mBot Gyro-z drift over time


Does anyone have solution to what appears to be a gyro drift on the mBot Ranger? Code has been written and downloaded to search an area (2 square meters) using an up and back search pattern. The Ranger initially had issues driving a straight line when using just the onboard stepper motor drive commands. To address this, a modified version of the code from the Ranger Manuel - chapter 11, learning task 2 was used to keep the mBot driving straight (see below). This works well for the first few trips forward and backwards but then the ranger starts to drift more and more to its left (i.e. appears the gyro is drifting).



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