Hello all,
My team just started to program PID. It has been working great for the past week, however a couple days ago the turns of been very inconsistent. We have troubleshooted and nothing seemed to be out of the ordinary. So we thought that is could be our Inertial sensor, but the Inertial sensor was brand new. Any advice on what happened and how it can be fixed?
Make sure you are waiting for the Inertial sensor to calibrate before allowing the robot to move, the IMU will calibrate for two seconds every time you start a program.
Test the IMU using the V5 Brain dashboard.
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Our team always calibrate the sensor. We also test the sensor on the Brain Dashboard every now and then.
Ok, but what were the results of checking the IMU with the dashboard ?
Open the dashboard, make sure the robot is stationary.
touch calibrate and let the IMU perform a calibration, this is the same procedure that would happen when your program starts.
Then see if the IMU show any noticeable drift over a few minutes. Depending on how the IMU is mounted on your robot, roll and pitch will probably not be zero. Heading may drift a couple of degrees.
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Right after calibration there is a little drift, but it is only right after calibration. So, I am presuming that the initial drift is just the vibrations of the actual robot.
There is no significant drift over a longer period of time
Immediately following calibration, you would see roll and pitch change to reflect the exact orientation of the inertial sensor. If heading remains stable then the inertial sensor is probably ok.
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Right after calibration the heading is increasing in intervals of 0.02. I ignored it thinking that the change could not affect the performance, but now I don’t know if that was the right call.