Encoder vs gyro

@9227, just like I said in the other thread a lot depends on your chassis geometry and what type of wheels you use.

If you have fully symmetric chassis with all omnis - it will be easy to control it based on encoder values. However, if you have a pair of traction wheels either on the front or the back of the robot and they are not chained together, then encoders on the front and back wheels could return different counts as you turn and you have to watch out and go slow to avoid slippage of the wheels.

Encoders are digital sensors and their error source is wheel slippage. Gyro is an analog sensor and its errors are result of the electrical and thermal noise as well as mechanical vibrations.

If you have V5 and are a beginner, I would stick with encoders, but if you want to learn and willing to try custom Gyro library that does some filtering, here are some links:

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