sytsidkds

docs/programming/SysID.md

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+# SysID 
+
+
+
+https://docs.wpilib.org/en/stable/docs/software/pathplanning/system-identification/introduction.html
+
+
+### Objective
+The objective of this was to create a predictive model for the voltage-speed relation in Mostly Dead
+To do this, we used a WPI Lib application, inputting various mechanical details about the robot (ports, encoder specifics, etc.)
+WPILib then ran diagnostics on the robot, and measured the distance traveled, and other various factors about the system we were 		tracking (energy loss, including via friction)
+
+### Learning:
+We learned how to calculate voltage, and how it functions on Mostly Dead. We also learned the methodology, so that we could apply it to other robots (only differential drive ones)
+We also learned everything else in this document
+The constants.java file was not accurate to the physical ports of the robot
+
+### Troubleshooting:
+If SysID isn't functioning, restart it.
+Ensure driver station is running
+
+### Data (constants acquired):
+Static friction constant: .098141
+Velocity: .056505
+Acceleration: .0090187
+
+