Tune the auto drive code both for curve following and for the rotation in place. We will need to retune the velocity pid and ramp rate to account for the loss of one motor and addition of weight. We will also have to tune the angle correction PID once we transfer it from being scaled by your speed to being independent.
Tune the auto drive code both for curve following and for the rotation in place. We will need to retune the velocity pid and ramp rate to account for the loss of one motor and addition of weight. We will also have to tune the angle correction PID once we transfer it from being scaled by your speed to being independent.