Question… I was able to characterize my DriveTrain using SysID yesterday…
As I got home, I started to wonder whether the kS, kV, kA, kP, and kD values took the fact that our Left and Right DriveTrain Falcons have motors slaved to them…
From what i could see, there was no option to add slaved motors to in the SysID UI… For instance, the Left Master DriveTrain uses CAN ID 1, and the Left Slave uses CAN ID 11… Likewise with the Right master and slave. In SysID for TalonFX’s, there are only options for a Left CAN address and a Right CAN address.
Does anyone know how I can find out whether (and how) I should tweak the characterization?
It should be fine for leader/follower. You have motor pairs in the differential drive section. So the leaders would be in pair 1 and followers in pair 2. And you just add all the CAN addresses and invert the correct side.
If you didn’t configure it with all 4 motors, you should redo it with both pairs specified.
