FRC Coordinate Gimbal

Historically WPILIB has used several different coordinate systems. Starting 2023, they are standardising on one. I created this gimbal to celebrate, and to help to visualise poses.

To use, hold the outside vertical and flip the inner two rings horizontal. It shows the directions of the XYZ axes (using the NWU convention), and allow you to set roll, pitch, and yaw.

Print with no supports (the internal bearing surfaces are at 45°). Use a contrasting filament colour for the top few layers.