Hey there, I just have a quick question about the MotorLog class for SysID routines. When I pass a motor angle to the withAngularPosition method (I think that’s the name), should the angle be static like from 0-360, or accumulative like how a gyro reports an angle? For context I’m profiling the steer motors for our swerve modules right now. Thank you!
I don’t think this really matters in this case
You would want to apply a static angle when running a routine for an arm mechanism becasuse of the cosine kG, but since you don’t have kG for general mechanisms, I think you can put whatever you want
You should put the angle that the mechanism is at. For swerve steer motors, either use your steer motor encoder (including accounting for gear ratio) or your absolute encoder.
Alright, thank you!
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