At the moment, the 18in (mechanum drive) robot has a gyro installed, but the field oriented control is not working. We need to get this working for accurate driving during competition.
m_fieldOrientedControl in HolonomicDriveNode is what should do field oriented control. One difference between now and when it was working 2 years ago is that we are using a V5 sensor instead of a NavX over ROS. The InertialSensorNode may handle this but it is worth looking into.
At the moment, the 18in (mechanum drive) robot has a gyro installed, but the field oriented control is not working. We need to get this working for accurate driving during competition.
m_fieldOrientedControlinHolonomicDriveNodeis what should do field oriented control. One difference between now and when it was working 2 years ago is that we are using a V5 sensor instead of a NavX over ROS. TheInertialSensorNodemay handle this but it is worth looking into.