Drive Characterization 2022

Practice Bot Characterization (3/14/22)

These are the values that we found from testing out characterization.

Motion Threshold: 0.01
Units per rotation (inches): 12.5663706
kS: 0.169
kV: 0.0574
kA: 0.00275
r-squared (confidence): 0.995

kP (for PID): 0.111

Road Runner Characterization (3/24/22)

Values from initial Road Runner charaterization

Motion Threshold: 0.01
Units per rotation (inches): 12.5663706

kS: 0.236
kV: 0.0593
kA: 0.00195
r-squared (confidence): 0.999

kP (for PID): 0.0708

Above values but meters (for WPILib)

Motion Threshold: 0.01
Units per rotation (meters): 0.319176

kS: 0.236
kV: 2.33
kA: 0.0766
r-squared (confidence): 0.999

kP (for PID): 1.38