ManualFeedforwardTuner

This routine is designed to tune the open-loop feedforward coefficients. Although it may seem unnecessary, tuning these coefficients is just as important as the positional parameters.

Like the other manual tuning routines, this op mode relies heavily upon the dashboard. To access the dashboard, connect your computer to the RC's WiFi network. In your browser, navigate to http://192.168.49.1:8080/dash if you're using the RC phone or http://192.168.43.1:8080/dash if you are using the Control Hub. Once you've successfully connected, start the program, and your robot will begin moving forward and backward according to a motion profile.

Your job is to graph the velocity errors over time and adjust the feedforward coefficients. Once you've found a satisfactory set of gains, add them to the appropriate fields in your DriveConstants.

Pressing Y/Δ (Xbox/PS4) will pause the tuning process and enter driver override, allowing the user to reset the position of the bot in the event that it drifts off the path. Pressing B/O (Xbox/PS4) will cede control back to the tuning process.