Kauai Labs navX2-MXP, Руководство пользователя

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Examples
Rotate to Angle (FRC)
Full LabVIEW Source code on Github
Automatic Balancing (FRC)
The Automatic Balancing example demonstrates how to implement a self-balancing robot, which can be
useful to help avoid a robot tipping over when driving. As an example,
FRC team 263 demonstrated the
auto-balance feature effectively during the 2018 FRC Championships .
The basic principle used in the example is based upon measurement of the navX-sensor Pitch (rotation
about the X axis) and Roll (rotation about the Y axis) angles. When these angles exceed the “off
balance” threshold and until these angles fall below the “on balance” threshold, the drive system is
automatically driven in the opposite direction at a magnitude proportional to the Pitch or Roll angle.
Note that this is just a starting point for automatic balancing, and will likely require a reasonable amount
of tuning in order to work well with your robot. The selection of the magnitude of correction to apply to
the drive motors in response to pitch/roll angle changes could be replaced by a PID controller in order to
provide a tuning mechanism appropriate to the robot.
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