I am on the team 80H and we are trying to make a really good autonomous, but the issue is that we need to have a precise auto or it will not work. I know a gyro is a way to keep stuff accurate but what other options are there?
Aside from using gyros, using encoders on non-driven wheels or avoiding sudden starts and stops using slew rate control or other methods of limiting acceleration help a lot. If you are willing to switch to PROS, OkapiLib has a lot of helpful features built in so you don’t have to make them yourself.
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I suggest using motor encoders it make your autonomous more precise.
can you post your code? it will really help.
PS: Same guy from the comp last saturday with who you allianced with, we did great, and they should have called the pinning, but thats ok 