To get the robot to drive straight and use the distance calculations with the encoders properly, we need to implement a PID controller. I have currently implemented some things in the PIDController class but there needs to be timer based differential and integration to take into account. I will need to look into timing more on the Maple before continuing on with this.
To get the robot to drive straight and use the distance calculations with the encoders properly, we need to implement a PID controller. I have currently implemented some things in the
PIDControllerclass but there needs to be timer based differential and integration to take into account. I will need to look into timing more on the Maple before continuing on with this.