Characterization kP too high

We’ve tried running wpilib’s sysid characterization on an elevator subsystem and found the analyzed kP values have been way too large - like in the range of 5-10. Has anyone else had this problem?

Are you using Falcon 500s? You need to change some settings to get a kP value that works for Falcon 500s.

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We are using falcons — what settings do you need to change?

You need to select something other than the default from the gain preset dropdown in the feedback analysis section of the GUI.


Check what you have set as the maximum error in sysid, it creates its constants assuming you will clamp your error between -maxError and maxError

change your maximum allowed position and velocity error to dial it in

This was the problem. Thanks!

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