Forward Velocity Tuner

Purpose

The Forward Velocity Tuner determines the velocity of your robot when moving forward at full power. This value is used for accurate path-following calculations in Pedro Pathing.

Setup and Instructions

1. Open the ForwardVelocityTuner.java OpMode.
2. Ensure your robot has enough space to drive 40 inches forward. You can adjust this distance in the FTC Dashboard under the ForwardVelocityTuner dropdown, but larger distances yield better results.
3. Run the OpMode.

Output

• Velocity: After the robot has completed the distance, the final velocity will be displayed in telemetry.
• Note: The robot may drift slightly after completing the movement. Ensure the testing area has adequate space.

Inputting the Results

1. Open the FConstants class and navigate to the static{} block.
2. Then, on a new line, add FollowerConstants.xMovement = [OUTPUT], with [OUTPUT] being the velocity output from the tuner.

Note: In Step 2, you only need to make a new line if you are not using the quickstart, otherwise, you can just modify the line that already does this.

Congratulations, you’ve completed the forward velocity tuning!