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Fix swerve drivebase from drifting its rotation over time #9

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Liam-Stow opened this issue Aug 4, 2022 · 2 comments
Open

Fix swerve drivebase from drifting its rotation over time #9

Liam-Stow opened this issue Aug 4, 2022 · 2 comments
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subsystem tuning Make real hardware run as intended (control values tuned, etc)

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@Liam-Stow
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Liam-Stow commented Aug 4, 2022 •
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When using field relative control, the robot kinda drifts off its rotation over time. Feedback control (PID) on rotation might help?
@Liam-Stow Liam-Stow added the bug Something isn't working label Aug 4, 2022
@Liam-Stow
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We recently learnt that our NavX wasn't calibrated very well. This might have been the issue. Lets just observe this for a while and see if the drifting still occurs.

@Liam-Stow
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It's better with the navx fix, but still happens. Would be cool if the robot counteracted bumps to its rotation too.

@Ace5584 Ace5584 self-assigned this Dec 1, 2022
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subsystem tuning Make real hardware run as intended (control values tuned, etc)
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@Liam-Stow @Ace5584