Pedro Pathing

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Setup your Localizer ​

Define your localizer ​

  1. Go to your class with a static{} block, where you will be changing your FollowerConstants (In the Quickstart, this class is called FConstants).
  2. Once there, type this, where [LOCALIZER] is your localizer of choice:
java
    FollowerConstants.localizers = Localizers.[LOCALIZER];
  1. The default is THREE_WHEEL, you will not have to do this step if you are using three wheel, as it is the default.

Define your motor names and directions ​

  1. Navigate to FConstants and into the static{} block
  2. Modify your hardware map names for your motors and the directions of your motors. The defaults are:
java
FollowerConstants.leftFrontMotorName = "leftFront";
FollowerConstants.leftRearMotorName = "leftRear";
FollowerConstants.rightFrontMotorName = "rightFront";
FollowerConstants.rightRearMotorName = "rightRear";

FollowerConstants.leftFrontMotorDirection = DcMotorSimple.Direction.REVERSE;
FollowerConstants.leftRearMotorDirection = DcMotorSimple.Direction.REVERSE;
FollowerConstants.rightFrontMotorDirection = DcMotorSimple.Direction.FORWARD;
FollowerConstants.rightRearMotorDirection = DcMotorSimple.Direction.FORWARD;

Robot Coordinate Grid ​

Use this diagram to find the offset of your localizer. This view is from the top of the robot looking downwards coordinategrid

Access ​

To begin setting up your localizer, go to your class with a static{} block, where you will be changing your Localizer's constants (In the Quickstart, this class is called LConstants).

From there, continue the steps for your localizer in the linked pages: