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Odometry Setup

Odometry is the foundation of precise autonomous. If your odometry is off by 1 inch, your entire auton will drift.

1. Physical Layout

To get the best results: * Vertical Wheels: Should be parallel to the drive wheels. They track your $(y)$ movement. * Horizontal Wheels: Should be perpendicular. They track your "scrub" (sideways drift) when turning. * IMU: Place as close to the center of rotation as possible for the best heading data.

2. Measuring Offsets

The Offset is the lateral distance from the center of the robot to the tracking wheel.

  • Vertical Wheel: If it is 4 inches to the right of center, offset is 4.0. If it is 2 inches to the left, offset is -2.0.
  • Horizontal Wheel: Distance from center to the front/back.
// Wheel on the right side, 5 inches from center
auto right_tracker = std::make_shared<vortex::TrackingWheel>(10, 2.75, 5.0);

3. Calibration

  1. Push your robot exactly 48 inches forward.
  2. Check chassis.odom.getPose().y.
  3. If it says 46 inches, your Wheel Diameter in the config might be slightly off. Adjust it until the screen matches the physical distance exactly.

4. Multi-Wheel Support

Vortex supports up to 2 vertical and 2 horizontal wheels. * 1 Vertical + IMU: Best for standard drives. * 2 Vertical + 1 Horizontal: Industry standard for maximum accuracy without an IMU. * 3+ Wheels: Redundancy for high-level competitive robots. 坐