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.

Drive Encoder Localizer

A localizer that uses the drive motor encoders.

Two Wheel Localizer

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.

Pinpoint Localizer

A localizer that uses the goBILDA Pinpoint Odometry Computer.

OTOS Localizer

A localizer that uses the SparkFun Optical Tracking Odometry Sensor.

Localization Test

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

Run the Tuning OpMode, then navigate under to Localization Test
On your computer, connect to your robot's Wi-Fi, and navigate to Panels or the FTC Dashboard. Panels is accessible at the ip address 192.168.43.1:8001 when connected to robot wifi.
You should see the robot's position on the field.
Observe the movements, make sure moving forward increases x and strafing left increases y.