Drivetrain velocity controller gains are not tuned.
Motivation
In order to have a reliable, repeatable autonomous period, the robot needs to behave reliably and in a repeatable manner. To achieve this, we need to control the velocity of the drivetrain using feedforward and feedback loops.
Implementation
The integrated TalonFX motor controllers of the drive motors should be used. They have all the necessary features and poll at 1000hz, thereby providing the best performance. VelocityTorqueCurrentFOC should also be used, to maximize power output. SysID can be used to tune the gains, by running quasistatic and dynamic tests on a 10x20 foot area.
Overview
Drivetrain velocity controller gains are not tuned.
Motivation
In order to have a reliable, repeatable autonomous period, the robot needs to behave reliably and in a repeatable manner. To achieve this, we need to control the velocity of the drivetrain using feedforward and feedback loops.
Implementation
The integrated TalonFX motor controllers of the drive motors should be used. They have all the necessary features and poll at 1000hz, thereby providing the best performance. VelocityTorqueCurrentFOC should also be used, to maximize power output. SysID can be used to tune the gains, by running quasistatic and dynamic tests on a 10x20 foot area.