Two Wheel + IMU autotuner

[Mithilessh2010]

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[Copilot]

🟡 Changes recommended

The new tuner has correctness issues that can yield invalid calibration (division by zero/Infinity) and likely computes xPodOffset with the wrong sign.

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Pull request overview

Adds a new PedroPathing autotune Procedure to guide teams through configuring and calibrating a TwoWheelLocalizer + IMU setup (encoder scalars, encoder directions, and pod offsets), and outputs a ready-to-paste TwoWheelConfig snippet.

Changes:

• Introduces TwoWheelTuner procedure with interactive setup inputs (encoder names, IMU name, Hub orientation).
• Adds tuning OpModes for forward/strafe encoder resolution, direction detection, and 180° spin-based offset identification.
• Emits result(...) values and a generated Java config snippet for easy transfer into constants/config.

File summaries

File	Description
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/procedures/TwoWheelTuner.java	New two-wheel + IMU autotuning procedure and supporting tuning opmodes (resolution, direction, offsets).

Review details

Suppressed comments (2)

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/procedures/TwoWheelTuner.java:225

• If the robot is not pushed (or the localizer fails to update), localizer.pose().y() can be 0, making this return Infinity/NaN and producing an invalid ticks-to-inches scalar.

        return Math.abs(distance / localizer.pose().y());

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/procedures/TwoWheelTuner.java:362

• The xPodOffset sign here is inconsistent with the established 180°-turn offset calculation used elsewhere in the codebase (e.g., OffsetsTuner reports xPodOffset = (-pose.y)/2). As written, this will likely produce the wrong xPodOffset sign.

            offsets = Arrays.asList(localizer.pose().y() / 2.0, -localizer.pose().x() / 2.0);

• Files reviewed: 1/1 changed files
• Comments generated: 1
• Review effort level: Lite

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