Odometry 101 for FIRST Tech Challenge Robots

Hello! This video helped me a lot to understand the concept of odometry. Sadly, when our team ordered the materials for this season we could only afford 2 rev encoders. I was wondering if there is any way we could implement odometry just by using two encoders on the x axis.

Hi, im the captain of a mexico´s ftc team, i have some quiestions about the coder, what library did you use to define the XYHpos and where can i find it?, i´ve been trying to use the odometry in our robot and your video its so well explainded but i have those questions, i´d be glad if you can answer it, THHAAAANKSS

Please tell me what the delta n represents exactly

Instead of ticks? Will multiplying wheel revolutions * wheel circumference also give us a similar result for distance travelled by wheel???

:)

Hello Please which battery did you use for this robot

Great video, is the rest of the code posted someplace? Especially the part on line 46? The goToPosLinear method? We are curious to see how that works.

Hey! What is the purpose of telemetry dx, dy and dtheta? Is that stored for user reference? Also, what is LENGTH? Is that the length of the robot.

what library are you using or what imports, nothing from FTCLib (not as far as I've found anyway) have that XyhVector stuff, or am I encountering a problem unrelated to the libraries and imports

WALTAH

In your code in the notes what is:

pos.h = normDiff(pos.h);

Team 6418 Question for the two X encoders couldn't you use the actual motor encoders realizing of course that their resolution/tick count will be lower than the omni wheel version. Wouldn't this simplify things because you would only need to add one omni wheel for the Y axis to the robot?

Do you guys have a source code posted anywhere?

GREAT video! helping my ftc team so much. still really struggling with implementing the code but a great start thanks to you!

so do you call the encoders as motors in the configuration on the phones?

Love the team name!

Can’t you just have the robot spin in a circle and divide each of the encoder values by 2pi to find the exact distance from the center instead of measuring by hand .

Thank you so much! This video will make the perfect base for a lesson on odometry for my vex edr team. This is well crafted and way easier to understand than the few other odometry videos

so cool sir!

Wow, this is a great overview of odometry. I have learned so much! Thank you so much.

Love the video and thanks for your dedication.

Just one question, probably a dumb one. For the field coordinates, why are you adding just the half of dThetha to calculate the X and Y position? I don't fully get it.

which omni wheels are you guys using?

Probably the best educational video there is!

Thank you for all of this. We will be looking to attempt this code this year. See you at the competitions! FTC 15304.

The video is amazing, but could you show us a bit of code for the XyhVector class?

I gotta say... F, sad that you did it this summer and not the summer before or anything

Last year our team also tackled Odometry as well. It was a welcome improvement. (Of course we lost out free wheels this year....)

Many thanks for your video ! Excellent details !

Thank you so much for creating this video. Is it possible to also see your code for your test auto program? Still trying to understand how you are able to move the robot the way you do in your test auto. Again, thanks for putting this together.

can odometry allow me to localize and find the meaning of my existence?

This video is super good. Loved how the equations are so simply derived!

An excellently produced video answering the age old question in the FTC community -- What exactly is Odometry? Love how you talked about a little bit of the history of odometry, covered hardware + software in a clear and easy to access manner. This video is definitely going to be a new reference for those trying to implement odometry.