OctoQuad

Prerequisites

Ensure that two odometry pods are connected: one that is parallel to the length of your chassis (forward) and another that is perpendicular to your chassis length (lateral). Make sure your OctoQuad is configured to type OctoQuadFTC instead of OctoQuadFWv3.

Common Mistakes

Make sure the OctoQuad is plugged into an I2C port other than port 0. This is because the Control Hub's built in IMU uses port 0.

Automatic Tuning

The OctoQuad AutoTuner can automatically determine your OctoQuadConfig, which includes pod ports, directions, offsets, resolution, etc.

Add the Tuner

Inside your Tuning class, add:

Tuning.java

@Tuner
public static Procedure octoquadTuner() {
    return new OctoQuadTuner();
}

Build and send the updated code to your Robot.

Open AutoTune

While connected to the Robot Controller, open the following address in your browser: http://192.168.43.1:10158

Select OctoQuad Procedure.

OctoQuad Setup

First, enter the HardwareMap name of your OctoQuad.

For example, if your OctoQuad is named octoquad in your Configuration on your Driver Hub, enter:

octoquad

in the HardwareMap Name field.

Then, enter the ports that your forward and strafe pods are plugged into on the OctoQuad.

Next, select the odometry pod type that matches the pods installed on your robot.

Finally, you may either use the default i2c recovery mode (recommended), or select a different i2c recovery mode if that is desired.

You may now press Submit.

Note

The Four Bar and Swing Arm pods are both goBILDA pods. If you are not using goBILDA pods, select the Custom option.

Heading Scalar Identification

Input the number of times you wish to turn the robot. More spins will likely make this scalar more accurate to your robot, but the default number is 10.

Start the test, and turn your robot exactly the number of times specified. Then stop the OpMode.

Tip

Line the robot up against reference lines on the field to ensure you aren't off by a couple degrees due to human error.

Custom Resolution Identification

If you are using a custom pod type, you will be prompted to run a test to determine the encoder resolution of your pods.

You should input the distance in inches that your want to push your robot forward in the test, the default is 48 inches.

Start the test, and then push the robot forward the distance you specified. After the robot has moved, stop the OpMode.

Forward Direction Identification

Press Continue, then push the robot straight forward.

After moving the robot forward, stop the OpMode.

The tuner will determine whether the x pod, which is the forward pod, should be set to FORWARD or REVERSED.

Strafe Direction Identification

Press Continue, then push the robot to the left.

After moving the robot to the left, stop the OpMode.

The tuner will determine whether the y pod, which is the strafe pod, should be set to FORWARD or REVERSED.

Important

During the Strafe Direction Identification step, push the robot to the left.

Offsets Identification

Press Continue, then rotate the robot in place 180 degrees counterclockwise.

After the robot has completed the rotation, stop the OpMode.

The tuner will automatically calculate the x and y pod offsets.

Applying the Results

Once the tuner is complete, open the Java tab.

AutoTune will generate an OctoQuadConfig using the values determined during the tuning procedure.

Copy the generated configuration into the OctoQuadConfig in your Constants.java file.

The generated configuration includes:

HardwareMap name
Pod ports
Pod type
Heading scalar
i2c recovery mode
Pod resolutions
X pod direction
Y pod direction
X pod offset
Y pod offset