Auto-Aligning in Teleop

[gerthworm]

Originally Posted by Bo8_87

Hello CD,
the feedback from the gyro that we are using to align is not fast enough to keep up with the robot.

Here is a question I haven't seen asked yet: What is the maximum number of degrees/second the gyro you have can measure? Is it faster than the robot is actually turning?

Another quick experiment to run - in "open loop" mode, spin the robot a few times in circles really fast. Stop pointed the same direction you started. Is he heading reading within a few degrees of a multiple of 360? If not, there is something in your input (before the PID) which is not accurately measuring the pose of your robot. This can definitely cause strange behaviors when fed into a control system.