On offer: updated tuning tests that I believe are easier to use#42
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cwm9cwm9 wants to merge 1 commit intoPedro-Pathing:masterfrom
Open
On offer: updated tuning tests that I believe are easier to use#42cwm9cwm9 wants to merge 1 commit intoPedro-Pathing:masterfrom
cwm9cwm9 wants to merge 1 commit intoPedro-Pathing:masterfrom
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This modification contains multiple changes to the tuning opmodes.
The following opmodes have been modified: TranslationalTuner, HeadingTuner, DriveTuner, Line, CentripetalTuner
The all the opmodes, except CentripetalTuner, have been modified so that dpad left/right initiates appropriate motion for the opmode in question. dpad up/down modifies the distance the test travels through. The path constraints have been modified so path following does not end in order to be able to observe end of travel behavior better.
The CentripetalTuner has had the path constraints modified so path following does not end, and the timeout increased so there is a delay between the forward and backward paths.
These changes make it much easier to tune the robot, because you can see how the robot responds to small changes as well as large changes, and because you can see the end behavior more clearly since a return path is not immediately taken.