Important Links to install Pinpoint and Gobilda 4-bar odometry pods
Download the Pinpoint branch from
- Link:– https://github.com/jdhs-ftc/sparkfun-otos-quickstart/tree/pinpoint or git clone -b pinpoint https://github.com/jdhs-ftc/sparkfun-otos-quickstart.git
- Easiest way to copy over all changes to an existing repo is to run these 2 commands
- git remote add pinpoint-quickstart https://github.com/jdhs-ftc/sparkfun-otos-quickstart
- git pull pinpoint-quickstart pinpoint –no-rebase
- If git method doesn’t work, copy whole repo again from quickstart
- Tuning steps are mostly the same as https://rr.brott.dev/docs/v1-0/tuning/
- Configure the Pinpoint in hardwaremap as pinpoint by default or change in PinpointDrive
- Leave inPerTick at 1.0 in MecanumDrive, leave localizer as drivelocalizer (or set it to null), and skip ForwardPushTest.
- Configure encoder resolution in PinpointDrive to one of the presets for gobilda odometry
- Ensure to use DeadWheelDirectionDebugger and properly reverse the wheels in PinpointDrive
- Change the drive class in TuningOpModes, Spline Test, and your opmodes to PinpointDrive
- Steps to connect ADB in Android Studio
- Measure x offset and y offset of odometry pods and trackwidth manually from below link
