Hello, our FTC team has been working with the SparkFun OTOS sensor, but we are consistently seeing incorrect distance readings.
What we’ve tried/our setup:
- We have run both the unmodified sample OpMode and our own code (both show the same issue).
- We use clean and flat FTC standard AndyMark tiles (new this year).
- The sensor is mounted at the exact center of the robot, 10mm above the field tiles.
- We have removed the Kapton tape, and the sensor lens is clean.
- The testing environment is a consistent temperature.
- We have tried adjusting the linear scalar.
- We have adjusted the angular scalar (heading drift is now minimal, ~1e-11 °/sec).
Problem:
The OTOS consistently reports incorrect distance values.
- The error isn’t uniform between X and Y.
- From test to test the amount of inconsistency varies.
- It increases as the robot moves, but not at a consistent rate (sometimes growing faster in X, sometimes in Y).
- OTOS especially struggles when multiple waypoints are used Adjustment of the scalar
- It’s not necessarily a growing error from one waypoint to another. It’s more of an error that may become larger or smaller from one waypoint to the next.
Questions:
- Is there a way to adjust the X and Y scalars independently?
- Has anyone else seen this issue on AndyMark FTC tiles, and if so how did you correct it?
- Could this be a hardware issue, or is further calibration needed?
Any advice would be greatly appreciated — thank you!