From 5d67dec0c6b1a984f26967a3cea2de1898fdbe85 Mon Sep 17 00:00:00 2001 From: SeanErn Date: Tue, 24 Dec 2024 13:21:05 -0500 Subject: [PATCH] fix error in docs regarding COF and PID tuning --- docs/mkdocs/docs/quickstart.md | 28 +++++++++------------------- 1 file changed, 9 insertions(+), 19 deletions(-) diff --git a/docs/mkdocs/docs/quickstart.md b/docs/mkdocs/docs/quickstart.md index 442a463..4089b9e 100644 --- a/docs/mkdocs/docs/quickstart.md +++ b/docs/mkdocs/docs/quickstart.md @@ -201,6 +201,11 @@ Update PID and FF values based on characterization: - Deploy code - Start with very slow movements - Test forward/backward/strafe + - Plot values for + - /RealOutputs/SwerveStates/Measured + - /RealOutputs/SwerveStates/SetpointsOptimized + - Try to match the Measured value as close to Optimized as possible. + - Transitions won't be instant, but ensure that we don't over/under shoot - Watch for: - Smooth acceleration - No oscillation @@ -410,25 +415,10 @@ After configuring robot mass, measure the robot's rotational inertia (MOI) for b ### 1.11 Wheel Coefficient of Friction Measurement After configuring mass and MOI, measure the wheel coefficient of friction for accurate path following: -1. Setup: - - Clear a flat, consistent surface area - - Place robot on competition surface material - - Open AdvantageScope for data logging - - Create plots for: - - Module velocities - - Drive motor currents - - Robot acceleration - -2. Measurement Process: - - Run the "Wheel COF Characterization" autonomous routine - - Command will: - - Gradually increase drive power - - Monitor wheel slip - - Calculate static and dynamic COF - - Test will run for about 10 seconds - - Results print to Driver Station console - -3. Update Configuration: +1. Locate the wheel COF on the manufacturer website, some common examples have been provided here: + - Most Colson wheels: 1.0 + - **BRAND NEW** Billet Wheel, 4"OD x 1.5"W (MK4/4i/4n): 1.1 **(THIS VALUE ONLY LASTS FOR 1-1.5 EVENTS WORTH OF USE)** +2. Update Configuration: - In your TunerConstants file, update the COF constant: ```java public static final double WHEEL_COF = 1.1; // Update with measured value