# Follower PID Tuning
This is the last tuning step. Here, you will tune the closed loop feedback controller. This should improve your path following dramatically.
The official Road Runner guide recommends that you run the
FollowerPIDTuner opmode to tune the follower PID's. However, I personally prefer to first tune it with a simple opmode that goes back and forth. You will follow the same tuning process, regardless. I prefer the back and forth opmode because it is really simple to see your errors accumulate. The
FollowerPIDTuner will go in a large square. Thus if your heading is off, your entire square is destroyed and you have to keep resetting the bot. It's quite arduous. I would recommend using the
BackAndForth opmode and then further fine tuning with
BackAndForthopdmode via the RC.
Then, connect to the RC phone's wifi network. The password to the network is located in the
Program and Managemenu.
192.168.49.1:8080/dashwith a phone RC or
192.168.43.1:8080/dashwith a Control Hub.
Ensure that you have the
Fieldview selected in the top right.
You should see two lines and two circles being drawn: green for the target position and blue for your bot's actual position.
Look for the
SampleMecanumDrivein the right sidebar. Open that dropdown. You should be seeing two options:
TRANSLATION_PID. Both options are located in the
HEADING_PIDfirst. Just keep increasing
kPuntil the robot starts to keep an accurate heading. This was around 8 in my experience, although your mileage may vary. You should not need to adjust
TRANSLATION_PIDnext. Once again, keep increasing
kPuntil the robot starts to adjust itself and follows the path. This was also around 8 in my experience, although your mileage may vary. You should not need to adjust
Once that's tuned, you should be done! Remember that any changes in Dashboard must be reflected in the appropriate file. So, you should copy-paste your numbers into the PID object in
Feel free to run the same tuning process with
FollowerPIDTuner. This is encouraged for further accuracy.
You should be done! Go on to the
SplineTestto ensure that your following is accurate.