Axis Mapping

Robot Axis Mappings

These are the axis mapping we use for the robot, for example in the Chassis subsystem or the OmniDrive command

+X: Forwards

+Y: Port (Left)

+Z: Counter Clockwise

             <---
                 \
       + X        |
        ^         |
        |        + Z
+ Y <------>
        |
        v

WPILib/HID Axis Mappings

These are what wpilib considers to be axis mappings

+X: Starboard (right)

+Y: Backwards

+Z: Clockwise

            + Z _
                 \
                  |
        ^         |
        |         V
    <------> +X
        |
        v
        +Y

New (2018) WPILib Axis Mappings

Starting in 2018, the WPILib drive classes started following the NED (North, East, Down) convention. This means:

  • +X: Forwards
  • +Y: Starboard (right)
  • +Z: Clockwise

Note that joysticks are unaffected by this change.