09 / Setup and Tuning

Localization and Validation

Validate pose tracking with dead wheels, drive encoders, or supported sensors.

85 minRoad RunnerSetup and Tuning

You will

01Define robot pose as x, y, and heading.
02Run localization tests before trusting trajectories.
03Diagnose wrong encoder signs and heading drift.

Why Localization and Validation matters

This lesson is about planned robot motion using Road Runner 1.0. Students should understand that trajectories depend on tuning, localization, starting pose, and action composition. Road Runner is powerful, but it only works as well as the robot model underneath it.

Starting point

Trajectories depend on pose estimates

Road Runner can only follow a path as well as it knows where the robot is. Localization testing should happen before complex autonomous work.

Signs and units are common failures

If pushing the robot forward changes x in the wrong direction, or rotating changes heading incorrectly, path following will be confusing. Validate axes by hand before full-speed tests.

Build path

Use small validation steps: create the drive, set the start pose, run a short action, validate localization, then add more complex paths. Mechanisms and vision should be composed as actions only after the drive path works alone.

For this specific lesson, students should first restate the goal in robot terms, then identify the value or behavior they expect to observe, then run the smallest test that proves the idea. The lesson should feel like a guided lab: predict, run, observe, explain, and only then extend.

LocalizationTelemetry.java · Java

drive.updatePoseEstimate();
Pose2d pose = drive.pose;

telemetry.addData("x", pose.position.x);
telemetry.addData("y", pose.position.y);
telemetry.addData("heading", Math.toDegrees(pose.heading.toDouble()));
telemetry.update();

Debugging and failure modes

Road Runner failures should be separated into layers. If pose is wrong, fix localization. If straight motion is wrong, revisit tuning. If the path is risky, simplify or preview it. If the full auto fails, inspect the selected branch, active action, pose, mechanism state, and finish condition.

Checks

Forward motion changes the expected axis.
Strafe motion changes the expected axis.
Clockwise/counterclockwise rotation changes heading consistently.

Check your understanding

Module check

What are the three parts of a 2D robot pose?

0 of 1 answered

References

Road Runner 1.0 DocsRoad Runner 1.0 installation, tuning, actions, and trajectory reference.Game Manual 0Community FTC programming, control, and robot design reference.