Next year I am planning on using ‘simple’ odom code for ‘turn and move straight’ commands because it is a bit simpler. I have learned about tracking wheels, rotation sensors and gyro sensors, etc. I am curious how I should go about building the drivetrain with those sensors or wheels and which ones even. I couldn’t find much information online so I thought I would ask on the forum.
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Here is a poor MS Paint drawing of how it may work [image]
Sorry, but I don’t have CAD skills
@9935E , if you would like to see VEX Worlds winning robot’s tracking wheels mech and odometry algorithm that goes with it, then it is your lucky day:
But, if you will insist that 5225A’s design is not accurate enough for your not yet built robot…
yeah screw joint works out pretty well with 250rpm drive on 4” wheels
[image]
it never leaves the ground and have us some accurate programming results. U see a shaft joint because we ran out of space, but we made it with screw joints afterwards and there is nearly zero slop when built correctly
Usually, this is achieved in 1 of 2 ways:
Odom pods. This involves 3 pods or 2 pods and an inertial sensor to determine robot location. Usually the most accurate.
Inertial sensor and motor encoders. Simpler, but may be slightly inaccurate sometimes due to wheel slippage/slop.
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system
March 20, 2025, 5:02am
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