Fix swerve drivebase from drifting its rotation over time

icrobotics-team5584 / FRC-2022-Sumsy

Code for 5584's off-season robot project, a swerve bot for the Deep Space game

Other

1 stars 0 forks source link

Fix swerve drivebase from drifting its rotation over time #9

Open Liam-Stow opened 2 years ago

Liam-Stow commented 2 years ago

When using field relative control, the robot kinda drifts off its rotation over time. Feedback control (PID) on rotation might help?

Liam-Stow commented 2 years ago

We recently learnt that our NavX wasn't calibrated very well. This might have been the issue. Lets just observe this for a while and see if the drifting still occurs.

Liam-Stow commented 2 years ago

It's better with the navx fix, but still happens. Would be cool if the robot counteracted bumps to its rotation too.