BSpline Tuner

Run the OpMode

Select the BSpline Tuner OpMode on your Driver Station.

Adjust your constants

Open Panels on your device and adjust the parameters as shown on the Overview page.

Test as you tune

Use the controls below to test your B-Spline follower tracking. Observe the pathing, adjust the parameters in Panels, and continue running the tuner until you are satisfied with the results.

Button	Action
`gamepad1.x` (hold)	Execute the multi-stage B-Spline test path forward
`gamepad1.a` (hold)	Reset and drive back to the start position

Apply the values

Once you are happy with how the robot is tracking the splines, copy your final values from the dashboard screen and add them into your Constants.java file under setFollowerConstants() so they are saved permanently:


public FollowerConstants setBSplineFollowerConstants() { //TODO this will become setFollowerConstants after P2P goes
        //Replace with your actual values
        return new BSplineFollowerConstants()
                .setTranslationCoeffs(new PDSController.PDSCoefficients(0.0, 0.0, 0.0, 0.0))
                .setHeadingCoeffs(new PDSController.PDSCoefficients(0.0, 0.0, 0.0, 0.0))
                .setVelocityFF(0.01)
                .setHeadingTolerance(Math.toRadians(1.0))
                .setDistanceTolerance(0.5)
                .setTTolerance(0.95);
    }