Semi-Omni-Arcade Drive

[Jared Russell]

Originally Posted by byteit101

what would be the average gyro drift for a 2 minute match?

There is not a simple answer to this. It depends on:

1) Whether you at any point saturate your sensor (turn faster than it can detect).
2) The sampling frequency.
3) The frequency profile of the turns your robot is making.
4) How well you've calibrated the gyro.
5) The gyro's own thermomechanical noise properties.
6) Any filtering that you do.

In other words, a gyro that is sitting still for 2 minutes may not drift that much, but one that is on a "twitchy" robot slamming into things for 2 minutes may drift by quite a bit (I have seen ours drift > 180 degrees in match).