We are trying to characterize our arm mechanism and successfully ran a SysId routine and can see valid data in AdvantageScope for the arm.
In SysId, we loaded it up, but the simulation that it generates is very strange. It doesn’t follow the raw/filtered data at all. One thing I also noticed is that the “Angle offset to horizontal” is way off and I can’t seem to change it. We are using an absolute encoder whose 0 is at horizontal. The arm can go above and below that.
Any ideas on what’s going on?
Here is the wpilog file:
Arm-converted.zip (7.1 MB)