Some confusion more than issue on OTOS Tuning #10

[BeeWrangler70]

RR FTC Version

implementation "page.j5155.roadrunner:ftc-otos:0.1.2+0.1.14"

Observed Behavior

OTOS Heading Offset Tuner
copy the heading offset into line 38 of SparkFunOTOSDrive

OTOS Position Offset Tuner
copy the pose offset into line 38 of SparkFunOTOSDrive

I'm a bit confused or maybe not understanding where these values go.

The closest I come to line 38 is line 42
// RR localizer note: These units are inches and radians.
public SparkFunOTOS.Pose2D offset = new SparkFunOTOS.Pose2D(-.125, 0, Math.toRadians(89.3656));

My sensor is .125 inches left of center, it's mounted center of bot and it's not quite pointing at 90 degress. Off just a tiny bit.

I think when I was doing the Offset tuning, I was using that number to change the 90 degrees I was using. That is how I got to 89.3656. So as I was driving along the wall the heading was basically staying at zero.

I have no clue where to set the OTOS Offset Tuner number. I did the test about 10 times. I was bouncing around between -157.85 and -157.75 so it seems consistent. I'm just not sure what to change.

Tuning Files

No response

Robot Logs

No response