Got Gyro?

[kaszeta]

Originally Posted by jdejoannis

That sounds interesting. I wouldn't mind learning more about this technique.

Our robot is basically a tank drive (left side and right side wheels centered on the robot), driven by a single joystick:

1. p1_y determines the speed of the robot. Set both L and R motors to this speed.
2. p1_x adjusts the desired heading of the robot.
3. Every time through the loop, you look at your current heading, and the
desired heading, and use the error between the two in a PID control loop
to set the amount you're adding to one side and subtracting from the other
to turn the robot to correct the heading.

This allows us to correct for motor biases and different traction between left and right and drive in a straight heading.

We've also used this same approach with a omnidirectional drive system, although we've never gone to competition with it.