search

wpilibsuite / allwpilib

Official Repository of WPILibJ and WPILibC
https://wpilib.org/
Other
1.03k stars 607 forks source link

FollowerWheelOdometry and FollowerWheelPoseEstimator #4135

Open calcmogul opened 2 years ago

calcmogul commented 2 years ago

Wheel encoders tend to be inaccurate for odometry due to mecanum wheel manufacturing tolerances. MecanumDriveOdometry uses this approach. Follower wheels are a much more accurate odometry method for mecanum, and it's common in FTC for this reason. We should add a class that makes software support for follower wheel odometry easier.

calcmogul commented 11 months ago

Follower wheels are really popular in FTC, but they are nonexistent in FRC. Their rarity makes this feature a low priority for WPILib maintainers to implement. Users who want it will likely have to implement it themselves and contribute it upstream.