ODO-01: Odometry Tuner - directions, offsets and the loop check

high priorityReal robotabout 45 minOdometry

• Your robot needs: goBILDA Pinpoint or SparkFun OTOS or Dead wheels (2 or 3 pods).
• 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: Finding your numbers (the finders), Lesson 7: Odometry: where am I on the field?.

Why

Everything that uses the robot's place on the field (driveTo, Pedro paths, odometry aim, shooting on the move) depends on this tuner. It is written for three kinds of odometry. We have tested it on a Pinpoint; OTOS and dead wheels need your help.

Safety

• The sticks drive at 30% in this tuner. Clear floor, about 6 x 6 ft.
• Keep feet away from the wheels while you push or drive.

Setup

• A robot with an odometry(...) line in Robot.java (lesson 7).
• The small Odometry Tuner file next to Robot.java.
• A 48 in strip of tape on the floor with a mark at its start, and a tape measure.

Steps

1. Start "Odometry Tuner". D-pad to "Forward 48 in", A. Drive or push the robot 48 in straight along the tape, B. Write what it says.
2. If it said "counted BACKWARD", add the fix it shows, rebuild, and run step 1 again.
3. "Left 24 in": A, move the robot 24 in to its left, B. Fix and repeat if it says "counted RIGHT".
4. "Spin 3+ turns": A, turn in place at least 3 times with the right stick, B. Copy the offsets it shows into your odometry line. Rebuild.
5. "Loop and back": start on the mark, drive anywhere for about 20 s, come back onto the mark facing the same way, B.
6. If it shows Tunables.Odometry: checked = true, set it in Tunables.java.

Pass rule

The Forward test is within 2% (48 in counts as 47.0 to 49.0 in), and the Loop test passes: back within 1 in and 2 degrees of the mark.

Record

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

• odometry kind (Pinpoint, OTOS, 2 or 3 dead wheels) and the pod type
• Forward test: the % off it showed, before and after fixes
• the offsets (or track width) it gave
• Loop test: the distance and angle error it showed, and how many tries it took

If your robot is different

A tank robot cannot strafe: push it sideways by hand for the Left test. An OTOS has no offsets to measure (measure mountIn with a tape). Dead wheels with the IMU need .imu(...) in the drive line. Say which of these you did. Pods in odd places (far off centre, angled) are very useful to report.

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

No reports for this test yet: yours would be the first. Every test's reports.

All tests · Next: SIM-03 Build an autonomous in the simulator with the auto builder