# Odometry V2 Optii Odometry V2 is a revolutionary odometry pod designed for First Tech Challenge robots.

This odometry pod is the most compact one ever, with a tiny 39 x 39mm footprint. It is only 64.5mm in height and when compressed, shrinks down to just 48mm tall.

It was designed with FTC teams in mind, allowing for easy mounting with any build system or robot design. With tapped M4 holes on the side perfect for Gobilda channels or a parallel plate drivetrain and M3 holes to fit REV channels, you can easily integrate Odometry V2 into your robot design.

The compact design of the pod allows it to be oriented in two directions within either REV or goBILDA U-Channel, allowing for much more flexibility in design. Furthermore, the vertically sprung design of this lets you free up more space in your robot. Additionally, the springs of Odometry V2 have less force than V1 to allow for better compatibility with any team's robot design.

This odometry pod also includes an attachment point for strings such that the pod can be retracted to avoid any terrain. Odometry V2 should be mounted such that the top of the mounting plate is 54 - 60mm above the floor. \ \ Whether you are looking to upgrade your existing odometry solution or need a compact and easy to use solution FTC robot, Odometry V2 is the perfect choice for FTC teams who want precision and flexibility. Odometry V2 is legal in the First Tech Challenge. ### Features * Compatible mounting with goBILDA U-Channel. * Compatible mounting with REV U-Channel. * Compatible mounting with parallel plate drive trains. * 7mm aluminium mounting plate for rigid mounting. * Custom on-axis 4096 CPR quadrature encoder which eliminates backlash, ensuring accurate data. * 35mm omni wheels with TPE (57A) rollers that are perfect for the FTC field, providing great traction. * 16.5mm of vertical travel, measuring 48 mm in height at full compression and 64.5 mm at full extension. * Retractable design with mounting point for retraction string # Specifications ## Table of Values | Parameter | Value | | ------------------------------------- | ------------------------------------ | | Weight | 70g | | Length | 39mm | | Width | 39mm | | Height | 48mm - 64.5mm | | Vertical Travel | 16.5mm | | Encoder Resolution | 4096 Countable Events Per Revolution | | Wheel Diameter | 35mm | | Wheel Material | TPE | | Wheel Durometer | 57A | | Spring Force (at maximum compression) | 0.6kg | ### Drawings

# User Guide {% content-ref url="/pages/JkFb0LEDeFCEyW49K56m" %} [Mounting](/odometry-v2/user-guide/mounting) {% endcontent-ref %} {% content-ref url="/pages/iVLKncJRixTCrAfptpgp" %} [Wiring](/odometry-v2/user-guide/wiring) {% endcontent-ref %} # Mounting ## Tips For Mounting {% hint style="success" %} Mounting Odometry V2 in a rigid way will help to provide the most accurate readings possible. In addition, it helps to ensure that any knocks to the pod will not cause it to become misaligned. {% endhint %} When mounting Optii Odometry, the recommended height for mounting is 54 - 60 mm from the top of the mounting plate, to the bottom of your drive wheels. These heights ensure that even with tile sink, Odometry V2 will have room to travel freely and have proper traction with the floor. To make mounting super easy, you can simply bolt into just one side of the top plate as long as the surface you are mounting to is a rigid flat surface. The flat rigid surface of the top plate will result in a secure connection. Make sure when you attach through the M4 holes that you use some spacers to ensure the pod does not scrape against the side of the part.

The depth of the tapped M4 threads on the side is 5mm, so make sure your bolts aren't too long.

## Mounting With Gobilda Hardware Odometry V2 is well suited to robots that use Gobilda hardware as the odometry pods fit perfectly into the U-Channel and the mounting holes line up. In addition it can be lined up such that the encoder cable can slide right through the 16mm hole in the channel. The below diagram shows the recommended position for mounting Odometry V2 in a U-Channel.

