Odometry

GoBilda Odometry Pod with Odometry Computer

Pod Wheels to Odometry Computer

Pod X connects to X (This is the wheel that moves when you push your robot forward and backward otherwise known as the parallel pod wheel)
Pod X connects to Y (This is the wheel that moves when you push your robot left and right otherwise known as the perpendicular pod wheel)

Odometry Computer to Control Hub

I2C connects to any of the I2C ports on the control hub (Picture shows I2C port 0)

Update the robots configuration to include the odometry computer

Inside of the driver station app go to:

Configure Robot -> New or Edit -> Control Hub Portal -> Control Hub -> IC2 Bus 0

Configure Robot -> New or Edit -> Control Hub Portal -> Control Hub -> Motors

0 = leftFront

1 = leftBack

2 = rightBack

3 = rightFront

Download the following two files and place them inside of your teamcode folder (TeamCode/src/main/java/org/firstinpires/ftc/teamcode/):

Update the following lines inside of SensorGoBildaPinpointExample.java, using the comments as a guide

odo.setOffsets(-84.0, -168.0, DistanceUnit.MM); //these are tuned for 3110-0002-0001 Product Insight #1
odo.setEncoderDirections(GoBildaPinpointDriver.EncoderDirection.FORWARD, GoBildaPinpointDriver.EncoderDirection.FORWARD);

Download the following file:

Use the following guide to use GoBilda for Blocks: Blocks Guide

You are almost done! Just add in the code you use to move your robot and you are now ready to start using the GoBilda odometry for competition 🎉

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