What is or how to find the max speed and acceleration of a robot?

Technical
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Hello, my team is currently using falcon swerve (planning to switch to krakens) with the mk4i modules l3 gearing. I have questions regarding the speed and acceleration of the robot. My swerve code is here. During tele-op what is the maximum speed and acceleration of the robot? How do I find it and what are the recommended values for those variables. I am guessing that maxSpeed and maxAngularVelocity sets that. I also want to know the same thing for autonomous. I am guessing that kMaxSpeedMetersPerSecond and kMaxAccelerationMetersPerSecondSquared determines those values for autonomous.

Thank you so much!

2

You can, of course, use your total calculated mass and drivetrain gearing to calculate your max acceleration and max velocity. There are various calculators on the net like Ilite that can help.

However, that leaves a lot of inaccuracies since they are only models. Another option is to drive your robot and record the velocity and acceleration.

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What do you use to record the velocity and acceleration?

4

you can use network tables to send it to your dashboard, and write it down.

or print it to the terminal, and write it down.

5

I’m sorry but I’m new to this. What is and how do I use network tables or how do i print it to the terminal. Thanks

6

https://docs.wpilib.org/ is gonna be your best friend for the next four months!

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7

My team hasn’t gotten to this task yet but doesn’t Sysid in 2024 WPILib Tools do this for you?

8

I haven’t gotten there either - so it might.

9

You can use some of the helper methods on the WPILib feedforward classes to determine simultaneously-achievable motion constraints with gains from SysId or ReCalc.

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