Important Reference for RoadRunner 1.0

Tunning for 4-Bar Odometry pods with Pinpoint Computer

• Measure X-offset and Y-offset from the tracking point (Middle of the DriveTrain).
  • X-offset The X Pod Offset measures how far (in inches) sideways the X pod is from the tracking point. Left of the point is a positive number, right of the point is a negative number.
  • The Y Pod Offset measures how far forwards the Y pod is from the tracking point. Forwards of the point is positive and Backwards is negative.
• Tunning
  • DeadWheelDebugger Test, X value increases on Forward and decreases on Backward. Similarly Y value increases on strafe Left and decreases on strafe right.
  • ForwardRampLogger, Measures kS and kV value. By default, the power will increase by 0.1 each second until it reaches 0.9.
    • Place your robot on the tiles with as much distance in front of it as possible.
    • Start the op mode and press stop immediately when the robot nears the edge of the tile.
    • All data collected is saved to a file for further analysis
    • If you have a control hub, navigate to, http://192.168.43.1:8080/tuning/forward-ramp.html
  • LateralRampLogger, Measures lateralInPerTick value. The Opmode will move the robot to the left, increasing in speed as it goes (similar to ForwardRampLogger).
  • Stop it at any point, keeping in mind that longer runs will collect more data.
  • When you’re done, go to http://192.168.43.1:8080/tuning/lateral-ramp.html and click the “Latest” button. The slope reported is lateralInPerTick.
• AngularRampLogger, This routine rotates in place instead of moving forward. As before, you can change the power ramping parameters inside the power() method.
  • Determine trackWidthTicks and odometry wheel locations empirically
  • Go to http://192.168.43.1:8080/tuning/dead-wheel-angular-ramp.html and click the “Latest” button. Copy the kS and kV values from ForwardRampLogger into the appropriate boxes and click the “update” button.
  • You need to fill in trackWidthTicks in your drive class and the wheel position fields in your dead wheel class.
  • To get an accurate trackWidthTicks value, you need accurate values for kS, kV.
• ManualFeedforwardTuner, Fine-tune kS, kV and add in kA. This routine repeatedly drives forward and back DISTANCE units, giving you an opportunity to finalize the feedforward parameters.
  • Open FTC Dashboard by navigating to http://192.168.43.1:8080/dash. Run the op mode, and graph vref against v0.
  • Set kA to a small value like 0.0000001 and slowly increase it by a factor of ten until it starts effecting the plot. Try to make the two lines in chart as close together as possible.
  • Robot may drift over many cycles. Pressing Y will pause the tuning process and enter driver override, allowing you to reset the position of the bot. Pressing B will return to the tuning process
• ManualFeedbackTuner, It tune the feedback parameters. This routine also goes back and forth DISTANCE units but using combined feedforward and feedback.
  • There are two gains for each travel direction (forward, lateral, heading). The first (“position gain”) is like the proportional term of a position PID, and the second (“velocity gain”) is like the derivative term of a position PID. Here are some tips
    • Focus on tuning one parameter at at time.
    • Start by setting a small value like 1 and adjust from there
    • Nudge the robot to introduce disturbances and watch them be corrected
    • Skip the velocity gains
• SplineTest, This routine follows a basic spline and validates the previous steps.