Move some parameters around and update some comments

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/DriveConstants.java

@@ -1,33 +1,48 @@
 package org.firstinspires.ftc.teamcode.drive;
 
 import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.control.PIDCoefficients;
 import com.acmerobotics.roadrunner.trajectory.constraints.DriveConstraints;
 import com.qualcomm.hardware.motors.NeveRest20Gearmotor;
 import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
 
 /*
  * Constants shared between multiple drive types.
+ *
+ * TODO: Tune or adjust the following constants to fit your robot. Note that the non-final
+ * fields may also be edited through the dashboard (connect to the robot's WiFi network and
+ * navigate to https://192.168.49.1:8080/dash). Make sure to save the values here after you
+ * adjust them in the dashboard; **config variable changes don't persist between app restarts**.
+ *
+ * These are not the only parameters; some are located in the localizer classes, drive base classes,
+ * and op modes themselves.
  */
 @Config
 public class DriveConstants {
 
     /*
-     * TODO: Tune or adjust the following constants to fit your robot. Note that the non-final
-     * fields may also be edited through the dashboard (connect to the robot's WiFi network and
-     * navigate to https://192.168.49.1:8080/dash). Make sure to save the values here after you
-     * adjust them in the dashboard; **config variable changes don't persist between app restarts**.
+     * The type of motor used on the drivetrain. While the SDK has definitions for many common
+     * motors, there may be slight gear ratio inaccuracies for planetary gearboxes and other
+     * discrepancies. Additional motor types can be defined via an interface with the
+     * @DeviceProperties and @MotorType annotations.
      */
     private static final MotorConfigurationType MOTOR_CONFIG =
             MotorConfigurationType.getMotorType(NeveRest20Gearmotor.class);
-    private static final double TICKS_PER_REV = MOTOR_CONFIG.getTicksPerRev();
+
+    /*
+     * Set the first flag appropriately. If using the built-in motor velocity PID, update
+     * MOTOR_VELO_PID with the tuned coefficients from DriveVelocityPIDTuner.
+     */
+    public static final boolean RUN_USING_ENCODER = true;
+    public static final PIDCoefficients MOTOR_VELO_PID = null;
 
     /*
      * These are physical constants that can be determined from your robot (including the track
      * width; it will be tune empirically later although a rough estimate is important). Users are
      * free to chose whichever linear distance unit they would like so long as it is consistently
      * used. The default values were selected with inches in mind. Road runner uses radians for
      * angular distances although most angular parameters are wrapped in Math.toRadians() for
-     * convenience.
+     * convenience. Make sure to exclude any gear ratio included in MOTOR_CONFIG from GEAR_RATIO.
      */
     public static double WHEEL_RADIUS = 2;
     public static double GEAR_RATIO = 1; // output (wheel) speed / input (motor) speed
@@ -58,14 +73,15 @@ public class DriveConstants {
 
 
     public static double encoderTicksToInches(double ticks) {
-        return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV;
+        return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / MOTOR_CONFIG.getTicksPerRev();
     }
 
     public static double rpmToVelocity(double rpm) {
         return rpm * GEAR_RATIO * 2 * Math.PI * WHEEL_RADIUS / 60.0;
     }
 
     public static double getMaxRpm() {
-        return MOTOR_CONFIG.getMaxRPM();
+        return MOTOR_CONFIG.getMaxRPM() *
+                (RUN_USING_ENCODER ? MOTOR_CONFIG.getAchieveableMaxRPMFraction() : 1.0);
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/localizer/StandardTrackingWheelLocalizer.java

@@ -27,7 +27,7 @@
  */
 @Config
 public class StandardTrackingWheelLocalizer extends ThreeTrackingWheelLocalizer {
-    public static double TICKS_PER_REV = 1;
+    public static double TICKS_PER_REV = 0;
     public static double WHEEL_RADIUS = 2; // in
     public static double GEAR_RATIO = 1; // output (wheel) speed / input (encoder) speed
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/mecanum/SampleMecanumDriveMR.java

@@ -13,6 +13,8 @@
 import java.util.Arrays;
 import java.util.List;
 
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MOTOR_VELO_PID;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.RUN_USING_ENCODER;
 import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
 
 /*
@@ -54,17 +56,17 @@ public SampleMecanumDriveMR(HardwareMap hardwareMap) {
         motors = Arrays.asList(leftFront, leftRear, rightRear, rightFront);
 
         for (DcMotor motor : motors) {
-            // TODO: decide whether or not to use the built-in velocity PID
-            // if you keep it, then don't tune kStatic or kA
-            // otherwise, comment out the following line
-            motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            if (RUN_USING_ENCODER) {
+                motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            }
             motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         }
 
-        // TODO: reverse any motors using DcMotor.setDirection()
+        if (RUN_USING_ENCODER && MOTOR_VELO_PID != null) {
+            setPIDCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, MOTOR_VELO_PID);
+        }
 
-        // TODO: set the tuned coefficients from DriveVelocityPIDTuner if using RUN_USING_ENCODER
-        // setPIDCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, ...);
+        // TODO: reverse any motors using DcMotor.setDirection()
 
         // TODO: if desired, use setLocalizer() to change the localization method
         // for instance, setLocalizer(new ThreeTrackingWheelLocalizer(...));

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/mecanum/SampleMecanumDriveREV.java

@@ -15,6 +15,8 @@
 import java.util.Arrays;
 import java.util.List;
 
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MOTOR_VELO_PID;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.RUN_USING_ENCODER;
 import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
 
