Greetings,
Our robot does not drive straight with the current code we have. We are using different methods to make it drive straight with encoders and gyros. However, these methods are causing it to veer to one side.
public class AutonomousDrive extends CommandBase {
double left = .5;
double right = .475;
public AutonomousDrive() {
requires(driveTrain);
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
}
// Called just before this Command runs the first time
protected void initialize() {
driveTrain.resetEncoder();
driveTrain.gyro.reset();
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
driveTrain.driveXboxTank(left, right);
double rightEncoderCompensation = driveTrain.leftEncoder.getDistance() - driveTrain.rightEncoder.getDistance();
double increaseFactor = rightEncoderCompensation/200.0;
if (rightEncoderCompensation > 0)
{
if (right >= 0.5) {
left -= increaseFactor;
} else {
right += increaseFactor;
}
} else if (rightEncoderCompensation < 0) {
if (left >= 0.5) {
right -= increaseFactor;
} else {
left += increaseFactor;
}
}
/*if (driveTrain.gyro.getAngle() > 0.5) {
if (right == 1.0) {
left -= .0025;
} else {
right += .0025;
}
} else if (driveTrain.gyro.getAngle() < -0.5) {
if (left == 1.0) {
right -= .0025;
} else {
left += .0025;
}
}*/
}
We were thinking maybe PID is the solution, but we have no idea on how to implement it.
). We implemented a crude feedback loop to correct for it using the gyro (which worked fairly well), but we later disassembled the gearboxes to find out the problem. We checked our individual wheel speed and two of them were severely off. It turns out that two of our four gearboxes had the bearings improperly installed, causing them not to function properly. From what I heard, it was really difficult to spot, and was only found out when attempting to disassemble and reassemble the entire thing (meaning it wasn’t blatantly obvious, regardless of whether or not the gearbox was assembled).