RoadRunnerTuningOpMode

Utility OpMode you will extend to enable an OpMode to tune your RoadRunner coefficients and parameters. This uses Telemetry to show a menu of tuning options, with static fields being adjusted here, essentially collecting all RoadRunner tuning into one OpMode. You may choose to run the OpModes yourself as they consume the instances you provide, but using this class makes it more straightforward and has built-in dashboard tuning. It is not recommended you run the tuning OpModes yourself, and instead run them using this class.

To use this class, extend it, supply an appropriately configured instance of your base RoadRunnerDrive (not the BunyipsLib version), and ensure the localizer you wish to use has been set for it. Then, treat is like a normal OpMode (TeleOp annotation). You can adjust all the constants used in testing via FtcDashboard under RoadRunnerTuning.

Telemetry is mirrored between FtcDashboard and the Driver Station using a DualTelemetry instance, the same used in BunyipsOpMode. It is not required that a Driver Station be active for tuning.

To look at details of a tuning process, you can find them attached to the classes under the ./opmodes package, and by applying the tuning process for RoadRunner v0.5.