Weird lateral ramp logger plot?

acmerobotics / road-runner-ftc

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Weird lateral ramp logger plot? #4

Open ruiyuansd opened 3 months ago

ruiyuansd commented 3 months ago

lateral-ramp-logger-this-is-supposed-to-be-mostly-linear-v0-dlu36b3q6gzc1

Robot Setup: Mecanum Drive with Three Deadwheeel Localizer Beacuse of the difference between (kS_forward, kV_forward) and (kS_lateral, kV_lateral), the ramp logger regression plot is not ideal. Any suggestion on that?

rbrott commented 3 months ago

This plot exposes a limitation of the robot model. The additional friction dynamics when strafing cannot be captured by a single multiplier but require an additional offset at least. On the bright side, this was just as broken in previous versions of Road Runner, and feedback can make up some of the difference.