Lesson F1.3: Hub Heading and Yaw Reset

The Prime Hub contains a motion sensor that can report yaw. Resetting yaw defines the current direction as zero; it does not physically rotate the robot. A later reading tells how far the Hub has turned relative to that chosen zero.

A simple correction compares target heading with measured heading, then makes a small turn in the error's direction. Avoid rapid full-power corrections around zero because they can cause oscillation.

Official hardware activity

Use the SPIKE App motion-sensor tutorial, then compare its yaw value with the turn work from Competition Ready.

Simulator practice

Reset yaw, turn 70 degrees, and store the yaw reporter in a variable. Add an if statement that makes a small correction when the value is below 85 degrees.

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Try it in the SPIKE App

Keep the Hub level and still during startup. Test the correction at two speeds and record whether it overshoots.

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