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FRC1756-Argos / 2022-Robot

Robot code for 2022 FRC Season
https://frc1756-argos.github.io/2022-Robot/
BSD 3-Clause "New" or "Revised" License
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investigate field-centric drifting #87

Closed ErnestSally closed 2 years ago

ErnestSally commented 2 years ago

Investigate field-centric drifting

dkt01 commented 2 years ago

@Litemage, it looks like the IMU default constructor either doesn't run the calibration or runs for an unspecified time. We may want to try the three parameter constructor with at least 4 second CalibrationTime.

Litemage commented 2 years ago

That sounds like a great place to start. Thoughts on somehow disabling the robots drive train during calibration period? Is it necessary / practical?

dkt01 commented 2 years ago

Probably unnecessary. Typically the robot code is running before the radio connection to driver station is established. If we continue to see intermittent drift, we could lock out drive during calibration

Litemage commented 2 years ago

Added changes in above comment by dkt01. see #106

Litemage commented 2 years ago

Waiting to be tested