#import "/packages.typ": notebookinator
#import notebookinator: *
#import themes.radial.components: *

#show: create-body-entry.with(
  title: "Decide: Drivetrain Sensors",
  type: "decide",
  date: datetime(year: 2023, month: 07, day: 28),
  author: "<NAME>",
  witness: "<NAME>",
)

We rated each configuration for:
- Ease of use on a scale of 1 to 2
- Accuracy on a scale of 1 to 5
- Compactness on a scale of 1 to 3
We weighted accuracy so high due to how crucial it is that the tracking
correctly represent the robot's location throughout the entire match.
#decision-matrix(
  properties: ((name: "Ease of use"), (name: "Accuracy"), (name: "Compactness")),
  ("GPS", 2, 2, 3),
  ("Three Tracking Wheels", 1, 5, 1),
  ("Two Tracking Wheels and IMU", 1.5, 4.5, 2),
  ("Integrated Motor Encoders", 1, 2, 3),
)

#admonition(
  type: "decision",
)[
  We decided on two tracking wheels and an IMU due to just the right balance of
  accuracy, compactness, and ease of use.
]

#heading([Final Tracking Wheel Design], level: 1)

#grid(
  columns: (50%, 50%),
  rows: (25%, 25%),
  gutter: 0pt,
  image("../assets/tracking-wheels/isometric.png"),
  image("../assets/tracking-wheels/front.png"),
  image("../assets/tracking-wheels/top.png"),
  image("../assets/tracking-wheels/side.png"),
)

#colbreak()

#set align(center)

#image("../assets/tracking-wheels/part-drawings/1.png")
#image("../assets/tracking-wheels/part-drawings/2.png")
