Road Runner Localization

Validate x, y, and heading before trusting paths.

Road Runner 1.0 Setup and TuningRoad Runner

In this lesson, you will:

Read pose.
Push-test axes.
Diagnose sign errors.

Concept narrative

Localization is the robot’s estimate of where it is. Trajectories depend on this estimate; if pose is wrong, path following will look wrong even with perfect path code.

Robot mental model

Pose has x, y, and heading. Students should physically move the robot and predict which value should change.

Implementation walkthrough

Print pose, push forward, strafe, and rotate. Confirm signs and units. Then test under low power before running long paths.

PoseTelemetry.javaJava

drive.updatePoseEstimate();
Pose2d pose = drive.pose;
telemetry.addData("x", pose.position.x);
telemetry.addData("y", pose.position.y);
telemetry.addData("heading deg", Math.toDegrees(pose.heading.toDouble()));

Common mistakes and debugging

Swapped encoders, reversed signs, wrong track width, or drifting heading all show up as pose errors. Solve those before tuning complex auto.

Practice

Create a localization test checklist and complete it by hand and under power.

Checkpoint

Pose changes match physical movement.
Units are understood.
Signs are correct.
The test record includes the setup, prediction, and observed result.
A teammate can repeat the check from the saved evidence without guessing.

Reflection check

Check your understanding before moving on.

What must be called so a Road Runner drive updates its pose estimate during use?

hardwareMap.get() on every iteration.

A dashboard configuration annotation.

The drive’s pose-update method in the appropriate loop or action flow.

Before trusting a pose estimate, which physical checks should students run?

Push forward, strafe, and rotate while predicting the x, y, and heading changes.

Run a full autonomous on carpet immediately.

Compare the Java package name with the Driver Station name.

0 of 2 answered

References

Road Runner 1.0 ActionsAction composition, custom actions, and autonomous structure.Road Runner 1.0 TuningDrive class setup, tuning op modes, feedforward, feedback, and validation.Road Runner 1.0 Builder ReferenceTrajectory/action builder method reference.