I am next to edurso right now. We did not have the old config file, and the project had been edited so we just re-did it all. Our config is now:
{
# Ports for the left-side motors
"leftMotorPorts": [1, 2, 3],
# Ports for the right-side motors
"rightMotorPorts": [4, 5, 6],
# NOTE: Inversions of the slaves (i.e. any motor *after* the first on
# each side of the drive) are *with respect to their master*. This is
# different from the other poject types!
# Inversions for the left-side motors
"leftMotorsInverted": [False, True, False],
# Inversions for the right side motors
"rightMotorsInverted": [False, True, False],
# The total gear reduction between the motor and the wheels, expressed as
# a fraction [motor turns]/[wheel turns]
"gearing": 13.55,
# Wheel diameter (in units of your choice - will dictate units of analysis)
"wheelDiameter": 0.15,
# Your gyro type (one of "NavX", "Pigeon", "ADXRS450", "AnalogGyro", or "None")
"gyroType": "NavX",
# Whatever you put into the constructor of your gyro
# Could be:
# "SPI.Port.kMXP" (MXP SPI port for NavX or ADXRS450),
# "I2C.Port.kOnboard" (Onboard I2C port for NavX)
# "0" (Pigeon CAN ID or AnalogGyro channel),
# "new WPI_TalonSRX(3)" (Pigeon on a Talon SRX),
# "" (NavX using default SPI, ADXRS450 using onboard CS0, or no gyro)
"gyroPort": "I2C.Port.kMXP",
}
Our results now seem much closer; however our track width is now very narrow (less than a centimeter if we understand the units).
When we run the analysis we see:
And then get
Checked the generated project and the navx stuff looks right:
// Note that the angle from the NavX and all implementors of wpilib Gyro
// must be negated because getAngle returns a clockwise positive angle
AHRS navx = new AHRS(I2C.Port.kMXP);
gyroAngleRadians = () -> -1 * Math.toRadians(navx.getAngle());
