Package edu.wpi.first.wpilibj2.command.sysid

Class SysIdRoutine

java.lang.Object

edu.wpi.first.wpilibj.sysid.SysIdRoutineLog

edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine

public class SysIdRoutine
extends SysIdRoutineLog

A SysId characterization routine for a single mechanism. Mechanisms may have multiple motors.

A single subsystem may have multiple mechanisms, but mechanisms should not share test routines. Each complete test of a mechanism should have its own SysIdRoutine instance, since the log name of the recorded data is determined by the mechanism name.

The test state (e.g. "quasistatic-forward") is logged once per iteration during test execution, and once with state "none" when a test ends. Motor frames are logged every iteration during test execution.

Timestamps are not coordinated across data, so motor frames and test state tags may be recorded on different log frames. Because frame alignment is not guaranteed, SysId parses the log by using the test state flag to determine the timestamp range for each section of the test, and then extracts the motor frames within the valid timestamp ranges. If a given test was run multiple times in a single logfile, the user will need to select which of the tests to use for the fit in the analysis tool.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SysIdRoutine.Config	Hardware-independent configuration for a SysId test routine.
static class	SysIdRoutine.Direction	Motor direction for a SysId test.
static class	SysIdRoutine.Mechanism	A mechanism to be characterized by a SysId routine.

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.sysid.SysIdRoutineLog

SysIdRoutineLog.MotorLog, SysIdRoutineLog.State

Constructor Summary

Constructors

Constructor	Description
SysIdRoutine(SysIdRoutine.Config config, SysIdRoutine.Mechanism mechanism)	Create a new SysId characterization routine.

Method Summary

Modifier and Type	Method	Description
Command	dynamic(SysIdRoutine.Direction direction)	Returns a command to run a dynamic test in the specified direction.
Command	quasistatic(SysIdRoutine.Direction direction)	Returns a command to run a quasistatic test in the specified direction.

Methods inherited from class edu.wpi.first.wpilibj.sysid.SysIdRoutineLog

motor, recordState

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SysIdRoutine

public SysIdRoutine(SysIdRoutine.Config config, SysIdRoutine.Mechanism mechanism)

Create a new SysId characterization routine.

Parameters:

config - Hardware-independent parameters for the SysId routine.

mechanism - Hardware interface for the SysId routine.

Method Details

quasistatic

public Command quasistatic(SysIdRoutine.Direction direction)

Returns a command to run a quasistatic test in the specified direction.

The command will call the `drive` and `log` callbacks supplied at routine construction once per iteration. Upon command end or interruption, the `drive` callback is called with a value of 0 volts.

Parameters:

direction - The direction in which to run the test.

Returns:

A command to run the test.

dynamic

public Command dynamic(SysIdRoutine.Direction direction)

Returns a command to run a dynamic test in the specified direction.

The command will call the `drive` and `log` callbacks supplied at routine construction once per iteration. Upon command end or interruption, the `drive` callback is called with a value of 0 volts.

Parameters:

direction - The direction in which to run the test.

Returns:

A command to run the test.