NavX MXP Continuous Angle to Calculate Derivative

[dougwilliams]

Originally Posted by lethc

For our autoalignment sequence, we have an algorithm to 'find' the correct motor speed necessary to turn the robot at a certain velocity....
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You should be able to use some modulo arithmetic operations to solve the jump from 0 / 360. I'm not sure how you have it configured but on our we have the issue because it jumps from -180 / 180.

Question though - what are you trying to achieve by closing the loop to a specific turning speed? We use the same setup and close the loop on the current field orientation angle. In that way you can have the robot quickly turn when it's farther away from the set point, and slow down as it approaches where you want it to be so you have minimal overshoot.