Appearance
Tuning Centripetal Force Correction
Purpose
The centripetal force correction corrects deviations from curved paths, ensuring the robot maintains an optimal trajectory.
Setup
- Open FTC Dashboard and go to the Follower tab.
- Enable all checkboxes.
- Run the
CurvedBackAndForth
OpMode. - Ensure the timer for autonomous OpModes is disabled.
Tuning Process
Observe the robot’s path:
- If the robot corrects towards the inside of the curve, increase
centripetalScaling
. - If the robot corrects towards the outside of the curve, decrease
centripetalScaling
.
- If the robot corrects towards the inside of the curve, increase
Adjust the value of
centripetalScaling
within theFollowerConstants
section in FTC Dashboard.
Testing
Run additional tests with curved paths like CurvedBackAndForth
or custom paths. Fine-tune the scaling value for smooth and accurate performance.
Input Tuned Values
- Open the
FConstants
class and navigate to thestatic{}
block. - Then, on a new line, add
FollowerConstants.centripetalScaling = [VALUE];
, with [VALUE] being the value you tuned for and inputted into FTC Dashboard.
Note: In Step 2, you only need to make a new line if you are not using the quickstart, otherwise, you can just modify the line that already does this.
Note: The default value for centripetalScaling
is 0.0005
.