Centripetal

Purpose

The centripetal force correction enables the robot to accurately follow curved paths.

Setup

1. Open Panels. If you haven't used Panels before, you can read the documentation on Panels Configurables.
2. On your Driver Hub or Driver Station, select the Tuning Opmode, navigate to Manual and then choose CentripetalTuner.
3. Ensure that the timer for autonomous OpModes is disabled. Otherwise, the OpMode will automatically stop after 30 seconds.
4. Run the run the CentripetalTuner autonomous OpMode.

WARNING: Immediately after running the Centripetal Tuner Opmode, the robot will move forward and left 20 inches in a curved path. Make sure you have enough space before running this opmode. You can adjust the distance the robot drives back and forth through Panels.

Tuning Process

Follow this video to help you tune the centripetal scalar:

Observe the robot’s path:

• If the robot corrects towards the inside of the curve, decrease centripetalScaling.
• If the robot corrects towards the outside of the curve, increase centripetalScaling. Adjust the value of centripetalScaling within the Tuning-> Follower -> Constants section in Panels.

Update Tuned values Into Your Code

1. Once you are satisfied with your centripetalScaling, head over to the Constants file.
2. Navigate to the line .centripetalScaling(0.005) under followerConstants. If you don't have this line, feel free to add it yourself.
3. Update the parameters in .centripetalScaling(0.005) with the centripetalScaling value you tuned.

Troubleshooting

If you have any problems, see the troubleshooting page.