How To Auto-Rotate to an AprilTag with Mecanum Drive

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 ⤵️ In this video, I break down how to create a simple and effective auto-alignment system that locks onto an AprilTag, while still giving your driver full control to strafe and drive forward. I start by walking you through the core logic using a simple flowchart so you understand why it works. Then, I walk you through the Java code step-by-step, explaining each part. Finally, I share my tips for tuning the PD controller to get that snappy, accurate response without any oscillation. My goal is to give your team a powerful tool for the FRC REBUILT and FTC DECODE seasons that makes scoring faster and more reliable. April Tag Tutorial: Mecanum Drive Tutorial: 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 🔥 Get 5% off any 2-Stage Offset Robotics Telescopic Elevator Kit with Code: COACHPRATT5 https://www.offsetrobotics.com/produc... 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 1:03 Caveats 1:49 Logic Flowchart 7:57 PID Explanation & Calcs 12:40 Full Logic Explanation 15:49 Java April Tags Notes 16:42 Mecanum Drive Notes 17:01 Class Creation 18:45 PD Variables 21:17 Driving Variables 21:39 On The Fly Tuning Variables 23:12 Start Method 23:30 Main Loop 24:45 Auto Alignment PD Controller 29:37 Driving Control 30:00 On The Fly Tuning Setup 31:38 PID Tuning Demo 35:00 Final Demo