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6 Commits

Author SHA1 Message Date
Dean Brettle
3116f790ea [sysid] Fix wrong position Kd with unnormalized time (#6433) 2024-03-12 21:49:28 -07:00
Tyler Veness
7cd4a75323 [sysid] Fix crash on negative feedforward gains (#6425) 
LinearSystemId's linear system factories throw on negative feedforward
gains, but SysId can compute the feedback gains just fine in that case.
Now we construct the system manually instead.

Fixes #6423.
 2024-03-10 17:43:02 -07:00
Tyler Veness
ccb4cbed63 [sysid] Fix arm characterization crash (#6422) 
Fixes #6421.
 2024-03-09 09:54:37 -08:00
Dean Brettle
8b669330eb [sysid] Fix position feedback latency compensation (#6392) 2024-02-23 14:13:43 -08:00
Tyler Veness
97828bd325 [sysid] Remove unused "gains to encoder counts" checkbox (#6234) 2024-01-15 22:40:45 -08:00
Tyler Veness
a331ed2374 [sysid] Add SysId (#5672) 
The source is copied from this commit:
625ff04784.
 2023-10-01 15:09:09 -07:00