GoBilda Pinpoint Odometry Computer

The Pinpoint performs sensor fusion between two dead-wheel odometry pods and an internal IMU at ~1500Hz (vs typical 100-300Hz), providing highly accurate position tracking.

Quick Start with Pedro Pathing

1. Hardware Configuration

In your robot configuration (Driver Station), add the Pinpoint as an I2C device:

Type: goBILDA Pinpoint Odometry Computer
Name: pinpoint
Port: Any I2C port except port 0 (reserved for IMU)

2. PinpointConstants Setup

In Constants.java:

public static PinpointConstants localizerConstants = new PinpointConstants()
    .forwardPodY(0)           // Forward pod Y offset in inches (see POD_OFFSETS.md)
    .strafePodX(-4)           // Strafe pod X offset in inches
    .hardwareMapName("pinpoint")
    .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)
    .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD)
    .strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD);

3. Add to FollowerBuilder

public static Follower createFollower(HardwareMap hardwareMap) {
    return new FollowerBuilder(followerConstants, hardwareMap)
        .pinpointLocalizer(localizerConstants)
        .mecanumDrivetrain(driveConstants)
        .build();
}

Encoder Resolution Options

Pod Type	Constant	Ticks/mm
goBILDA 4-Bar Pod	`goBILDA_4_BAR_POD`	19.89
goBILDA Swingarm Pod	`goBILDA_SWINGARM_POD`	13.26
Custom	`.customEncoderResolution(ticks_per_mm)`	-

LED Status Reference

Color	Status	Action
Green	READY	Normal operation
Red	CALIBRATING	Wait ~0.25s
Red	NOT_READY	Device initializing
Purple	NO_PODS_DETECTED	Check both pod connections
Blue	X_POD_NOT_DETECTED	Check forward pod (port X)
Orange	Y_POD_NOT_DETECTED	Check strafe pod (port Y)

Coordinate System

Pinpoint Internal

X (forward): Positive when robot moves forward
Y (strafe): Positive when robot moves left
Heading: Radians, counterclockwise positive
Units: mm internally (divide by 25.4 for inches)

Pedro Pathing Integration

When used with Pedro Pathing, coordinates are automatically converted:

X: Positive to the right (field perspective)
Y: Positive toward back wall
Origin: Field corner (0, 0)
Units: Inches

The Pedro Pathing Pinpoint localizer handles all conversions internally.

Coordinate Conversion (Standalone)

// Pinpoint to Pedro coordinates
fun pinpointToPedro(pinpointPose: Pose2D): Pose {
    // Convert mm to inches
    val xInches = pinpointPose.x / 25.4
    val yInches = pinpointPose.y / 25.4

    // Swap axes (Pinpoint forward = Pedro +Y)
    // Note: Actual mapping depends on robot orientation
    return Pose(yInches, xInches, pinpointPose.heading)
}

Essential Methods (Standalone Use)

// Initialize in init()
pinpoint = hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint");
pinpoint.setOffsets(xOffset_mm, yOffset_mm);
pinpoint.setEncoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD);
pinpoint.resetPosAndIMU();  // MUST be stationary!

// In loop()
pinpoint.update();  // Call every loop to refresh data
Pose2D pos = pinpoint.getPosition();  // x, y in mm; heading in radians

Anti-Patterns

Don't: Use I2C port 0

// BAD - Port 0 is reserved for internal IMU
// Robot configuration: pinpoint on Port 0  <-- WRONG!

// GOOD - Use any port except 0
// Robot configuration: pinpoint on Port 1, 2, or 3

Don't: Move robot during reset

// BAD - Calibration fails if robot is moving
pinpoint.resetPosAndIMU();
follower.followPath(path);  // Started too soon!

// GOOD - Ensure robot is stationary
pinpoint.resetPosAndIMU();
sleep(300);  // Wait for calibration (LED turns green)
follower.followPath(path);

Don't: Forget to call update()

// BAD - Position data is stale
Pose2D pos = pinpoint.getPosition();  // Same value every loop!

// GOOD - Update before reading
pinpoint.update();
Pose2D pos = pinpoint.getPosition();

Don't: Ignore LED status

// BAD - Using bad data without checking
// LED is purple but code continues anyway

// GOOD - Check status before trusting data
if (pinpoint.getDeviceStatus() == DeviceStatus.READY) {
    Pose2D pos = pinpoint.getPosition();
    // Use position data
}

Reference Documentation

HARDWARE_SETUP.md - Physical installation and wiring
POD_OFFSETS.md - Measuring and configuring offsets
TUNING.md - Encoder direction and yaw scalar tuning
API_REFERENCE.md - Complete driver API
TROUBLESHOOTING.md - Common issues and fixes