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A user can use the mecanum drive kinematics classes in order to perform :ref:`odometry <docs/software/kinematics-and-odometry/intro-and-chassis-speeds:What is odometry?>`. WPILib contains a MecanumDriveOdometry class that can be used to track the position of a mecanum drive robot on the field.
Note
Because this method only uses encoders and a gyro, the estimate of the robot's position on the field will drift over time, especially as your robot comes into contact with other robots during gameplay. However, odometry is usually very accurate during the autonomous period.
The MecanumDriveOdometry class requires two mandatory arguments and one optional argument. The mandatory arguments are the kinematics object that represents your mecanum drive (in the form of a MecanumDriveKinematics class) and the angle reported by your gyroscope (as a Rotation2d). The third optional argument is the starting pose of your robot on the field (as a Pose2d). By default, the robot will start at x = 0, y = 0, theta = 0.
Note
0 degrees / radians represents the robot angle when the robot is facing directly toward your opponent's alliance station. As your robot turns to the left, your gyroscope angle should increase. By default, WPILib gyros exhibit…
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GitHub - raczben/tco_study: Case study of synchronous FPGA signaling by adjusting the output timing