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RobotCasserole1736 / RobotCasserole2017

Robot Casserole robot source code for the 2017 FRC game, First Steamworks.
MIT License
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add gyro compensation to autonomous closed loop #114

Closed gerth2 closed 7 years ago

gerth2 commented 7 years ago

add an optional gyro compensation term to the drivetrain PID's. Should just be a simple, hand-written proportional.

If gyro comp is desired, and gyro is available, a desired heading should be passed in (can be gotten from path planner).

should involve adding, implementing, and utilizing the following new methods for the drivetrain PI controllers:

setGyroCompEnabled(boolean enable) setGyroCompInverted(booelan invert) setDesiredHeading(double heading)

gerth2 commented 7 years ago

finished but untested

gerth2 commented 7 years ago

tested and functional enough.