Follower Configs

P2P Follower

The P2P follower takes multiple arguments in the constants file:

Heading, drive, strafe, PDLs
Heading tolerance
Translational tolerance

Tuning your follower constants

In order to obtain the values of your follower constants, you must run the following tuners:

Refer to the Tuning section of the documentation to know more about how to run these tuners.


    @Override
        public FollowerConstants setFollowerConstants() { // Any FollowerConstants
            return new P2PFollowerConstants()
                    .setAxialCoeffs(new PDSController.PDSCoefficients(0.0, 0.0, 0.0, 0.0))
                    .setStrafeCoeffs(new PDSController.PDSCoefficients(0.0, 0.0, 0.0, 0.0))
                    .setHeadingCoeffs(new PDSController.PDSCoefficients(0.0, 0.0, 0.0, 0.0))
                    .setHeadingTolerance(Angle.fromDeg(2.0))
                    .setAxialTolerance(Distance.fromIn(1.5))
                    .setMaxAxialPower(1)
                    .setStrafeTolerance(Distance.fromIn(1.5))
                    .setMaxTurnPower(1);
        }