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.

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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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