Closed numerator closed 1 year ago
Odometry - refer to robot position as x, y, theta. Refer to destinations the same way. Is it absolute or relative? Absolute. Leftmost corner of the red? drivestation wall is 0, 0. Grid is in inches (XX, YY)
See this note about the difference between wpilib's coordinate system and the wpilib gyro: https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#field-coordinate-system
To decide - Integrate wpimath ServeDriveOdometry to update and provide robot Pose (Pose2D). 2 version of this
Notes Assume we will reset position every time we see an April Tag. Design Auton to see April Tags as much as possible.
Odometry - refer to robot position as x, y, theta. Refer to destinations the same way. Is it absolute or relative? Absolute. Leftmost corner of the red? drivestation wall is 0, 0. Grid is in inches (XX, YY)
See this note about the difference between wpilib's coordinate system and the wpilib gyro: https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#field-coordinate-system
To decide - Integrate wpimath ServeDriveOdometry to update and provide robot Pose (Pose2D). 2 version of this
Notes Assume we will reset position every time we see an April Tag. Design Auton to see April Tags as much as possible.