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).
1.1 KiB
1.1 KiB
Field Grid System
Grid Layout
12x12 cells, each 12" x 12":
0 1 2 3 4 5 6 7 8 9 10 11
11 . . . . . . . . . . . B
10 . . . . . . . . . . . .
9 . . . . . . . . . . . .
8 . . . . . . . . . . . .
7 . . . . . . . . . . . .
6 . . . . . X . . . . . .
5 . . . . . . . . . . . .
4 . . . . . . . . . . . .
3 . . . . . . . . . . . .
2 . . . . . . . . . . . .
1 . . . . . . . . . . . .
0 R . . . . . . . . . . .
R = Red backstage (0,0)
B = Blue backstage (11,11)
X = Center (6,6)
Usage
GridCell cell = new GridCell(5, 7);
double dist = cell.distanceTo(FieldGrid.CENTER);
double angle = cell.angleTo(FieldGrid.BLUE_BACKSTAGE);
Common Locations
FieldGrid.RED_BACKSTAGE // (0, 0)
FieldGrid.BLUE_BACKSTAGE // (11, 11)
FieldGrid.CENTER // (6, 6)