Programming, Controls & SensorsModule 4 of 13
Autonomous: Odometry, Trajectories, and Simulation
Make the robot navigate the field on its own. Track position with odometry, generate and follow paths with PathPlanner and Choreo, build full autonomous routines, and test everything in simulation before touching hardware.
Autonomous: Odometry, Trajectories, and Simulation is module 4 of 13 in the Programming, Controls & Sensors guide. It picks up where Motors, Sensors, and Closed-Loop Control left off and hands over to Sensing Fundamentals: Digital, Analog, and CAN Inputs. Its 4 lessons are about 175 minutes of the guide's ~30 hours.
4 lessons~175 min51 lessons in this guide
In this module
4 lessons
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FRC terms used in Autonomous: Odometry, Trajectories, and Simulation
- Autonomous AutoThe opening segment of a match where the robot operates entirely on pre-programmed code with no driver input.
- OdometryTracking the robot's position on the field over time using encoder and gyro data (often fused with vision).
- ChoreoA trajectory-optimization tool that generates time-optimal autonomous paths, often paired with WPILib.
- PathPlannerA popular tool for designing and following autonomous paths/trajectories for FRC drivetrains.
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All 13 modules in Programming, Controls & Sensors
Department overview- PreProgramming Foundations: A Java Primer4
- 01Foundations: Tools, Languages, and Your First Robot Program4
- 02The Robot Program: Lifecycle and Command-Based Architecture4
- 03Motors, Sensors, and Closed-Loop Control4
- 04Autonomous: Odometry, Trajectories, and Simulation4
- 05Sensing Fundamentals: Digital, Analog, and CAN Inputs3
- 06Encoders: Measuring Position and Velocity3
- 07Gyros, IMUs, and Orientation3
- 08Closed-Loop Control: PID, Feedforward, and SysId4
- 09Computer Vision and Pose Estimation3
- 10Worked Examples and Mini-Projects5
- 11Common Mistakes and Troubleshooting5
- 12Advanced Techniques and Case Studies5