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round output answers #74

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dfe6813
remove exponential notation for braking coefficients
jjophoven May 19, 2026
5da62fb
Add format method for improved telemetry output
jjophoven May 19, 2026
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23 changes: 14 additions & 9 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 @@ -6,6 +6,7 @@
import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.follower;
import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.stopRobot;
import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.telemetryM;
import static org.firstinspires.ftc.teamcode.pedroPathing.Tuning.format;

import com.bylazar.configurables.PanelsConfigurables;
import com.bylazar.configurables.annotations.Configurable;
Expand Down Expand Up @@ -127,6 +128,10 @@ public static void stopRobot() {
follower.startTeleopDrive(true);
follower.setTeleOpDrive(0,0,0,true);
}

public static String format(double value, int decimalPlaces) {
return String.format("%." + decimalPlaces + "f", value);
}
}

/**
Expand Down Expand Up @@ -429,7 +434,7 @@ public void loop() {
average += velocity;
}
average /= velocities.size();
telemetryM.debug("Forward Velocity: " + average);
telemetryM.debug("Forward Velocity: " + format(average, 3));
telemetryM.debug("\n");
telemetryM.debug("Press A to set the Forward Velocity temporarily (while robot remains on).");

Expand Down Expand Up @@ -537,7 +542,7 @@ public void loop() {
}
average /= velocities.size();

telemetryM.debug("Strafe Velocity: " + average);
telemetryM.debug("Strafe Velocity: " + format(average, 3));
telemetryM.debug("\n");
telemetryM.debug("Press A to set the Lateral Velocity temporarily (while robot remains on).");
telemetryM.update(telemetry);
Expand Down Expand Up @@ -643,7 +648,7 @@ public void loop() {
}
average /= accelerations.size();

telemetryM.debug("Forward Zero Power Acceleration (Deceleration): " + average);
telemetryM.debug("Forward Zero Power Acceleration (Deceleration): " + format(average, 3));
telemetryM.debug("\n");
telemetryM.debug("Press A to set the Forward Zero Power Acceleration temporarily (while robot remains on).");
telemetryM.update(telemetry);
Expand Down Expand Up @@ -747,7 +752,7 @@ public void loop() {
}
average /= accelerations.size();

telemetryM.debug("Lateral Zero Power Acceleration (Deceleration): " + average);
telemetryM.debug("Lateral Zero Power Acceleration (Deceleration): " + format(average, 3));
telemetryM.debug("\n");
telemetryM.debug("Press A to set the Lateral Zero Power Acceleration temporarily (while robot remains on).");
telemetryM.update(telemetry);
Expand Down Expand Up @@ -919,13 +924,13 @@ public void loop() {

telemetryM.debug("Tuning Complete");
telemetryM.debug("Braking Profile:");
telemetryM.debug("kQuadratic", coefficients[1]);
telemetryM.debug("kLinear", coefficients[0]);
telemetryM.debug("kQuadratic", format(coefficients[1], 8)));
telemetryM.debug("kLinear", format(coefficients[0], 7));
telemetryM.update(telemetry);
telemetryM.debug("Tuning Complete");
telemetryM.debug("Braking Profile:");
telemetryM.debug("kQuadraticFriction", coefficients[1]);
telemetryM.debug("kLinearBraking", coefficients[0]);
telemetryM.debug("kQuadraticFriction", format(coefficients[1], 8));
telemetryM.debug("kLinearBraking", format(coefficients[0], 7));
for (BrakeRecord record : brakeData) {
Pose p = record.pose;
telemetryM.debug(String.format("t=%.0f ms, x=%.2f, y=%.2f, θ=%.2f, v=%.2f",
Expand Down Expand Up @@ -1790,4 +1795,4 @@ public static void drawPoseHistory(PoseHistory poseTracker) {
public static void sendPacket() {
panelsField.update();
}
}
}
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