What are the Falcon 500s settings for Feedback Analysis for SysID?

What are the settings for SysID for Falcon 500s?
Here are mine, nothing changed:

It results in robot jittering very heavily. In simulation it applies full voltage when it doesn’t need to, the max acceleration and velocity is 1. Thank you!

With feedforward only or feedforward + feedback? The “Default” gain preset won’t work for Falcon PID, but idk what your controller topology is.

I assume feedforward + feedback since I am using it with PathPlanner. Here is my code

Yea, looks like your code is using Falcon PID. You need to select the corresponding gain preset from the dropdown in Feedback Analysis so your feedback gains will have the units the Falcon expects.

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