Strafe Velocity Tuner

Purpose

The Strafe Velocity Tuner determines the velocity of your robot when strafing (moving sideways) at full power. This value is essential for accurate path-following in Pedro Pathing.

Setup and Instructions

  1. Open the StrafeVelocityTuner.java OpMode.
  2. Ensure your robot has enough space to strafe 40 inches to the right. You can adjust this distance in the FTC Dashboard under the StrafeVelocityTuner 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.yMovement = [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 strafe velocity tuning!