Zero Power Acceleration
Forward Zero Power Acceleration
Purpose
Measures how your robot decelerates when moving forward and power is cut from the drivetrain. This value is critical for improving motion accuracy in Pedro Pathing.
First, make sure you have enough space to accelerate 30 in/s forward (roughly 1 tile). You can adjust this constraint
by navigating to ForwardZeroPowerAccelerationTuner in Tuning.java. Typically values closer to your
max forward velocity yield better results. Then, in the Tuning OpMode, under automatic, select and start Forward
Zero Power Acceleration Tuner. The robot will speed up until it reaches the commanded velocity, then cut power and measure the deceleration rate.
Once the robot stops moving, one number will be displayed on telemetry:
- Forward Zero Power Acceleration (Deceleration): The deceleration rate of the robot; this is what we want
Add the above number to FollowerConstants by adding or editing the following.
.forwardZeroPowerAcceleration(deceleration)Lateral Zero Power Acceleration
Purpose
Measures how your robot decelerates when moving lateral and power is cut from the drivetrain. This value is critical for improving motion accuracy in Pedro Pathing.
First, make sure you have enough space to accelerate 30 in/s to the left (roughly 1 tile). You can adjust this constraint
by navigating to LateralZeroPowerAccelerationTuner in Tuning.java. Typically values closer to your
max lateral velocity yield better results. Then, in the Tuning OpMode, under automatic, select and start Lateral Zero Power Acceleration Tuner. The robot will speed up until it reaches the commanded velocity, then cut power and measure the deceleration rate.
Once the robot stops moving, one number will be displayed on telemetry:
- Lateral Zero Power Acceleration (Deceleration): The deceleration rate of the robot; this is what we want
Add the above number to FollowerConstants by adding or editing the following.
.lateralZeroPowerAcceleration(deceleration)Last updated on