Right now the robot drifts on the field when driving. We want it to move EXACTLY how the driver moves it on their controller. To do this, we probably need a pid to control the robot angle. We also probably want to think of fieldrelativedrive as a transformation of robotppse and not simply as driving with a velocity.
Right now the robot drifts on the field when driving. We want it to move EXACTLY how the driver moves it on their controller. To do this, we probably need a pid to control the robot angle. We also probably want to think of fieldrelativedrive as a transformation of robotppse and not simply as driving with a velocity.