mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
SCRIPT Move subprojects
This commit is contained in:
PJ Reiniger
committed by
Peter Johnson
Peter Johnson
parent
8cfc158790
commit
a5492d30da
210
tools/sysid/docs/data-collection.md
Normal file
210
tools/sysid/docs/data-collection.md
Normal file
@@ -0,0 +1,210 @@
|
||||
# Data Collection
|
||||
|
||||
This document details how data must be sent over NetworkTables for accurate data collection. Note that the data format has changed from what the old [frc-characterization](https://github.com/wpilibsuite/frc-characterization) tool used to generate.
|
||||
|
||||
## NetworkTables Data Entries
|
||||
|
||||
Here is a list of the NT entries that are used to send and collect data between sysid and the robot program:
|
||||
|
||||
| NT Entry | Type | Description |
|
||||
| --------------------------------------| -------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| `/SmartDashboard/SysIdTelemetry` | `string` | Used to send telemetry from the robot program. This data is sent after the test completes once the robot enters the disabled state. |
|
||||
| `/SmartDashboard/SysIdVoltageCommand` | `double` | Used to either send the ramp rate (V/s) for the quasistatic test or the voltage (V) for the dynamic test. |
|
||||
| `/SmartDashboard/SysIdTestType` | `string` | Used to send the test type ("Quasistatic" or "Dynamic") which helps determine how the `VoltageCommand` entry will be used. |
|
||||
| `/SmartDashboard/SysIdRotate` | `bool` | Used to receive the rotation bool from the Logger. If this is set to true, the drivetrain will rotate. It is only applicable for drivetrain tests. |
|
||||
|
||||
## Telemetry Format
|
||||
|
||||
There are two formats used to send telemetry from the robot program. One format is for non-drivetrain mechanisms, whereas the other is for all drivetrain tests (linear and angular). All timestamps must be in seconds.
|
||||
|
||||
### Non-Drivetrain Mechanisms
|
||||
|
||||
`timestamp, voltage, position, velocity`
|
||||
|
||||
Example JSON:
|
||||
|
||||
```json
|
||||
{
|
||||
"fast-backward": [
|
||||
[
|
||||
timestamp 1,
|
||||
voltage 1,
|
||||
position 1,
|
||||
velocity 1
|
||||
],
|
||||
[
|
||||
timestamp 2,
|
||||
voltage 2,
|
||||
position 2,
|
||||
velocity 2
|
||||
]
|
||||
],
|
||||
"fast-forward": [
|
||||
[
|
||||
timestamp 1,
|
||||
voltage 1,
|
||||
position 1,
|
||||
velocity 1
|
||||
],
|
||||
[
|
||||
timestamp 2,
|
||||
voltage 2,
|
||||
position 2,
|
||||
velocity 2
|
||||
]
|
||||
],
|
||||
"slow-backward": [
|
||||
[
|
||||
timestamp 1,
|
||||
voltage 1,
|
||||
position 1,
|
||||
velocity 1
|
||||
],
|
||||
[
|
||||
timestamp 2,
|
||||
voltage 2,
|
||||
position 2,
|
||||
velocity 2
|
||||
]
|
||||
],
|
||||
"slow-forward": [
|
||||
[
|
||||
timestamp 1,
|
||||
voltage 1,
|
||||
position 1,
|
||||
velocity 1
|
||||
],
|
||||
[
|
||||
timestamp 2,
|
||||
voltage 2,
|
||||
position 2,
|
||||
velocity 2
|
||||
]
|
||||
],
|
||||
"sysid": true,
|
||||
"test": "Simple",
|
||||
"units": "Rotations",
|
||||
"unitsPerRotation": 1.0
|
||||
}
|
||||
```
|
||||
|
||||
Supported test types for the "test" field in this data format include "Arm",
|
||||
"Elevator", and "Simple". Supported unit types include "Meters", "Feet",
|
||||
"Inches", "Radians", "Rotations", and "Degrees".
|
||||
|
||||
### Drivetrain
|
||||
|
||||
`timestamp, l voltage, r voltage, l position, r position, l velocity, r velocity, angle, angular rate`
|
||||
|
||||
Note that all positions and velocities should be in rotations of the output and rotations/sec of the output respectively. If there is a gearing between the encoder and the output, that should be taken into account.
|
||||
|
||||
Example JSON:
|
||||
|
||||
```json
|
||||
{
|
||||
"fast-backward": [
|
||||
[
|
||||
timestamp 1,
|
||||
l voltage 1,
|
||||
r voltage 1,
|
||||
l position 1,
|
||||
r position 1,
|
||||
l velocity 1,
|
||||
r velocity 1,
|
||||
angle 1,
|
||||
angular rate 1
|
||||
],
|
||||
[
|
||||
timestamp 2,
|
||||
l voltage 2,
|
||||
r voltage 2,
|
||||
l position 2,
|
||||
r position 2,
|
||||
l velocity 2,
|
||||
r velocity 2,
|
||||
angle 2,
|
||||
angular rate 2
|
||||
]
|
||||
],
|
||||
"fast-forward": [
|
||||
[
|
||||
timestamp 1,
|
||||
l voltage 1,
|
||||
r voltage 1,
|
||||
l position 1,
|
||||
r position 1,
|
||||
l velocity 1,
|
||||
r velocity 1,
|
||||
angle 1,
|
||||
angular rate 1
|
||||
],
|
||||
[
|
||||
timestamp 2,
|
||||
l voltage 2,
|
||||
r voltage 2,
|
||||
l position 2,
|
||||
r position 2,
|
||||
l velocity 2,
|
||||
r velocity 2,
|
||||
angle 2,
|
||||
angular rate 2
|
||||
]
|
||||
],
|
||||
"slow-backward": [
|
||||
[
|
||||
timestamp 1,
|
||||
l voltage 1,
|
||||
r voltage 1,
|
||||
l position 1,
|
||||
r position 1,
|
||||
l velocity 1,
|
||||
r velocity 1,
|
||||
angle 1,
|
||||
angular rate 1
|
||||
],
|
||||
[
|
||||
timestamp 2,
|
||||
l voltage 2,
|
||||
r voltage 2,
|
||||
l position 2,
|
||||
r position 2,
|
||||
l velocity 2,
|
||||
r velocity 2,
|
||||
angle 2,
|
||||
angular rate 2
|
||||
]
|
||||
],
|
||||
"slow-forward": [
|
||||
[
|
||||
timestamp 1,
|
||||
l voltage 1,
|
||||
r voltage 1,
|
||||
l position 1,
|
||||
r position 1,
|
||||
l velocity 1,
|
||||
r velocity 1,
|
||||
angle 1,
|
||||
angular rate 1
|
||||
],
|
||||
[
|
||||
timestamp 2,
|
||||
l voltage 2,
|
||||
r voltage 2,
|
||||
l position 2,
|
||||
r position 2,
|
||||
l velocity 2,
|
||||
r velocity 2,
|
||||
angle 2,
|
||||
angular rate 2
|
||||
]
|
||||
],
|
||||
"sysid": true,
|
||||
"test": "Drivetrain",
|
||||
"units": "Rotations",
|
||||
"unitsPerRotation": 1.0
|
||||
}
|
||||
```
|
||||
|
||||
Supported test types for the "test" field in this data format include
|
||||
"Drivetrain" and "Drivetrain (Angular)". Supported unit types include "Meters",
|
||||
"Feet", "Inches", "Radians", "Rotations", and "Degrees".
|
||||
Reference in New Issue
Block a user