Road Runner Feedforward Tuning

Tune kS, kV, kA and validate with Dashboard.

Module 12: Road Runner 1.0 Setup and TuningRoad Runner

In this lesson, you will:

01Run tuning in sequence.
02Record constants.
03Retune 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.

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.

Which result best demonstrates completion of “Road Runner Feedforward Tuning”?

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

0 of 2 answered

References

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