Automatic Tuning

The Mecanum AutoTuner can automatically determine your MecanumConfig, which includes motor names and directions.

Add the Tuner

inside your Tuning class, add:

@Tuner
public static Procedure mecanumTuner() {
    return new MecanumTuner();
}

Then build the code and upload it to your Robot.

Open AutoTune

While connected to the Robot Controller, open the following address in your browser: http://192.168.43.1:10158

Then, select Mecanum Procedure.

Mecanum Setup

Enter the HardwareMap name of each drivetrain motor according to its location on the robot.

For example, if your Left Front motor's configuration name is left_front, enter:

left_front

in the Front Left HardwareMap Name field.

After doing that to all motors, press Submit.

Motor Direction Identification

After clicking Continue, you will see a 3D diagram that shows in which direction the wheel should spin.

A after pressing continue, the specified motor will start spinning. You should check whether it is going the intended direction or in the reverse direction.

Select if the motor spun in the correct direction and repeat for all 4 motors.

Applying the Results

Once the tuner is complete, head over to the Java tab.

AutoTune will generate a MecanumConfig file using the values determined during the tuning procedure.

Copy the generated configuration into the MecanumConfig in your Constants.java file.

At the end you should have something like this in your Constants.java:

public static MecanumConfig driveConfig = new MecanumConfig(
    c -> {
        c.frontLeftName.set("left_front");
        c.backLeftName.set("left_back");
        c.frontRightName.set("right_front");
        c.backRightName.set("right_back");

        c.frontLeftDirection.set(DcMotorSimple.Direction.REVERSE);
        c.backLeftDirection.set(DcMotorSimple.Direction.REVERSE);
        c.frontRightDirection.set(DcMotorSimple.Direction.FORWARD);
        c.backRightDirection.set(DcMotorSimple.Direction.FORWARD);
    }
);

After pasting what you got from the AutoTune also add c.manualBrakeMode.set(true) for teleop usage if you want to have manual brake mode enabled.

Testing Manual Control of your Drivetrain

After completing the tuning steps described in your drivetrain, you can optionally test the driving capabilities of it.

Make your tests method in Tuning.java use your tuned drivetrain. Your localizer and algorithm will be null.

Set up your Tests method in Tuning.java

@Tuner
    public static Procedure tests() {
        return new Tests(hardwareMap -> new Mecanum(hardwareMap, Constants.drivetrainConfig), null, null);
    }

Steps to Test

1. While connected to the Robot Controller, open the following address in your browser: http://192.168.43.1:10158
2. Select Tests Procedure and select Driving.
3. Use your gamepad to drive the robot around.

Next Steps

Now, you can move on to tuning your localizer constants.