So, I know only a small amount of teams use X-Drive, and i want to know the best tracking mech. If you could tell me which is better.
Inertial or Odometry
- Odom
- Inertial
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I know Interial a little better, because that’s what we were working on using at the end of the season. It can be very helpful in making very accurate movements. I can’t speak to X-drive, but inertial has been very helpful for us.
Put in mind how easy it is to do it too
Odom running at a 45 degree angle to the wheels + interval would be the best combination, as motor encoder x drive would be have way harder math
Do yourself a favor and please don’t use tracking wheels. Motor encoders themselves work as good tracking (as you already have x/y mapped out), and then utilize inertial sensor for your heading (it is superior compared to standard odom-heading tracking).
So do both.
Yeah I do not know where to put the tracking wheels