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[sysid] Remove unused "gains to encoder counts" checkbox (#6234)

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This commit is contained in:
Tyler Veness
2024-01-15 22:40:45 -08:00
committed by GitHub
parent 6da21c4943
commit 97828bd325
6 changed files with 13 additions and 95 deletions
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12
sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
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@@ -218,15 +218,11 @@ sysid::FeedbackGains AnalysisManager::CalculateFeedback(
const auto& Ka = ff[2];
FeedbackGains fb;
if (m_settings.type == FeedbackControllerLoopType::kPosition) {
fb = sysid::CalculatePositionFeedbackGains(
m_settings.preset, m_settings.lqr, Kv, Ka,
m_settings.convertGainsToEncTicks ? m_settings.gearing * m_settings.cpr
: 1);
fb = sysid::CalculatePositionFeedbackGains(m_settings.preset,
m_settings.lqr, Kv, Ka);
} else {
fb = sysid::CalculateVelocityFeedbackGains(
m_settings.preset, m_settings.lqr, Kv, Ka,
m_settings.convertGainsToEncTicks ? m_settings.gearing * m_settings.cpr
: 1);
fb = sysid::CalculateVelocityFeedbackGains(m_settings.preset,
m_settings.lqr, Kv, Ka);
}
return fb;

9
sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp
View File

@@ -20,7 +20,7 @@ using Ka_t = decltype(1_V / 1_mps_sq);
FeedbackGains sysid::CalculatePositionFeedbackGains(
const FeedbackControllerPreset& preset, const LQRParameters& params,
double Kv, double Ka, double encFactor) {
double Kv, double Ka) {
// If acceleration requires no effort, velocity becomes an input for position
// control. We choose an appropriate model in this case to avoid numerical
// instabilities in the LQR.
@@ -34,9 +34,9 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
// Compensate for any latency from sensor measurements, filtering, etc.
controller.LatencyCompensate(system, preset.period, 0.0_s);
return {controller.K(0, 0) * preset.outputConversionFactor / encFactor,
return {controller.K(0, 0) * preset.outputConversionFactor,
controller.K(0, 1) * preset.outputConversionFactor /
(encFactor * (preset.normalized ? 1 : preset.period.value()))};
(preset.normalized ? 1 : preset.period.value())};
}
// This is our special model to avoid instabilities in the LQR.
@@ -49,8 +49,7 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
// Compensate for any latency from sensor measurements, filtering, etc.
controller.LatencyCompensate(system, preset.period, 0.0_s);
return {Kv * controller.K(0, 0) * preset.outputConversionFactor / encFactor,
0.0};
return {Kv * controller.K(0, 0) * preset.outputConversionFactor, 0.0};
}
FeedbackGains sysid::CalculateVelocityFeedbackGains(