diff --git a/book/odometry/OdometryTesting.html b/book/odometry/OdometryTesting.html index 5097bc3..34a348e 100644 --- a/book/odometry/OdometryTesting.html +++ b/book/odometry/OdometryTesting.html @@ -1,416 +1,419 @@ - - - - Odometry Testing - Seattle Solvers Docs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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Odometry Testing

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Procedure:

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    For each Odometry Wheel tested, they will go through the following configurations:

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    1. 2-Dead Wheels + Internal BHI260AP IMU
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    2. 2-Dead Wheels + External BNO055 IMU
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    3. 3-Dead Wheels
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    Each configuration will go through a total of three tests (see programming section below for more details)

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    Use RoadRunner V1.0 Quickstart to tune each configuration

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    • Each step in the tuning procedure will be tuned 3 times, and values will be averaged to get a final constant (e.g, kV, kA, etc.)
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Environment:

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  • Latest FIRST Tech Challenge Field Soft Tiles +
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    • Lightly used (1 season)
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    • Vacuumed before each new odometry system used
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  • No game elements (trusses, stage door, backdrop, etc.)
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  • Wood floor and tarp underneath field
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Environment does not change or get moved between tests!

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Hardware:

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    Strafer® Chassis Kit V5 - goBILDA® - all parts lightly used for 1 season or less with no effects to performance

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    IMUs for 2 Wheel Odometry:

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    All tests done when battery is between 12-13v (measured via REV Driver Hub)

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    • All batteries are less than a year old
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Only hardware changes between tests are changing the odometry module or IMU!

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  • CAD models for all odometry set-ups can be found here
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Software:

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    Robot Library: RoadRunner V1.0 Quickstart (for both 3 Dead Wheels & 2 Dead Wheels)

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      Tuning steps: (each step should be ran 3 times, and the three values should be averaged to get the final constant)

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      ForwardPushTest & LateralPushTest: Theoretical inPerTick \( =\frac{\frac{96}{24.5}}{384.5} = 0.010190812 \)

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      ForwardRampLogger: 5 Tiles (120 inches)

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      LateralRampLogger: ~5.5 seconds of runtime

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      AngularRampLogger: ~7 seconds of runtime

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      ManualFeedforwardTuner & ManualFeedbackTuner: 4.5 Tiles (108 inches)

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    Testing Specifications:

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    1. +

      Straight Test:

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      • Moving in every 30° direction from 0° to 330° back and forth a distance of 2 Tiles (48 inches) in a straight line
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      • At the end, the change in position for each odometry wheel is returned
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      • There is no turning
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      • This will all be executed with .strafeTo(new Vector2d(x, y)), not .lineToX(x) or .lineTo(x)
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      2. +
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      Spline Test:

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      • A large variety of splines, turns, and turning while strafing in complex paths
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      • At the end, the change in position for each odometry wheel is returned
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      3. +
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      Combined Test:

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      • A combination of Spline Test and Straight Test
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      • At the end, the change in position for each odometry wheel is returned
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      4. +
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