Tuning Overview

The process is very similar to that of Pedro Pathing 1.0. These tuners will be completely automated in the future, but for now you have to tune them manually.

Each tuner follows a very similar process for tuning, so the topics below are applicable to all three tuners. You should check the individual tuner pages for specific instructions on how to run the OpMode and test your tuning values.

Panels

Panels is a web interface that runs on your robot controller to allow for real time tuning of values. Panels is already installed in the Apex Pathing project, so you don’t need to do anything to get it running.

1. Connect your device to the robot controller Wi-Fi network
2. Open a web browser and navigate to 192.168.43.1:8001
3. You should now be able to select the base template and adjust the parameters as you run the tuners.

Parameters

When running a tuner with Panels open, you will see the following parameters that can be adjusted in real time:

• proportionalGain (P): Multiplied by the current positional error in inches. This is what does the heavy lifting of moving the robot towards the target position. Increase it if the robot is not moving enough, decrease it if the robot is oscillating around the target position or overshooting.
• derivativeGain (D): Multiplied by the change in error since the last update. This helps to reduce overshooting and oscillation. Increase it if the robot is overshooting or oscillating, decrease it if the robot is not responsive enough or is too slow to reach the target position.
• minimumPower (L): A constant power added to the output to help the robot overcome static friction. This value should be tuned first. Increase it until the robot starts to oscilate in place, then decrease it slightly until the oscillation stops.
• deadzone (D): A range of error around the target position where no power is applied. This can help to prevent tiny oscilations and allow the robot to coompletely stop.

For Swerve

• Start by debugging your swerve module angle offsets before running any other tuner.
• Once this is completed, the tuning process is the same as any other drivetrain. Refer to the steps below to run the necessary tuners.

Tuning Process