Pathfinder
FTCSimulator
Pathfinder | FTCSimulator | |
---|---|---|
2 | 1 | |
2 | 9 | |
- | - | |
0.0 | 0.0 | |
over 2 years ago | about 1 year ago | |
Java | Java | |
GNU General Public License v3.0 only | GNU General Public License v3.0 only |
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Pathfinder
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Robot localization with on-motor encoders
hey, i just figured i’d put this out here in case it helps: meccanum wheels, by nature, have a LOT of slip - that’s how they’re able to move in any direction. i’ve had quite a bit of experience with the math and kinematic behind this (two libraries i’ve written/am writing, Pathfinder and Pathfinder2, as well as a library the other programmer on my team wrote, OdometryCore) and it’s VERY HARD to accurately track the position of a meccanum robot only using the encoders in the wheels. it’s not impossible, but it’s very, very challenging. the more your robot moves, the less accurate it becomes, and it will very quickly report positions that are nowhere near where your robot actually is. you can go for it, but i would strongly encourage you check out three wheel odometry instead - it’s been very accurate and allowed us to do really cool things, like accurately record a robot’s movement and play it back perfectly. you’ll have much more success with three wheel odometry - my team designed a custom odometry system and i’m sure they’d be happy to give you more information if you’d like. best of luck :)
- Where to learn how to set up Odometry??
FTCSimulator
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There is now a simulator available for First Tech Challenge robots created by Team 6448 (Jesuit Blue Jays).
Our simulator and instructions for how to use it are included in this link: https://github.com/BlueJays6448/FTCsimulator
What are some alternatives?
QDriverStation - Cross-platform clone of the FRC Driver Station
AutoBuilder - A gui tool for graphically designing and testing autos in FRC
allwpilib - Official Repository of WPILibJ and WPILibC
EOCV-Sim - FTC Library EasyOpenCV simulator for testing vision pipelines in a computer
Pathfinder2 - Paths, trajectories, splines, the number 2, and a whole lot of swag.
FtcRobotController2022 - Innovators 3311 Competition Code
TitanUtil - A collection of utility classes to make robot programming easier
javabot-2022 - A Java rewrite and improvement of Team 2539's 2022 robot code.
OdometryCore - Odometry Core Tracking Algorithm Written in Java
ScoutingPASS - A FRC Competition Scouting Application
ultimategoal - Robot code for the 2020-21 FTC game, Ultimate Goal.