# Coordinate Systems¶

In FRC®, there are two main coordinate systems that we use for representing objects’ positions.

## Field Coordinate System¶

The field coordinate system (or global coordinate system) is an absolute coordinate system where a point on the field is designated as the origin. Positive \(\theta\) (theta) is in the counter-clockwise direction, and the positive x-axis points away from your alliance’s driver station wall, and the positive y-axis is perpendicular and to the left of the positive x-axis.

Note

The axes are shown at the middle of the field for visibility. The origins of the coordinate system for each alliance are shown below.

Below is an example of a field coordinate system overlayed on the 2020 FRC field. The red axes shown are for the red alliance, and the blue axes shown are for the blue alliance.

## Robot Coordinate System¶

The robot coordinate system (or local coordinate system) is a relative coordinate system where the robot is the origin. The direction the robot is facing is the positive x axis, and the positive y axis is perpendicular, to the left of the robot. Positive \(\theta\) is counter-clockwise.

Note

WPILib’s `Gyro`

class is clockwise-positive, so you have to invert the reading in order to get the rotation with either coordinate system.