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Team2337 / 2022-Presented-By-Noahs-Arcade

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360 Degree Anti-Tip #4

Closed cbolinger closed 2 years ago

cbolinger commented 2 years ago

Have the robot prevent its self from tipping when the Gyro sees a change in Pitch and/or Roll (360 Degrees)

There need to be ways to override this functionality in case there is a Ramp or incline that we have to traverse over.

ZachOrr commented 2 years ago

Going to close this with https://github.com/Team2337/2022-Presented-By-Noahs-Arcade/pull/94

The slew rate limiter made the robot MUCH less tippy. It's not exactly the same as anti-tip code - if you turn the slew rate limiter rate of change up, there's no prevention against tipping. However, it should be good enough to start with.

If we feel like the slew rate limiter isn't good enough protection against the robot tipping (ex: the drivers say the controls are laggy and we need to pull the rate of change up, which makes the robot tippy again so we need a second line of defense), feel free to re-open this issue and we can take a stab at some more sophisticated code.