We just got a Romi yesterday and really amazed at how easy to get it set up and running with the simulator.
We’re using the sensors/RomiGyro code from the RomiReference example, and even after calibrating the gyros through the web UI the getRate() methods seem to have pronounced offset and the getAngle() methods drift when the robot is sitting still and level. The drift is modest for two axes but severe for the third. Has anyone else seen this behavior? I’ve been able to address somewhat by estimating new zero offsets and putting in romi.json manually, but these only seem to be read when the Romi is rebooted. Is there a way to force these constants to be reloaded without a full reboot?
Using the 2021.1.2 Kickoff along with the WPILibPi_image-v2021.1.1-Romi image.
Many thanks to all of the volunteers and mentors who put the WPILibPi stack & simulation extensions together. Absolutely game-changing for a programming subteam with no physical access to their competition robots this year.