Foresight

Automatic Tuning

The Foresight AutoTuner can automatically determine your ForesightConfig, which includes max achievable velocities, brake coefficients, and kP values.

Add the Tuner

Inside your Tuning class, add:

@Tuner
public static Procedure foresightTuner() {
    return new ForesightTuner((hardwareMap) -> new PinpointLocalizer(hardwareMap, Constants.localizerConfig), (hardwareMap) -> new Mecanum(hardwareMap, Constants.drivetrainConfig));
}

Verify that you have the correct localizer and drivetrain set, then build/send the updated code to your Robot.

Open AutoTune

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

Select Foresight Procedure.

Forward Velocity Identification

This will determine the maximum achievable forward velocity of your robot.

It will run forward for the specified distance, then stop the OpMode. It will likely continue drifting past the distance, which is expected.

Strafe Velocity Identification

This will determine the maximum achievable strafe velocity of your robot.

It will run left for the specified distance, then stop the OpMode. It will likely continue drifting past the distance, which is expected.

Forward Deceleration Identification

This will determine the natural forward deceleration of your robot.

It will run forward until it reaches the specified velocity, then stop the OpMode. Usually, this will only drive a very short distance.

Strafe Deceleration Identification

This will determine the natural strafe deceleration of your robot.

It will run left until it reaches the specified velocity, then stop the OpMode. Usually, this will only drive a very short distance.

Heading Braking Identification

This will determine the heading braking coefficients of your robot.

It will stay in place, spinning back and forth, then will stop.

Heading Tuner

This will autotune the heading kP of your robot.

It will stay in place, spinning the robot in a direction. After a couple of seconds, it will stop.

Forward Braking Identification

This will determine the forward braking coefficients of your robot.

It will run forward for a specified distance, then brake.

Then it will drive back to the starting position, repeating that process a few times at different powers, then will stop.

Strafe Braking Identification

This will determine the strafe braking coefficients of your robot.

It will run left for a specified distance, then brake.

Then it will drive back to the starting position, repeating that process a few times at different powers, then will stop.

Forward Translational Tuner

This will autotune the forward translational primary and secondary kP values of your robot.

It will run forward for about 12-24 inches, then will stop.

This will also determine the robot's coast and brake kV values.

Strafe Translational Tuner

This will autotune the strafe translational primary and secondary kP values of your robot.

It will run left for about 12-24 inches, then will stop.

Applying the Results

Once the tuner is complete, open the Java tab.

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

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

Testing the Algorithm

Once you have completed the tuning steps, you can test your Follower on testing page.

Congratulations on successfully tuning your Follower!

Next Steps

Now, you can move on to implementing your constants into your code.