Скачать или смотреть How To Auto-Rotate to an AprilTag with Mecanum Drive

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Summary ⤵️
In this video, I break down how to create a simple and effective auto-alignment system that locks onto an AprilTag, while still giving your driver full control to strafe and drive forward.
I start by walking you through the core logic using a simple flowchart so you understand why it works. Then, I walk you through the Java code step-by-step, explaining each part. Finally, I share my tips for tuning the PD controller to get that snappy, accurate response without any oscillation. My goal is to give your team a powerful tool for the FRC REBUILT and FTC DECODE seasons that makes scoring faster and more reliable.

April Tag Tutorial:
Mecanum Drive Tutorial:

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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.

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Chapters:
0:00 Intro
1:03 Caveats
1:49 Logic Flowchart
7:57 PID Explanation & Calcs
12:40 Full Logic Explanation
15:49 Java April Tags Notes
16:42 Mecanum Drive Notes
17:01 Class Creation
18:45 PD Variables
21:17 Driving Variables
21:39 On The Fly Tuning Variables
23:12 Start Method
23:30 Main Loop
24:45 Auto Alignment PD Controller
29:37 Driving Control
30:00 On The Fly Tuning Setup
31:38 PID Tuning Demo
35:00 Final Demo