[WIP] Robot Localization

Localization is like a GPS for our robots. We use a group of precise sensors to determine the robot’s location withing a few centimeters accuracy.

Available implementations

There are many ways to determine a robot’s location on the field. Some are much easier to accomplish than others. Here are a few common methods:

• Adding a light beacon to the robot, then using computer vision from a camera on the DriverStation to find the robot’s rough location
  • 254 used a similar technique to determine the scale’s height in for their 2018 robot, Lockdown
• Using RFID beacons
  • Requires support from the venue & field
  • Provided by Zebra Technologies for some FRC events
• Using an overhead camera view to detect robot position
  • Similar concept to the first option
  • Not currently FRC field legal
• Using encoders & gyroscopes to track location history
  • Requires precise sensors, and reliable code
  • Can run anywhere without needing external sensors (cameras, radios)
  • Used by many teams, and well documented

Our implementation

Angle offset

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