Question on wheel speed sensors

[Dave Scheck]

Originally Posted by TroyCDH

Thinking along the same lines, but more general now, what can be done during autonomous mode to keep straight directions actually straight and "X" degree turns really "X" degrees?

As has been mentioned, a gyro or wheel encoders will be your best bet. The tuning of your PID loop will determine how accurate your turn really is.

As far as driving straight goes, you can use those same sensors to make adjustments to your motor speeds to try to maintain a heading.

The tricky part to both of those problems is the experimental tuning of your PID loop(s). (This assumes that you can't get close mathematically). If you need a good C++ PID library, the Simbotics wrote a good one that we've been using for a couple years now. You can download it from their website

[kgzak]

Originally Posted by Mike Soukup

Since you did all this work before kickoff, you're either going to rewrite it or release it, right? You may want to read R25 from last year's rules.

Yup. I know about that rule. As soon as we have a functional website I will be posting it there. We just don't have a website up and running right now.

[Joe Ross]

Originally Posted by kgzak

Yup. I know about that rule. As soon as we have a functional website I will be posting it there. We just don't have a website up and running right now.

Make sure you also comply with <R67>. I'm not sure that your team website could be the only place you post the code, since it is "specifically affiliated with individual FRC teams". Some examples of "commonly used FRC community-accessible web resources" which would be the requirements would be chiefdelphi, firstforge, NI FIRST Community, FIRST forums, thinktank, etc.