DRV-02: Field-centric driving and resetting "forward"

medium priorityReal robotabout 15 minDriving

• Your robot needs: Mecanum drive.
• Starter bots that fit: none (it needs parts the starter bots do not have).
• Library version: v0.16.0 or newer.
• The docs it tests: Lesson 2: Drive, The button menu: every way a button can work.

Why

Field-centric driving (stick up = away from the driver, whichever way the robot faces) depends on the IMU or the odometry heading. A wrong hub mounting (.imu(...) line) makes it drive the wrong way. We want to know it works on robots built differently from ours.

Safety

• Clear floor, about 6 x 6 ft. Low power (practiceMaxPower 0.4, PRACTICE profile).
• A hand near STOP.

Setup

• A mecanum robot in five files, with the .imu(...) line set for how your hub is mounted.
• Two drivers: gamepad 1 drives. One driver: the same buttons (see the button table in the buttons guide).

Steps

1. INIT your TeleOp with the robot facing away from you, START.
2. Press Y on gamepad 1 (one driver: right stick click) to switch field-centric on. The Driver Station says it.
3. Turn the robot 90 degrees left with the right stick. Push the left stick up: the robot should drive away from you, not to its own front.
4. Turn the robot to face you. Push the left stick up: it still drives away from you.
5. Turn the robot 45 degrees. Hold gamepad 1 BACK for 1 second: the robot pauses at the press, and after 1 s "forward" becomes the way it faces now. Let go, then tap BACK to go on.
6. Push the left stick up: the robot now drives the way it faced when you held BACK.

Pass rule

In steps 3 and 4 the robot drives away from the driver within about 10 degrees, and after the reset in step 5 "forward" is within about 10 degrees of the way the robot faced.

Record

Write these down while you test. The report form has them as a list to fill in.

• how the Control Hub is mounted (logo and USB directions in your .imu(...) line)
• the angle error you saw in steps 3, 4 and 6 (about, in degrees)
• what the Driver Station said when you held BACK

If your robot is different

With odometry, field-centric uses the odometry heading instead of the IMU: say which you have. If you moved field-centric or pause to other buttons (libraryButtons), use yours and say which. Tank drives cannot strafe, so this test is for mecanum only.

Report your result

Pass, fail, or could not run: every result helps. The form opens on GitHub with this test filled in (a free GitHub account is needed). No student names, please.

Report result

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