Localization

Configure and tune your robot's position tracking system

Choose Your Localizer

VingVing Robot supports multiple localization methods. Choose based on your hardware:

GoBilda Pinpoint

All-in-one odometry computer. Easiest to set up with built-in processing.

✓ Recommended for beginners

• Plug-and-play setup

• Built-in IMU fusion

SparkFun OTOS

Optical tracking sensor. No dead wheels needed!

✓ No odometry wheels required

• Uses optical flow tracking

• Good for tight spaces

Three Wheel Odometry

Classic deadwheel setup with two parallel + one perpendicular encoder.

✓ Most accurate when tuned

• Requires encoder installation

• Can add IMU for heading

Two Wheel + IMU

Two odometry wheels + IMU for heading tracking.

✓ Simpler than three wheel

• IMU required for heading

• Good accuracy with tuning

GoBilda Pinpoint Setup

RobotConfig.java - Pinpoint

public static PinpointConstants localizerConstants = new PinpointConstants()
    .forwardPodY(0)  // Y offset from center (inches)
    .strafePodX(0)   // X offset from center (inches)
    .distanceUnit(DistanceUnit.INCH)
    .hardwareMapName("pinpoint")
    .encoderResolution(
        GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD
    )
    .forwardEncoderDirection(
        GoBildaPinpointDriver.EncoderDirection.FORWARD
    )
    .strafeEncoderDirection(
        GoBildaPinpointDriver.EncoderDirection.REVERSED
    );

// In createFollower():
.pinpointLocalizer(localizerConstants)

Tuning Steps:

Measure pod offsets from robot center
Set encoder directions (test by pushing robot)
Run Localization Test - push robot 24" forward
If readings are wrong, flip encoder directions
Verify by pushing in all directions

Three Wheel Odometry Setup

RobotConfig.java - Three Wheel

public static ThreeWheelConstants localizerConstants = new ThreeWheelConstants()
    .leftEncoderName("leftEncoder")
    .rightEncoderName("rightEncoder")
    .strafeEncoderName("strafeEncoder")
    .leftEncoderDirection(Encoder.FORWARD)
    .rightEncoderDirection(Encoder.REVERSE)
    .strafeEncoderDirection(Encoder.FORWARD)
    .leftYOffset(6.0)   // Distance from center (inches)
    .rightYOffset(6.0)  // Distance from center (inches)
    .strafeXOffset(0.0) // Distance from center (inches)
    .ticksPerInch(2000.0 / (Math.PI * 1.5));  // Calculate from wheel size

// In createFollower():
.threeWheelLocalizer(localizerConstants)

Tuning Ticks-to-Inches

Forward Tuner

Run Tuning OpMode → Localization → Forward Tuner
Manually push robot exactly 48 inches forward using ruler/tape
Read the multiplier value from telemetry
Update forwardTicksToInches in your localizer constants
Repeat 2-3 times and average the results

Lateral Tuner

Run Tuning OpMode → Localization → Lateral Tuner
Push robot exactly 48 inches to the LEFT
Read multiplier and update strafeTicksToInches
Average multiple trials for accuracy

Turn Tuner

Run Tuning OpMode → Localization → Turn Tuner
Rotate robot exactly 360 degrees (2π radians)
Read multiplier and update turningTicksToRadians
Use a protractor or grid for accurate rotation

Verify Localization

Run Localization Test to verify your setup:

Run Tuning → Localization → Localization Test
Push robot 24" forward - X should read ~24
Push robot 24" left - Y should read ~24
Rotate robot 90° - Heading should read ~90°
If values are wrong, check encoder directions and multipliers

Next: Automatic Tuning →