ManualFeedforwardTuner Goes Full Speed

[awsare]

RR FTC Version

0.1.3

Observed Behavior

Robot only goes at full speed when running ManualFeedforwardTuner. Changing parameters in MecanumDrive does nothing (feedforward parameters, max velo). However, we have a working autonmous and all other tuners work. I would like to fine tune kV kS and kA because there is a lot of translational and heading error. Robot is using three deadwheel odometry.

Tuning Files

// drive model parameters
public double inPerTick = 0.0005715460604;
public double lateralInPerTick = 0.0003766205623811575;
public double trackWidthTicks = 23043.72492189607;

// feedforward parameters (in tick units)
public double kV = 0.00008330062304161307;
public double kS = 1.1944668087919257;
public double kA = 0;

// path profile parameters (in inches)
public double maxWheelVel = 30;
public double minProfileAccel = -30;
public double maxProfileAccel = 30;

// turn profile parameters (in radians)
public double maxAngVel = 0.5 * Math.PI; // shared with path
public double maxAngAccel = Math.PI;

// path controller gains
public double axialGain = 1.0;
public double lateralGain = 1.0;
public double headingGain = 5.5; // shared with turn

public double axialVelGain = 0.0;
public double lateralVelGain = 0.0;
public double headingVelGain = 0.0; // shared with turn

Robot Logs

2023_12_20__19_38_41_704__ManualFeedforwardTuner.log

[awsare]

I updated to 0.1.7 and it fixed the issue.