Around the FRC Odometry Test Results
Brick-Bazooka
Total Length of the Robot's Path = 34.55 m
Clockwise |
Counter Clockwise |
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Odometry X (mm) |
Odometry Y (mm) |
Odometry Theta (rad) |
Odometry X (mm) |
Odometry Y (mm) |
Odometry Theta (rad) |
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|
Trial 1 |
-394.6110 |
155.0913 |
0.207090 |
102.8580 |
979.6395 |
0.104345 |
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|
Trial 2 |
-1648.1892 |
-1159.0551 |
0.335946 |
-251.3385 |
934.017 |
-0.056270 |
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|
Trial 3 |
-1414.1757 |
-711.2175 |
0.289926 |
-301.1085 |
798.8085 |
-0.025581 |
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|
Trial 4 |
-1169.1498 |
-1047.0957 |
0.283790 |
-755.6745 |
1800.8445 |
-0.099236 |
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Trial 5 |
-454.2615 |
-64.2390 |
0.197886 |
515.1195 |
1910.3385 |
0.150379 |
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|
Trial 6 |
-686.4396 |
566.2209 |
0.176410 |
486.9165 |
1234.296 |
0.082862 |
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|
Trial 7 |
-1148.9604 |
1169.1498 |
0.210158 |
-166.7295 |
1919.101 |
0.019948 |
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|
Trial 8 |
-1112.2524 |
-717.6414 |
0.297596 |
-190.7850 |
2469.4215 |
-0.020977 |
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Trial 9 |
-1833.5646 |
-906.6876 |
0.398840 |
676.0425 |
2004.9015 |
0.213293 |
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Trial 10 |
-1835.4000 |
-1098.7869 |
0.348218 |
284.5185 |
1478.169 |
0.127362 |
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Trial 11 |
4.9970 |
1091.6220 |
0.116620 |
167.5590 |
1315.5871 |
0.052172 |
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Trial 12 |
-1444.9890 |
-1001.2065 |
0.435792 |
753.1860 |
1896.2370 |
0.250120 |
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Trial 13 |
-1286.5545 |
-441.2940 |
0.311499 |
-1142.2215 |
301.1085 |
-0.099236 |
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Trial 14 |
-1110.7005 |
-141.8445 |
0.337586 |
510.9720 |
1826.5593 |
0.197948 |
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Trial 15 |
-666.9180 |
-82.950 |
0.182603 |
914.1090 |
1957.620 |
0.131965 |
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Trial 16 |
-272.9055 |
458.7135 |
0.217896 |
-85.4385 |
1353.744 |
0.105879 |
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Trial 17 |
165.9000 |
135.2085 |
0.181069 |
374.9342 |
919.9155 |
0.108948 |
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Trial 18 |
-323.5050 |
489.4050 |
0.130431 |
-371.8926 |
895.9762 |
-0.078659 |
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Trial 19 |
634.5675 |
483.5985 |
0.205879 |
1025.2622 |
2198.1753 |
0.194879 |
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Trial 20 |
-1218.5355 |
-362.4915 |
0.299965 |
-466.0113 |
1178.2640 |
-0.095643 |
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| Due to the nature of this experiment, true values of the above data are 0.0. Therefore, we know that each measurement is its own error. Also, a negative X means that the robot fell short of 0 while a positive X means that it exceeded 0. A negative Y means the robot was to the right of 0 and a positive Y means to the left of 0. A positive theta means a slight left turn and a negative theta means a slight right turn. |
Clockwise |
Counter Clockwise |
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| Mean X Error (mm): | -860.7824 | Mean X Error (mm): | 104.0139 |
|
StDev X Error (mm): |
684.4660 |
StDev X Error (mm): |
570.0850 |
|
Mean Y Error (mm): |
-159.2750 |
Mean Y Error (mm): |
1468.6362 |
|
StDev Y Error (mm): |
723.5758 |
StDev Y Error (mm): |
562.9590 |
|
Mean Theta Error (rad): |
0.258260 |
Mean Theta Error (rad): |
0.0632249 |
(14.797 deg) |
(3.6225 deg) |
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|
StDev Theta Error (rad): |
0.088022 |
StDev Theta Error (rad): |
0.1135 |
(5.043 deg) |
(6.4859 deg) |