System identification for superstructure

team401 / 2024-Robot-Code

Competition code for our 2024 robot

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System identification for superstructure #8

Open redPlover opened 9 months ago

redPlover commented 9 months ago

Project Scope

[ ] System identification util scalable to all applications
[ ] Superstructure variation added

PChild commented 8 months ago

Is it worth using wpilib SysId for this? AdvantageKit has instructions for it.

jkleiber commented 8 months ago

We can start by trying the wpilib sysid, and if it meets our needs we can stick with it

redPlover commented 8 months ago

I've been looking into this recently. I would love to talk about it today at shop, because I think that we should try to implement some of this on our own.

minhnguyenbhs commented 6 months ago

I'm not sure how to work SysID because it requires a string "sys-id-state" like "simple" representing mechanisms for tuning. Charlie suggested that I tune manually with AdvantageKit instead, but I'm not sure how to integrate logged data with newly written code; alternatively, should I be writing a program to do this instead?

jkleiber commented 6 months ago

@minhnguyenbhs you could write a program in Python to do the log parsing and system ID (basically an optimization problem to find the system parameters)

jkleiber commented 6 months ago

To add on, we have an empty sysid repository, which would be the best place to write the system id code from scratch if you take that route