Setup your Localizer

Define your localizer

  1. Go to your class with a static{} block, where you will be changing your FollowerConstants (In the Quickstart, this class is called FConstants).
  2. Once there, type this, where [LOCALIZER] is your localizer of choice:
    FollowerConstants.localizers = Localizers.[LOCALIZER];
  1. The default is THREE_WHEEL, you will not have to do this step if you are using three wheel, as it is the default.

Define your motor names and directions

  1. Navigate to FConstants and into the static{} block
  2. Modify your hardware map names for your motors and the directions of your motors. The defaults are: 
FollowerConstants.leftFrontMotorName = "leftFront";
FollowerConstants.leftRearMotorName = "leftRear";
FollowerConstants.rightFrontMotorName = "rightFront";
FollowerConstants.rightRearMotorName = "rightRear";

FollowerConstants.leftFrontMotorDirection = DcMotorSimple.Direction.REVERSE;
FollowerConstants.leftRearMotorDirection = DcMotorSimple.Direction.REVERSE;
FollowerConstants.rightFrontMotorDirection = DcMotorSimple.Direction.FORWARD;
FollowerConstants.rightRearMotorDirection = DcMotorSimple.Direction.FORWARD;

Robot Coordinate Grid

Use this diagram to find the offset of your localizer. This view is from the top of the robot looking downwards coordinategrid

Access

To begin setting up your localizer, go to your class with a static{} block, where you will be changing your Localizer's constants (In the Quickstart, this class is called LConstants).

From there, continue the steps for your localizer in the linked pages: