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BroncBotz3481 / YAGSL-Example

Yet Another General Swerve Library Example Project
Apache License 2.0
58 stars 143 forks source link

Increase SysID support #172

Closed Ocean-Moist closed 8 months ago

Ocean-Moist commented 9 months ago

Add support for a sysid routine which spins the whole robot, sets angles to 45 or -45 deg and runs the motors such that the robot spins. Records average motor voltage and heading from IMU.

Ocean-Moist commented 9 months ago

use cases are for a theta controller with feedforward and estimating MOI

thenetworkgrinch commented 8 months ago

I will not be adding support for this as this can be done by teams who request it, as stated before SwerveController is even up for deprecation next season.