Coordinate and Localiztion System

FRC Standard Coordinate Convention:

• The origin (0,0) is located at the bottom left corner of the blue driver station, closest to the scoring table.

• The positive X-axis points horizontally toward the red driver stations, running parallel to the scoring table.

• The positive Y-axis points perpendicularly away from the scoring table, moving “up” the field.

Robot Odometry

Every year until now we have used a custom solution, we just switchted to use the WPILib swerve pose estimator

We use several sensors to estimate the robot’s position on the field:

• Pigeon 2.0 gyro for heading (yaw) measurement

• Swerve drive azimuth encoders to measure wheel angles

• Drive encoders to measure wheel rotations and distances

• Basic trigonometry to calculate changes in position from the above sensor data

Challenges: Wheel Slippage and Drift

• Over the course of a match, wheel slippage causes odometry to accumulate errors, leading to increasing drift in the robot’s estimated position.

• To correct this drift, we add Limelight cameras that detect vision targets (tags) placed around the field.

• Vision provides an estimate of the global field position with no drift, but it has drawbacks:

  • The robot may not always see a vision target, due to occlusion or field layout.

  • Vision measurements can be noisy and intermittent.

If any of the sensors we use or constants we supply or incorrect our localiztion(The most important extra feature) will be inconsistent or just completely wrong