paper: Drivetrain Acceleration Model

[Ether]

Originally Posted by IKE

For rolling resistance, this gives a constant coefficient and a v^2 coefficient.

I'm glad you brought this up.

I structured the code to make it very simple to change the rolling resistance model if you want to. It takes only 2 keystrokes to change the rolling resistance model from

L = Kro+Krv*V; (line #68 in the 9/19/2013_1112a code)

to

L = Kro+Krv*V*V;

In fact, you could make the rolling resistance any function of V, or even use a look-up table if you have experimental data.

However, I think the V*V term only comes into play due to air resistance at speeds much higher than FRC robot speeds. It would be enlightening to see some actual data of rolling resistance vs speed for a typical FRC robot (with drivetrain mechanically disengaged from wheels) on FRC carpet surface.