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Brighton-FTC / FTC-2023

BSD 3-Clause Clear License
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tests needed for roadrunner #45

Open 12sliu opened 1 year ago

12sliu commented 1 year ago

https://learnroadrunner.com/quickstart-overview.html#are-you-using-drive-encoders we can ignore first two because we don't have dead wheels, but other than that we have 7 different things to test

ok, TLDR: (if a step doesn't have a link, follow the link before that step)

  1. Ignore first localization test as we don't have dead wheels, THIS IS DONE LATER
  2. Don't use DriveVelocityPIDTuner, but do use MaxVelocityTuner(talked about in DriveVelocityPIDTuner) because needed for step 3 https://learnroadrunner.com/drive-velocity-pid-tuning.html
  3. Now use DriveFeedforwardTuner to tune feedforward controller (quite complicated, will take a while) https://learnroadrunner.com/feedforward-tuning.html#tuning
  4. Run StraightTest to make sure velocity controller is tuned https://learnroadrunner.com/straight-test.html#tuning-lateral-multiplier-dead-wheels
  5. Run StraightTest and StrafeTest (instructions are under Drive Encoder Localization)
  6. Run MaxAngularVelocityTuner https://learnroadrunner.com/trackwidth-tuning.html
  7. Run TrackWidthTuner
  8. Run TurnTest to make sure track width isn't screwed https://learnroadrunner.com/turn-test.html
  9. Run LocalizationTest to check everything before here https://learnroadrunner.com/localization-test-2.html
  10. Run BackAndForth to get rough PID gains https://learnroadrunner.com/follower-pid-tuning.html
  11. Run FollowerPIDTuner for finer tuning
  12. Run spline test for final check https://learnroadrunner.com/spline-test.html#spline-test

Note: THIS IS JUST FOR ROADRUNNER Note 2: run tests by 192.168.49.1:8080/dash with a phone RC or 192.168.43.1:8080/dash with a Control Hub Note 3: just in case, please ACTUALLY READ the links before doing the tests

we really should have done this ages ago, engineers slowing down everything