This project allows the frc-characterization tool to be used with Romi robots. It is basically a direct copy of the logic that frc-characterization generated projects have, with some changes for Romi hardware.
Note that the encoder data that gets sent to frc-characterization is in terms of wheel rotations (and not distance traveled).
See following slide show for instructions - https://docs.google.com/presentation/d/1nE6QUapu8g2eKjhgsheDkTuXqY2Bvh2V2ds_vDtuSh4/edit?usp=sharing
Load this project, connect to the Romi network, verify that your robot IP address is correct in the build.gradle file, and press F5 to start running the robot code on your computer. Once this is done, the simulator GUI will appear on screen
Start the frc-characterization data logger. Ensure that the team number is set to 0. Click on Connect to Robot and the status field will change from Connecting... to Connected. At this point, the robot is ready for characterization.
You can now run the tests, following the instructions on FRC docs
Note that the data you get from the logger are in rotations. The diagram below shows example analyzer settings
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Set the Units to Meters, and put in the approriate circumference (Noting that the Romi wheels have a diameter of
0.07 meters. -
You might need to tweak the Motion threshold a little. These values worked for a particular set of data
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Switch the Gain Settings Preset to WPILib (2020-)
The constants should be pluggable into the Romi Trajectory example, with some minor tweaks to kP and potentially the Ramsete constants.
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- Ensure that the gyro has been calibrated using the web UI
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