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tuned drive pidf and adjusted center to 0

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This commit is contained in:
DanTheMan-byte
2026-04-14 20:53:29 -05:00
parent f3efc132e7
commit a8d28928e2
2 changed files with 31 additions and 29 deletions
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4
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Constants.java
View File

@@ -1,6 +1,7 @@
package org.firstinspires.ftc.teamcode.pedroPathing;
import com.acmerobotics.dashboard.config.Config;
import com.pedropathing.control.FilteredPIDFCoefficients;
import com.pedropathing.control.PIDFCoefficients;
import com.pedropathing.follower.Follower;
import com.pedropathing.follower.FollowerConstants;
@@ -20,7 +21,8 @@ public class Constants {
.forwardZeroPowerAcceleration(-29.512)
.lateralZeroPowerAcceleration(-72.872)
.translationalPIDFCoefficients(new PIDFCoefficients(0.35, 0, 0.03, 0.012))
.headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.02, 0.02));
.headingPIDFCoefficients(new PIDFCoefficients(1, 0, 0.02, 0.02))
.drivePIDFCoefficients(new FilteredPIDFCoefficients(0.03, 0, 0, 0.6, 0.03));
public static MecanumConstants driveConstants = new MecanumConstants()
.maxPower(1)

56
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
View File

@@ -148,7 +148,7 @@ class LocalizationTest extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72,72));
follower.setStartingPose(new Pose(0,0));
}
/** This initializes the PoseUpdater, the drive motors, and the Panels telemetry. */
@@ -219,7 +219,7 @@ class ForwardTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72,72));
follower.setStartingPose(new Pose(0,0));
follower.update();
drawCurrent();
}
@@ -267,7 +267,7 @@ class LateralTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72,72));
follower.setStartingPose(new Pose(0,0));
follower.update();
drawCurrent();
}
@@ -315,7 +315,7 @@ class TurnTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72,72));
follower.setStartingPose(new Pose(0,0));
follower.update();
drawCurrent();
}
@@ -370,7 +370,7 @@ class ForwardVelocityTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72, 72));
follower.setStartingPose(new Pose(0,0));
}
/** This initializes the drive motors as well as the cache of velocities and the Panels telemetry. */
@@ -478,7 +478,7 @@ class LateralVelocityTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72, 72));
follower.setStartingPose(new Pose(0,0));
}
/**
@@ -582,7 +582,7 @@ class ForwardZeroPowerAccelerationTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72, 72));
follower.setStartingPose(new Pose(0,0));
}
/** This initializes the drive motors as well as the Panels telemetryM. */
@@ -686,7 +686,7 @@ class LateralZeroPowerAccelerationTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72, 72));
follower.setStartingPose(new Pose(0,0));
}
/** This initializes the drive motors as well as the Panels telemetry. */
@@ -961,7 +961,7 @@ class TranslationalTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72, 72));
follower.setStartingPose(new Pose(0,0));
}
/** This initializes the Follower and creates the forward and backward Paths. */
@@ -979,9 +979,9 @@ class TranslationalTuner extends OpMode {
public void start() {
follower.deactivateAllPIDFs();
follower.activateTranslational();
forwards = new Path(new BezierLine(new Pose(72,72), new Pose(DISTANCE + 72,72)));
forwards = new Path(new BezierLine(new Pose(0,0), new Pose(DISTANCE,0)));
forwards.setConstantHeadingInterpolation(0);
backwards = new Path(new BezierLine(new Pose(DISTANCE + 72,72), new Pose(72,72)));
backwards = new Path(new BezierLine(new Pose(DISTANCE,0), new Pose(0,0)));
backwards.setConstantHeadingInterpolation(0);
follower.followPath(forwards);
}
@@ -1030,7 +1030,7 @@ class HeadingTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72, 72));
follower.setStartingPose(new Pose(0,0));
