Field Orientation

The pond library assumes the standard FIRST FTC field orientation:

Shows field orientation from FTC.

Please pay attention to field orientation as errors due to misorientation might be subtle and hard to diagnose.

Robot Orientation

Robot-centered orientation is where the movement of the robot is based on the robot’s own perspective. For instance, if the joystick is pushed forward, the robot moves forward based on its front no matter how it’s oriented. The pond library uses robot-centered orientation. Because of this, be sure to account for that change when driving the robot.

Shows robot-centered orientation diagram.

Units

Measurement Unit Comment
Distance (Any) Be consistent across code
Angle Radians Unless otherwise denoted
Time Seconds When possible, use the Duration class to correctly represent time with nanosecond precision

Per above, if distance is used in Inches, Speed will be represented in Inches/Second.