Attempting to Drive Straight with Gear Tooth Sensors and Gyroscope

[Mike Bortfeldt]

Linx34,

A few qestions... What rate are you receiving gear tooth pulses (how many pulses per foot of travel)? Are you monitoring your PWM output, and if so, what kind of swing are you getting while you are "driving straight"? The reason I ask is that you could either be overcorrecting and the robot is not able to respond quick enough so you are seeing it oscillate arround the "correct" PWM value, or it could be that you are not seeing a difference between the left & right gear tooth sensors quick enough, although in this case I would expect it to take too long to actually start driving stright, but once it gets there, it should be fairly good. Just checking, but you are not zeroing your gear tooth counter while running the code correct? (and the joystick difference doesn't occasionally go above 5 while going straight) Also make sure are not running your PWM outputs near the limits (<30 or >225) as you may near the limits of the Victor or motor.

Mike