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Add Graphing Telemetry for Translational, Heading and Drive PIDF tuners. #31

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Merged
BeepBot99 merged 2 commits into from
Nov 25, 2025
Merged

Add Graphing Telemetry for Translational, Heading and Drive PIDF tuners. #31

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ef25e71
Added Graph telemetry to PIDF Tuners.
vlad1k337 Nov 24, 2025
4c8d693
Merge remote-tracking branch 'origin/master'
vlad1k337 Nov 24, 2025
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10 changes: 9 additions & 1 deletion TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
import com.bylazar.field.Style;
import com.bylazar.telemetry.PanelsTelemetry;
import com.bylazar.telemetry.TelemetryManager;
import com.pedropathing.ErrorCalculator;
import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.*;
import com.pedropathing.math.*;
Expand Down Expand Up @@ -790,6 +791,9 @@ public void loop() {
}

telemetryM.debug("Push the robot laterally to test the Translational PIDF(s).");
telemetryM.addData("Zero Line", 0);
telemetryM.addData("Error X", follower.errorCalculator.getTranslationalError().getXComponent());
telemetryM.addData("Error Y", follower.errorCalculator.getTranslationalError().getYComponent());
telemetryM.update(telemetry);
}
}
Expand Down Expand Up @@ -862,6 +866,8 @@ public void loop() {
}

telemetryM.debug("Turn the robot manually to test the Heading PIDF(s).");
telemetryM.addData("Zero Line", 0);
telemetryM.addData("Error", follower.errorCalculator.getHeadingError());
telemetryM.update(telemetry);
}
}
Expand Down Expand Up @@ -905,7 +911,7 @@ public void init_loop() {
public void start() {
follower.deactivateAllPIDFs();
follower.activateDrive();

forwards = follower.pathBuilder()
.setGlobalDeceleration()
.addPath(new BezierLine(new Pose(72,72), new Pose(DISTANCE + 72,72)))
Expand Down Expand Up @@ -941,6 +947,8 @@ public void loop() {
}

telemetryM.debug("Driving forward?: " + forward);
telemetryM.addData("Zero Line", 0);
telemetryM.addData("Error", follower.errorCalculator.getDriveErrors()[1]);
telemetryM.update(telemetry);
}
}
Expand Down