how do I tune road runner
Detailed instructions on how to tune Road Runner are located in the official restricted documentation. For version 0.5, you can consult the Road Runner — Tuning v0.5 guide or its raw version. For version 1.0, the process is detailed in the Road Runner — Tuning v1.0 guide and the Road Runner — Tuning v1.0 raw guide. General setup help is also hosted in the Road Runner — Guides v1.0 and Road Runner — Guides v1.0 raw sections.
The tuning process relies heavily on feedforward and feedback mechanisms. You can read about these underlying concepts in the Road Runner — Feedforward Control v0.5 raw guide, the Road Runner — Feedforward Control v0.5 guide, and the Road Runner — PID Control v0.5 raw guide.
To verify your tuning, you can run an end-to-end test using a curved trajectory. The Road Runner Quickstart includes a SplineTest class that initializes either a MecanumDrive or TankDrive based on your configuration, waits for the start of the OpMode, and then executes a spline path to confirm the robot tracks the trajectory properly.