Offsets Tuner

Prerequisites

This tuner is made to automatically find odometry offsets for Two Wheel and Pinpoint localizers.
Currently, it only supports two deadwheels in the calculations.
Before using this tuner, you must set both of your odometry offsets to both be 0. The tuner is apart of the Tuning.java in 2.1.0 or later versions; however, it can be copied over to previous versions here.

Steps

• Set both localizer offsets (forwardPodY and strafePodX) to be 0.
• Place the robot in the corner of the field or corner of a tile facing a cardinal direction.
• Select and run the tuner (located Tuning -> Localization -> Offsets Tuner).
• Move the robot out of the corner and turn the robot 180 degrees.
• Move the robot back into the corner with the new rotated heading.
• Transfer the offsets provided from telemetry into your code as your forwardPodY and strafePodX offsets.