MoveDifferential: use gyro support for better accuracy (reverted this commit) #705
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dwalton76
commented
Jan 4, 2020
dwalton76
commented
- Resolves MoveDifferential: use gyro support for better accuracy #620
- unify (as much as possible) the turn API for MoveTank and MoveDifferential. MoveTank recently got gryo support so we needed to cleanup the API between it and MoveDifferential.
- removed all trailing whitespaces in various files
WasabiFan
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WasabiFan
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Sorry for taking so long to review this!
I like consolidating and making the various Move* classes consistent. My main worry is just making sure that we don't introduce confusion about when and how the gyro is used.
| current_angle = self.angle | ||
| delta = abs(current_angle - self._init_angle) % 360 | ||
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| if delta == 0: |
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This seems over-complicated. Shouldn't the transformation from gyro angle to appropriate angle always be some_constant_offset - current_angle?
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I thought so too, figured it would be relatively simple. I spent a few hours coming up with this function though...maybe I am missing something.
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Still some more work to go on this, I should be able to get to the other comments this weekend. |
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I had been waiting to review this until I had more time... I still have some concerns which I'll comment on when I can work through it more thoroughly. |
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My bad...I had resolved all of the comments so thought we were set. We can revert the commit or I can tackle the new comments via a new PR. |
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@WasabiFan ack let me revert this and open a new PR. My bad for jumping the gun on the commit. |
This reverts commit 69e7bde.
dwalton76
changed the title
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Reverted this commit and opened #718 |
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