Test

Tuning Verification

The Tests Procedure can be used to verify that your Follower is tuned well and working correctly.

Add the Tests Procedure

Inside your Tuning class, add:

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

Verify that you have the create method set up correctly, then build and 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 Tests Procedure.

Localization Test

This test uses your drivetrain for manual control and your localizer to track the robot's position.

Driving Test

This test uses your drivetrain for manual control.

Pose Test

This test uses your localizer to track the robot's position and will display the robot's pose on your telemetry.

Hold Test

This will hold the robot in place.

This is useful for testing the corrective behavior of the Foresight algorithm when the robot is pushed off course.

Line Test

This will drive the robot forward and back in straight line distance inches away.

The default is 48 inches.

It will continually drive back and forth until you stop it.

Curved Test

This will drive the robot in a curved path: a quarter circle with tangential heading.

It will loop driving the robot to an endpoint of (distance, distance), which is to the front and left of the start point, then back to the start.

The default distance is 48 inches.

Interpolation Test

This follows the same path as the Curved Test, but it will use various interpolations.

Next Steps

Congrats on tuning Pedro Pathing! Now you can move onto setting up your autonomous and creating paths for your robot to follow.