[wpilib] Fix SysId log key for acceleration (wpilibsuite#6196)

Also add to docs that logging acceleration and current is optional.
KangarooKoala · Jan 11, 2024 · ba9c21c · ba9c21c
1 parent 211c2a3
commit ba9c21c
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Showing 2 changed files with 14 additions and 2 deletions.
diff --git a/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h b/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
@@ -112,6 +112,8 @@ class SysIdRoutineLog {
     /**
      * Log the linear acceleration of the motor.
      *
+     * This is optional; SysId can perform an accurate fit without it.
+     *
      * @param acceleration The linear acceleration to record.
      * @return The motor log (for call chaining).
      */
@@ -122,6 +124,8 @@ class SysIdRoutineLog {
     /**
      * Log the angular acceleration of the motor.
      *
+     * This is optional; SysId can perform an accurate fit without it.
+     *
      * @param acceleration The angular acceleration to record.
      * @return The motor log (for call chaining).
      */
@@ -132,6 +136,8 @@ class SysIdRoutineLog {
     /**
      * Log the current applied to the motor.
      *
+     * This is optional; SysId can perform an accurate fit without it.
+     *
      * @param current The current to record.
      * @return The motor log (for call chaining).
      */

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/sysid/SysIdRoutineLog.java
@@ -163,32 +163,38 @@ public MotorLog angularVelocity(Measure<Velocity<Angle>> velocity) {
     /**
      * Log the linear acceleration of the motor.
      *
+     * <p>This is optional; SysId can perform an accurate fit without it.
+     *
      * @param acceleration The linear acceleration to record.
      * @return The motor log (for call chaining).
      */
     public MotorLog linearAcceleration(Measure<Velocity<Velocity<Distance>>> acceleration) {
       return value(
-          "position",
+          "acceleration",
           acceleration.in(MetersPerSecond.per(Second)),
           MetersPerSecond.per(Second).name());
     }
 
     /**
      * Log the angular acceleration of the motor.
      *
+     * <p>This is optional; SysId can perform an accurate fit without it.
+     *
      * @param acceleration The angular acceleration to record.
      * @return The motor log (for call chaining).
      */
     public MotorLog angularAcceleration(Measure<Velocity<Velocity<Angle>>> acceleration) {
       return value(
-          "position",
+          "acceleration",
           acceleration.in(RotationsPerSecond.per(Second)),
           RotationsPerSecond.per(Second).name());
     }
 
     /**
      * Log the current applied to the motor.
      *
+     * <p>This is optional; SysId can perform an accurate fit without it.
+     *
      * @param current The current to record.
      * @return The motor log (for call chaining).
      */