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This commit is contained in:
Nick Haemel
2023-08-28 21:16:35 -07:00
parent 729ba8a969
commit 05e56926b2
44 changed files with 4337 additions and 3 deletions
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55
TeamCode/drive/opmode/FollowerPIDTuner.java Normal file
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package org.firstinspires.ftc.teamcode.drive.opmode;
import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequence;
/*
* Op mode for preliminary tuning of the follower PID coefficients (located in the drive base
* classes). The robot drives in a DISTANCE-by-DISTANCE square indefinitely. Utilization of the
* dashboard is recommended for this tuning routine. To access the dashboard, connect your computer
* to the RC's WiFi network. In your browser, navigate to https://192.168.49.1:8080/dash if you're
* using the RC phone or https://192.168.43.1:8080/dash if you are using the Control Hub. Once
* you've successfully connected, start the program, and your robot will begin driving in a square.
* You should observe the target position (green) and your pose estimate (blue) and adjust your
* follower PID coefficients such that you follow the target position as accurately as possible.
* If you are using SampleMecanumDrive, you should be tuning TRANSLATIONAL_PID and HEADING_PID.
* If you are using SampleTankDrive, you should be tuning AXIAL_PID, CROSS_TRACK_PID, and HEADING_PID.
* These coefficients can be tuned live in dashboard.
*/
@Config
@Autonomous(group = "drive")
public class FollowerPIDTuner extends LinearOpMode {
public static double DISTANCE = 48; // in
@Override
public void runOpMode() throws InterruptedException {
SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
Pose2d startPose = new Pose2d(-DISTANCE / 2, -DISTANCE / 2, 0);
drive.setPoseEstimate(startPose);
waitForStart();
if (isStopRequested()) return;
while (!isStopRequested()) {
TrajectorySequence trajSeq = drive.trajectorySequenceBuilder(startPose)
.forward(DISTANCE)
.turn(Math.toRadians(90))
.forward(DISTANCE)
.turn(Math.toRadians(90))
.forward(DISTANCE)
.turn(Math.toRadians(90))
.forward(DISTANCE)
.turn(Math.toRadians(90))
.build();
drive.followTrajectorySequence(trajSeq);
}
}
}