636e1252dc
Implements comprehensive robot localization system as third template option. Teams can now start with professional positioning and navigation code. Template Features: - 12x12 field grid system (12-inch cells) - Multi-sensor fusion (encoders, IMU, vision) - Kalman-filter-style sensor combination - Fault-tolerant positioning (graceful degradation) - 21 files, ~1,500 lines, 3 passing tests Core Components: - GridCell/Pose2D/FieldGrid - Coordinate system - RobotLocalizer - Sensor fusion engine - OdometryTracker - Dead reckoning from encoders - ImuLocalizer - Heading from gyroscope - VisionLocalizer - Position from AprilTags Sensor Fusion Strategy: Priority 1: Vision (AprilTags) → ±2" accuracy, 100% confidence Priority 2: IMU + Odometry → ±4" accuracy, 70% confidence Priority 3: Odometry only → ±12" accuracy, 40% confidence System gracefully degrades when sensors fail, maintaining operation even with partial sensor availability. Hardware Abstraction: - Interfaces (Encoder, GyroSensor, VisionCamera) - Mock implementations for unit testing - Teams implement FTC wrappers for their hardware Documentation: - LOCALIZATION_GUIDE.md - System architecture and usage - GRID_SYSTEM.md - Field coordinate reference - README.md - Quick start and examples Usage: weevil new my-robot --template localization cd my-robot ./gradlew test # 3 tests pass in < 1 second This teaches professional robotics concepts (sensor fusion, fault tolerance, coordinate systems) not found in other FTC tools. Positions Nexus Workshops as teaching advanced autonomous programming. Updated src/templates/mod.rs to register localization template with proper metadata and feature descriptions. All tests passing (10/10 template tests).
54 lines
1.2 KiB
Plaintext
54 lines
1.2 KiB
Plaintext
# {{PROJECT_NAME}} - Localization Template
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Grid-based robot localization with sensor fusion and fault tolerance.
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**Created:** {{CREATION_DATE}}
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**Weevil:** {{WEEVIL_VERSION}}
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**Template:** localization
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## What's Included
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- **Grid System** - 12x12 field grid (12" cells)
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- **Sensor Fusion** - Combine encoders, IMU, vision
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- **Fault Tolerance** - Graceful sensor failure handling
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- **3 Tests** - All passing
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## Quick Start
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```bash
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./gradlew test # Run tests
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./build.sh # Build
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./deploy.sh # Deploy
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```
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## Architecture
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Field divided into 144 cells (12x12 grid):
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- Cell (0,0) = Red backstage
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- Cell (11,11) = Blue backstage
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- Cell (6,6) = Center
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Sensor fusion priority:
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1. Vision (AprilTags) - ±2" accuracy
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2. IMU + Odometry - ±4" accuracy
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3. Odometry only - ±12" accuracy
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## Files
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**Localization:**
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- GridCell.java - Cell representation
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- Pose2D.java - Position + heading
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- FieldGrid.java - Coordinate system
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- RobotLocalizer.java - Sensor fusion engine
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**Sensors:**
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- OdometryTracker.java - Dead reckoning
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- ImuLocalizer.java - Heading tracking
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- VisionLocalizer.java - AprilTag positioning
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**Docs:**
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- LOCALIZATION_GUIDE.md - How it works
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- GRID_SYSTEM.md - Field coordinates
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See docs/ for full documentation.
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