Velocity Tuners
Determines the forward vs lateral velocity of your robot
Forward Velocity Tuner
Purpose
The Forward Velocity Tuner determines the velocity of your robot when moving forward at full power. This value is used for accurate path-following calculations in Pedro Pathing.
First, make sure you have enough room. By default, the robot moves 48 inches forward, but this can be
changed by navigating to the ForwardVelocityTuner class in Tuning.java. Typically larger numbers yield
better results. Then, in the Tuning OpMode, under automatic, select and start Forward Velocity Tuner. The
robot speed should ramp up until it reaches full power. It will continue moving until it has reached the set distance,
then it will abruptly stop.
Once the robot stops moving at maximum speed, one number will be displayed on telemetry:
- Velocity: The final velocity the robot achieved before stopping; this is what we want
Add the velocity to MecanumConstants by adding or editing the following.
.xVelocity(velocity)Lateral Velocity Tuner
Purpose
The Lateral Velocity Tuner determines the velocity of your robot when moving sideways at full power. This value is used for accurate path-following calculations in Pedro Pathing.
First, make sure you have enough room. By default, the robot moves 48 inches to the left, but this can be
changed by navigating to the LateralVelocityTuner class in Tuning.java. Typically larger numbers yield
better results. Then, in the Tuning OpMode, under automatic, select and start Lateral Velocity Tuner. The
robot speed should ramp up until it reaches full power. It will continue moving until it has reached the set distance,
then it will abruptly stop.
Once the robot stops moving at maximum speed, one number will be displayed on telemetry:
- Velocity: The final velocity the robot achieved before stopping; this is what we want
Add the velocity to MecanumConstants by adding or editing the following.
.yVelocity(velocity)Last updated on