Ramp Rate and step voltage

Bmongar · January 30, 2024, 10:40am

Mechanical and electrical are done on the bot and programming will get the bot tonight. We have made a characterization routine for the sysid logger but wonder what would be safe ramp rates and step voltages.

Our intake will be rotated at a falcon 500 with a 1:1 ratio so I think the default 1 volt/second ramp rate and 7 volt step voltage will be to aggressive.

Code for the intake can be found here, our shooter will have the same issue

github.com

FRC-5013-Park-Hill-Robotics/2024-Crescendo/blob/main/src/main/java/frc/robot/subsystems/IntakeWrist.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.subsystems;

import com.ctre.phoenix6.hardware.TalonFX;
import com.reduxrobotics.sensors.canandcoder.Canandcoder;

import static edu.wpi.first.units.Units.Volts;
import static edu.wpi.first.units.Units.Radians;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.MutableMeasure.mutable;

import edu.wpi.first.units.Angle;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.MutableMeasure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.Voltage;
import edu.wpi.first.wpilibj.RobotController;

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levyishai · January 30, 2024, 10:42am

Don’t really have any numbers on the top of my head
What I would do is simulate the system using one of WPI’s simulation classes, and see what are good numbers for the system