Around the FRC Odometry Test Results

Brick-Bazooka

Total Length of the Robot's Path = 34.55 m

Clockwise

Counter Clockwise

Odometry X (mm)

Odometry Y (mm)

Odometry Theta (rad)

Odometry X (mm)

Odometry Y (mm)

Odometry Theta (rad)

Trial 1

-394.6110

155.0913

0.207090

102.8580

979.6395

0.104345

Trial 2

-1648.1892

-1159.0551

0.335946

-251.3385

934.017

-0.056270

Trial 3

-1414.1757

-711.2175

0.289926

-301.1085

798.8085

-0.025581

Trial 4

-1169.1498

-1047.0957

0.283790

-755.6745

1800.8445

-0.099236

Trial 5

-454.2615

-64.2390

0.197886

515.1195

1910.3385

0.150379

Trial 6

-686.4396

566.2209

0.176410

486.9165

1234.296

0.082862

Trial 7

-1148.9604

1169.1498

0.210158

-166.7295

1919.101

0.019948

Trial 8

-1112.2524

-717.6414

0.297596

-190.7850

2469.4215

-0.020977

Trial 9

-1833.5646

-906.6876

0.398840

676.0425

2004.9015

0.213293

Trial 10

-1835.4000

-1098.7869

0.348218

284.5185

1478.169

0.127362

Trial 11

4.9970

1091.6220

0.116620

167.5590

1315.5871

0.052172

Trial 12

-1444.9890

-1001.2065

0.435792

753.1860

1896.2370

0.250120

Trial 13

-1286.5545

-441.2940

0.311499

-1142.2215

301.1085

-0.099236

Trial 14

-1110.7005

-141.8445

0.337586

510.9720

1826.5593

0.197948

Trial 15

-666.9180

-82.950

0.182603

914.1090

1957.620

0.131965

Trial 16

-272.9055

458.7135

0.217896

-85.4385

1353.744

0.105879

Trial 17

165.9000

135.2085

0.181069

374.9342

919.9155

0.108948

Trial 18

-323.5050

489.4050

0.130431

-371.8926

895.9762

-0.078659

Trial 19

634.5675

483.5985

0.205879

1025.2622

2198.1753

0.194879

Trial 20

-1218.5355

-362.4915

0.299965

-466.0113

1178.2640

-0.095643

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

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)

StDev Theta Error (rad):

 0.088022

StDev Theta Error (rad):

0.1135

(5.043 deg)

(6.4859 deg)

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