Localization

There are many localizers for you to choose from. If you don't have any, you can use your drive motor encoders.

All localizers except for the OTOS localizer use a pose exponential method of localization, a way of turning movements from the robot's coordinate frame to the global coordinate frame.

Localizers

Select your localizer below and follow the instructions to tune it. Once your localizer is tuned, come back to this page.

Pinpoint Localizer

A localizer that uses the goBILDA Pinpoint Odometry Computer.

OctoQuad Localizer

A localizer that uses the OctoQuad.

OTOS Localizer

A localizer that uses the SparkFun Optical Tracking Odometry Sensor.

Two WheelLocalizer

A localizer that uses two odometry wheels.

Three Wheel Localizer

A localizer that uses three odometry wheels.

Three Wheel + IMU Localizer

A localizer that uses three odometry wheels and an IMU.

Localization Test

After completing the tuning steps described in your localizer, you can test the accuracy of it.

Make your tests method in Tuning.java use your tuned drivetrain and localizer. Your algorithm will be null.

Set up your Tests method in Tuning.java

Important

Make sure to use your tuned drivetrain and localizer. Your algorithm will be null.

@Tuner
    public static Procedure tests() {
        return new Tests(hardwareMap -> new Mecanum(hardwareMap, Constants.drivetrainConfig), (hardwareMap -> new PinpointLocalizer(hardwareMap, Constants.localizerConfig)), null);
    }

Steps to Test

While connected to the Robot Controller, open the following address in your browser: http://192.168.43.1:10158
Select Tests Procedure and select Localization.
You should see the robot's position on the field changing and starts at (0, 0).
Observe the movements, make sure moving forward increases x and strafing left increases y.

Next Steps

Now, you can move on to tuning your Foresight constants.