Tuning
Setup
In this step, you set constants for your follower.
Swerve
In this step, you set constants such as your motor names and directions for swerve (if using swerve).
Localization
This allows for your robot to know its location on the field.
Velocity Tuners
Determines the forward vs lateral velocity of your robot.
Heading Tuner
The heading PIDF corrects for the robot's heading while following the path.
After setting up, you have to decide which following algorithm you would like to use.
New predictive braking
Which automatically tunes in a few minutes and has faster but less customizable braking. Only requires running the automatic PredictiveBrakingTuner and determining a P value. Tuning process is here: Tuning Predictive Braking
OR
PIDFs of translational, drive, and centripetal
Which requires 3 manual tuners and two more automatic tuners. Allows for more control of the robot's behavior. These are the steps for tuning the PIDFs:
Zero Power Acceleration Tuners
These tuners automatically determine the natural deceleration behavior of your robot.
PIDF Tuners
This step is where you tune translational and drive PIDFs.
Centripetal Force Tuner
This step consists of tuning a constant that accounts for centripetal force.
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