Auto-Aiming: Odometry & Vision Integration

How does your robot know where the goal is?

Method 1: Odometry (Dead Reckoning)

• Concept: “I started at (0,0). I moved forward 10 inches. I am at (0,10). The goal is at (0,72). Therefore, I aim at 0 degrees.”
• Pros: Fast (200Hz loop). Always available.
• Cons: Drift. If your wheels slip, your math is wrong forever.

Method 2: Vision (AprilTags/Limelight)

• Concept: Camera sees a tag. Calculates distance and angle.
• Pros: Absolute truth. Corrects for drift.
• Cons: Slow (30Hz). Latency. If the tag is blocked, you are blind.

Method 3: Sensor Fusion (The Winner)

Use Odometry for the high-speed loop. Use Vision to “reset” or “correct” your Odometry (x,y) position every time you see a tag.

Conclusion

Don’t choose. Fuse. This gives you the speed of odometry with the accuracy of vision.