How do you use intertial sensor with mecanum wheel?

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#1

So i want to use a inertial sensor for my mecanum robot. I want to use it to correct the mecanum function because sometime it dosn’t turn right. But i tried to read some post but i find them a bit confusing so if someone can show me how to use the inertial sensor this could be cool!

thx in advance!

#2

If all you want to do is turn using the inertial sensor then just set the motors and use a wait until command.

// Spin left and right motors in opposite directions 
waitUntil(inertialSensor.heading >= 90);
// Stop motors

This does have a tendency to overshoot. If you want it to be more accurate you may want to look into using a PID.

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#3

what exaclty is a PID?

#5

PID is a control method that calculates for overshoot and then corrects it. I would recommend just using a P or PD loop which is much simpler. I used this document to program mine.
pid_control_document copy.pdf (141.0 KB)

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#6

That document is very helpful; there’s an updated version available here:

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