OTOS

Prerequisites

Ensure that the OTOS is properly mounted and connected, and the yellow kapton tape has been pulled off the sensor. The OTOS should be connected to a REV Hub through an I2C cable (not to port 0 beacuse the IMU is there).

Setup

In Constants.java, add an instance of OTOSConstants. Make sure to replace the hardware map name with the actual name.

Constants.java

public static OTOSConstants localizerConstants = new OTOSConstants()
            .hardwareMapName("otos")
            .linearUnit(DistanceUnit.INCH)
            .angleUnit(AngleUnit.RADIANS);

Then, add .OTOSLocalizer to createFollower:

Constants.java

return new FollowerBuilder(followerConstants, hardwareMap)
    .OTOSLocalizer(localizerConstants)
    /* other builder steps */
    .build();

Offsets

You must specify the sensor's position relative to the center of the robot. Measure the X and Y coordinates, and then change the value of .offset(). If you would like to change the units used, you can change .linearUnit() and/or .angleUnit(). The defaults are inches and radians, respectively.

Important

The y axis is the left/right axis, and the x axis is the forward/backward axis.

Left is positive y and forward is positive x.

Facing forward is PI/2 radians or 90 degrees, and clockwise rotation is negative.

Tip

It is recommended that you run the following tests multiple times and average the results, as it results in more accurate localization.

Linear Scalar

We will now adjust multipliers that convert encoder ticks into real-world measurements: inches. This ensures your localizer's readings are accurate.

Since the OTOS has only one linear scalar, you can run either the forward or lateral tuner, as they should result in very similar values.

Option 1: Forward Tuner

In the tuning OpMode, under localization, select and start the forward tuner. Then, push the robot forward 48 inches (exactly 2 field tiles). This distance is configurable if needed. Once you push the robot forward, two numbers will be displayed on telemetry:

The distance the robot thinks it has traveled
The linear scalar; this is the number you want.

Add the linear scalar to your OTOSConstants by doing the following.

Constants.java

.linearScalar(multiplier)

Option 2: Lateral Tuner

In the tuning OpMode, under localization, select and start the lateral tuner. Then, push the robot left 48 inches (exactly 2 field tiles). This distance is configurable if needed. Once you push the robot forward, two numbers will be displayed on telemetry:

The distance the robot thinks it has traveled
The linear scalar; this is the number you want.

Add the linear scalar to your OTOSConstants (or modify the value in the quickstart) by doing the following.

Constants.java

.linearScalar(multiplier)

Turn Tuner

The turn tuner is similar to both the forward tuner and lateral tuner, except it is rotational. Place the robot so it aligns to a fixed reference point (e.g., edge of a field tile). In the tuning OpMode, under localization, select and start the lateral tuner. Rotate the robot counterclockwise one full rotation.

Add the angular scalar to your OTOSConstants by doing the following.

Constants.java

.angularScalar(multiplier)

Testing the localizer

Once you have completed the tuning steps, you can test your localizer as described on the localization page.

Congratulations on successfully tuning your localizer!

Troubleshooting

If you have any problems, see the troubleshooting page.

OTOS

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