How to Code an AprilTag-Tracking Turret

Join the community & access CAD files, Code snippets, & more robotics resources ⤵️ https://shop.broganpratt.com/ Want to work with me and get support on your project? ⤵️ https://cal.com/brogan-pratt-a4gcx7 Summary ⤵️ For the 2026 FRC REBUILT and FTC DECODE seasons, having a fast and accurate auto-aim turret system is a huge advantage. In this video, I break down exactly how to program a turret to automatically align to an AprilTag using a camera that's mounted on the turret itself. I start by explaining the core concepts of a PID controller so you understand the theory. Then, I show a simple flowchart for a PD controller. Finally, I walk you step-by-step through the programming in FTC Java. The logic I teach can be used for almost any system, whether you're in FRC, using a Limelight, a standard webcam, or a HuskyLens, and it can be adapted to any programming language. My goal is to give you a powerful tool that will save you time and make your robot more competitive on the field. My software, tools, & deals (some give me kickbacks—thank you!): ⚙️ Tools Every Workshop Needs: https://amzn.to/47jhPDo 🚀 The Best PETG Filament: https://amzn.to/4mnNloY Why Watch? If this is your first view—hi, I’m Brogan! TLDR: I've been teaching robotics and design for over ten years. Today, lots of people talk about robotics but I’ve noticed that very few have practical, real world ways of teaching people to create their own robots. So this channel is me chiming in and showing you what it really takes to build your own. Hopefully I can help you improve your projects and robots, and in doing so, the rest of your life 🙏 Like, subscribe, and leave me a comment if you have a specific request! Thanks. Chapters: 0:00 Intro 0:39 Caveats 1:41 What is PID? 4:12 FlowChart Explained 10:50 Safety Notes 12:15 Turret Java Class Variables 14:55 Init Method 15:55 kP kD Getter & Setters 17:01 Main Turret Logic 22:20 Example OpMode 27:01 P&D Tuning on The Fly 28:49 Tuning Setup 30:15 PID Tuning Demo 34:00 Final Result Demo