How to get the measurment delay data for the SysID analyzer?

[Berkeli]

Above are the images of my results using the analyzer on the data.
Am I supposed to set the test duration, or is the automatic value good?
How do I deal with the difference between the linear (top) and angular (bottom) results?
How do I set my measurement delay?

Thank you!

[Oblarg]

Measurement delay depends on your signal chain on your robot in operation (not during the test!), since that’s how you’ll be using the feedback gains.

The “gains presets” accurately describe the default settings of several popular motor controller/encoder combinations. If encoders are plugged directly into the RIO, this value is likely very small.

[Berkeli]

Thank you for your help! Unfortunately, I’m not sure what you mean by “signal chain”. What is the signal chain, and how do I measure that delay?

[Oblarg]

The “signal chain” is everything from your encoders to the RIO. You have to understand how that signal is being processed to be able to use model-based control effectively.