Fine tuninng the constant and added more robust examples

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherPathV1.java

@@ -26,7 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Autonomous(name = "AutoExampleThree", group = "Autonomous Pathing Tuning")
+@Autonomous(name = "AsherPathV1", group = "Autonomous Pathing Tuning")
 public class AsherPathV1 extends OpMode {
     private Telemetry telemetryA;
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExample.java

@@ -33,7 +33,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Autonomous(name = "AutoExample", group = "Autonomous Pathing Tuning")
+@Autonomous(name = "AutoExample - Straight Path", group = "Autonomous Pathing Tuning")
 public class AutoExample extends OpMode {
     private Telemetry telemetryA;
 
@@ -41,7 +41,7 @@ public class AutoExample extends OpMode {
 
     private PathChain path;
 
-    private final Pose startPose = new Pose(12.0, 11, 90);
+    private final Pose startPose = new Pose(0.0, 20.0, 0);
 
     /**
      * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@@ -59,46 +59,11 @@ public class AutoExample extends OpMode {
                 .addPath(
                         // Line 1
                         new BezierLine(
-                                new Point(12.804, 11.223, Point.CARTESIAN),
+                                new Point(0.000, 20.000, Point.CARTESIAN),
-                                new Point(12.804, 42.362, Point.CARTESIAN)
+                                new Point(50.000, 20.000, Point.CARTESIAN)
                         )
                 )
-                .setTangentHeadingInterpolation()
+                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 2
-                        new BezierCurve(
-                                new Point(12.804, 42.362, Point.CARTESIAN),
-                                new Point(11.381, 57.379, Point.CARTESIAN),
-                                new Point(31.614, 56.588, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(31.614, 56.588, Point.CARTESIAN),
-                                new Point(51.214, 56.746, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 4
-                        new BezierCurve(
-                                new Point(51.214, 56.746, Point.CARTESIAN),
-                                new Point(64.334, 58.643, Point.CARTESIAN),
-                                new Point(61.172, 45.524, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 5
-                        new BezierCurve(
-                                new Point(61.172, 45.524, Point.CARTESIAN),
-                                new Point(36.198, 26.239, Point.CARTESIAN),
-                                new Point(19.759, 11.065, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
                 .build();
 
         follower.followPath(path);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExampleFour.java

@@ -0,0 +1,106 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+/**
+ * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
+ * a circle, but some Bezier curves that have control points set essentially in a square. However,
+ * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
+ * heading is to be expected.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @author Aaron Yang - 10158 Scott's Bots
+ * @author Harrison Womack - 10158 Scott's Bots
+ * @version 1.0, 3/12/2024
+ */
+@Config
+@Autonomous(name = "AutoExample - 2 Curves/2 Lines", group = "Autonomous Pathing Tuning")
+public class AutoExampleFour extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(12,60, 0);
+
+    /**
+     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
+     * initializes the FTC Dashboard telemetry.
+     */
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+
+        follower.setMaxPower(.45);
+
+        follower.setStartingPose(startPose);
+
+        path = follower.pathBuilder()
+                .addPath(
+                        // Line 1
+                        new BezierCurve(
+                                new Point(12.000, 60.000, Point.CARTESIAN),
+                                new Point(60.000, 60.000, Point.CARTESIAN),
+                                new Point(60.000, 12.000, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
+                .addPath(
+                        // Line 2
+                        new BezierLine(
+                                new Point(60.000, 12.000, Point.CARTESIAN),
+                                new Point(40.000, 12.000, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
+                .addPath(
+                        // Line 3
+                        new BezierCurve(
+                                new Point(40.000, 12.000, Point.CARTESIAN),
+                                new Point(35.000, 35.000, Point.CARTESIAN),
+                                new Point(12.000, 35.000, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
+                .addPath(
+                        // Line 4
+                        new BezierLine(
+                                new Point(12.000, 35.000, Point.CARTESIAN),
+                                new Point(12.000, 60.000, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(0))
+                .build();
+
+        follower.followPath(path);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.update();
+    }
+
+    /**
+     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
+     * the Telemetry, as well as the FTC Dashboard.
+     */
+    @Override
+    public void loop() {
+        follower.update();
+        if (follower.atParametricEnd()) {
+            follower.followPath(path);
+        }
+        follower.telemetryDebug(telemetryA);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExampleThree.java

