Investigate how to use PID for a differential drive to get robot to drive in more controllable manner (needed to autonomous improvements and driver handling improvements).
Exit
Ability to have robot drive in straight line in a simple autonomous mode example
PID feed back intergrated into drive train subsystem
Ability to enable PID at creation time
Network table entry to enable and disable PID feedback at run time
Tested on sample robot
Pull Request created
releated https://github.com/Raptacon/Robot-2020/issues/8
Investigate how to use PID for a differential drive to get robot to drive in more controllable manner (needed to autonomous improvements and driver handling improvements).
Example of using a Gyro for the feedback is at https://frc-pdr.readthedocs.io/en/latest/control/pid_control.html
Exit Ability to have robot drive in straight line in a simple autonomous mode example PID feed back intergrated into drive train subsystem Ability to enable PID at creation time Network table entry to enable and disable PID feedback at run time Tested on sample robot Pull Request created