{% hint style="success" %} Odometry V2 can be mounted in 2 directions within the Gobilda U-Channel. A great way to include Odometry V2 in your robot is by placing each of your odometry pods in a U-Channel across your robot. {% endhint %}

{% hint style="info" %} Please note that the spacing of Odometry V2 shown above is for promotional purposes. It is better practice to separate the parallel wheels with a larger distance. {% endhint %} ## Mounting with REV Hardware Odometry V2 is also well suited to robots that use REV hardware as the odometry pods fit perfectly into the U-Channel and the mounting holes line up. In addition it can be lined up such that the encoder cable can slide right through the hole in the channel. The below diagram shows the recommended position for mounting Odometry V2 in a U-Channel.

{% hint style="success" %} Odometry V2 can be mounted in 2 directions within the REV U-Channel. A great way to include Odometry V2 in your robot is by placing each of your odometry pods in a U-Channel across your robot. {% endhint %} {% hint style="warning" %} Be careful not to let bolts extend too far downwards to ensure they do not touch the carriage. To avoid this, either find suitable length bolts, or insert the bolts from underneath the top plate. {% endhint %} ## Mounting in a Custom Drivetrain Mounting with Odometry V2 is super flexible, you can make use of either: * 3mm holes in 8mm grid on top * M4 tapped holes in 16mm grid on side # Wiring ## Connecting Odometry V2 to Control/Expansion Hub Odometry V2 should be connected to an Encoder port on the REV Control or Expansion Hub. It is recommended that the ports used for Odometry V2 are associated with the ports in which a robot's drive motors are plugged into

Control Hub Pinout (Diagram from Rev Robotics)

{% hint style="success" %} In doing so, you may have to remove the encoders of your drive motors. This should not be a problem if these were previously used to track the position of their robot as this is no longer needed once Odometry V2 is implemented. {% endhint %} ## Replacing the Cable Replacing the encoder cable of Odometry V2 is simple, simply pull the cable out from the port on the encoder and replace it with your choice of cable. Make sure you route your new cable back through the hole in the top plate. ## Cable Routing It is recommended that the encoder cable of Odometry V2 is routed through the hole in the mounting plate. Other routing could cause the cable to become entangled. ## Cable Strain Relief When securing the encoder cable for cable management, ensure that enough length is left to allow full travel of Odometry V2 without straining this cable. # Troubleshooting ## Ensuring Smooth Vertical Travel If you notice that the vertical travel of Odometry V2 is not smooth, you may take the following steps to troubleshoot. If you notice a bushing slip out of the part, this is related to this issue, simply press the bushing back in and resolve the issue as outlined below. ### Check run in If the pod has not been in use yet, and you notice the travel is not smooth, it may require a few repetitions of compression and extension to run in the bushings and standoffs. Simply compress and release the pod until you notice an increase in smoothness, this process should be fairly quick. ### Check standoff bolts If the issue persists, there may be a small misalignment in a standoff bolt. To resolve this issue, the bolt identified in the image below should be loosened approximately 1/8th of a turn. {% hint style="warning" %} If adjusting this bolt, be sure to add some medium strength threadlocker (eg. Loctite 243) to ensure the rigidity of the assembly. {% endhint %}

If issues persist, please contact us at . # Encoder V2 User guide coming soon. # FTC Odometry Kit User guide coming soon. # Odometry V1 ## Odometry V1 Overview

Optii Odometry is a strong, lightweight and compact solution to odometry in the First Tech Challenge. It allows teams to easily integrate dead wheel odometry into their robots and immediately up their performance. Optii Odometry arrives fully assembled, just a couple bolts and your FTC team can be certain that they will receive reliable and accurate data, allowing them to truly unlock the potential of their robot, both in autonomous and tele-op. ## Features * 7.5 mm aluminium mounting plate * Carbon fibre filled nylon parts * Carbon steel bushings and steel shoulder bolts * High-resolution on-axis encoder * 35 mm omni wheel with TPE (57A) rollers * 300 mm JST PH 4-Pin connector * 16.5 mm of vertical travel * 4 mm mounting holes in 8mm grid pattern # Specifications ## Table of Values | Parameter | Value | | ------------------------------------- | ------------------------------------ | | Weight | 92 g | | Length | 41 mm | | Width | 41 mm | | Height | 58.15 mm - 74.65 mm | | Vertical Travel | 16.5 mm | | Encoder Resolution | 4096 Countable Events Per Revolution | | Wheel Diameter | 35 mm | | Wheel Material | TPE | | Wheel Durometer | 57A | | Spring Force (at maximum compression) | 1.8 kg | ## Drawings

