| name | robotrace-tuning |
| description | ロボトレースのPID、速度フィードフォワード、スリップ判定、速度・加速度パラメータを調整するときに使う。走行ログ比較、再現性判断、速度向上、変更後10本ログ確認を扱う。 |
Robotrace Tuning
Overview
Use this skill for parameter tuning and control-improvement decisions. Keep project-wide limits, units, parameter locations, and safety constraints in AGENTS.md as the source of truth.
Priority
Optimize in this order:
- Reproducibility
- Finish rate
- Lap time reduction
Do not adopt a change that improves finish rate or lap time but worsens reproducibility.
Workflow
- Identify the target mode and compare only compatible logs:
- first runs with first runs
- secondary runs with the same secondary mode
- autoStart only against runs where all 5 runs completed
- Validate logs using the log-analysis skill.
- Change at most two parameters per run.
- Tune in this order:
- PID
- speed feedforward
- slip detection
- speed
- When increasing speed, start from sections with smaller curvature radius.
- After a control change, collect at least 10 real-run logs.
- Compare against logs from before the code or parameter change.
- Adopt a change only when the goal time improves stably without reducing reproducibility.
Allowed Risks
Accept only these risks for time reduction:
- mild running slip
- high current
- high voltage
If high-speed behavior gets worse:
- adjust PID parameters first
- lower speed parameters if needed
Parameter Handling
- Do not rely on the log header to record parameter changes.
- Save comparison results under
analysis/.
- Include comparison logs, changed values, adoption decision, and remaining issues.
- Confirm relevant parameter locations in
AGENTS.md before editing code.
Review Before Editing
For firmware or parameter changes, check:
- whether the 1 ms control period is affected
- whether log format remains compatible
- whether real-machine safety constraints remain satisfied
- whether generated logs can still support the comparison workflow