 /*
@@ -49,17 +51,17 @@ public SampleMecanumDriveREV(HardwareMap hardwareMap) {
         motors = Arrays.asList(leftFront, leftRear, rightRear, rightFront);
 
         for (DcMotorEx motor : motors) {
-            // TODO: decide whether or not to use the built-in velocity PID
-            // if you keep it, then don't tune kStatic or kA
-            // otherwise, comment out the following line
-            motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            if (RUN_USING_ENCODER) {
+                motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            }
             motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         }
 
-        // TODO: reverse any motors using DcMotor.setDirection()
+        if (RUN_USING_ENCODER && MOTOR_VELO_PID != null) {
+            setPIDCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, MOTOR_VELO_PID);
+        }
 
-        // TODO: set the tuned coefficients from DriveVelocityPIDTuner if using RUN_USING_ENCODER
-        // setPIDCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, ...);
+        // TODO: reverse any motors using DcMotor.setDirection()
 
         // TODO: if desired, use setLocalizer() to change the localization method
         // for instance, setLocalizer(new ThreeTrackingWheelLocalizer(...));

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/mecanum/SampleMecanumDriveREVOptimized.java

@@ -1,12 +1,13 @@
 package org.firstinspires.ftc.teamcode.drive.mecanum;
 
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.MOTOR_VELO_PID;
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.RUN_USING_ENCODER;
 import static org.firstinspires.ftc.teamcode.drive.DriveConstants.encoderTicksToInches;
 
 import android.support.annotation.NonNull;
 import com.acmerobotics.roadrunner.control.PIDCoefficients;
 import com.qualcomm.hardware.bosch.BNO055IMU;
 import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.PIDFCoefficients;
 import java.util.ArrayList;
@@ -54,17 +55,17 @@ public SampleMecanumDriveREVOptimized(HardwareMap hardwareMap) {
         motors = Arrays.asList(leftFront, leftRear, rightRear, rightFront);
 
         for (ExpansionHubMotor motor : motors) {
-            // TODO: decide whether or not to use the built-in velocity PID
-            // if you keep it, then don't tune kStatic or kA
-            // otherwise, comment out the following line
-            motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            if (RUN_USING_ENCODER) {
+                motor.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            }
             motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         }
 
-        // TODO: reverse any motors using DcMotor.setDirection()
+        if (RUN_USING_ENCODER && MOTOR_VELO_PID != null) {
+            setPIDCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, MOTOR_VELO_PID);
+        }
 
-        // TODO: set the tuned coefficients from DriveVelocityPIDTuner if using RUN_USING_ENCODER
-        // setPIDCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, ...);
+        // TODO: reverse any motors using DcMotor.setDirection()
 
         // TODO: if desired, use setLocalizer() to change the localization method
         // for instance, setLocalizer(new ThreeTrackingWheelLocalizer(...));

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/DriveFeedforwardTuner.java

@@ -1,18 +1,22 @@
 package org.firstinspires.ftc.teamcode.drive.opmode;
 
+import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.roadrunner.geometry.Pose2d;
 import com.acmerobotics.roadrunner.tuning.AccelRegression;
 import com.acmerobotics.roadrunner.tuning.RampRegression;
 import com.acmerobotics.roadrunner.util.NanoClock;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.util.RobotLog;
 
 import org.firstinspires.ftc.robotcore.internal.system.Misc;
 import org.firstinspires.ftc.teamcode.drive.mecanum.SampleMecanumDriveBase;
 import org.firstinspires.ftc.teamcode.drive.mecanum.SampleMecanumDriveREV;
 import org.firstinspires.ftc.teamcode.util.LoggingUtil;
 
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.RUN_USING_ENCODER;
 import static org.firstinspires.ftc.teamcode.drive.DriveConstants.getMaxRpm;
 import static org.firstinspires.ftc.teamcode.drive.DriveConstants.rpmToVelocity;
 
@@ -34,6 +38,13 @@ public class DriveFeedforwardTuner extends LinearOpMode {
 
     @Override
     public void runOpMode() throws InterruptedException {
+        if (RUN_USING_ENCODER) {
+            RobotLog.setGlobalErrorMsg("Feedforward constants usually don't need to be tuned " +
+                    "when using the built-in drive motor velocity PID.");
+        }
+
+        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
         SampleMecanumDriveBase drive = new SampleMecanumDriveREV(hardwareMap);
 
         NanoClock clock = NanoClock.system();

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/DriveVelocityPIDTuner.java

@@ -23,6 +23,7 @@
 
 import java.util.List;
 
+import static org.firstinspires.ftc.teamcode.drive.DriveConstants.RUN_USING_ENCODER;
 import static org.firstinspires.ftc.teamcode.drive.DriveConstants.kV;
 
 /*
@@ -125,6 +126,11 @@ private void removePidVariable() {
 
     @Override
     public void runOpMode() {
+        if (!RUN_USING_ENCODER) {
+            RobotLog.setGlobalErrorMsg("%s does not need to be run if the built-in motor velocity" +
+                    "PID is not in use", getClass().getSimpleName());
+        }
+
         telemetry = new MultipleTelemetry(telemetry, dashboard.getTelemetry());
 
         drive = new SampleMecanumDriveREV(hardwareMap);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/opmode/FollowerPIDTuner.java

@@ -9,8 +9,8 @@
 import org.firstinspires.ftc.teamcode.drive.mecanum.SampleMecanumDriveREV;
 
 /*
- * Op mode for tuning follower PID coefficients. The robot drives in a DISTANCE-by-DISTANCE square
- * indefinitely.
+ * Op mode for tuning follower PID coefficients (located in the drive base classes). The robot
+ * drives in a DISTANCE-by-DISTANCE square indefinitely.
  */
 @Config
 @Autonomous(group = "drive")