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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
…d slightly and causing PID oscillations
all we needed to do was measure the actual loop time instead of the expected loop time
…ion and velocity instead of expected
it will usually travel straight now
Made everything into doubles. Found a better approximation for the robot Is close but still unstable
Changed PID to work on the forward and angular velocity of the robot as opposed to the speed of the individual motors. Feedback is based on the x, y, and rotation of the robot. Gets within about 5cm per forward move. Todo: realign robot to 0 degrees after forward move is completed
Added stop when at the destination. Adjusted power to fit between -1 and 1 for the motors. As a bonus, the robot drives even straighter. Tested backwards and longer distances with good results. Needs a bit more tuning, but is very close.
Lowered threshold to stop the robot and moved logging to strings that can be enabled
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tung tung tung sahur