Hello 
! Our programming team gave us missions for before the season officially starts. My mission is related to our swerve, finding its max velocity and acceleration. I thought of trying to calibrate it by sysid, and ran the commands given in the docs. It gave me all of the values of the 8 motors, but I don’t have anything to do with these values, and understood from searching through here, that I’m not supposed to get 8 motors, but something else. (Photo of the first motor values in sysid provided.)
What did I do wrong, and how can I find the max velocity & acceleration values of our swerve drive and modules?
not sure how i would do this with sysid…
a pretty simple way to find max velocity and acceleration would be to just send max voltage to each drive motor and graph the velocity and acceleration. also important to make sure to not optimize the azimuth of the swerve states if you do this
edit: also calibrating a stator current limit to eliminate wheel slip is important for this to work
SimpleMotorFeedforward has a few functions for using your feedforward constants to estimate max achievable velocity given an acceleration and vice versa. You can either call it and find out, or just take the equation from the source code and do it by hand. I’d treat it as closer to a theoretical maximum than a practical, though.
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