ODO-03: driveTo a field point - how close does it stop?

medium priorityReal robotabout 30 minOdometry

• Your robot needs: Mecanum drive, and 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: Lesson 7: Odometry: where am I on the field?, Lesson 7: Odometry: where am I on the field?.

Why

driveTo drives straight to a field point while it turns. How close it stops depends on your drive numbers and your odometry. We want real numbers from many robots, not only ours.

Safety

• PRACTICE profile and Tunables.Drive.practiceMaxPower 0.4 for the first runs.
• The robot drives by itself: a clear path, everyone out of it, a hand on STOP.

Setup

• ODO-01 passed (Tunables.Odometry.checked = true).
• An autonomous with one driveTo step, for example lesson 7's "To the Goal" (start at -56, -61; drive to -30, -30 facing 45).
• Tape on the floor at the start spot and at the target point.

Steps

1. Put the robot exactly on the start spot. INIT the autonomous, check for the odometry "ready" line.
2. START. Let it drive to the point and stop.
3. Measure the robot's centre against the target point (x and y error), and its heading error.
4. Do it 3 times. Write each.
5. Run it once more and gently push the robot sideways during the drive: it should come back on course.
6. Read the report at the end of autonomous.

Pass rule

Each of the 3 runs ends within 1.5 in of the point and 3 degrees of the heading, and the push in step 5 does not stop it from arriving.

Record

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

• start spot and target point you used
• the 3 errors (x, y in inches; heading in degrees)
• the report line for the driveTo step (done, STALLED, TIMED_OUT...)
• the drive numbers you changed (turnKp, moveMinPower...), if any

If your robot is different

Use any start spot and point that fit your space; about 3-4 ft of driving is enough. A heavy robot or a robot with small wheels may need moveMinPower: say what you changed. Tank robots cannot use driveTo (INIT stops with a message): report "could not run" only if that message was unclear.

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.

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