Hello,
Our team is currently PID tuning a vertical arm using WPILIB’s Sysid. However, we’re a bit confused with one of the project parameters that we have to input: Units per rotation. I looked at WPILIB documentation and the example they gave covered drivetrain. However, we were wondering if we needed this for our vertical arm and how we would go about calculating it. Some details about our arm:
1.) It has a maximum range up to ~93 degrees starting from 0 (vertical, straight down).
2.) We use two Falcon 500 motors to control the arm
We definetely don’t want to get this wrong so any help would be appreciated. Thank you 
