Mecanum - use of gyro

[jhersh]

Originally Posted by Ether

Are you saying that jitter would be less than 1ms in a periodic task in a ready-for-competition code release that has several concurrent threads competing for CPU ?

I would expect there to be more than 1ms jitter unless you are using a timed loop for your periodic task. Especially if you are running your controller in teleop. That loop timing is based on the incoming UDP packets from the DS, not a local timer.

Even if you aren't, though, the benefit of the automatic delta time calculation is that your controller will still behave well even in the presence of jitter. It simply measures the jitter and uses the actual time instead of the ideal time when computing the I and D terms.