Navx and Odometry for Swerve Drive

I was wondering whether I should just use the navx or program odometry for a swerve drive. Is there a reason to use one over the other? Or should I use the navx as a parameter I pass into the gyro for odometry?

I’m using this as a resource: Swerve Drive Odometry — FIRST Robotics Competition documentation

The NavX is the sensor that would provide the gyro heading you would pass into the odometry, yes.

Odometry combines the position of the swerve modules with the gyro to get both position and rotation on the field.

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