pinpoint

name	pinpoint
description	Helps configure and use the GoBilda Pinpoint odometry computer for robot localization. Use when setting up Pinpoint, configuring pod offsets, troubleshooting LED status, tuning encoders, or integrating with Pedro Pathing.
license	MIT
compatibility	Claude Code, Codex CLI, VS Code Copilot, Cursor
metadata	{"author":"ncssm-robotics","version":"1.1.0","category":"hardware"}

GoBilda Pinpoint Odometry Computer

The Pinpoint performs sensor fusion between two dead-wheel odometry pods and an internal IMU at ~1500Hz (vs typical 100-300Hz), providing highly accurate position tracking.

Quick Start with Pedro Pathing

1. Hardware Configuration

In your robot configuration (Driver Station), add the Pinpoint as an I2C device:

• Type: goBILDA Pinpoint Odometry Computer
• Name: pinpoint
• Port: Any I2C port except port 0 (reserved for IMU)

2. PinpointConstants Setup

In Constants.java:

public static PinpointConstants localizerConstants = new PinpointConstants()
    .forwardPodY(0)           // Forward pod Y offset in inches (see POD_OFFSETS.md)
    .strafePodX(-4)           // Strafe pod X offset in inches
    .hardwareMapName("pinpoint")
    .encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)
    .forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD)
    .strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD);

3. Add to FollowerBuilder

public static Follower createFollower(HardwareMap hardwareMap) {
    return new FollowerBuilder(followerConstants, hardwareMap)
        .pinpointLocalizer(localizerConstants)
        .mecanumDrivetrain(driveConstants)
        .build();
}

Encoder Resolution Options

Pod Type	Constant	Ticks/mm
goBILDA 4-Bar Pod	goBILDA_4_BAR_POD	19.89
goBILDA Swingarm Pod	goBILDA_SWINGARM_POD	13.26
Custom	.customEncoderResolution(ticks_per_mm)	-

LED Status Reference

Color	Status	Action
Green	READY	Normal operation
Red	CALIBRATING	Wait ~0.25s
Red	NOT_READY	Device initializing
Purple	NO_PODS_DETECTED	Check both pod connections
Blue	X_POD_NOT_DETECTED	Check forward pod (port X)
Orange	Y_POD_NOT_DETECTED	Check strafe pod (port Y)

Coordinate System

Pinpoint Internal

• X (forward): Positive when robot moves forward
• Y (strafe): Positive when robot moves left
• Heading: Radians, counterclockwise positive
• Units: mm internally (divide by 25.4 for inches)

Pedro Pathing Integration

When used with Pedro Pathing, coordinates are automatically converted:

• X: Positive to the right (field perspective)
• Y: Positive toward back wall
• Origin: Field corner (0, 0)
• Units: Inches

The Pedro Pathing Pinpoint localizer handles all conversions internally.

Coordinate Conversion (Standalone)

// Pinpoint to Pedro coordinates
fun pinpointToPedro(pinpointPose: Pose2D): Pose {
    // Convert mm to inches
    val xInches = pinpointPose.x / 25.4
    val yInches = pinpointPose.y / 25.4

    // Swap axes (Pinpoint forward = Pedro +Y)
    // Note: Actual mapping depends on robot orientation
    return Pose(yInches, xInches, pinpointPose.heading)
}

Essential Methods (Standalone Use)

// Initialize in init()
pinpoint = hardwareMap.get(GoBildaPinpointDriver.class, "pinpoint");
pinpoint.setOffsets(xOffset_mm, yOffset_mm);
pinpoint.setEncoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD);
pinpoint.resetPosAndIMU();  // MUST be stationary!

// In loop()
pinpoint.update();  // Call every loop to refresh data
Pose2D pos = pinpoint.getPosition();  // x, y in mm; heading in radians

Anti-Patterns

Don't: Use I2C port 0

// BAD - Port 0 is reserved for internal IMU
// Robot configuration: pinpoint on Port 0  <-- WRONG!

// GOOD - Use any port except 0
// Robot configuration: pinpoint on Port 1, 2, or 3

Don't: Move robot during reset

// BAD - Calibration fails if robot is moving
pinpoint.resetPosAndIMU();
follower.followPath(path);  // Started too soon!

// GOOD - Ensure robot is stationary
pinpoint.resetPosAndIMU();
sleep(300);  // Wait for calibration (LED turns green)
follower.followPath(path);

Don't: Forget to call update()

// BAD - Position data is stale
Pose2D pos = pinpoint.getPosition();  // Same value every loop!

// GOOD - Update before reading
pinpoint.update();
Pose2D pos = pinpoint.getPosition();

Don't: Ignore LED status

// BAD - Using bad data without checking
// LED is purple but code continues anyway

// GOOD - Check status before trusting data
if (pinpoint.getDeviceStatus() == DeviceStatus.READY) {
    Pose2D pos = pinpoint.getPosition();
    // Use position data
}

Reference Documentation

• HARDWARE_SETUP.md - Physical installation and wiring
• POD_OFFSETS.md - Measuring and configuring offsets
• TUNING.md - Encoder direction and yaw scalar tuning
• API_REFERENCE.md - Complete driver API
• TROUBLESHOOTING.md - Common issues and fixes