Noisy dynamic acceleration graph during Robot Characterization

[Eadyn]

Recently we started using the FRC characterization tool for our drive base. We were able to have it run back and forth as it needed to, generating reasonable looking plots for all of the graphs, except for the one on dynamic acceleration vs acceleration portion.
When we ran the robot with these values, it followed the right path, but it did so quickly and didn’t go the full distances. The turning was, however, correct.

What might be causing this? How could we get around it? Thanks for your help

[Oblarg]

What is your encoder and drive setup?

[Eadyn]

We have 6 NEOs for our drivebase and 2 seperate encoders that we have been using for characterization and during driving. We are also using pneumatic wheels.

[kevinclark]

This looks very much like the “magnetic encoders velocity noise” example here in the docs.

Not clear to me what you’d do about it though.

[Oblarg]

@Eadyn

2 seperate encoders

What type of encoders are they, and how are they being read (i.e. through the Sparks or through the WPILib Encoder object)?

[Eadyn]

REV thru bore, WPILIB encoder.

[Oblarg]

See: this thread.