Integration of GoBilda pinpoint odometry computer

[rs-zip]

RR Version: 1.0.x

Observed Behavior: While attempting to use the GoBilda pinpoint odometry computer as the localizer (I modified the localizer interface to accommodate this change), I encountered an issue where I cannot run the feedforward and feedback to determine kS, kV, and kA (including the ramp logger process). When I initiate these op-modes, the robot moves slightly and then stops moving.

Failed Solutions: Since I am using the IMU computer, the robot no longer requires inPerTick and trackWidth for kinematic calculations, so I bypassed the process before ramp loggers. I noticed that in the tuningOpModes class, there is a restriction that prevents tests from running if you are not using dead wheel localizers (i.e., if leftEncs and parEncs are not empty). I attempted to add two frictional encoders without connecting the cables, which allowed the ramp loggers to become available, but the ramp regression remained blank. The reason for this seems to be that Actions.kt is read-only, and therefore we cannot modify the input values to use our own localizer.

I also tried determining the feedforward coefficient by connecting the encoders to motors and the control hub, then reconnecting them to the odometry computer, skipping the entire tuning process. However, a standard trajectory (like SplineTest) without the tuned localizer still does not run. I have modified the updatePoseEstimate method in MecanumDrive to accommodate the new localizer by removing the twist and directly using the IMU-based pose value, and the localizer has passed the localization test.

Could you kindly assist me in resolving this issue?

[rbrott]

RR doesn't support odometry sensors, including the Pinpoint odometry computer. Future support is tracked in acmerobotics/road-runner-ftc#8.

In the meantime, you can try community-supported solutions like https://discord.com/channels/225450307654647808/1286099179617124386/1289723283834667071.