# User Guide {% content-ref url="/pages/cyKIsH8h33uuOGPuD1h4" %} [Mounting](/odometry-v1/user-guide/mounting) {% endcontent-ref %} {% content-ref url="/pages/INHEmM1oGkvIuHIA2ahF" %} [Wiring](/odometry-v1/user-guide/wiring) {% endcontent-ref %} {% content-ref url="/pages/feQOyfm97u7lD9qjgigf" %} [Traction Loss](/odometry-v1/user-guide/traction-loss) {% endcontent-ref %} {% content-ref url="/pages/IO1X8ZECObGDpZsKJwlp" %} [Ensuring Smooth Vertical Travel](/odometry-v1/user-guide/ensuring-smooth-vertical-travel) {% endcontent-ref %} # Mounting ## Tips For Mounting Included with Optii Odometry are 2 M4 x 16 mm bolts and 2 M4 nyloc nuts. The mounting holes of Optii Odometry fit into an 8 mm grid pattern.

{% hint style="success" %} Make sure you tighten these M4 bolts well. Having a secure mounting for Optii Odometry allows it to be very rigid, improving the accuracy of your odometry readings. In addition, it helps to ensure that any knocks to the pod will not cause it to become misaligned. {% endhint %} When mounting Optii Odometry, the recommended height for mounting is 66 - 74 mm from the top of the mounting plate, to the bottom of your drive wheels. These heights ensure that even with tile sink, Optii Odometry will have room to travel freely and have proper traction with the floor. ## Mounting With Gobilda Optii Odometry is well suited to robots that use Gobilda parts as the odometry pods fit perfectly into the U-Channel and the mounting holes line up. In addition it can be lined up such that the encoder cable can slide right through the 16mm hole in the channel. {% hint style="success" %} Optii Odometry can be mounted in 2 directions within the Gobilda U-Channel. A great way to include Optii Odometry in your robot is by placing each of your odometry pods in a U-Channel across your robot. {% endhint %}

{% hint style="info" %} Please note that the spacing of Optii Odometry shown above is for promotional purposes. It is better practice to separate the parallel wheels more. {% endhint %} ## Custom Mounting {% hint style="warning" %} If the mounting of Optii Odometry is not sufficiently rigid, it may affect the accuracy of readings. Make sure you secure the mounting plate to a rigid part of your robot. {% endhint %} Ensure you provide a hole for cable routing. Refer to [Wiring](/odometry-v1/user-guide/wiring) for recommended cable routing practice. Check that the mounting height is suitable. Cover the top of each shoulder bolt in the mounting plate. This will help to ensure the rigidity of your mounting and protect it from damage. # Wiring ## Connecting Optii Odometry to Control/Expansion Hub Optii Odometry should be connected to an Encoder port on the REV Control or Expansion Hub. It is recommended that the ports used for Optii Odometry are associated with the ports in which a robot's drive motors are plugged into

**Loosen and remove the M4 carriage bolts** Using a 2.5 mm allen key, these should be loosened until the two sides of the odometry pod can be separated.

**Take the wheel off of the hub**

**Remove the cable** Using a thin tool such as a small flathead screwdriver, gently push the connector of the cable to disconnect it. You can now replace the cable with a new one.

**Add and tighten the M4 carriage bolts** Ensure that when doing so, the wheel is correctly positioned and the bearings are inserted properly. **Slide the carriage back on the shoulder bolts** After sliding the carriage back on, add the M5 nuts back on each shoulder bolt. Tighten these nuts until the bottom of the nut touches the shoulder of the bolt.

Ensure that the shoulder bolts sit flush within the mounting plate. If it is difficult to push the head of the bolt into the socket, use a 3mm allen key and rotate the bolt while pressing drown.

