Localization Test
The localization test allows you to verify your robot’s localization system by checking motor directions, encoder orientations, and odometry pod configurations.
⚠️
READ THIS FIRST: Run this test before any other tuner. If your localization is incorrect, every other tuner will produce broken results.
What It Verifies
- Motor Directions: Ensures “Forward” actually moves the robot forward.
- Odometry Pods: Checks offsets, directions, and pod types.
- IMU Orientation: Verifies the internal gyroscope heading.
How to Run
- Initialize: Open the
LocalizationTestOp Mode on your Driver Station. - Reset: Place your robot at the center of the field (0, 0) facing the red/blue wall.
- Test Movement: Drive the robot manually using the controller and verify the telemetry:
Verification Checklist
| Action | Expected Result |
|---|---|
| Drive Forward | X coordinate should increase |
| Drive Left | Y coordinate should increase |
| Spin Counter-Clockwise | Heading (degrees) should increase |
Troubleshooting
If your values are backwards:
- X is decreasing: Reverse your drive motor directions or your parallel pod encoder.
- Y is decreasing: Reverse your perpendicular pod encoder.
- Heading is decreasing: Check your IMU mounting orientation in your config file.
Compatibility
- âś… Mecanum Drive
- âś… Swerve Drive
- âś… Tank Drive
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