Swerve pod rotation tuning

.gitignore

@@ -78,4 +78,8 @@ lint/intermediates/
 lint/generated/
 lint/outputs/
 lint/tmp/
-# lint/reports/
+# lint/reports/
+# Session artifacts and Python bytecode - not project state.
+my-session-transcript.md
+__pycache__/
+*.pyc

ASSUMPTIONS.md

@@ -0,0 +1,39 @@
+# Assumptions taken this session
+
+Every default taken from Survey 0 without an answer, plus anything else assumed rather than
+measured. Each says how to overturn it.
+
+## From Survey 0 (defaults taken, work proceeded)
+
+| # | Item | Assumed | Consequence if wrong |
+|---|---|---|---|
+| Q1 | Robot time / surface | >2 h on FTC tiles, robot on the floor. All drive commands still gated behind a confirmed OPS REQUEST. | Captures get rescheduled; nothing else changes. |
+| Q2 | Drive path under study | Both: reproduce through the dashboard, confirm on `DriveTeleOp`. | If dashboard-only, the shipped-path findings (§2.3) stay unverified. |
+| Q3 | Criterion 7, heading error translating | < 3.0° | Threshold only. |
+| Q4 | Criterion 8, heading error at rest | < 1.0° | Threshold only. |
+| Q5 | Criterion 9, cross-track | < 2.0 in | Threshold only; drives how much clearance the Task 3 path needs. |
+| Q6 | Editing vendored Pedro | Yes — `third_party/PedroPathing` is treated as our source, as prior commits already do. | Fixes in `Swerve.java` / `CustomDrivetrain.java` would have to be worked around. |
+| Q7 | Lubrication pass | **Self-answered from the code, not assumed.** It happened before 2026-08-13; gains were re-fitted after it. CLAUDE.md's "pending" is stale. | — |
+| Q8 | Recorder columns | Yes, add columns and report the cost. Added `p{i}_ctgt`; `tgt` kept so the archive stays comparable. | Revert the column; `steerqual.py` falls back to `tgt`. |
+| Q9 | Task 3 path shape | Closed loop that returns to start, so it can be repeated for statistics. | Path gets redesigned; the profile and validation method do not change. |
+| Q10 | Heading interpolation | Tangential on traverses, constant on the approach; a constant-heading variant also generated because it isolates Task 2. | Path variant selection only. |
+
+## Assumed rather than measured
+
+1. **`String.format` is the bulk of the 36.7 ms publish cost.** Arithmetic fit (~1000 calls ×
+   ~35 µs), not yet a measurement. The deployed per-section timers and the `setFastFmt` A/B
+   settle it. Until then it stays a hypothesis in FINDINGS.md.
+2. **Teleop centripetal correction is dead code and cannot NPE** (FINDINGS §2.5). Derived from
+   `Vector` not overriding `equals`. Predicted safe; unverified on hardware. First
+   `DriveTeleOp` run is the test, and the operator has been warned.
+3. **The saved box survives a redeploy.** `swerve_field_box.txt` is reloaded at init and the
+   Pinpoint pose is not reset by configuration. `/state` is re-read to confirm `box.valid`
+   before any motion, so this assumption is checked rather than trusted.
+4. **`p{i}_ctgt` costs nothing measurable in the loop.** One field read and a normalise per pod
+   per loop. Will be confirmed against the loop-dt distribution before/after.
+5. **The archived runs were taken on FTC tiles.** The runs carry battery voltage but not
+   surface. Inferred from the session logs that produced them; if any were on blocks the
+   friction-dependent numbers (pod error, path ratio) would not compare.
+6. **`mydrive-001` is representative of human driving.** One 71.9 s session, one driver. The
+   attribution percentages in FINDINGS §2.2 are from that run; the mechanisms are structural,
+   but their shares are not a population estimate.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/diagnostics/motorbreakin.java

@@ -0,0 +1,32 @@
+package org.firstinspires.ftc.teamcode.diagnostics;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.Pose;
+import com.qualcomm.hardware.lynx.LynxModule;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+
+@TeleOp(name = "motorbreakin", group = "TeleOp")
+@Config
+public class motorbreakin extends OpMode {
+    private static final double NORMAL_SPEED = 1.0;
+    private Follower follower;
+
+
+    @Override
+    public void init() {
+        follower = Constants.createFollower(hardwareMap);
+    }
+
+
+    @Override
+    public void loop() {
+        follower.setTeleOpDrive(1,0,0);
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/diagnostics/swerve/PodAutoTuner.java

@@ -219,15 +219,37 @@ private void beginKfReverse(double wheelDeg) {
     }
 
     private void finishKf(PodCal cal, double wheelDeg) {
-        cal.kF = (kfForward + kfReverse) / 2.0;
-        log.add(String.format(Locale.US, "kF = %.4f", cal.kF));
+        // The measured breakaway goes into kS, the continuous tanh feed-forward, NOT into kF.
+        // CoaxialPod feeds the PIDF's F term a bare sign, so kF at breakaway magnitude is a
+        // relay - the configuration measured at 15.8 sign changes per step and 42.5 deg of
+        // post-settle peak-to-peak, and the reason kF ships at 0. Writing kF here re-introduced
+        // exactly that, and persisted it to the calibration file.
+        cal.kS = (kfForward + kfReverse) / 2.0;
+        cal.kF = 0;
+        log.add(String.format(Locale.US, "breakaway = %.4f -> kS (kF stays 0)", cal.kS));
         rebuildRequested = true;
 
         cal.kP = baseKp * KP_STEPS[0];
         cal.kD = baseKd;
         beginTrial(cal, wheelDeg);
     }
 
+    /**
+     * Stops the tuner mid-run, leaving the calibration exactly as the last completed phase set
+     * it. Without this, leaving AUTOTUNE mode stranded {@code isRunning()} true forever - the
+     * dashboard showed "Tuning pod N" for the rest of the session and a fresh start() was the
+     * only way out.
+     */
+    public void abort(String reason) {
+        if (phase == Phase.DONE) {
+            return;
+        }
+        phase = Phase.DONE;
+        rawServoPower = 0;
+        status = "aborted: " + reason;
+        log.add("Aborted mid-run: " + reason);
+    }
+
     // ---- trials -----------------------------------------------------------------------
 
     private void beginTrial(PodCal cal, double wheelDeg) {