With swerve becoming more popular, it is important to have some sort of gyro close to the center of the bot. Currently in a decision of deciding whether to use a NavX 2.0 MXP or the Pigeon 2.0 that is coming out. What do y’all think? What are the major differences between the both of them?
I might be bias because 4130 has been sponsored by CTR in the past, but 4130 has LOVED the pigeon, it’s on our swerve chassis right now, and the Pigeon 2.0 looks even better.
Heard any updates on the release of that? Kinda odd the Pigeon 2.0 isn’t coming out until halfway through build.
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Note that this likely wasn’t an active choice/decision by CTR, but rather another result of the current chip shortage. I doubt they could launch any sooner than whenever they do end up releasing, even if they really really wanted to.
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I have not, only thing I know is we have two on order lol.
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We have been running pigeons since they came out. I cannot stress how much I love this sensor. They just work.
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The new one looks better as it does not need to be oriented Y-down and you don’t have to do the temperature calibration nonsense.
I can’t speak from experience (we’ve been a navx team from the start), but I really like navx for the following reasons:
- NavX is flexible in orientation
- NavX wont bog down your CAN bus
- NavX hooks right into your mxp-port and provides additional DIOs and AIOs
The arguments though are getting to the nitty gritty, either gyro will help you do what you want to do, IMO.
| Pigeon | Navx | |
|---|---|---|
| Boot Calibration | ~4 seconds (1) | 5 sec |
| Yaw (6D) angle drift (motion) | ~0.4 degrees per minute | ~0.5 degree of drift/minute |
| Yaw (6D) angle drift (no motion) | ~0.12 degrees per hour | ~0.2 degree of drift/hour (2 degree/Day) |
| Pitch, Yaw, Roll (6D) | 100 Hz (10ms) (Pigeon 1) | 4-200 Hz |
| Gyroscope resolution | ±2000 degrees per second (16 bit) | +/- 4000 degrees/sec |
| Accelerometer resolution | +/- 8g | +/- 16 G |
| Compass Accuracy | ~1 degree | 2 degrees |
| Compass Update Rate | 100 Hz (10ms) (Pigeon 1) | 4 Hz |
| Orientation | Z-UP (Pigeon 1) | ANY |
Pulled specs from:
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FYI the placement whether on center or on a corner has no effect on the gyro reading. it will still turn 90 degrees when the robot turns 90 degrees. it will also read translation as well as rotation when you rotate the bot, but it will not affect the yaw reading
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This is one of those things that’s ripe for argument around here. While what you say is true, and there’s a great meme posted somewhere on CD that reflects this, it’s worth adding that the issue deserves a 2nd look if your fused inertial measurement is gonna take into consideration any higher-order terms (e.g. centripetal & coriolis accelerations). Also Balrogs don’t have wings.
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MEMS Gyroscopes actually measure rotation by measuring Coriolis acceleration. Given the sensitivity of these devices and the fact they are really accelerometers under the hood, I would expect some effect of mounting them away from the center of rotation, but I don’t know if anyone has characterized how significant of an effect there is.
Agreed Balrogs do not have wings: “His enemy halted again, facing him, and the shadow about it reached out like two vast wings.” (emphasis mine)
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I’m gonna wait till the Pigeon 2.0 user guide to come out to compare accurately but thank you for this comparison
Here is the Pigeon 2.0 Hardware User Manual
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Where do you plug in the pigeon for power? PDH either a 5 Amp?
You can use the REV Mini Power Module and use a 5 amp fuse
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