[cmd] Decrease default step voltage in SysIdRoutine command #7795
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This PR modifies commands. Please open a corresponding PR in Python Commands and include a link to this PR. |
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in my experience running SysId an even smaller step voltage is often useful, I'd rather the default be quite low as opposed to quite high |
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What step voltage would you suggest? |
The old default was selected back when DC brushed motors were the norm. Motors are powerful enough now that it can cause wheel slip, which invalidates the test data. Fixes wpilibsuite#7794.
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I generally start with 2 when getting SysId routines working, then go up |
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Should users be incrementally changing it in general (i.e., should the docs be updated)? Most users just use the default value. |
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I generally find that we need to change it to make it work well with our system. For example with swerve translation SysId depending on space to run it you might use different voltages and times |
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The old default was selected back when DC brushed motors were the norm. Motors are powerful enough now that it can cause wheel slip, which invalidates the test data.
Fixes #7794.