705 FTC Pedro Pathing to Success

This presentation will teach students and mentors how Pedro Pathing works and how it can be applied to effectively control and navigate a robot. The presentation will break down the different layers and components of Pedro Pathing, explaining how each relates to a specific part of the robot and contributes to accurate autonomous movement. Topics will include odometry and calibration, Bezier curves and path generation, path completion, and methods for proper testing and validation. We will also explain how to integrate the Limelight camera into the testing and Pedro Pathing process, including the use of AprilTags for localization and alignment. The presentation will explore the geometry behind shooting, including how robot position, heading, and distance affect accuracy. We will also discuss latency, why it matters in vision and autonomous systems, and how to account for it when developing reliable robot movement. Finally, we will cover debugging techniques, common problems encountered while developing autonomous paths, and strategies for systematically identifying and fixing issues. Alongside the technical material, we will share our team's journey of learning and implementing Pedro Pathing, including lessons learned, challenges we encountered, and how our understanding of autonomous navigation developed throughout the process. The goal is to give students and mentors both a technical understanding of Pedro Pathing and practical knowledge they can apply when developing, testing, and debugging their own robots. Presenters: Sahil S., Max X., Andrew L. | Team: Geneton School: Fulton Science Academy | Team 26507