Docs / RaptCore / Tuning
Tuning the follower
● Layout preview — the docs open with the first release; this text is a placeholder
Before you start
Tune on a charged battery, on the same field tiles you compete on. The follower reads every gain from FollowerConfig, so keep one config per robot.
TipOpen RaptDash first — every gain on this page is live-tunable there, so you never redeploy between tries.
1. Feedforward
Feedforward does most of the work. Get it right and the PID terms only clean up small errors.
// Example values — measure your own drivetrain config.kV = 0.0132; config.kA = 0.0021; config.kStatic = 0.06; config.useVoltageCompensation = true;
2. Translational PID
Run the straight-line test OpMode and raise kP until the robot overshoots, then back off by a third.
| Gain | Start | Watch for |
|---|---|---|
kP | 0.08 | Oscillation at the end of the path |
kD | 0.004 | Jitter while cruising |
kI | 0 | Leave at zero unless you have steady drift |
3. Heading
Heading uses its own PID plus a rate feedforward. Tune it with the spin test — the robot should hold its angle through a full strafe.
Heads upIf heading drifts only at high speed, check wheel slip before adding gain.
4. Verify in the sim twin
Run the regression replays. If every fixture stays under the drift limit, your constants are ready for the real field.