Hey all. This is going to be my team’s first year using an odometry algorithm, and I was wondering if 2 or 3 tracking wheels would be a better option. Currently we are set up to use LemLib on Vex PROS, and possibly use path.jerryio for our autonomous routing down the line. I’d like to create my own odometry function at some point, and as long as we are ordering parts I was curious if 3 wheels would be worth it for Pure Pursuit or if 2 world work just fine.
Most of the teams that I seen only use 2, one for forward back wad one for side to side. This reduces clutter and typically works fine. I mean look at like every team at least years worlds.
You should use two perpendicular trackers and an IMU to measure rotation.
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Great, thanks! That was our initial plan; I just wanted to make sure it would work well.
Our tracking wheel supplies have not arrived yet, does anyone know how to make LemLib’s Odom work without tracking wheels for the time being/how to use Lemlib’s PID without odometry?