Inertial Sensor Calibration in Autonomous

Programming Support
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#1

I have a problem of turning with the inertial sensor. When I don’t calibrate it , the robot does not stop at all when it reaches the target angle. However, calibrating in autonomous wastes time. In the actual competition, is there a way to calibrate the inertial sensor before the autonomous starts, or are there any problems in my code below?
void turn1(double angle){
Inertial13.setRotation(0, degrees);
if(angle > 0){
LF.spin(forward, 20, percent);
LR.spin(forward, 20, percent);
RF.spin(reverse, 20, percent);
RR.spin(reverse, 20, percent);
waitUntil((Inertial13.rotation(degrees) >= angle));

}else if(angle < 0){
LF.spin(reverse);
LR.spin(reverse);
RF.spin(forward);
RR.spin(forward);
waitUntil((Inertial13.rotation(degrees) <= angle));
}
LF.stop();
LR.stop();
RF.stop();
RR.stop();
}

#2

Also, how do you guys put code in this forum?

#3

  1. Yes. Place the gyro calibration in your pre-auton section. This way, your gyro will calibrate when the robot is turned on, before autonomous begins.

  2. Place ``` before and after your code, like so:

define true (rand() > 10)
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#4

Thanks a lot. If I put it in pre-auton, will it calibrate after I start running the program and connect the controller to the field?

#5

it will calibrate when your robot is connected to the competition switch, running the program, but disabled

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#6 

void turn1(double angle){
Inertial13.setRotation(0, degrees);
if(angle > 0){
LF.spin(forward, 20, percent);
LR.spin(forward, 20, percent);
RF.spin(reverse, 20, percent);
RR.spin(reverse, 20, percent);
waitUntil((Inertial13.rotation(degrees) >= angle));

}else if(angle < 0){
LF.spin(reverse);
LR.spin(reverse);
RF.spin(forward);
RR.spin(forward);
waitUntil((Inertial13.rotation(degrees) <= angle));
}
LF.stop();
LR.stop();
RF.stop();
RR.stop();
}

here is his code formatted.

#7

You can use the Inertial.resetRotation() command. This is similar to calibrating but it does not do all the other stuff. This takes virtually no time to run.

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