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[TESTING] Characterize robot mechanisms #14

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srimanachanta opened this issue Jan 24, 2023 · 3 comments · Fixed by #33
Open

[TESTING] Characterize robot mechanisms #14

srimanachanta opened this issue Jan 24, 2023 · 3 comments · Fixed by #33
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TESTING PHASE This issue needs to be tested

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srimanachanta commented Jan 24, 2023 •
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@srimanachanta srimanachanta added the TESTING PHASE This issue needs to be tested label Jan 24, 2023
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Make sure to double check TrackWidth in SysID

@srimanachanta srimanachanta mentioned this issue Jan 25, 2023
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@srimanachanta srimanachanta linked a pull request Feb 8, 2023 that will close this issue
Add PathPlanner based TrajectoryFollowing framework #33
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Needs to be redone once the arm is on the bot

@srimanachanta srimanachanta reopened this Feb 13, 2023
@srimanachanta srimanachanta changed the title Characterize drivetrain using SysID [TESTING] Characterize robot mechanisms Apr 6, 2023
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Drivetrain:

  • characterize using SysId
  • determine PID values for trajetory

Arm:

  • characterize using SysIdfor several setpoints along the arm. Then, use polynomial regression to determine a formula for the kG and kA values.

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Add PathPlanner based TrajectoryFollowing framework Talon540Programming/ChargedUp2023
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