Localizer Configs

Pinpoint Localizer

Pinpoint constants contain:

Device name
X and Y pod offsets
Pod directions
Distance units/pod types


public LocalizerConstants setLocalizerConstants() { // Any LocalizerConstants
        return new PinpointConstants()
                //device name
                .setName("pinpoint")
                //distance units
                .setDistanceUnit(DistanceUnit.INCH)
                .setAngleUnit(AngleUnit.DEGREES)
                //pod offsets
                .setXOffset(0.0) // In distanceUnit
                .setYOffset(0.0) // In distanceUnit
                //pod directions
                .setXPodDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD)
                .setYPodDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD)
                //pod types (for correct conversion to distance units)
                .setEncoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD);
    }

SparkFun OTOS Localizer

OTOS constants contain:

Device name
OTOS offsets
Linear and heading scalars


public LocalizerConstants setLocalizerConstants() { // Any LocalizerConstants
    return new OTOSConstants() 
    //device name
    .setName("otos")
    //device offset
    .setOffset(new Pose(227, -16, 0, Distance.Units.MILLIMETERS, Angle.Units.DEGREES))
    //scalars (for correcting measurement errors)
    .setLinearScalar(1.05)
    .setHeadingScalar(1.0);
}