Package org.firstinspires.ftc.teamcode.subsystems.roadrunner.drive.opmode

Class MaxVelocityTuner

java.lang.Object
com.qualcomm.robotcore.eventloop.opmode.OpMode
com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
org.firstinspires.ftc.teamcode.subsystems.roadrunner.drive.opmode.MaxVelocityTuner
@Autonomous(group="drive") public class MaxVelocityTuner extends com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
This routine is designed to calculate the maximum velocity your bot can achieve under load. It will also calculate the effective kF value for your velocity PID.

Upon pressing start, your bot will run at max power for RUNTIME seconds.

Further fine tuning of kF may be desired.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    com.qualcomm.robotcore.hardware.Gamepad
    gamepad1
     
    com.qualcomm.robotcore.hardware.Gamepad
    gamepad2
     
    com.qualcomm.robotcore.hardware.HardwareMap
    hardwareMap
     
    static final int
    MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED
     
    int
    msStuckDetectStop
    Deprecated.
    static double
    RUNTIME
     
    org.firstinspires.ftc.robotcore.external.Telemetry
    telemetry
     

    Fields inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

    msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, time

  • Constructor Summary

    Constructors
    Constructor
    Description
    MaxVelocityTuner()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    final void
    requestOpModeStop()
     
    void
    runOpMode()
     

    Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

    idle, init, init_loop, isStarted, isStopRequested, loop, opModeInInit, opModeIsActive, sleep, start, stop, waitForStart

    Methods inherited from class com.qualcomm.robotcore.eventloop.opmode.OpMode

    getRuntime, internalPostInitLoop, internalPostLoop, internalPreInit, internalUpdateTelemetryNow, resetRuntime, terminateOpModeNow, updateTelemetry

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • RUNTIME

      public static double RUNTIME

    • MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED

      public static final int MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED
      See Also:

    • gamepad1

      public volatile com.qualcomm.robotcore.hardware.Gamepad gamepad1

    • gamepad2

      public volatile com.qualcomm.robotcore.hardware.Gamepad gamepad2

    • telemetry

      public org.firstinspires.ftc.robotcore.external.Telemetry telemetry

    • hardwareMap

      public volatile com.qualcomm.robotcore.hardware.HardwareMap hardwareMap

    • msStuckDetectStop

      @Deprecated public int msStuckDetectStop
      Deprecated.

  • Constructor Details

    • MaxVelocityTuner

      public MaxVelocityTuner()

  • Method Details

    • runOpMode

      public void runOpMode() throws InterruptedException
      Specified by:
      runOpMode in class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode
      Throws:
      InterruptedException

    • requestOpModeStop

      public final void requestOpModeStop()