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Clarify translational PIDF tuning process

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Some quirks in both the process of tuning the translational PIDF and the documentation of it led to confusion for myself and others.
- Noted that the telemetry message that the robot will move forward and backward can be ignored for the moment
- Noted that the robot should only move when pushed
- Noted that the robot will only correct to a line in the original forward direction, not to the starting point
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Marley Reeves
2024-11-17 14:42:31 +11:00
committed by GitHub
parent 1056fe0fc6
commit 775e7ffbc8
1 changed files with 14 additions and 7 deletions
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19
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md
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@ -47,12 +47,19 @@ measurements will be in centimeters.
`lateralZeroPowerAcceleration`, respectively. `lateralZeroPowerAcceleration`, respectively.
* After this, we will want to tune the translational PID. Go to FTC Dashboard and disable all but * After this, we will want to tune the translational PID. Go to FTC Dashboard and disable all but
the `useTranslational` checkboxes under the `Follower` tab. Then, run `StraightBackAndForth`. Make the `useTranslational` checkboxes under the `Follower` tab. Then, run `StraightBackAndForth`.
sure you disable the timer on autonomous OpModes. The PID for the translational error is called Make sure you disable the timer on autonomous OpModes. You will notice in telemetry a message saying
`translationalPIDF`. If you need to add a feedforward value, use the `translationalPIDFFeedForward` that the robot will travel a distance forward and backward, this will not happen until later, so for
since that will add the feedforward in the direction the robot is trying to move, rather than the now you can ignore this message. The robot should not move when you run the opmode initally. Instead,
feedforward in the PIDF itself, since those will only add the feedforward one way. You can change it should correct when you push it away from its starting position. Note that this correction should
the PIDF constants and feedforward values, under the `FollowerConstants` tab in FTC Dashboard. happen regardless of the robot's rotation, and that the robot should not rotate itself (if it does,
disable `useHeading` as mentioned prior). Also note that the robot will only correct to an imaginary line
that runs straight forward from the robot's starting position, meaning that it will not correct in the
(original) forward direction. The PID for the translational error is called `translationalPIDF`.
If you need to add a feedforward value, use the `translationalPIDFFeedForward` since that will add
the feedforward in the direction the robot is trying to move, rather than the feedforward in the
PIDF itself, since those will only add the feedforward one way. You can change the PIDF constants
and feedforward values, under the `FollowerConstants` tab in FTC Dashboard.
To tune the PID, push the robot off the path and see how corrects. You will want to alternate sides To tune the PID, push the robot off the path and see how corrects. You will want to alternate sides
you push to reduce field wear and tear as well as push with varying power and distance. I would you push to reduce field wear and tear as well as push with varying power and distance. I would
recommend tuning the PID so that it is capable of correcting while minimizing oscillations and still recommend tuning the PID so that it is capable of correcting while minimizing oscillations and still