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Merge pull request #11 from Marlstar/master

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Clarifications in the localization and tuning processes
This commit is contained in:
Anyi Lin
2024-11-21 01:56:06 -05:00
committed by GitHub
parent 04c02fb36e 775e7ffbc8
commit c8ba9a09db
6 changed files with 76 additions and 69 deletions
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21
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md
View File

@ -47,12 +47,19 @@ measurements will be in centimeters.
`lateralZeroPowerAcceleration`, respectively.
* 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
sure you disable the timer on autonomous OpModes. 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.
the `useTranslational` checkboxes under the `Follower` tab. Then, run `StraightBackAndForth`.
Make sure you disable the timer on autonomous OpModes. You will notice in telemetry a message saying
that the robot will travel a distance forward and backward, this will not happen until later, so for
now you can ignore this message. The robot should not move when you run the opmode initally. Instead,
it should correct when you push it away from its starting position. Note that this correction should
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
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
@ -116,4 +123,4 @@ down and all the values pertaining to the secondary PIDs will be there. The two
a PID that handles larger errors (the main PID) and a second PID to handle smaller errors (the
secondary PID). The main PID should be tuned to move the error within the secondary PID's range
without providing too much momentum that could cause an overshoot. The secondary PID should be tuned
to correct within its range quickly and accurately while minimizing oscillations.
to correct within its range quickly and accurately while minimizing oscillations.

26
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/OTOSLocalizer.java
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@ -21,18 +21,18 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
*
* forward on robot is the x positive direction
*
* /--------------\
* | ____ |
* | ---- |
* | || || |
* | || || | ----> left (y positive)
* | |
* | |
* \--------------/
* |
* |
* V
* forward (x positive)
* forward (x positive)
* △
* |
* |
* /--------------\
* | |
* | |
* | || || |
* left (y positive) <--- | || || |
* | ____ |
* | ---- |
* \--------------/
*
* @author Anyi Lin - 10158 Scott's Bots
* @version 1.0, 7/20/2024
@ -222,4 +222,4 @@ public class OTOSLocalizer extends Localizer {
*/
public void resetIMU() {
}
}
}

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/PinpointLocalizer.java
View File

@ -23,18 +23,18 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
*
* forward on robot is the x positive direction
*
* /--------------\
* | ____ |
* | ---- |
* | || |
* | || | ----> left (y positive)
* | |
* | |
* \--------------/
* |
* |
* V
* forward (x positive)
* forward (x positive)
* △
* |
* |
* /--------------\
* | |
* | |
* | || |
* left (y positive) <--- | || |
* | ____ |
* | ---- |
* \--------------/
* With the pinpoint your readings will be used in mm
* to use inches ensure to divide your mm value by 25.4
* @author Logan Nash

26
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java
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@ -26,18 +26,18 @@ import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
*
* forward on robot is the x positive direction
*
* /--------------\
* | ____ |
* | ---- |
* | || || |
* | || || | ----> left (y positive)
* | |
* | |
* \--------------/
* |
* |
* V
* forward (x positive)
* forward (x positive)
* △
* |
* |
* /--------------\
* | |
* | |
* | || || |
* left (y positive) <--- | || || |
* | ____ |
* | ---- |
* \--------------/
*
* @author Logan Nash
* @author Anyi Lin - 10158 Scott's Bots
@ -313,4 +313,4 @@ public class ThreeWheelIMULocalizer extends Localizer {
public void resetIMU() {
imu.resetYaw();
}
}
}

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java
View File

@ -23,18 +23,18 @@ import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
*
* forward on robot is the x positive direction
*
* /--------------\
* | ____ |
* | ---- |
* | || || |
* | || || | ----> left (y positive)
* | |
* | |
* \--------------/
* |
* |
* V
* forward (x positive)
* forward (x positive)
* △
* |
* |
* /--------------\
* | |
* | |
* | || || |
* left (y positive) <--- | || || |
* | ____ |
* | ---- |
* \--------------/
*
* @author Anyi Lin - 10158 Scott's Bots
* @version 1.0, 4/2/2024

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java
View File

@ -26,18 +26,18 @@ import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
*
* forward on robot is the x positive direction
*
* /--------------\
* | ____ |
* | ---- |
* | || || |
* | || || | ----> left (y positive)
* | |
* | |
* \--------------/
* |
* |
* V
* forward (x positive)
* forward (x positive)
* △
* |
* |
* /--------------\
* | |
* | |
* | || |
* left (y positive) <--- | || |
* | ____ |
* | ---- |
* \--------------/
*
* @author Anyi Lin - 10158 Scott's Bots
* @version 1.0, 4/2/2024