SysID

https://docs.wpilib.org/en/stable/docs/software/pathplanning/system-identification/introduction.html

Objective

The objective of this was to create a predictive model for the voltage-speed relation in Mostly Dead To do this, we used a WPI Lib application, inputting various mechanical details about the robot (ports, encoder specifics, etc.) WPILib then ran diagnostics on the robot, and measured the distance traveled, and other various factors about the system we were tracking (energy loss, including via friction)

Learning:

We learned how to calculate voltage, and how it functions on Mostly Dead. We also learned the methodology, so that we could apply it to other robots (only differential drive ones) We also learned everything else in this document The constants.java file was not accurate to the physical ports of the robot

Troubleshooting:

If SysID isn't functioning, restart it. Ensure driver station is running

Data (constants acquired):

Static friction constant: .098141 Velocity: .056505 Acceleration: .0090187