Mecanum - use of gyro

[Alan Anderson]

Before you do any more with the software, make absolutely sure your hardware is correct. A "stuttering" turn is sometimes a sign that you have your mecanum wheels mounted in the wrong orientation. The rollers contacting the floor should make an "O" or diamond pattern; they should look like an "X" from above.

Also make sure you understand what the inputs to the LabVIEW PID block mean. I haven't looked at it in over a year, but at that time the I and D parameters were not gains. They were time values. That scheme is just as easy to tune as a gain-based one, as long as you recognize that a smaller I or D value yields a stronger response than a larger value.