Does the robot speed matter for the FRC-Characterization?

[JimWright949]

Hello all,

I’ve been using the FRC-Characterization and for the default settings of V/s 0.25 V:6, my base runs very slowly and I get:
kS:0.66 kV:1.9 kA:0.4555 r-squared: 0.994 kP:35.2 kD:16.6

I upped the settings to V/s:0.5 and V:9 and I got:
kS:0.632 kV:1.85 kA:0.628 r-squared: 0.998 kP:41.5 kD:20.2

The kS, kV are close but kA is quite off.

Should I run the Characterizor so that my robot is running full speed at the end?

-Jim

[Oblarg]

It’s hard to say without seeing your diagnostic plots. Could you share those?

[JimWright949]

I had the two runs backwards for the 0.25V/s I had:
kS:0.632 kV:1.85 kA:0.628 r-squared: 0.998 kP:41.5 kD:20.2

for 0.5V/s I had:
kS:0.66 kV:1.9 kA:0.4555 r-squared: 0.994 kP:35.2 kD:16.6

The specs for the robot are on my page at:
Tyrannosaurus Wombat

[Oblarg]

Thanks. Those “tails” on the end of your acceleration plots are rather strange, and are probably the culprit (they may be the result of your robot being so light - it is hard to say for sure); that said, the second graph still looks rather acceptable overall, and I’d trust its results (moreover, its measured kA is very close to theoretical).

[JimWright949]

Thanks,

In thinking about this a thought occurred to me, I’m testing on a concrete floor not carpet. I may try to find a carpeted floor and re-run the test.

-Jim