SysId and leader/follower motors

Technical
1

Sorry, but looking for a little help with SysId.

I am setting up a project for our robot. We have a tank drive with 2 Falcons per side (leader/follower). I see that we can add a Motor Controller selection in Generator. For this type of setup, do we need to configure the leaders and followers? If I add another Controller group, the new one also says Left/Right. Assuming I am supposed to list all 4 motors, how do I indicate leader/follower?

So, maybe I am just over thinking this? Does SysId use our existing (java) Robot code, or does it deploy/overwrite our code while it is running?

Thanks for the help.

2

You need to declare all the motors (leaders and followers) that you want sysid to run. Sysid deploys a new executable file that overwrites your robot code.

3

Thanks. So then I create 2 "Motor Controller Pair"s. But they both say “L” and “R” and there is no selection for “leader/follower”.

I assume that each Pair is for one side of the Tank. Is the “R” motor the follower.

I am guessing this is a GUI labeling issue, but there appears to be nothing in the docs to cover this.

4

Or maybe there is an assumption that Pair 0 is the left/right leader and Pair 1 is the left/right follower?

5

There is no concept of leader and follower. You just declare the left and right motors. Sysid will set all of them correctly.

6

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