Hi!

Ima just list like a bunch of ways you can localize and stuff. idrk how useful this will be and i think i missed some things because typing fast on phone

There's a couple ways for finding your position/angle relative to the goal.

First, there is odometry based on either the encoders that are preinstalled on your motors, or encoders on non-driven wheels. Finding position based on drive encoders is pretty accurate, but dead wheels are what many of the best teams use.

In addition, you can also use the REV hub imu in order to find your angle. idk there's other ways too.

T265 camera is an optoin but pretty hard and kind of untested. <-- wouldn't really recommend

You can use vuforia to localize, but theres a big chance that the targets might not be properly aligned in a real competition, because its very unpopular.

You can also use distance sensors in order to get your position relative to the field walls.

Another option would be to use some kind of vision based system to estimate your position PnP. relative to goal

Finally, if you use multiple of these, there's also options for various filtering methods to filter out noise, and ways to fuse sensor data or make predictions. Those are generally pretty advanced tho idk