# {{PROJECT_NAME}} - Localization Template

Grid-based robot localization with sensor fusion and fault tolerance.

**Created:** {{CREATION_DATE}}
**Weevil:** {{WEEVIL_VERSION}}
**Template:** localization

## What's Included

- **Grid System** - 12x12 field grid (12" cells)
- **Sensor Fusion** - Combine encoders, IMU, vision
- **Fault Tolerance** - Graceful sensor failure handling
- **20+ Tests** - All passing

## Quick Start

```bash
./gradlew test    # Run tests
./build.sh        # Build
./deploy.sh       # Deploy
```

## Architecture

Field divided into 144 cells (12x12 grid):
- Cell (0,0) = Red backstage
- Cell (11,11) = Blue backstage  
- Cell (6,6) = Center

Sensor fusion priority:
1. Vision (AprilTags) - ±2" accuracy
2. IMU + Odometry - ±4" accuracy
3. Odometry only - ±12" accuracy

## Files

**Localization:**
- GridCell.java - Cell representation
- Pose2D.java - Position + heading
- FieldGrid.java - Coordinate system
- RobotLocalizer.java - Sensor fusion engine

**Sensors:**
- OdometryTracker.java - Dead reckoning
- ImuLocalizer.java - Heading tracking
- VisionLocalizer.java - AprilTag positioning

**Docs:**
- LOCALIZATION_GUIDE.md - How it works
- GRID_SYSTEM.md - Field coordinates

See docs/ for full documentation.