ApexPathing Docs

Setup ​

Configure Motor Names ​

Change the names of the drive motors MecanumConstants.java

java
    public String leftFrontMotorName = "leftFront";
  public String rightFrontMotorName = "rightFront";
  public String leftRearMotorName = "leftRear";
  public String rightRearMotorName = "rightRear";

Set Motor Directions ​

Change these directions in the MecanumConstants.java

java
    public DcMotorSimple.Direction leftFrontMotorDirection = DcMotorSimple.Direction.REVERSE;
    public DcMotorSimple.Direction leftRearMotorDirection = DcMotorSimple.Direction.REVERSE;
    public DcMotorSimple.Direction rightFrontMotorDirection = DcMotorSimple.Direction.FORWARD;
    public DcMotorSimple.Direction rightRearMotorDirection = DcMotorSimple.Direction.FORWARD;

Set Pod Offsets ​

  • Pinpoint: Change your odometry pod offsets in PinpointLocalizer.kt
kotlin
var xOffset: Double = 0.0;
    var yOffset: Double = 0.0;
  • 3 Wheel: Change the names: strafePodName, rightPodName, leftPodName in ThreeWheelLocalizer.kt (lines 24-26) For pinpoint there are 2 offsets, for 3 wheel there are 3 offsets

Set Pod Names ​

  • Pinpoint: change the deviceName in line 27 of the pinpointLocalizer.kt file
  • 3 Wheel: change the names in ThreeWheelLocalizer.kt, on line 15

Configure Odometry type ​

  • Pinpoint Directions: change the directions on line 31 & 32 in PinpointLocalizer.kt
java
GoBildaPinpointDriver.EncoderDirection.FORWARD,
GoBildaPinpointDriver.EncoderDirection.FORWARD
  • 3 Wheel: Change this wheel size radius (it's in mm) val wheelRadius:Double = 48.0

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