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Add an XDriveModel ctor that takes a gyro #2
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enhancement
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Octogonapus
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Add ChassisController or ChassisModel ctor that takes a gyro
Add an XDriveModel ctor that takes a gyro
Mar 28, 2018
Taking a heading value is the way to go for this one. Going to keep this in the Freezer because we don't want to encourage bad designs like this one. The gyro VEX current sells just isn't good enough yet. |
Update: It looks like the ADI sampling rate will never be better than 5ms. Still leaving this in the freezer for now. |
(oops) |
Octogonapus
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Jun 8, 2018
The gyro is actually usable on V5 as of a somewhat recent firmware update, so this could still be a possibility if anyone is interested. That being said, I doubt we'll see a lot of use of X drives this year. |
I am going to keep this in the freezer unless people start specifically asking for it. |
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Jan 13, 2020
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This is Brad's suggestion (WPIlib code here) so you can drive around independent of heading. This has been tried in the past on the Cortex and it didn't work well enough to be used for a match. The gyro drifts too much. V5 would have to perform substantially better for this to work.
Alternatively, instead of taking a gyro object, we could do this the WPIlib way and just take the value of the heading so we aren't locked in to using a gyro. Then the heading measurement could come from a combination of quads & a gyro.
Gyro is waiting on Vex fixing the ADI port analog in sampling rate.
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