We tried to finish the merge but the rebase on the FTC Github creates errors. We will continue to tune on the old SDK and and we will merge the new SDK next week. The new beacon mechanism and sensors should be mounted by next week so we will work on the color sensor beacon detection then.
Current PID Tuning Parameters
GyroPID (Turning): 0.006, 0.0005, 0, 0.8 for P, I, D, and loss for I. P controller works when P is set between 0.005 and 0.0065, and I helps to prevent stalling on turns.
encoderGyroDrive (Driving in a straight line): 0.03, 0.0, 0, 0.8. Only a P controller is needed because the robot only needs to drive in a straight line. It responds to pushes very well.
10/15/16 Software