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Perform system identification on the final drivetrain #29

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pietroglyph opened this issue Jan 18, 2020 · 2 comments
Open

Perform system identification on the final drivetrain #29

pietroglyph opened this issue Jan 18, 2020 · 2 comments
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@pietroglyph @Elkwizard
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Week 4

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@pietroglyph pietroglyph added this to the Week 4 milestone Jan 18, 2020
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dbadb commented Feb 22, 2020 •
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Do we need smartdashboard values for the following keys to help diagnose or tune?

Drive/leftDemand, rightDemand
Drive/leftSpeed, rightSpeed
DriveMotionPlanner/trajectorySetpoints (fmt: 'velocity acceleration curvature')

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dbadb commented Feb 23, 2020 •
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I see a likely place to insert the broadcasting of Drive/left,rightDemand.
Seems like DifferentialDriveTrackerBase, line 47 might be a reasonable place.

Or perhaps within the actual motors themselves - though we'd have to pass in the broadcast key.

As for trajectorySetpoints, perhaps line 20 in the same file? ie: TrajectoryTrackerOutput has linear and angular velocity and acceleration.

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@pietroglyph @dbadb @Elkwizard