Tune and Validate a Profiled Arm

Full profiled mechanism tuning workflow.

Module 10: Motion ProfilingCapstone

In this lesson, you will:

01Tune constraints.
02Tune follower.
03Document failure modes.

Concept narrative

A profiled arm capstone combines architecture, states, control, feedforward, and safe testing. It is a realistic example of advanced FTC programming.

Robot mental model

The arm should expose named states, generate profiles between them, follow with feedback, and protect itself from unsafe ranges.

Implementation walkthrough

Start with low constraints, verify direction, add profile telemetry, tune P, add feedforward if needed, then increase constraints gradually.

ProfiledArm.javaJava

arm.updateState(ArmState.SCORE);
telemetry.addData("state", arm.getState());
telemetry.addData("profile target", arm.getProfileTarget());
telemetry.addData("arm position", arm.getPosition());

Common mistakes and debugging

Overshoot, lag, saturation, and mechanical binding require different fixes. Do not hide a mechanical problem with huge gains.

Checkpoint

State transitions are safe.
Tuning notes include constants.
Failures are categorized.
The test record includes the setup, prediction, and observed result.
A teammate can repeat the check from the saved evidence without guessing.

Reflection check

Check your understanding before moving on.

Which result best demonstrates completion of “Tune and Validate a Profiled Arm”?

Why record the test setup, prediction, and observed result?

0 of 2 answered

References

Game Manual 0FTC community reference for programming, controls, and robot design.FTC DashboardLive telemetry, graphs, config variables, and camera streaming.