Heading Tuner

Run the OpMode

Select the Heading Tuner OpMode on your Driver Station.

Open Panels and tune

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 tuning values. Adjust the parameters and test again until you are satisfied with the results.

Button	Action
`gamepad1.x` (hold)	Rotate to 180°
`gamepad1.b` (hold)	Rotate to −45° (315°)
`gamepad1.a` (hold)	Return to 0° (origin heading)

Apply the values

Open the constants file and update the heading coefficients with the values obtained from tuning.


//Replace with your actual values
.setHeadingCoeffs(new PDSController.PDSCoefficients(0.0, 0.0, 0.0, 0.0))
.setHeadingTolerance(Angle.fromDeg(2.0))
.setMaxTurnPower(1)

Please note that the heading controller is used in both the lateral and axial tuners, so the values obtained from this tuner will also affect the performance of those tuners.

Example Tuning Video