Localizer Constants

Replace localizerConfig()

@Override
public BaseLocalizerConfig<?> localizerConfig() {
    return new Pinpoint.Config()
            .setName("pinpoint")
            .setEncoderResolution(Pinpoint.GoBildaPods.goBILDA_4_BAR_POD)
            .setEncoderDirections(Pinpoint.EncoderDirection.FORWARD, Pinpoint.EncoderDirection.FORWARD)
            .setOffsets(0, 0, DistUnit.IN);
}

Name

Replace "pinpoint" with the name of your Pinpoint odometry computer in the hardware configuration on your driver station.

Resolution

If you are using goBILDA odometry pods, you can use the predefined resolutions Pinpoint.GoBildaPods.goBILDA_4_BAR_POD or Pinpoint.GoBildaPods.goBILDA_SWINGARM_POD. If you are using a custom odometry pod, the input should be a Dist

Directions and offsets

Download and run the OdometryTuner OpMode from the OpModes page. This will allow you to determine the correct encoder directions (forward and reverse) and offsets (in whichever unit you select) for your robot. You can manually tune these values if you’d like.

Replace localizerConfig()

@Override
public BaseLocalizerConfig<?> localizerConfig() {
    return new OTOS.Config()
            .setName("otos")
            .setOffset(new Pose(Vector.of(0, 0, DistUnit.IN), Angle.fromDeg(0)))
            .setLinearScalar(0)
            .setAngularScalar(0);
}

Name

Replace "otos" with the name of your OTOS sensor in the hardware configuration on your driver station.

Scalars and offsets

Download and run the OdometryTuner OpMode from the OpModes page. This will allow you to determine the correct scalars and offset values for your robot. You can also manually tune these values.