Axis Mapping

Robot Axis Mappings

These are the positive directions of the axis we should be using in the code.

+X: Forwards

+Y: Left

+Z: Counter Clockwise (looking from above)

             <---

                 \

       + X        |

        ^         |

        |        + Z

+ Y <------>

        |

        v

There two main coordinate frames:

• Global (field): Forwards is away from the current driver station, the origin is game dependent but some sensible ones are the center of the field and the bottom right corner.

• Local (robot): We decide a front of the robot each year which is forwards, the origin in the center of the robot.

Some other things (e.g. joysticks) will use different axis directions, it is important to remember this and convert between them appropriately.