ODO-04: TeleOp starts where autonomous ended

medium prioritySimulator or real robotabout 15 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: Lesson 7: Odometry: where am I on the field?.

Why

The pose (where the robot is and which way it faces) should carry from autonomous into TeleOp, so field-centric driving and the odometry aim are right from the first second of TeleOp.

Safety

• Real robot: the autonomous drives by itself. Clear floor, hand on STOP, PRACTICE profile.

Setup

• A robot with odometry and any autonomous that drives and ends somewhere you can measure.
• Simulator: lesson 7's commands (odometrybot, "Odometry Bot To the Goal", then "Odometry Bot TeleOp"), or your own robot.

Steps

1. Run your autonomous to the end.
2. Within 5 minutes, INIT your TeleOp. Read the Pose line.
3. Compare it with where the robot really is (tape measure, or the simulator's line under the field map).
4. START and push the left stick up with field-centric on: the robot drives away from the driver.
5. Wait more than 5 minutes after an autonomous, then INIT TeleOp again: the pose should NOT carry over.

Pass rule

The TeleOp pose in step 2 is within 1 in and 2 degrees of where the autonomous ended, and after 5 minutes (step 5) it does not carry over (1 of 1).

Record

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

• the autonomous's end pose and TeleOp's first pose
• what TeleOp showed in step 5
• the odometry kind

If your robot is different

Any autonomous works, as long as it ends with the robot standing still. One rule for field numbers: your code (and the Driver Station's Pose line) uses the field seen from your own drivers' wall. Only the simulator's field map line and scenario checks use the field seen from the red wall, so on BLUE their signs flip and the heading differs by 180.

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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