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Merged
mustangzr1 merged 2 commits into from
Mar 3, 2019
Merged

Merge drivetrain-characterization-2/19/19 #80

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21cecd4
Initial commit
alexander-mcdowell Feb 20, 2019
0723859
Catch singular matrix exception and dump X and Y matrices
Feb 26, 2019
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13 changes: 10 additions & 3 deletions Robot2019/src/main/java/frc/robot/DrivetrainCharAnalysis.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,11 @@
import java.io.IOException;
import java.io.Reader;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;

import org.apache.commons.math3.stat.regression.OLSMultipleLinearRegression;
import org.apache.commons.math3.linear.SingularMatrixException;
import org.apache.commons.lang3.ArrayUtils;
import org.apache.commons.csv.CSVRecord;
import org.apache.commons.csv.CSVFormat;
Expand Down Expand Up @@ -64,9 +66,14 @@ public static void ordinaryLeastSquares(String file1, String file2, String outfi
ys[i] = voltages[i];
}

algorithm = new OLSMultipleLinearRegression();
algorithm.newSampleData(ys, xs);
params = algorithm.estimateRegressionParameters();
try {
algorithm = new OLSMultipleLinearRegression();
algorithm.newSampleData(ys, xs);
params = algorithm.estimateRegressionParameters();
} catch (SingularMatrixException e) {
System.out.println(Arrays.deepToString(xs));
System.out.println(Arrays.toString(ys));
}
// System.out.println(params.length);
rightKv = params[1];
rightKa = params[2];
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10 changes: 0 additions & 10 deletions Robot2019/src/main/java/frc/robot/RobotMap.java
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Expand Up @@ -120,11 +120,6 @@ private static WPI_TalonSRX createConfiguredTalon(int port) {
catchError(tsrx.configNeutralDeadband(0.001, 10));
tsrx.setNeutralMode(NeutralMode.Brake);

ecDeadband = tsrx.configNeutralDeadband(0.001, 10);
if (!ecDeadband.equals(ErrorCode.OK)) {
throw new RuntimeException(ecDeadband.toString());
}

return tsrx;
}

Expand All @@ -140,11 +135,6 @@ private static WPI_VictorSPX createConfiguredVictor(int port) {
catchError(vspx.configNeutralDeadband(0.001, 10));
vspx.setNeutralMode(NeutralMode.Brake);

ecDeadband = vspx.configNeutralDeadband(0.001, 10);
if (!ecDeadband.equals(ErrorCode.OK)) {
throw new RuntimeException(ecDeadband.toString());
}

return vspx;
}

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16 changes: 16 additions & 0 deletions Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java
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Expand Up @@ -198,6 +198,22 @@ public void updateDrivetrainParameters() {
blKA = avg;
brKA = avg;
} catch (FileNotFoundException e) {
flKV = 0.06369046755507658;
flKA = 0.0215894793277297;
flVI = 0.8403701236277824;

frKV = 0.0619423013628032;
frKA = 0.04044703465602449;
frVI = 0.810212379284332;

blKV = 0.06388520699977113;
blKA = 0.025492804438184545;
blVI = 0.8071078220643216;

brKV = 0.06140765089854154;
brKA = 0.042046502553651215;
brVI = 0.7929289166816246;

e.printStackTrace();
}
}
Expand Down