}
/**
@@ -1051,9 +1051,9 @@ class HeadingTuner extends OpMode {
public void start() {
follower.deactivateAllPIDFs();
follower.activateHeading();
forwards = new Path(new BezierLine(new Pose(72,72), new Pose(DISTANCE + 72,72)));
forwards = new Path(new BezierLine(new Pose(0,0), new Pose(DISTANCE ,0)));
forwards.setConstantHeadingInterpolation(0);
backwards = new Path(new BezierLine(new Pose(DISTANCE + 72,72), new Pose(72,72)));
backwards = new Path(new BezierLine(new Pose(DISTANCE ,0), new Pose(0,0)));
backwards.setConstantHeadingInterpolation(0);
follower.followPath(forwards);
}
@@ -1102,7 +1102,7 @@ class DriveTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72, 72));
follower.setStartingPose(new Pose(0,0));
}
/**
@@ -1126,13 +1126,13 @@ class DriveTuner extends OpMode {
forwards = follower.pathBuilder()
.setGlobalDeceleration()
.addPath(new BezierLine(new Pose(72,72), new Pose(DISTANCE + 72,72)))
.addPath(new BezierLine(new Pose(0,0), new Pose(DISTANCE ,0)))
.setConstantHeadingInterpolation(0)
.build();
backwards = follower.pathBuilder()
.setGlobalDeceleration()
.addPath(new BezierLine(new Pose(DISTANCE + 72,72), new Pose(72,72)))
.addPath(new BezierLine(new Pose(DISTANCE ,0), new Pose(0,0)))
.setConstantHeadingInterpolation(0)
.build();
@@ -1184,7 +1184,7 @@ class Line extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72, 72));
follower.setStartingPose(new Pose(0,0));
}
/** This initializes the Follower and creates the forward and backward Paths. */
@@ -1201,9 +1201,9 @@ class Line extends OpMode {
@Override
public void start() {
follower.activateAllPIDFs();
forwards = new Path(new BezierLine(new Pose(72,72), new Pose(DISTANCE + 72,72)));
forwards = new Path(new BezierLine(new Pose(0,0), new Pose(DISTANCE ,0)));
forwards.setConstantHeadingInterpolation(0);
backwards = new Path(new BezierLine(new Pose(DISTANCE + 72,72), new Pose(72,72)));
backwards = new Path(new BezierLine(new Pose(DISTANCE ,0), new Pose(0,0)));
backwards.setConstantHeadingInterpolation(0);
follower.followPath(forwards);
}
@@ -1251,7 +1251,7 @@ class CentripetalTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72, 72));
follower.setStartingPose(new Pose(0,0));
}
/**
@@ -1271,8 +1271,8 @@ class CentripetalTuner extends OpMode {
@Override
public void start() {
follower.activateAllPIDFs();
forwards = new Path(new BezierCurve(new Pose(72,72), new Pose(Math.abs(DISTANCE) + 72,72), new Pose(Math.abs(DISTANCE) + 72,DISTANCE + 72)));
backwards = new Path(new BezierCurve(new Pose(Math.abs(DISTANCE) + 72,DISTANCE + 72), new Pose(Math.abs(DISTANCE) + 72,72), new Pose(72,72)));
forwards = new Path(new BezierCurve(new Pose(0,0), new Pose(Math.abs(DISTANCE) ,0), new Pose(Math.abs(DISTANCE) ,DISTANCE )));
backwards = new Path(new BezierCurve(new Pose(Math.abs(DISTANCE) + 72,DISTANCE + 72), new Pose(Math.abs(DISTANCE) ,0), new Pose(0,0)));
backwards.setTangentHeadingInterpolation();
backwards.reverseHeadingInterpolation();
@@ -1313,9 +1313,9 @@ class CentripetalTuner extends OpMode {
*/
class Triangle extends OpMode {
private final Pose startPose = new Pose(72, 72, Math.toRadians(0));
private final Pose interPose = new Pose(24 + 72, -24 + 72, Math.toRadians(90));
private final Pose endPose = new Pose(24 + 72, 24 + 72, Math.toRadians(45));
private final Pose startPose = new Pose(0,0, Math.toRadians(0));
private final Pose interPose = new Pose(24, -24, Math.toRadians(90));
private final Pose endPose = new Pose(24, 24, Math.toRadians(45));
private PathChain triangle;
@@ -1335,7 +1335,7 @@ class Triangle extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72, 72));
follower.setStartingPose(new Pose(0,0));
}
@Override
@@ -1613,7 +1613,7 @@ class SwerveTurnTest extends OpMode {
class OffsetsTuner extends OpMode {
@Override
public void init() {
follower.setStartingPose(new Pose(72,72));
follower.setStartingPose(new Pose(0,0));
follower.update();
drawCurrent();
}