search

AGHSEagleRobotics / frc1388-2015

Automatically exported from code.google.com/p/frc1388-2015
1 stars 0 forks source link

Robot heading #21

Open GoogleCodeExporter opened 8 years ago

GoogleCodeExporter commented 8 years ago 
See also Issue 20.

The robot needs to know its heading to implement driver perspective mecanum 
control, and perhaps for autonomous navigation.  Traditionally, a gyro sensor 
would be used for this purpose.

There are other alternatives.  Examples:

An Inertial Measurement Unit (IMU) could be used.  This integrates gyros, 
accelerometers, and possibly other sensors, to improve the accuracy of 
measurements.

Magnetometers can be used to measure compass heading.  A single axis 
magnetometer would be minimally sufficient.  A 3-axis magnetometer (plus 3-axis 
accelerometer) would allow for determining robot heading at any robot attitude 
(ie, while not level).  This may not be necessary for this year's game.  
Advantages of magnetometers vs gryos: no drift.  Disadvantages: needs 
calibration data, subject to magnetic interference.

Any sensors used would need to be evaluated for range of measurement, 
precision, environmental sensitivity, etc.

Original issue reported on code.google.com by jtec...@gmail.com on 15 Jan 2015 at 6:37

GoogleCodeExporter commented 8 years ago

Original comment by jtec...@gmail.com on 20 Feb 2015 at 3:55