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roccojiang / vex-team-potato

Home of VEX 2019-20 Team Potato
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Find correct chassis values for odometry #3

Open roccojiang opened 4 years ago

roccojiang commented 4 years ago

Due to front and back wheels having a different track width, we may have to acquire a new value with trial and error.

So far we've tried:

  1. (13.7+15)/2 = 14.35 in as an attempt to average the front and back
  2. 15 in using just the front track width

All of these values so far overshot our test distance by around 5%.

roccojiang commented 4 years ago

With OkapiLib 4.0.0, the chassis controller builder uses wheelbase instead of track.

Odometry, however, is still not accurate so values still have to be adjusted:

  1. External gear ratio
  2. More accurate wheelbase measurement