Prerequisites for Automatic Tuners and PID Tuning

Localizer

You will need a tuned localizer to use Pedro Pathing effectively.

Important: Before tuning Pedro Pathing, ensure your localizer is properly tuned. Check out the localization section if you need to do this.

Follower Constants Value

Before running the automatic tuners or the PID tests, you must update your FConstants, using the method explained in the general prerequisites.

Make sure you have these variables all defined if they are different from the defaults:

• The Localizer you will be using (setup in Localization Setup)
• Motor Configuration Names (setup in Localization Setup)
• Motor Directions (setup in Localization Setup)

Mass of your Robot

1. You will need to weigh the mass of your robot.
2. Convert your mass into kilograms.
3. Navigate to FConstants and into the static{} block.
4. Input your mass onto a new line (or modify the existing line) by adding FollowerConstants.mass = [MASS];, where mass is the mass you determined above.