Merge pull request #80 from DeepBlueRobotics/drivetrain-characterization-2/19/19

Merge drivetrain-characterization-2/19/19

Author: mustangzr1

Robot2019/src/main/java/frc/robot/DrivetrainCharAnalysis.java

@@ -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;
@@ -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];

Robot2019/src/main/java/frc/robot/RobotMap.java

@@ -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;
   }
 
@@ -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;
   }
 

Robot2019/src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -209,6 +209,22 @@ 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();
     }
   }