HELP: DifferentialDrivePoseEstimator Angle and PathPlanner

Hi, after our first regional we wanted to do more complicated autonomous routines, we are using the classic encoder distance and gyro odometry and PathPlanner for our trajectories, but that odometry can give some problems when it comes to obstacles such the cable protector or the charging station. Then, the idea of using the DifferentialDrivePoseEstimator class with odometry corrected with vision as our odometry surged after we saw that it aligned us reliably during the matches.

The problem is when we checked the heading given by the pose estimator it returned something around 180 degrees (aligned with the blue grid) while in PathPlanner the same position returned 0 degrees

image
PathPlanner heading

image
Pose Estimator headig

Any idea how this can be corrected?

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As extra reference, here what is Pathplanner translation and angle look like:

And here is the pose estimator translation and angle look like:

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bump

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