AlphaBit - OpenML

Pedro Pathing Implementation (Current Direction)

Pedro Pathing Reference

In this project, Pedro Pathing references are mainly in the national branch. Use this page as a practical bridge if you want to test Pedro while keeping Decode subsystem behavior intact.

Where

Primary Pedro files: robot_code/national/AlphaBit-Decode-2026/.../pedroPathing/Constants.java

Tuning OpModes: .../pedroPathing/Tuning.java

Mechanism integration concept remains in ArtifactControl logic.

Step 1

Read and Port Localizer Constants

Reference configuration style:

public static TwoWheelConstants localizerConstants = new TwoWheelConstants()
    .forwardEncoder_HardwareMapName("Back_Left")
    .strafeEncoder_HardwareMapName("Back_Right")
    .forwardPodY(2.9960)
    .strafePodX(-6.1417)
    .forwardTicksToInches(-0.00112149)
    .strafeTicksToInches(0.00112149)
    .IMU_HardwareMapName("imu");

Step 2

Build Follower Through Constants

Keep creation in one utility place:

public static Follower createFollower(HardwareMap hardwareMap) {
    return new FollowerBuilder(followerConstants, hardwareMap)
        .pathConstraints(pathConstraints)
        .mecanumDrivetrain(driveConstants)
        .twoWheelLocalizer(localizerConstants)
        .build();
}

Step 3

Keep Subsystem API Stable

Do not rewrite turret/intake burst logic during follower migration.

Only replace pose/follower calls first.

Example replacement: setPoseEstimate(...) -> setStartingPose(...) / setPose(...).

Step 4

Tune Before Full Integration

Run Pedro localization tests first.

Tune path constraints under your real battery and drivetrain state.

Only then re-enable complete autonomous cycle behavior.

Step 5

Decide by Reliability, Not Hype

Choose the framework that gives lower match-day variance.

If Pedro is not yet more stable than RR baseline, keep RR for competition and continue Pedro in parallel testing.

Continue to Auto Aiming - Getting Started to integrate targeting logic with your navigation stack.

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