Note Viewer

CODE IDEAS

1. Gyro correction (assuming strafing not often)
   •  
2. Gyro correction (assuming rotating not often)
   • Record the initial gyro angle reading - store to variable
   • Drive around by going forward, backward, and strafing
     • Ideally, while doing this, the robot will stay at the same angle.
   • Compare the stored gyro angle with the current angle that's being read
     • Get the difference and apply correction to the rotation input of the motor blocks
     • The rotation power could be porportional to the amount of change; the bigger the error, the faster the correction
     • This will keep the robot normal with respect to the field
   • TO TURN
     • If the driver tries to turn the robot, stop the rotation correction
     • Turn like normal, but update the gyro variable to the new turn angle
     • After user stops turning, start over at the top of the algorithm
       • Alternate method
         • "Turn by wire"
         • The controller would update the gyro value and the robot would correct to that.

• We had insightful discussion on how to approach programming gyro code into the mecanum drivetrain code.
• Phil got somewhat trained in the Java language from Adam.
• Louie put reflective tape on totes.

Gyro code is complicated/LabView is challenging...

• Finish implementing gyro code
• Look into BOM ordering...

We don't have the schedule in front of use. I think we are pretty on schedule! :)