Swerve Drive Characterization Commands
Overview
The characterization commands provide system identification capabilities for the swerve drive subsystem. These commands enable precise measurement and calculation of critical system parameters.
Required Subsystems
Commands
WheelRadiusCharacterization
Measures and calculates the effective wheel radius of the swerve modules.
Parameters
swerveDriveSubsystem: The SwerveDrive subsystem instance to characterize
Output
Provides: - Wheel radius measurement in meters and inches - Wheel and gyro delta measurements - Calculation confidence metrics
FeedforwardCharacterization
Determines the feedforward characterization constants for the drive motors.
Parameters
swerveDriveSubsystem: The SwerveDrive subsystem instance to characterize
Output
Provides: - kS (static friction coefficient) - kV (velocity coefficient) - Data points for validation
Configuration Requirements
- Clear operating space required
- Robot must be on a level surface
- Battery should be fully charged
- Robot must start in a known orientation
API Reference
For detailed API documentation, see the Characterization Commands Javadoc