Calibrating the Odometry¶
One final step.
- Required Equipment:
Fully built F1TENTH vehicle
Logitech F710 joypad
Difficulty Level: Intermediate
Approximate Time Investment: 1 hour
Now that everything is built, configured, and installed, the odometry of the vehicle needs to be calibrated. The VESC receives input velocities in m/s and steering angles in radians. However the motor and servo requires commands in revolution per minute (RPM) and servo positions. The conversion parameters will need to be tuned to your specific car.
The parameters in vesc.yaml need to be calibrated.
If you have any build and/or setup questions, post to the forum.