search

wpilibsuite / sysid

System identification for robot mechanisms
Other
28 stars 37 forks source link

Editing Projects with Custom Code #326

Closed LudumDareDevelopment closed 2 years ago

LudumDareDevelopment commented 2 years ago

Is it possible to edit the code that is deployed to the robot from sysID like frc-characterization could? I plan on characterizing a swerve drive, and it would be nice if I could command my steering motors to an angle of 0 constantly, but I currently cannot set this up with sysID.

Daltz333 commented 2 years ago

Unfortunately not. This is a design decision. Editing the custom project has led to more issues than benefits. Swerve options are planned.

calcmogul commented 2 years ago

It comes down to not being able to trust the average user to not mess things up when we give them extra configuration options (like being able to modify the robot program).

LudumDareDevelopment commented 2 years ago

Interesting. Thank you for the help!

LudumDareDevelopment commented 2 years ago

Is frc-characterization forwards compatible with WPILib 2022? I would imagine it would still work if the Network Tables protocol did not change

Piphi5 commented 2 years ago

No the network tables protocol is different

Piphi5 commented 2 years ago

If you know cpp you can use the files in sysid-library to take advantage of the new protocol

calcmogul commented 2 years ago

However, if you record data with frc-characterization, it'll be transparently converted to the sysid format if it's loaded into sysid.

LudumDareDevelopment commented 2 years ago

Would recording data with frc-characterization be possible if the characterization project version is set to WPILib 2022?

calcmogul commented 2 years ago

I don't believe so.