This repository was archived by the owner on Mar 6, 2020. It is now read-only.
This repository was archived by the owner on Mar 6, 2020. It is now read-only.
Improvements to GyroTurn #5
Description
GyroTurn doesn't perform as well as it could. We should add feedforwards - a minimum power to apply to the motors - to overcome static friction inside our gearboxes. This should help eliminate the "creeping" motion where the robot would get within ~35-45 degrees of it's angle target then slow down considerably.
- Feedforward can be calculated by converting from voltage to percent of total output.
- On the practice drivetrain, this voltage is ~0.8V