Diff: turn_sensor.cpp

Revision:

41:3ead1dd2cc3a

Parent:

40:6fa672be85ec

Child:

42:96671b71aac5

--- a/turn_sensor.cpp	Thu Jul 25 02:53:34 2019 +0000
+++ b/turn_sensor.cpp	Thu Jul 25 03:20:41 2019 +0000
@@ -25,10 +25,17 @@
             return;
         }
         
+        // The gyro zero rate on my robot, measured by testL3gAndCalibrate() on
+        // 2019-07-24 is about -6.5.  So let's add 6 half the time and add 7
+        // the other half of the time.  This is a big hack.
+        static uint8_t updateCount = 0;
+        updateCount++;
+        gz = gz + 6 + (updateCount & 1);
+
         // The gyro on this robot is mounted upside down; account for that here so that
         // we can have counter-clockwise be a positive rotation.
-        gz = -gz;
-        
+        gz = -gz;        
+       
         rate = gz;
         
         // First figure out how much time has passed since the last update (dt)
@@ -49,11 +56,6 @@
         //
         // (0.07 dps/digit) * (1/1000000 s/us) * (2^29/45 unit/degree)
         // = 14680064/17578125 unit/(digit*us)
-        //const float factor = (float)14680064 / 17578125;
-        
-        // Fudge factor to account for the fact that the gyro might be mounted
-        // at a bad angle or it might be more or less sensitive than expected.
-        //const float fudge = 0.98809906722;
         
         angleUnsigned += (int64_t)d * 14680064 / 17578125;
     }