org.firstinspires.ftc.teamcode.drive.opmode

Class MaxVelocityTuner

java.lang.Object

com.qualcomm.robotcore.eventloop.opmode.OpMode

com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

org.firstinspires.ftc.teamcode.drive.opmode.MaxVelocityTuner

@Disabled
 @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.

Nested Class Summary

Nested classes/interfaces inherited from class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

com.qualcomm.robotcore.eventloop.opmode.LinearOpMode.LinearOpModeHelper

Field Summary

Fields

Modifier and Type	Field and Description
private com.qualcomm.robotcore.hardware.VoltageSensor	batteryVoltageSensor
private double	maxVelocity
static double	RUNTIME
private com.qualcomm.robotcore.util.ElapsedTime	timer

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

gamepad1, gamepad2, hardwareMap, internalOpModeServices, msStuckDetectInit, msStuckDetectInitLoop, msStuckDetectLoop, msStuckDetectStart, msStuckDetectStop, telemetry, time

Constructor Summary

Constructors

Constructor and Description
MaxVelocityTuner()

Method Summary

Modifier and Type	Method and Description
void	runOpMode()
private double	veloInchesToTicks(double inchesPerSec)

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

handleLoop, idle, init_loop, init, internalPostInitLoop, internalPostLoop, isStarted, isStopRequested, loop, opModeIsActive, sleep, start, stop, waitForStart

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

getRuntime, internalPreInit, internalUpdateTelemetryNow, requestOpModeStop, resetStartTime, updateTelemetry

Methods inherited from class java.lang.Object

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

Field Detail

RUNTIME

public static double RUNTIME

timer

private com.qualcomm.robotcore.util.ElapsedTime timer

maxVelocity

private double maxVelocity

batteryVoltageSensor

private com.qualcomm.robotcore.hardware.VoltageSensor batteryVoltageSensor

Constructor Detail

MaxVelocityTuner

public MaxVelocityTuner()

Method Detail

runOpMode

public void runOpMode()
               throws java.lang.InterruptedException

Specified by:

runOpMode in class com.qualcomm.robotcore.eventloop.opmode.LinearOpMode

Throws:

java.lang.InterruptedException

veloInchesToTicks

private double veloInchesToTicks(double inchesPerSec)