diff --git a/content/docs/pathing/tuning/localization/offsets-tuner.mdx b/content/docs/pathing/tuning/localization/offsets-tuner.mdx index ec2d9bd..a03e6f8 100644 --- a/content/docs/pathing/tuning/localization/offsets-tuner.mdx +++ b/content/docs/pathing/tuning/localization/offsets-tuner.mdx @@ -6,11 +6,11 @@ title: Offsets Tuner This tuner is made to automatically find odometry offsets for [Two Wheel](https://pedropathing.com/docs/pathing/tuning/localization/two-wheel) and [Pinpoint](https://pedropathing.com/docs/pathing/tuning/localization/pinpoint) localizers. Currently, it only supports two deadwheels in the calculations. Before using this tuner, you **must** set both of your odometry offsets to both be 0. -The tuner is apart of the Tuning.java in 2.1.0 or later versions; however, it can be copied over to previous versions [here](https://github.com/Pedro-Pathing/Quickstart/blob/master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java#L1222). +The tuner is a part of the Tuning.java in 2.1.0 or later versions; however, it can be copied over to previous versions [here](https://github.com/Pedro-Pathing/Quickstart/blob/master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/Tuning.java#L1222). ### Steps * Set both localizer offsets (forwardPodY and strafePodX) to be 0. * Place the robot in the corner of the field or corner of a tile facing a cardinal direction. * Select and run the tuner (located Tuning -> Localization -> Offsets Tuner). * Move the robot out of the corner and turn the robot 180 degrees. * Move the robot back into the corner with the new rotated heading. -* Transfer the offsets provided from telemetry into your code as your forwardPodY and strafePodX offsets. \ No newline at end of file +* Transfer the offsets provided from telemetry into your code as your forwardPodY and strafePodX offsets.