Increase SysID support
Closed this issue · 2 comments
Ocean-Moist commented
Add support for a sysid routine which spins the whole robot, sets angles to 45 or -45 deg and runs the motors such that the robot spins. Records average motor voltage and heading from IMU.
Ocean-Moist commented
use cases are for a theta controller with feedforward and estimating MOI
thenetworkgrinch commented
I will not be adding support for this as this can be done by teams who request it, as stated before SwerveController is even up for deprecation next season.