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Braking Profile Data #48

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Merged
junkjunk123 merged 2 commits into from
Dec 30, 2025
Merged

Braking Profile Data #48

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1467c1e
Braking Profile Data
Py-mon Dec 30, 2025
0d2217c
Parenthesis fix
Py-mon Dec 30, 2025
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66 changes: 45 additions & 21 deletions 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 @@ -16,20 +16,19 @@
import com.bylazar.telemetry.PanelsTelemetry;
import com.bylazar.telemetry.TelemetryManager;
import com.pedropathing.follower.Follower;
import com.pedropathing.ftc.drivetrains.Mecanum;
import com.pedropathing.geometry.*;
import com.pedropathing.math.*;
import com.pedropathing.paths.*;
import com.pedropathing.telemetry.SelectableOpMode;
import com.pedropathing.util.*;
import static com.pedropathing.math.MathFunctions.quadraticFit;

import android.annotation.SuppressLint;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.util.ElapsedTime;

import com.pedropathing.math.MathFunctions;

import java.util.ArrayList;
import java.util.List;

Expand Down Expand Up @@ -750,18 +749,30 @@ private enum State {
RECORD,
DONE
}

private static class BrakeRecord {
double timeMs;
Pose pose;
double velocity;

BrakeRecord(double timeMs, Pose pose, double velocity) {
this.timeMs = timeMs;
this.pose = pose;
this.velocity = velocity;
}
}

private State state = State.START_MOVE;

private ElapsedTime timer = new ElapsedTime();
private final ElapsedTime timer = new ElapsedTime();

private int iteration = 0;
private double currentPower;


private Vector startPosition;
private double measuredVelocity;

private final List<double[]> data = new ArrayList<>();
private final List<double[]> velocityToBrakingDistance = new ArrayList<>();
private final List<BrakeRecord> brakeData = new ArrayList<>();

@Override
public void init() {}
Expand All @@ -781,11 +792,11 @@ public void init_loop() {
@Override
public void start() {
timer.reset();
// follower.usePredictiveBraking();
follower.update();
follower.startTeleOpDrive(true);
}

@SuppressLint("DefaultLocale")
@Override
public void loop() {
follower.update();
Expand All @@ -802,8 +813,8 @@ public void loop() {
state = State.DONE;
break;
}

currentPower = TEST_POWERS[iteration];
double currentPower = TEST_POWERS[iteration];
follower.setMaxPower(currentPower);
if (iteration % 2 != 0) {
follower.setTeleOpDrive(-1, 0, 0, true);
Expand Down Expand Up @@ -834,7 +845,13 @@ public void loop() {
}

case WAIT_BRAKE_TIME: {
if (timer.milliseconds() >= BRAKE_WAIT_MS || follower.getVelocity().getMagnitude() <= .1) {
double t = timer.milliseconds();
Pose currentPose = follower.getPose();
double currentVelocity = follower.getVelocity().getMagnitude();

brakeData.add(new BrakeRecord(t, currentPose, currentVelocity));

if (timer.milliseconds() >= BRAKE_WAIT_MS || follower.getVelocity().getMagnitude() <= .05) {
state = State.RECORD;
}
break;
Expand All @@ -844,10 +861,11 @@ public void loop() {
Vector endPosition = follower.getPose().getAsVector();
double brakingDistance = endPosition.minus(startPosition).getMagnitude();

data.add(new double[]{measuredVelocity, brakingDistance});
velocityToBrakingDistance.add(new double[]{measuredVelocity, brakingDistance});

telemetryM.debug("Test " + iteration,
stringify(measuredVelocity, brakingDistance));
String.format("v=%.3f d=%.3f", measuredVelocity,
brakingDistance));
telemetryM.update(telemetry);

iteration++;
Expand All @@ -857,11 +875,21 @@ public void loop() {
}

case DONE: {
double[] coeffs = quadraticFit(data);
double[] coefficients = quadraticFit(velocityToBrakingDistance);

telemetryM.debug("Tuning Complete");
telemetryM.debug("kFriction (kQ)", coeffs[1]);
telemetryM.debug("kBraking (kD)", coeffs[0]);
telemetryM.debug("Braking Profile:");
for (BrakeRecord record : brakeData) {
Pose p = record.pose;
telemetryM.debug(String.format("t=%.0f ms, x=%.2f, y=%.2f, θ=%.2f, v=%.2f",
record.timeMs, p.getX(), p.getY(),
p.getHeading(),
record.velocity));
}

telemetryM.update(telemetry);
telemetryM.debug("kQuadraticFriction", coefficients[1]);
telemetryM.debug("kLinearBraking", coefficients[0]);
telemetryM.update(telemetry);

break;
Expand All @@ -870,10 +898,6 @@ public void loop() {

telemetry.update();
}

private String stringify(double v, double d) {
return String.format("v=%.3f d=%.3f", v, d);
}
}

/**
Expand Down