At our club we are working on implementing odometry into our autonomous but have no idea of where to start from. Any help would be greatly appreciated.

i think okapilib in PROS has some odometery. Correct me if im wrong

Combination of a vertical gyro plus motor encoders and some circle geometry should work.

IMU is fine for odometry, but IME is not. The motor itself will influence the raw position reading you’re getting, therefore the input will be biased, resulting in an inaccurate measurement of global position. There is a reason why teams use tracking wheels for odometry.

is the odometry using IQ or V5?

IQ has no shaft encoders for Odom…

As to not make another thread, I’ll post my question here: How would I determine the tracking center of my robot? From what I understand, it should be perpendicularly equidistant from both side tracking wheels, but where should it be placed relative to the third (strafe) tracking wheel? In addition…

I believe that the tracking center is the center of rotation of your robot (ex: if you have a tank drive and set one side to move forward and the other side going backward; what point does your robot spin around? That point is the tracking center). The distances from the tracking center to each of t…

The tracking center can be chosen arbitrarily, but motion control using odom is more predictable if you make the tracking center the center of rotation.

Thank you! If I could, I’d like to ask one more question, when measuring the distance from the tracking center to the wheels, would I measure from the center to the physical center of the wheel, or just where the axel goes through the encoder?

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Robo_Chicken July 7, 2021, 2:24pm 2

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 should be. For those of you that don’t know me, my name is Nick Mertin, and I was the head programmer for Team 5225A, The E-Bots PiLons during the 2017-2018, In The Zone season. I have since graduated, but still remain a mentor for the team. Over the past couple of months, myself and the other programming team members and alumni, by popular demand, have been working on a document describing our Absol…

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