Quasistatic test trimming removed all data error

[v0ncent]

We are currently running into this error constantly and are unsure as to why it is happening.

Our code:

7849-Davinci-s-Creation/RobotCodeExamples/blob/main/PathPlannerExample/src/main/java/frc/robot/subsystems/DriveTrain.java

note: our robot runs super fast so we have to run it at very low voltages to be safe. This current settings our robot goes the full length of the field safely.

[v0ncent]

any help would be appreciated

[Maroon_Golf]

We had this happen when we were first running tests.
The post below got us started but our results weren’t quite right. Our robot would drive to 1.2 meters when told to drive a meter.

Ok don't panic! SysID is "half" going away!

Whoo-hoo! Figured it out. The Rev setVoltage function, which we used based on the example, doesn’t allow the get function to return anything, so we switched to just using set volts divided by the battery voltage instead.

I would still recommend the advantage kit example I linked to you in an earlier thread. Or at least borrow their logging method.

Tank drive SysID logging examples?

We are a new team and are exploring options this year. One thing that looks promising is this Advantage Kit example for differential drive, that incorporates Path Planner. It has four autos to perform the different tests needed for sysID to calculate FF values. https://github.com/Mechanical-Advantage/AdvantageKit/tree/main/example_projects/diff_drive/src/main/java/frc/robot

[v0ncent]

You have been like a guardian Angel to me during this testing period LOL thanks for all your help.

Our next meet is Wednesday so I will let you know how this goes then.

[v0ncent]

And yea, I just implemented a advantage kit version of sys I’d logging. How did you go about sifting through all of the information it gives you to find the specific motors needed ?

[Maroon_Golf]

It is organized weird. I believe our sysid state data was under console/drive with position and velocity. We had to pull voltage from the drive applied voltage. We are considering adding URCL to see if we can get better results for true measured voltage on the spark max.

[jwhite]

Hi, I have no experience with this, but I took a dive into the code to see if I could offer you any breadcrumbs.

That error message is generated by this WPILIB code:
allwpilib/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp at v2024.2.1 · wpilibsuite/allwpilib · GitHub

There are two possible reasons for that error. One would be if the values for voltage or velocity reported by the log callback are confusing to the code; that is, your code on this line:

7849-Davinci-s-Creation/RobotCodeExamples/blob/main/PathPlannerExample/src/main/java/frc/robot/subsystems/DriveTrain.java#L87

To probe that, I’d print or write to network tables or somehow inspect what you’re returning at that point in the code and see if the values look rational. I looked at your code for converting velocity and distance and didn’t see anything obvious.

The second reason could be that the velocity threshold is too low. I think that’s something you set in the characterization program itself. My naive google hunt returned this page:

Viewing Diagnostics

I hope that helps.

[RadiOA]

I was having a very similar issue yesterday. Not sure if it’s the same root cause though.

SysId Routine not Properly Recording Motor Speed

Hello, I’ve been trying to get SysId to work for a little while now and every time I run the SysId routine and put the log into SysId, I get an error about trimming removing too much data from the quasistatic test. I dug around in the log file and found that voltage is being reported as 0 V every time it’s logged. Voltage is calculated by CANSparkMax().get() * RobotController.getBatteryVoltage(). I assume this is to calculate the voltage applied to the motor. I put the motor speed in SmartDas…

[v0ncent]

this appeared to have worked. THANKS!