Obviously not op - but we had a lot of hiccups on 323 with folks mixing up the various coordinate systems in the LL. It’s likely they are displaying the wrong pose2d in shuffleboard. Given the nearly 6’ error this is, imho, the most likely cause of “displayed wrong”.
Dealing with multiple coordinate systems seems to be something relatively new to FRC recently and I think people are going to have to get used to it communicating about more effectively.
I’ll start from the top so you can verify that’s it’s a shuffleboard issue and not a me issue.
We make a field2d object and pass it to shuffleboard by calling ‘SmartDashboard.putData(“field”, ourfield2dobject)’
We update it in the periodic method of our drive subsystem by calling ourfield2dobject.setRobotPose(odometrypose)
The pose we pass in to the setRobotPose method is in meters and the origin is the human player station on the blue side of the field.
As for how it fails, it seems that the bot incorrectly shifts further towards the blue side the closer it gets to the blue side of the field. As we get to the red side (further from the origin?) the displayed position approaches our actual position.
I had it display the position right in front of both speakers (taken from PathPlanner). On the red side it’s perfect, but on the blue side it’s inside of the speaker.
Sorry I can’t send actual code rn, I’m on mobile.
What version of shuffleboard are you running? There were updates to the field dimensions/coordinates made in 2024.2.1.
It might be that, I’ll check the version when I get back to the lab (left my laptop there lolol)
We’re on 2024.1.1
Could that be it?
Yes that’s almost certainly the cause. I would strongly recommend you upgrade to the latest version.
Wow, that’s pretty stupid of me. Thanks for the help. I’ll see if that fixes it I suppose.
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