In 2017/2018, many, many FRC reveals had used this song. Therefore, VEX team 62A mocked it by opening up their ITZ reveal with this song. However, a certain someone introduced this song to 77788Y this season and, well, the rest history.
No, we have two tracking wheels which give much more reliable readings than a gyro. Obviously this is overkill for a normal match auton and, tbh, probably skills too, especially given how often we reset against the wall. They don't hurt though and have saved us a few times from wheelie-ing before we added our anti tips. The general consensus is that due to the way integration is handled on the ADI, gyros are not very good with V5. Of course they're perfectly fine for relative turning, but they drift over long periods of time and thus aren't very good at giving an absolute heading; most people simply use relative encoder turns, which are perfectly acceptable. I have heard that averaging two gyros that drift in opposite directions helps to filter out the drift, but I haven't tried it myself so I can't tell you how much of a difference it makes. Tl;dr: we use tracking wheels, but unless you're doing odom they're probably overkill. Gyros are fine for relative turns, but not for absolute heading, and at that point it's probably easier to just use standard encoder turns.
@@7788Y-d4n Why aren't you using a 3rd horizontal encoder; to account for the horizontal translation the robot can make, or do you feel it is unnecessary? Also, how is resetting against the wall with anti-tips? We are planning to use 3.25" Omni-wheels for it but concerned whether they mess up the reset when you crash into the wall.
@@zoriiginalx7544 We don't use a third tracking wheel because we weren't using full odom on that bot, the wheels were mostly just for an accurate heading. Mark II will have odom so we'll add a third tracker to it. Being against the wall did screw us up at first, the anti tips would occasionally hit at the wrong time and nudge our bot to an angle during the flip out. Now our chassis moves backwards at ~3V to make sure it's pressed against the wall during the flip out, and drive-straight means it isn't an issue when we start moving
