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Spartronics4915 / 2020-InfiniteRecharge

Spartronics 4915's code for the FRC 2020 game: Infinite Recharge
GNU General Public License v3.0
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Perform system identification on the final drivetrain #29

Open pietroglyph opened 4 years ago

dbadb commented 4 years ago

Do we need smartdashboard values for the following keys to help diagnose or tune?

Drive/leftDemand, rightDemand Drive/leftSpeed, rightSpeed DriveMotionPlanner/trajectorySetpoints (fmt: 'velocity acceleration curvature')

dbadb commented 4 years ago

I see a likely place to insert the broadcasting of Drive/left,rightDemand. Seems like DifferentialDriveTrackerBase, line 47 might be a reasonable place.

Or perhaps within the actual motors themselves - though we'd have to pass in the broadcast key.

As for trajectorySetpoints, perhaps line 20 in the same file? ie: TrajectoryTrackerOutput has linear and angular velocity and acceleration.