Hi, thanks for stopping by this post. I need help with some coding for an field centric X Drive as I have been working for hours with no luck. I am using the starting location of the gyro and comparing the value to new values, but I can’t get it to not drive the robot when it’s rotated. I understand…

please don’t ask for help with code without posting the code you need help with.

[image] BottomNotch: please don’t ask for help with code without posting the code you need help with. I was asking for how to do the code, like post an example. I’m trying to do trig, but I’m new to coding. I was wondering if you guys had code to compare it to.

The code is non existent as I keep changing it trying to find the solution.

Ok, lets assume that you use one joystick to drive your robot, where Forward/Backward direction is mapped to Y and Left/Right - to X, and you already figured out how to use X and Y to control X Drive motors in robot-centric frame. To get to the field-centric frame, first, you need to convert X and …

[image] technik3k: Ok, lets assume that you use one joystick to drive your robot, where Forward/Backward direction is mapped to Y and Left/Right - to X, and you already figured out how to use X and Y to control X Drive motors in robot-centric frame. To get to the field-centric frame, first, you…

[image] EthanT: What do you mean by theta2 is it multiplied or squared? It would be theta2=theta+gyroAngle. Depending on how gyro is mounted you may need to subtract its output instead.

[image] technik3k: It would be theta2=theta+gyroAngle. Depending on how gyro is mounted you may need to subtract its output instead. Ok, I’ll try it. I got it to move, but it’s finicky. Thank you so much. Should I divide the gyro value by something. It’s working, but when I slightly move it …

[image] EthanT: Ok, I’ll try it. I got it to move, but it’s finicky. Thank you so much. Should I divide the gyro value by something. It’s working, but when I slightly move it its switches direction of wheels very quickly until I stop moving it. Yes, I totally forgot about scaling. Take a look…

[image] technik3k: Yes, I totally forgot about scaling. Take a look at these threads: ROBOTC Vex Gyro Returns Random Values - UNOFFICIAL Tech Support - VEX Forum Gyro Sensor Calibration and Reading - General Forum - VEX Forum The shaking was caused by the gyrosenser value being to high. Th…

Field Centric X Drive Coding HELP!

VEX V5 General Discussion General Forum

technik3k December 23, 2017, 10:22pm 10

Yes, I totally forgot about scaling. Take a look at these threads:

http://www.robotc.net/forums/viewtopic.php?p=10209