How to Tune PIDF for PedroPathing (Learn Java for FTC Robotics)

Join the community & access exclusive robotics resources ⤵️ https://shop.broganpratt.com/ Want to work with me and get support on your project? ⤵️ https://cal.com/brogan-pratt-a4gcx7 Summary ⤵️ In this video, I take on the challenge with a truly terrible mecanum drivetrain that slips and slides all over the place. I'll walk you through a step-by-step process for tuning the PIDF controllers in PedroPathing to get this difficult robot driving in surprisingly straight lines. You'll learn what each constant actually does and develop an intuition for tuning that you can apply to any PIDF controller, not just for this specific library. Notes & Corrections: 1. After each "Automatic Test", you don't have to press A as they are independent from one another 2. If you swap the field visualizer in Panels to normal FTC/Road Runner, you'll see the robot path. My software, tools, & deals (some give me kickbacks—thank you!): ⚙️ Tools Every Workshop Needs: https://amzn.to/47jhPDo 🚀 The Best PETG Filament: https://amzn.to/4mnNloY 🔥 Get 5% off any 2-Stage Offset Robotics Telescopic Elevator Kit with Code: COACHPRATT5 https://www.offsetrobotics.com/produc... Why Watch? If this is your first view—hi, I’m Brogan! TLDR: I've been teaching robotics and design for over ten years. Today, lots of people talk about robotics but I’ve noticed that very few have practical, real world ways of teaching people to create their own robots. So this channel is me chiming in and showing you what it really takes to build your own. Hopefully I can help you improve your projects and robots, and in doing so, the rest of your life 🙏 Like, subscribe, and leave me a comment if you have a specific request! Thanks. Chapters: 0:00 Intro 0:40 Prerequisites 1:09 Robot Test Setup 2:17 Sample Drive Drifting 2:59 Constants - Mass 3:48 Constants - Mecanum Drivetrain 4:49 Localization - Pinpoint 6:57 Localization - Custom Encoder 9:47 Automatic Tuning 10:00 Forward Velocity Tuning 12:40 Lateral Velocity Tuning 14:40 Forward Zero Power Tuning 15:54 Latera Zero Power Tuning 16:45 What is PIDF Control? 18:24 Translational PIDF Tuning 26:42 Heading PIDF Tuning 29:30 Drive PIDF Tuning 36:59 Centripetal Tuning 38:45 Final Test 39:25 Final Thoughts