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2 Frames of reference
Alex Schokking edited this page 2024-03-21 11:04:59 -07:00
Table of Contents

Robot

The origin is the center of the robot. The robot forward is positive x. The robot left is positive y. The robot turning counter-clockwise is the positive direction for rotation.

robot_frame

Field

Our field reference has the origin on the blue side of the field with the X axis running along the length of the field and the y axis running the short side of the field. This frame doesn't change regardless of what alliance our robot is on.

field_reference

This means for example that an auto program driving in field co-ordinates would need to use different co-ordinates on red vs blue.