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JHS-Viking-Robotics / FRC-2022

Code for the 2022 FRC season, now written in Java
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Auton: Characterize the robot Drivetrain #40

Closed derickson2402 closed 2 years ago

derickson2402 commented 2 years ago

WPILib includes a robot characterization tool which tests the robot to determine gains for the Drivetrain motors. We need this for trajectory following.

The characterization data can be exported as a json file, which might be useful to keep in this repository as a reference. This way someone looking at the code in the future can see what data we were using at that time rather than the current robot.

Additionally, the gains and constants that we derive should be kept in Constants.java.

See #38 and the WPILib docs on trajectory following for more

derickson2402 commented 2 years ago

See this comment for why we are scrapping Pathweaver integration