've added a navx_rotate_to_angle_arcade example to the set of samples. If you look at the diff, there's basically two changes that I made:

• Changed the physics implementation to call the appropriate functions for a 4 wheel drivebase instead of mecanum (2 small changes)
• instead of calling mecanumDrive_Cartesian it calls arcadeDrive and passes the rotation rate as the second argument

You'll note that arcade drive does not accept the same arguments as mecanum drive -- in particular, it does not accept extra 'rotation' or 'gyroangle' arguments.

Hope that helps!