wpilibsuite/allwpilib

Make SysId's default step voltage smaller

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#7,794 opened on Feb 16, 2025

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component: examplescomponent: sysideffort: 1good first issuetype: fix

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Description

Motors are more powerful these days, which means the default voltage tends to make wheels slip, invalidating the test data.

Normal velocity data shows an exponential decay from rest to the steady-state velocity. Slippage manifests in the velocity data as a spike, then an exponential decay down to an intersection with the normal exponential decay curve.

This change would be made in the SysIdRoutine examples.

Contributor guide

Research direction
Find the default step voltage constant in the SysIdRoutine examples and reduce its value to prevent wheel slip.
Tech stack
javacpp
Domain
robotics
Issue type
Chore
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
1
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Under 1 hour
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Fresh
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
Git
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
95