https://github.com/robototes/2022characterization
For characterizing swerve drive
https://github.com/robototes/2022characterization
Last synced: about 2 months ago
JSON representation
For characterizing swerve drive
- Host: GitHub
- URL: https://github.com/robototes/2022characterization
- Owner: robototes
- Created: 2022-03-12T22:25:10.000Z (about 3 years ago)
- Default Branch: main
- Last Pushed: 2022-03-25T03:47:14.000Z (about 3 years ago)
- Last Synced: 2025-02-04T13:25:31.096Z (4 months ago)
- Language: Java
- Size: 530 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Drive Characterization 2022
## Practice Bot Characterization (3/14/22)
These are the values that we found from testing out characterization.
```
Motion Threshold: 0.01
Units per rotation (inches): 12.5663706
kS: 0.169
kV: 0.0574
kA: 0.00275
r-squared (confidence): 0.995
kP (for PID): 0.111
```
## Road Runner Characterization (3/24/22)
Values from initial Road Runner charaterization
```
Motion Threshold: 0.01
Units per rotation (inches): 12.5663706
kS: 0.236
kV: 0.0593
kA: 0.00195
r-squared (confidence): 0.999
kP (for PID): 0.0708
```
### Above values but meters (for WPILib)
```
Motion Threshold: 0.01
Units per rotation (meters): 0.319176
kS: 0.236
kV: 2.33
kA: 0.0766
r-squared (confidence): 0.999
kP (for PID): 1.38
```