Improvement is significant enough in initial tests to make a PR. Using IMU theta instead of calculating theta from encoders seems to improve overall performance (2-3 m error after driving 30 m), to reduce y coordinate error which previously was large compared to x, and reduces the accumulation of error.
Improvement is significant enough in initial tests to make a PR. Using IMU theta instead of calculating theta from encoders seems to improve overall performance (2-3 m error after driving 30 m), to reduce y coordinate error which previously was large compared to x, and reduces the accumulation of error.