Add localization information

source/docs/common-mechanisms/dead-wheels.rst

@@ -221,6 +221,19 @@ A much more niche option is to vertically spring odometry pods. The idea is that
 
    FTC 18172's vertical springing
 
+Pre-Built Odometry
+^^^^^^^^^^^^^^^^^^
+
+For newer teams that want to experiment with the software implementations of dead wheels without building the pods from scratch, pre-built dead wheel pods can be useful. As of the 23-24 CENTERSTAGE FTC season, sprung odometry pods are exempt from the no-more-than-one degree of freedom requirement for prebuilt parts. With this in mind, goBuilda has begun selling `full prebuilt dead wheels <https://www.gobilda.com/odometry-pod-43mm-width-48mm-wheel/>`_ (with encoders and all the required hardware).
+
+.. figure:: images/odometry/goBuildaPod.png
+   :alt: goBuilda's odometry pods
+   :width: 40em
+
+   goBuilda's pre-built odometry pods
+
+Teams have used these odometry pods to localize with great success, but they are on the expensive side (~$100 per pod) and their long-term reliability has yet to be seen.
+
 Gallery
 -------
 

source/docs/software/concepts/odometry.rst

@@ -174,7 +174,9 @@ We'll treat the way it is solved in this page as a black box, and derive the for
 Resources for Odometry
 ----------------------
 
-There are several great resources out there for odometry. We highly recommend `Road Runner <https://acme-robotics.gitbook.io/road-runner/>`_. For the math behind Road Runner (which utilizes pose exponentials), you can also read `Ryan's paper <https://github.com/acmerobotics/road-runner/blob/master/doc/pdf/Mobile_Robot_Kinematics_for_FTC.pdf>`_. An additional resource for Road Runner is `Learn Road Runner <https://learnroadrunner.com/>`_ which is a step-by-step procedural guide that explains how to work with the `Road Runner quickstart <https://github.com/acmerobotics/road-runner-quickstart>`_.
+There are several great resources out there for odometry. We highly recommend `Road Runner <https://acme-robotics.gitbook.io/road-runner/>`_. For the math behind Road Runner (which utilizes pose exponentials), you can also read `Ryan's paper <https://github.com/acmerobotics/road-runner/blob/master/doc/pdf/Mobile_Robot_Kinematics_for_FTC.pdf>`_. Roadrunner currently has a legacy version and a newer version in beta; the beta implements a new action framework that eliminates continuity errors and signfiicantly simplifies the tuning process. An additional resource for legacy Road Runner is `Learn Road Runner <https://learnroadrunner.com/>`_ which is a step-by-step procedural guide that explains how to work with the `Road Runner quickstart <https://github.com/acmerobotics/road-runner-quickstart>`_. For beta roadrunner, the `official docs <https://rr.brott.dev/docs/>`_ detail migration and tuning.
+
+The MeepMeep visualizer is immensely helpful in prototyping and debugging paths in Roadrunner. It can be run from within Android Studio, and the legacy-compatible version is maintained in this `git repo <https://github.com/NoahBres/MeepMeep>`_, while the beta-compatible one is `here <https://github.com/acmerobotics/MeepMeep>`_.
 
 We also recommend `Tyler's book <https://file.tavsys.net/control/controls-engineering-in-frc.pdf>`_ as it goes into great detail about various controls in *FIRST*\ |reg| robotics.