Package edu.wpi.first.wpilibj.sysid

Class SysIdRoutineLog.MotorLog

java.lang.Object
edu.wpi.first.wpilibj.sysid.SysIdRoutineLog.MotorLog
Enclosing class:
SysIdRoutineLog
public final class SysIdRoutineLog.MotorLog extends Object
Logs data from a single motor during a SysIdRoutine.

  • Method Details

    • value

      public SysIdRoutineLog.MotorLog value(String name, double value, String unit)
      Log a generic data value from the motor.
      Parameters:
      name - The name of the data field being recorded.
      value - The numeric value of the data field.
      unit - The unit string of the data field.
      Returns:
      The motor log (for call chaining).

    • voltage

      public SysIdRoutineLog.MotorLog voltage(Voltage voltage)
      Log the voltage applied to the motor.
      Parameters:
      voltage - The voltage to record.
      Returns:
      The motor log (for call chaining).

    • linearPosition

      public SysIdRoutineLog.MotorLog linearPosition(Distance position)
      Log the linear position of the motor.
      Parameters:
      position - The linear position to record.
      Returns:
      The motor log (for call chaining).

    • angularPosition

      public SysIdRoutineLog.MotorLog angularPosition(Angle position)
      Log the angular position of the motor.
      Parameters:
      position - The angular position to record.
      Returns:
      The motor log (for call chaining).

    • linearVelocity

      public SysIdRoutineLog.MotorLog linearVelocity(LinearVelocity velocity)
      Log the linear velocity of the motor.
      Parameters:
      velocity - The linear velocity to record.
      Returns:
      The motor log (for call chaining).

    • angularVelocity

      public SysIdRoutineLog.MotorLog angularVelocity(AngularVelocity velocity)
      Log the angular velocity of the motor.
      Parameters:
      velocity - The angular velocity to record.
      Returns:
      The motor log (for call chaining).

    • linearAcceleration

      public SysIdRoutineLog.MotorLog linearAcceleration(LinearAcceleration acceleration)
      Log the linear acceleration of the motor.

      This is optional; SysId can perform an accurate fit without it.

      Parameters:
      acceleration - The linear acceleration to record.
      Returns:
      The motor log (for call chaining).

    • angularAcceleration

      public SysIdRoutineLog.MotorLog angularAcceleration(AngularAcceleration acceleration)
      Log the angular acceleration of the motor.

      This is optional; SysId can perform an accurate fit without it.

      Parameters:
      acceleration - The angular acceleration to record.
      Returns:
      The motor log (for call chaining).

    • current

      public SysIdRoutineLog.MotorLog current(Current current)
      Log the current applied to the motor.

      This is optional; SysId can perform an accurate fit without it.

      Parameters:
      current - The current to record.
      Returns:
      The motor log (for call chaining).