Road Runner Feedforward Tuning

Tune kS, kV, kA and validate with Dashboard.

Road Runner 1.0 Setup and TuningRoad Runner

In this lesson, you will:

Run tuning in sequence.
Record constants.
Retune after mechanical changes.

Concept narrative

Road Runner tuning measures how this robot moves. The docs emphasize completing steps in order because bad early measurements contaminate later validation.

Robot mental model

Tuning constants are physical observations. Weight, wheels, gearing, and battery all matter. A copied constant from another robot is a guess.

Implementation walkthrough

Follow the 1.0 tuning sequence: hardware direction, Dashboard setup, push/ramp tests as appropriate, manual feedforward, manual feedback, then spline validation.

RRTuningLog.mdJava

- Drive class:
- Localizer:
- Battery voltage:
- kS:
- kV:
- kA:
- Validation result:
- Retune trigger:

Common mistakes and debugging

Skipping a step can make later tests impossible to interpret. If data looks weird, download logs and inspect outliers rather than forcing constants.

Practice

Run one tuning step and produce a tuning log with robot setup, battery, constants, and observed behavior.

Checkpoint

Tuning follows documented order.
Constants have context.
Validation test is recorded.
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.

Why should Road Runner feedforward constants be measured on the current robot?

Gearing, wheels, mass, and battery behavior differ between robots.

Road Runner blocks copied constants at compile time.

FTC SDK changes motor direction every season.

What is the better response to suspicious tuning data?

Keep increasing kV until the graph looks smooth.

Inspect logs and earlier setup steps before forcing new constants.

Skip validation and begin the capstone paths.

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References

Road Runner 1.0 TuningDrive class setup, tuning op modes, feedforward, feedback, and validation.FTC DashboardLive telemetry, graphs, config variables, and camera streaming.