In my previous matches I’ve figured that our robot starts to curve slightly towards the left after a considerable distance. Is there any way I could fix this issue in the code?

try this topic and searching other similar topics.

How would that concept apply to 4 wheel drives though?

did you read the rodotc article? which way is your root turning?

The robotc article only adds the error to the slower wheel and subtracts the error from the faster wheel, but it wouldn’t work with 4 wheels because each wheel would be turning at a different speed.

If you didn’t know, both wheels on either side of a four-wheel drive spin at the same speed. So the RobotC article still applies.

or you could just change the speed of one of the wheels slightly…

ok thanks for the clarification!

You would compute the error between the leading wheel every other wheel individually and find the correction required for each wheel. pseudocode: while(not at target) { errorWheel2 = wheel1 - wheel2; errorWheel3 = wheel1 - wheel3; errorWheel4 = wheel1 - wheel4; //do the computation for the int…

How would you include this to driving to a target? Also, why are the integral and derivative components included when you are just correcting the bot to a straight line?

If you wanted to drive to an absolute target you would need to keep track of your robot’s position using motion tracking. There are plenty of great resources for that on this website. In order to have the best corrective abilities, you should use a PID loop (proportion, integral, and derivative). U…

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rpm March 31, 2020, 5:36am 18

Take a look at these threads…

And

@JD6 and @Micah_7157X based their pid code off a tutorial @anon4126930 made. It has turn pid in the drive pid which if set to zero should make it a driv straight pid.