Merge pull request #11 from rjan939/main

add: RR ManualFeedForwardTuner `targetVelocity` and `measuredVelocity` Opposite of Each Other

src/contributors.md

@@ -3,3 +3,4 @@
 - 0verkil [(github)](https://github.com/0verkil) [(discord)](https://discord.com/users/671902633430089748)
 - Ruckus Robotics (14712) [(discord)](https://discord.com/users/292086403926589441)
 - JL [(github)](https://github.com/JoelLee3) [(discord)](https://discordapp.com/users/760523424635813980)
+- rjan939 [(github)](https://github.com/rjan939) [(discord)](https://discordapp.com/users/292725814556884995)

src/roadrunner_056/manual_feed_forward_tuner_opposite_velocities.md

@@ -0,0 +1,15 @@
+# Target Velocity is Positive When Measured Velocity is Negative and Vice Versa When Tuning Manual Feedforward
+
+If MotorDirectionDebugger works perfectly, this simply means that either your right side encoders are plugged in to the wrong ports(so swap `frontRight` and `backRight` encoder cables) or your left side encoders are plugged in to the wrong ports(so swap `frontLeft` and `backLeft` encoder cables). An easy way to debug this is to add a `printEncoderValues` telemetry method in `SampleMecanumDrive`.
+
+```java
+public void printEncoderValues(Telemetry telemetry) {
+        telemetry.addData("LeftFrontPos: ", leftFront.getCurrentPosition());
+        telemetry.addData("RightFrontPos: ", rightFront.getCurrentPosition());
+        telemetry.addData("LeftRearPos: ", leftRear.getCurrentPosition());
+        telemetry.addData("RightBackPos: ", rightRear.getCurrentPosition());
+} 
+
+Then at the end of every loop in MotorDirectionDebugger, call drive.printEncoderValues(telemetry);
+```
+*Last updated: 2024-01-20*