Finding the center of gravity

[technik3k]

As @jyao6429 said isolating gyro from vibration is very important:

@jpearman

Second modification, gyro moved to the top of the robot and isolated using rubber couplers.

This shows significant improvement, but, is that because the gyro has moved away from the drive motors or is there less vibration?

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So my conclusion based on these simple tests is that vibration created by the motors running is the cause of some gyro drift, moving the gyro away from the source of the vibration and isolating it using rubber couplers helps. I have no idea if this significantly effects the gyro accuracy when actually running the robot on the ground.

There are multiple sources of the gyro measurement noise, causing drift. Some of them could be eliminated with this trick:

@pkrish

you can use 2 gyros stacked on top of one another. The amount of drift on both of them will be the same, but opposite, and can be therefore eliminated.

Finally, software filtering could improve accuracy of the gyro a lot:

Gyroscope Filtering Discussion

Hey everyone, Now that I’ve finally gotten some time to discover sensor filtering, I have a few questions regarding gyroscope filtering. I’ll post them sort of one at a time because one has to be answered before the next one makes any sense. I’m experimenting with @jmmckinney 's code currently. My first question is, when I set up the gyroscope, should I be setting up as a gyroscope or as an analog sensor as mentioned in this thread. As far as I can tell, there isn’t any conversion to conver…

https://renegaderobotics.org/getting-started-with-the-vex-gyro-sensor/