localization_setup.md

Linear Scaling

• Either Forward Or Lateral Tuner

Forward Tuning

• Align Ruler Alongside Robot
• Push Robot 48 Inches Forward
• Observe Tuner Outputs
• First Num : Distance Robot Estimated
• Second Num : Linear Scalar To Update

Lateral Tuning

• Align Ruler Alongside Robot

• Push Robot 48 Inches To The Right

• First Num : Distance Robot Estimated

• Second Num : Linear Scalar To Update

• Add the linear scalar value in the LConstants block

OTOSConstants.linearScalar = X;

Angular Scaling

• Place Robot So It Faces Reference Point
• Run Turn Localizer Tuner
• Rotate Robot One Full Rotation
• First Number : Distance Robot Estimated
• Second Number : Angular Scalar To Update
• Replace angular scalar in the LConstants block