How to start autopositioning?

[Brosales223]

Hello! So we already got the vison started. We can detect april tags in 3D but we dont have any commands for the yet. We don’t know how to start or from where to start so that the robot once it detects the april tag it aligns with it
Please help, thanks!

[AkeBoss]

I’ll link my similar reply here

Auto-Align start help

You can use the trajectory generation built into WPILib for this. I’d recommend using Path Planner though since you can also use it to path find around obstacles and make nice autos as well. However, to use this, you need some sort of position estimator so your robot knows where it is on the field. Odometry on your drivetrain works pretty well except combining it with vision through a pose estimator will give you way better estimates for your position. I’d recommend looking at PhotonVision since…

Basically, you want to use your position estimates to generate paths/trajectories for you to follow. You should use the swerve pose estimator in WPILib to combine your Photon Vision pose estimates with odometry. Once you have that, I recommend using Path Planner to generate trajectories to move to places on the field like the AMP autonomously.

If you’re just trying to align to point at the speaker, you don’t need to use Path Planner. Take a look at the auto-aim code that we have here.

FRC 1257 Parallel Universe |2024 Build Thread | Open Alliance

Programming Update Hello robotics community! After picking a robot design, our programming team started thinking about how we wanted to organize our robot. Including how to tackle our new challenge of We also have to plan out driver control methods, vision, autos, and the works. This post will highlight everything our programmers have done so far. Software Library Decisions Advantage Kit simulation Recently, we created our 2024 robot code project! We made the decision to use Advantage Kit …

I hope this was helpful! Let me know if you have any questions!