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McQuaidRobotics / 2024_Robot_Base

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Tune/Make Autonomous more accurate. #24

Closed Maddox-RVS closed 9 months ago

Maddox-RVS commented 9 months ago

Tune the PID constants in the ConstValues class so that the error correction done when autonomous paths are running on the robot are more accurate with reaching its targeted poses.

Maddox-RVS commented 9 months ago

No longer a needed task. Physically switched swerve base from hard surface wheels to carpet specific wheels. This alone eliminated the 2-4" error during autonomous pathing, bringing it down to around 0.5" or less error. As a result PID tuning is no longer needed for running these autonomous commands since the granularity needed for game piece retrieval and scoring during game has been reached with predetermined autonomous path planner paths. This issue required no code changes to be fixed.