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Improve ChassisController constructor with Gyro Support #297

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EricHallahan opened this issue Dec 22, 2018 · 7 comments
Open

Improve ChassisController constructor with Gyro Support #297

EricHallahan opened this issue Dec 22, 2018 · 7 comments
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question Further information is requested

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@EricHallahan
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Is your feature request related to a problem? Please describe.
Yaw-rate gyro support is lacking in OkapiLib, and for robots with unreliable encoders, turnAngle() is entirely unreliable.

Describe the solution you"d like
Overload the ChassisController constructor with a gyro.
Utilize the gyro when turnAngle() is called, potentially fused with the existing encoder method.

Describe alternatives you"ve considered
Of course, this could be done separately, but if the point is to enable high level programming, then it is better integrated into OkapiLib.

Versions

PROS Project for v5...
Name      Version    Origin
--------  ---------  -------------
kernel    3.1.3      pros-mainline
okapilib  3.3.5      pros-mainline

Additional context
This should have precedence over any odometry work. What is the point of odometry if you do not know where you are in the first place?
@Octogonapus
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We have found the gyro to be less reliable than encoder wheels. Why do you say your encoders are unreliable? Do you have them mounted on unpowered wheels?

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@Octogonapus Octogonapus added the question Further information is requested label Jan 1, 2019
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@kusti8
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kusti8 commented Jan 13, 2019

If you don"t have passive wheels, then the gyro is the next best thing and if you"re smart with how you reset it and square up, then it isn"t too bad. A version of ChassisControllerPID, but with the option to use a gyro would be great.

@EricHallahan
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I mostly determined the problem was me being stupid when measuring my chassis. This is still a feature that should be investigated, but with low priority.

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@Octogonapus @kusti8 @EricHallahan @3038922