{% hint style="warning" %} After reassembling Optii Odometry, ensure that the vertical motion of Optii Odometry behaves as outlined in [Ensuring Smooth Vertical Travel](/odometry-v1/user-guide/ensuring-smooth-vertical-travel) {% endhint %} ## Cable Routing It is recommended that the encoder cable of Optii Odometry is routed through the hole in the mounting plate. Other routing could cause the cable to become entangled.

## Cable Strain Relief When securing the encoder cable for cable management, ensure that enough length is left to allow full travel of Optii Odometry without straining this cable.

# Traction Loss ## Traction Loss Although Optii Odometry should not cause traction issues with proper implementation, some teams may find that with a light robot and multiple odometry pods, the force of the springs may cause the robot to lose some traction on it's driving wheels. Please note that for accurate odometry results, the robot should be tested on official FTC field tiles with a hard surface below the tiles. {% hint style="info" %} For a guide on mounting Optii Odometry properly, refer to [Mounting](/odometry-v1/user-guide/mounting) {% endhint %} Outlined below are 3 solutions which can help teams to solve this issue. ## Changing Mounting Heights As outlined in [Mounting](/odometry-v1/user-guide/mounting), there are many possible heights at which Optii Odometry can be mounted such that it will work effectively. The lower this height, the greater the force provided by the springs of the pod. Therefore, if possible, raising the height at which Optii Odometry is mounted can decrease the force provided by the springs of the force and hence, help to reduce any loss of traction. ## Changing Springs Alternatively, teams can choose to change the springs of Optii Odometry, rather than change the height at which the pods are mounted. The springs used in Optii Odometry have the following specifications: * 8mm Outer Diameter * 30mm Length * 0.6mm Wire Diameter * Stainless Steel The recommended alternative spring should be one with the exact same specifications, but with a wire diameter of 0.4mm. This would ensure that the springs are functionally equivalent, except for the spring force which would be smaller and hence, reduce any loss of traction. ### How To Change Springs **Remove the M5 nuts on each shoulder bolt** Using a 3mm allen key and 8mm spanner, remove the M5 nut from each shoulder bolt.

**Replace springs** The wheel and encoder assembly should now slide off the shoulder bolts. Both shoulder bolts should remain in the assembly, and now switch out for the replacement springs.

**Slide the carriage back on the shoulder bolts** After sliding the carriage back on, add the M5 nuts back on each shoulder bolt. Tighten these nuts until the bottom of the nut touches the shoulder of the bolt.

Ensure that the shoulder bolts sit flush within the mounting plate. If it is difficult to push the head of the bolt into the socket, use a 3mm allen key and rotate the bolt while pressing drown.

## Removing a Spring {% hint style="warning" %} It is recommended that this method should only be used temporarily and teams should try to implement one of the previously mentioned methods instead. {% endhint %} To reduce the force of the springs, it is possible to remove one spring from an Optii Odometry pod. Please note that this may result in uneven force being applied to the omni wheel in the pod and hence, could possibly cause issues with the tracking of this wheel. To remove a spring, follow the method outlined above: [#how-to-change-springs](#how-to-change-springs "mention"). When removing springs, remove a single spring and then move on to the next step. # Ensuring Smooth Vertical Travel ## Vertical Travel Optii Odometry should smoothly travel vertically without catching. When the wheel is pressed upwards, the only resistance that should be felt is that of the compression springs. If the odometry pod does not always spring back quickly into place when released, this may cause odometry readings to be inaccurate. If your team experiences this issue, it can be resolved with the following methods. ## Loosening Carriage Bolts The 2 M4 countersunk bolts shown below may be too tight which can cause inconsistencies with the linear motion of Optii Odometry. Simply use a 2.5 mm allen key to slightly loosen each bolt (approximately one half turn).

Loosening one of the M4 countersunk bolts

{% hint style="warning" %} Please ensure that the bolt remains in contact with the nyloc of the M4 nut (the blue ring). If not in contact, this bolt can loosen with vibrations. {% endhint %} ## Positioning Shoulder Bolts It is important to ensure that the 2 M5 shoulder bolts are seated within the mounting plate correctly. If the bolt is not completely within the counterbore, press it into place. If it is too difficult to press into place, it may be helpful to use a 3 mm allen key to turn the bolt while pressing down.