goBILDA Pinpoint Odometry Computer

Help your robot know exactly where it’s at with the Pinpoint Odometry Computer! This coprocessor performs sensor fusion between two Dead-Wheel Odometry Pods (like SKU: 3110-0001-0001 or 3110-0001-0002) and an internal IMU to locate your robot to a precise pinpoint. It reads your robot’s estimated position back to the controller via I²C, giving you access to data in a snap.

Features

• Full 3D Orientation Estimation - Track X, Y position and heading angle
• User-Configurable Bulk-Read Windows - Optimize data transfer for your application
• CRC8 Data Protection - Ensures data integrity over I²C communication

Hardware Requirements

• 1x goBILDA Pinpoint Odometry Computer
• 2x Identical Dead-Wheel Odometry Pods:
  • 4-Bar Odometry Pod (32mm Wheel)
  • Swingarm Odometry Pod (48mm Wheel)
• 1x 3.3v Arduino-compatible microcontroller with I²C support

Installation

Arduino Library Manager

• Open the Arduino IDE and select the Library Manager on the left side of the screen
• Type "goBILDA Pinpoint" in the search bar and select "INSTALL"

Manual Install

• Download the library by clicking here
• Unzip the zip file by right clicking it and selecting "Extract All..."
• Extract the zip file to your Arduino libraries folder:
  • Windows: Documents\Arduino\libraries
  • macOS: ~/Documents/Arduino/libraries
  • Linux: ~/Arduino/libraries

Examples

The goBILDA Pinpoint library includes example sketches to help you get started quickly.

Accessing Examples in Arduino IDE

After installing the library, you can access the example sketches:

1. Open the Arduino IDE
2. Click on File -> Examples -> goBILDA Pinpoint (scroll down to find it under "Examples from Custom Libraries")
3. Select an example sketch to open it in a new window

Setup

1. Include the goBILDA Pinpoint Library

#include <goBILDA_Pinpoint.h>

2. Create the Pinpoint object that will communicate with your pinpoint and initialize communication

goBILDA::Pinpoint pinpoint;

void setup(){
	pinpoint.begin();
	pinpoint.setPosX(0.0);                                                                                  // Set the current x-position        (millimeters)
  	pinpoint.setPosY(0.0);                                                                                  // Set the current y-position        (millimeters)
  	pinpoint.setHeading(0.0);                                                                               // Set the current heading           (radians)
  	pinpoint.setOffsets(0.0, 0.0);                                                                          // X/Y offset from the robots center (millimeters)
  	pinpoint.setEncoderResolution(goBILDA::EncoderResolution::goBILDA_4_BAR_POD);                           // Set the encoder resolution        (millimeters per tick)
  	pinpoint.setEncoderDirections(goBILDA::EncoderDirection::Forward, goBILDA::EncoderDirection::Forward);  // Set X and Y encoder directions
}

Usage

You can use this library in many ways, but here are a few ways to grab data from the Odometry Computer.

	float x_position = pinpoint.getPositionXInMM();
    float y_position = pinpoint.getPositionYInMM();
    float heading    = pinpoint.getNormalizedHeading();