Two Wheel

Automatic Tuning

The Two Wheel AutoTuner can automatically determine your encoder resolutions, encoder directions, and pod offsets.

Add the Tuner

Inside your Tuning class, add:

@Tuner
public static Procedure twoWheelTuner() {
    return new TwoWheelTuner();
}

Make sure TwoWheelTuner is imported:

import org.firstinspires.ftc.teamcode.pedro.procedures.TwoWheelTuner;

Build and send the updated code to the Robot Controller.

Open AutoTune

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

Select Two Wheel Tuner.

Two Wheel Setup

Enter the HardwareMap name of the motor port that your forward pod encoder is connected to.

For example, if the forward pod encoder is plugged into the encoder port belonging to leftFront, enter:

leftFront

Next, enter the HardwareMap name of the motor port that your strafe pod encoder is connected to.

For example:

rightRear

Enter the HardwareMap name of the REV Hub IMU. This will normally be:

imu

Next, select the Logo Facing Direction and USB Facing Direction that match how the Control Hub is physically mounted on your robot.

For example:

RevHubOrientationOnRobot.LogoFacingDirection.UP
RevHubOrientationOnRobot.UsbFacingDirection.BACKWARD

Then press Submit.

Encoder Resolution Setup

The tuner will ask for the exact distance that you will move the robot during the encoder resolution tests.

The default distance is:

48

This value is in inches.

Enter the distance you want to use, then press Submit.

Forward Encoder Resolution Identification

Press Continue, then push the robot straight forward by the exact distance entered during setup.

For example, if the distance was set to 48 inches, push the robot forward exactly 48 inches.

After moving the robot, stop the OpMode.

The tuner will automatically calculate the forward encoder resolution used by:

c.forwardTicksToInches.set(...);

Strafe Encoder Resolution Identification

Press Continue, then push the robot to the left by the exact distance entered during setup.

After moving the robot to the left, stop the OpMode.

The tuner will automatically calculate the strafe encoder resolution used by:

c.strafeTicksToInches.set(...);

Forward Direction Identification

Press Continue, then push the robot straight forward.

After moving the robot forward, stop the OpMode.

The tuner will determine whether the x pod, which is the forward pod, should be set to FORWARD or REVERSE.

The generated configuration will contain either:

c.xPodDirection.set(Encoder.FORWARD);

or:

c.xPodDirection.set(Encoder.REVERSE);

Strafe Direction Identification

Press Continue, then push the robot to the left.

After moving the robot to the left, stop the OpMode.

The tuner will determine whether the y pod, which is the strafe pod, should be set to FORWARD or REVERSE.

The generated configuration will contain either:

c.yPodDirection.set(Encoder.FORWARD);

or:

c.yPodDirection.set(Encoder.REVERSE);

Offsets Identification

Press Continue, then rotate the robot in place approximately 180 degrees.

Try to keep the center of the robot in approximately the same position while rotating.

After the robot has completed the rotation, stop the OpMode.

The tuner will automatically calculate the x and y pod offsets.

Applying the Results

Once the tuner is complete, open the Java tab.

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

The generated configuration includes:

• Forward encoder motor name
• Strafe encoder motor name
• IMU HardwareMap name
• Control Hub orientation
• Forward ticks to inches
• Strafe ticks to inches
• X pod direction
• Y pod direction
• X pod offset
• Y pod offset

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

Manual Offset Tuning

Offsets can also be found manually using the diagram below. Offsets are in inches.

Set your odometry pod offsets to define where they are relative to your robot's center of rotation.

Troubleshooting

If you have any problems, see the troubleshooting page.

Testing the Localizer

Once you have completed the tuning steps, you can test your localizer as described on the localization page.

Congratulations on successfully tuning your localizer!