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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;