I’ve been trying to characterize the drivetrain for my team’s robot using sysID, but I can’t get it to report the right distance values after running the tests in the logger. The distance reported by sysid is short by about a factor of 4. I will drive it 4 meters, and sysid will only report 1 meter.
I’m using 3 neo’s on each side with Spark Max controllers, and a CTRE quadeture mag encoder positioned on each of the front wheel shaft plugged into the Rio. The gear ratio is 4.444:1, and we are using 4.2in wheels.
I’m fairly certain that I’ve entered all my parameters in the Generator and Logger correctly. I got the counts per rev, 4096, directly from the CTRE website. I have a 1:1 gearing since the encoder is directly on the wheel. My units per rotation is 0.3348, the wheel circumference * pi in meters. I don’t know what I have wrong that’s causing me to get incorrect distances.
What can I do to fix this?