I’m am working on a simple posistion tracking program in V5 Blocks. The only formulas used to get the coordinates are: X = r cos(theta) Y = r sin(theta) The problem with this code is when my heading changes it seems to turn the robot(red circle) around a radius. Im not very experienced with cod…

no its the same encoder. How do i calculate the x and y to the variable, what do you mean by this?

Instead of setting X1 to the math you did, set it to X1 = X1 + that math. Do the same for Y1. Also, odometry will not be that accurate without another perpendicular wheel to track if you get pushed sideways.

Here is the updated code: [Capture] The turning problem no longer exists but the robot(red dot) will only move along the X-axis. What did I do wrong?

You don’t need the Y1 or X1 variable. In the Y part, it’s nearly right, but you should set it to be Y2 = Y2 + math, not Y1 + Math. You need to do the same for X, setting X2 to X2 + math, like you did for Y.

Thank you! this is helping a lot there still seems to be a couple small problems but I think I can handle those.

If you still find yourself stuck I’m compelled to advise you to return to the holy texts. [image] Team 5225 Introduction to Position Tracking Document Technical Discussion Hello World, As you can probably tell from my post history, I’m not nearly as active here as I shou…

That defeats the whole purpose of vex and coding. The whole point of the competition is that you do it on your own and not somebody else. You’re basically asking for them to code it for you. There are plenty of threads on the forum for you to read and understand position tracking/odometry to code it…

Thank you for everyones help. I am now trying to add another tracking wheel adjacent to the other for tracking side to side movement. How would I build this into my current code: ▶ Code I have looked at other pages to try understanding how to do this, but a still a little confused. Any resources or …

Since you’re approximating the robot’s motion as a line, it should be pretty simple. Just add in x = x+(item 1 of newvalues*sin(heading)) y = y+(item 1 of newvalues*cos(heading)) but for your new values make sure you’re reading the change in the new encoder. As for the project as a whole I should…

[image] 2775Josh: x = x+(item 1 of newvalues*sin(heading)) y = y+(item 1 of newvalues*sin(heading)) How will this help? this is what I already have except you used the wrong formula for X?

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2775Josh June 3, 2022, 7:02pm 27

Your robot doesn’t really travel in straight lines in real life. If you are turning at all, the motion is much better approximated as an arc, since an arc represents a constant rate of change for all sensors.