Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[sysid] Relax peak acceleration search (#6378)

Browse Source
This commit is contained in:
Eli Barnett
2024-02-18 00:12:00 -05:00
committed by GitHub
parent a8a352ed8c
commit 02aed35c6e
1 changed files with 11 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
View File

@@ -146,9 +146,18 @@ sysid::TrimStepVoltageData(std::vector<PreparedData>* data,
wpi::sgn(b.velocity) * b.acceleration;
});
// Current limiting can delay onset of the peak acceleration, so we need to
// find the first acceleration *near* the max. Magic number tolerance here
// because this whole file is tech debt already
auto accelBegins = std::find_if(
data->begin(), data->end(), [&maxAccel](const auto& measurement) {
return wpi::sgn(measurement.velocity) * measurement.acceleration >
0.8 * wpi::sgn(maxAccel->velocity) * maxAccel->acceleration;
});
units::second_t velocityDelay;
if (maxAccel != data->end()) {
velocityDelay = maxAccel->timestamp - firstTimestamp;
if (accelBegins != data->end()) {
velocityDelay = accelBegins->timestamp - firstTimestamp;
// Trim data before max acceleration
data->erase(data->begin(), maxAccel);