how do I tune pedro pathing
According to the official Pedro Pathing documentation, the tuning process begins by configuring the Constants file. This file holds essential parameters for your drivetrain, localizer, and path constraints. You must ensure your robot has a working localization system, such as dead wheels or specialized sensors, so it can track its position on the field. If you are using a swerve drive, you will also need to define your motor names and directions during this initial setup phase.
The tuning documentation outlines that you must run velocity tuners to balance the robot's forward and sideways speeds. Additionally, you will use a heading tuner to configure the PIDF controller that keeps the robot facing the correct direction while moving along its path.
After completing the initial setup, you must select one of two path-following algorithms. The first option is predictive braking, which is a rapid, mostly automatic method that takes only a few minutes to configure by running an automatic tuner and finding a P value. The second option is a highly customizable PIDF-based method that uses three manual tuners and two automatic tuners. This manual route requires running zero power acceleration tuners to analyze the robot's natural deceleration, tuning the translational and drive PIDFs, and adjusting a centripetal force constant.
The Pedro Pathing comparison guide notes that the overall tuning process is half automatic and half manual, consisting of six automatic steps and four manual steps. If the robot experiences issues like spinning, drifting, or failing to stop, the troubleshooting documentation recommends checking for common errors or asking for help on their Discord server. Additionally, community discussions regarding tuning assistance can be found on the Chief Delphi forum under "Pedro Pathing Tuning Help" at https://www.chiefdelphi.com/t/pedro-pathing-tuning-help/513268.