robotrace-tuning

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:

1. Reproducibility
2. Finish rate
3. Lap time reduction

Do not adopt a change that improves finish rate or lap time but worsens reproducibility.

Workflow

1. 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
2. Validate logs using the log-analysis skill.
3. Change at most two parameters per run.
4. Tune in this order:
   • PID
   • speed feedforward
   • slip detection
   • speed
5. When increasing speed, start from sections with smaller curvature radius.
6. After a control change, collect at least 10 real-run logs.
7. Compare against logs from before the code or parameter change.
8. 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