@@ -26,7 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Autonomous(name = "AutoExampleThree", group = "Autonomous Pathing Tuning")
+@Autonomous(name = "AutoExample - Curve and Line", group = "Autonomous Pathing Tuning")
 public class AutoExampleThree extends OpMode {
     private Telemetry telemetryA;
 
@@ -34,7 +34,7 @@ public class AutoExampleThree extends OpMode {
 
     private PathChain path;
 
-    private final Pose startPose = new Pose(7.467869222096955, 59.74295377677565);
+    private final Pose startPose = new Pose(10,45, 0);
 
     /**
      * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@@ -52,21 +52,21 @@ public class AutoExampleThree extends OpMode {
                 .addPath(
                         // Line 1
                         new BezierCurve(
-                                new Point(7.468, 59.743, Point.CARTESIAN),
+                                new Point(10.000, 45.000, Point.CARTESIAN),
-                                new Point(67.860, 12.014, Point.CARTESIAN),
+                                new Point(45.000, 45.000, Point.CARTESIAN),
-                                new Point(101.790, 36.041, Point.CARTESIAN),
+                                new Point(50.000, 20.000, Point.CARTESIAN)
-                                new Point(68.347, 22.891, Point.CARTESIAN)
                         )
                 )
-                .setTangentHeadingInterpolation()
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
                 .addPath(
                         // Line 2
                         new BezierLine(
-                                new Point(68.347, 22.891, Point.CARTESIAN),
+                                new Point(50.000, 20.000, Point.CARTESIAN),
-                                new Point(13.637, 24.352, Point.CARTESIAN)
+                                new Point(10.000, 20.000, Point.CARTESIAN)
                         )
                 )
-                .setTangentHeadingInterpolation().build();
+                .setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
+                .build();
 
         follower.followPath(path);
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AutoExampleTwo.java

@@ -26,7 +26,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Autonomous(name = "AutoExampleTwo", group = "Autonomous Pathing Tuning")
+@Autonomous(name = "AutoExample - Simple Curve", group = "Autonomous Pathing Tuning")
 public class AutoExampleTwo extends OpMode {
     private Telemetry telemetryA;
 
@@ -34,7 +34,7 @@ public class AutoExampleTwo extends OpMode {
 
     private PathChain path;
 
-    private final Pose startPose = new Pose(10.0, 40, 90);
+    private final Pose startPose = new Pose(10.0, 45, 0);
 
     /**
      * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@@ -51,28 +51,14 @@ public class AutoExampleTwo extends OpMode {
         path = follower.pathBuilder()
                 .addPath(
                         // Line 1
-                        new BezierLine(
+                        new BezierCurve(
-                                new Point(10.000, 40.000, Point.CARTESIAN),
+                                new Point(10.000, 45.000, Point.CARTESIAN),
-                                new Point(60.000, 40.000, Point.CARTESIAN)
+                                new Point(45.000, 45.000, Point.CARTESIAN),
+                                new Point(50.000, 20.000, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
-                .addPath(
+                .build();
-                        // Line 2
-                        new BezierLine(
-                                new Point(60.000, 40.000, Point.CARTESIAN),
-                                new Point(60.000, 25.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(60.000, 25.000, Point.CARTESIAN),
-                                new Point(10.000, 25.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
 
         follower.followPath(path);
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md

@@ -71,8 +71,9 @@ measurements will be in centimeters.
   of how fast your robot will coast to a stop. Honestly, this is up to you. I personally used 4, but
   what works best for you is most important. Higher numbers will cause a faster brake, but increase
   oscillations at the end. Lower numbers will do the opposite. This can be found on line `107` in
-  `FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more 
+  `FollowerConstants`, named `zeroPowerAccelerationMultiplier`. 
-* sensitive than the others. For reference,
+
+* The drive PID is much, much more sensitive than the others. For reference,
   my P values were in the hundredths and thousandths place values, and my D values were in the hundred
   thousandths and millionths place values. To tune this, enable `useDrive`, `useHeading`, and
   `useTranslational` in the `Follower` dropdown in FTC Dashboard. Next, run `StraightBackAndForth`

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java

@@ -81,7 +81,7 @@ public class FollowerConstants {
     // Kalman filter parameters for the drive error Kalman filter
     public static KalmanFilterParameters driveKalmanFilterParameters = new KalmanFilterParameters(
             6,
-            1);
+            3);
 
 
     // Mass of robot in kilograms