Getting it into your agent
One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.
npx skills add ncssm-robotics/ftc-claude --skill pinpointgit clone --depth 1 https://github.com/ncssm-robotics/ftc-claudeWrote this? Show the measurements
A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.
[](https://agentmods.dev/skills/ncssm-robotics/ftc-claude/pinpoint)<a href="https://agentmods.dev/skills/ncssm-robotics/ftc-claude/pinpoint"><img src="https://agentmods.dev/badge/skills/ncssm-robotics/ftc-claude/pinpoint/github.svg" alt="Measured on agentmods" height="20"></a>Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.
<a href="https://agentmods.dev/skills/ncssm-robotics/ftc-claude/pinpoint"><img src="https://agentmods.dev/badge/skills/ncssm-robotics/ftc-claude/pinpoint.svg" alt="Reviewed on agentmods" width="80" height="20"></a>What it costs to keep this loaded
Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.
| Model | Per session | Once invoked |
|---|---|---|
| Fable 5.1 | $0.00047 | $0.01395 |
| Opus 5 | $0.00023 | $0.00698 |
| Sonnet 5 | $0.00009 | $0.00279 |
| Haiku 4.5 | $0.00005 | $0.00139 |
Grade A, and why
pinpoint scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 10d ago.
A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.
Nothing flagged
None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.
How it starts
The opening of the file, as written. The whole thing — 170 lines — stays where its author put it; the contents beside it link to each section on GitHub.
GoBilda Pinpoint Odometry Computer
The Pinpoint performs sensor fusion between two dead-wheel odometry pods and an internal IMU at ~1500Hz (vs typical 100-300Hz), providing highly accurate position tracking.
Quick Start with Pedro Pathing
1. Hardware Configuration
In your robot configuration (Driver Station), add the Pinpoint as an I2C device:
- Type:
goBILDA Pinpoint Odometry Computer - Name:
pinpoint - Port: Any I2C port except port 0 (reserved for IMU)
2. PinpointConstants Setup
In Constants.java:
public static PinpointConstants localizerConstants = new PinpointConstants()
.forwardPodY(0) // Forward pod Y offset in inches (see POD_OFFSETS.md)
.strafePodX(-4) // Strafe pod X offset in inches
.hardwareMapName("pinpoint")
.encoderResolution(GoBildaPinpointDriver.GoBildaOdometryPods.goBILDA_4_BAR_POD)
.forwardEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD)
.strafeEncoderDirection(GoBildaPinpointDriver.EncoderDirection.FORWARD);
3. Add to FollowerBuilder
public static Follower createFollower(HardwareMap hardwareMap) {
return new FollowerBuilder(followerConstants, hardwareMap)
.pinpointLocalizer(localizerConstants)
.mecanumDrivetrain(driveConstants)
.build();
}
Encoder Resolution Options
| Pod Type | Constant | Ticks/mm |
|---|---|---|
| goBILDA 4-Bar Pod | goBILDA_4_BAR_POD |
19.89 |
| goBILDA Swingarm Pod | goBILDA_SWINGARM_POD |
13.26 |
| Custom | .customEncoderResolution(ticks_per_mm) |
- |
LED Status Reference
| Color | Status | Action |
|---|---|---|
| Green | READY | Normal operation |
| Red | CALIBRATING | Wait ~0.25s |
| Red | NOT_READY | Device initializing |
| Purple | NO_PODS_DETECTED | Check both pod connections |
| Blue | X_POD_NOT_DETECTED | Check forward pod (port X) |
| Orange | Y_POD_NOT_DETECTED | Check strafe pod (port Y) |
Coordinate System
Pinpoint Internal
- X (forward): Positive when robot moves forward
- Y (strafe): Positive when robot moves left
- Heading: Radians, counterclockwise positive
- Units: mm internally (divide by 25.4 for inches)
What ships with it
5 files beside SKILL.md in the same directory: the scripts, references and assets a skill reads on demand. Not counted in the per-session cost; read them before you install if any of them is executable.
What this file has done since we first saw it
Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.
- 10d ago First seen · 170 lines · 47 tokens per session scan A aba5c53f409b
pinpoint is a skill published in the GitHub repository ncssm-robotics/ftc-claude (4 stars, last pushed 7mo ago), licensed MIT. It adds 47 tokens to every session and 1,395 once invoked, about $0.0002 per session on Opus 5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-31.
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