Package frc.spectrumLib.swerve

Class SysID

java.lang.Object

frc.spectrumLib.swerve.SysID

public class SysID
extends Object

Encapsulates the three SysId characterization routines for a CTRE swerve drivetrain: translation, rotation, and steer-gains.

Construct one instance per robot, passing the Swerve subsystem. Then bind sysIdQuasistatic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction) and sysIdDynamic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction) to test-mode triggers. Change RoutineToApply (by editing the source) to select which routine runs.

Constructor Summary

Constructors

Constructor	Description
SysID(Swerve swerve)	Constructs all three SysId routines and selects SysIdRoutineTranslation as the active routine.

Method Summary

Modifier and Type	Method	Description
SysIdRoutine	getSysIdRoutineRotation()	SysId routine that characterizes rotational drive gains.
SysIdRoutine	getSysIdRoutineSteer()	SysId routine that characterizes steer-module gains.
SysIdRoutine	getSysIdRoutineTranslation()	SysId routine that characterizes linear translation drive gains.
Command	sysIdDynamic(SysIdRoutine.Direction direction)	Returns a dynamic (step) characterization command for the active routine.
Command	sysIdQuasistatic(SysIdRoutine.Direction direction)	Returns a quasistatic (slow ramp) characterization command for the active routine.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SysID

public SysID(Swerve swerve)

Constructs all three SysId routines and selects SysIdRoutineTranslation as the active routine. Change RoutineToApply at the bottom of this constructor to switch which routine is exercised by sysIdQuasistatic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction) and sysIdDynamic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction).

Parameters:

swerve - the Swerve subsystem that will be commanded during characterization

Method Details

sysIdQuasistatic

public Command sysIdQuasistatic(SysIdRoutine.Direction direction)

Returns a quasistatic (slow ramp) characterization command for the active routine.

Parameters:

direction - the direction (SysIdRoutine.Direction.kForward or SysIdRoutine.Direction.kReverse) in which to ramp the output

Returns:

a command that slowly ramps the output and logs data for system identification

sysIdDynamic

public Command sysIdDynamic(SysIdRoutine.Direction direction)

Returns a dynamic (step) characterization command for the active routine.

Parameters:

direction - the direction in which to apply the voltage step

Returns:

a command that applies a step voltage and logs data for system identification

getSysIdRoutineTranslation

public SysIdRoutine getSysIdRoutineTranslation()

SysId routine that characterizes linear translation drive gains.

getSysIdRoutineRotation

public SysIdRoutine getSysIdRoutineRotation()

SysId routine that characterizes rotational drive gains.

getSysIdRoutineSteer

public SysIdRoutine getSysIdRoutineSteer()

SysId routine that characterizes steer-module gains.