Lateral Tuner

Clear an open area before running this tuner. The robot will travel up to 2 feet (24 inches) in a single direction.

Run the OpMode

Select the Lateral 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.

By default, the heading controller is used to keep the robot at 0 heading, it can be toggled with the maintainHeading boolean in Panels.

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)	Drive left 24 inches
`gamepad1.b` (hold)	Drive right 6 inches
`gamepad1.a` (hold)	Return to starting position

Apply the values

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


//Replace with your actual values
.setStrafeCoeffs(new PDSController.PDSCoefficients(0.0, 0.0, 0.0, 0.0))
.setStrafeTolerance(Distance.fromIn(1.5)
.setMaxStrafePower(1)

Example Tuning Video