How To Auto-Rotate to an AprilTag with Mecanum Drive

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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:

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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