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Fix lateral Automatic tuner telemetry: robot moves left, not right #84

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Merged
BeepBot99 merged 1 commit into from
Aug 5, 2026
Merged

Fix lateral Automatic tuner telemetry: robot moves left, not right #84

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8 changes: 4 additions & 4 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 @@ -483,7 +483,7 @@ public void init() {
*/
@Override
public void init_loop() {
telemetryM.debug("The robot will run at 1 power until it reaches " + DISTANCE + " inches to the right.");
telemetryM.debug("The robot will run at 1 power until it reaches " + DISTANCE + " inches to the left.");
telemetryM.debug("Make sure you have enough room, since the robot has inertia after cutting power.");
telemetryM.debug("After running the distance, the robot will cut power from the drivetrain and display the strafe velocity.");
telemetryM.debug("Press B on Gamepad 1 to stop.");
Expand All @@ -493,7 +493,7 @@ public void init_loop() {
drawCurrent();
}

/** This starts the OpMode by setting the drive motors to run right at full power. */
/** This starts the OpMode by setting the drive motors to run left at full power. */
@Override
public void start() {
for (int i = 0; i < RECORD_NUMBER; i++) {
Expand Down Expand Up @@ -659,7 +659,7 @@ public void loop() {

/**
* This is the LateralZeroPowerAccelerationTuner autonomous follower OpMode. This runs the robot
* to the right until a specified velocity is achieved. Then, the robot cuts power to the motors, setting
* to the left until a specified velocity is achieved. Then, the robot cuts power to the motors, setting
* them to zero power. The deceleration, or negative acceleration, is then measured until the robot
* stops. The accelerations across the entire time the robot is slowing down is then averaged and
* that number is then printed. This is used to determine how the robot will decelerate in the
Expand Down Expand Up @@ -688,7 +688,7 @@ public void init() {
/** This initializes the drive motors as well as the Panels telemetry. */
@Override
public void init_loop() {
telemetryM.debug("The robot will run to the right until it reaches " + VELOCITY + " inches per second.");
telemetryM.debug("The robot will run to the left until it reaches " + VELOCITY + " inches per second.");
telemetryM.debug("Then, it will cut power from the drivetrain and roll to a stop.");
telemetryM.debug("Make sure you have enough room.");
telemetryM.debug("After stopping, the lateral zero power acceleration (natural deceleration) will be displayed.");
Expand Down
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