Package com.marslib.util

Class SimSysIdTuner

java.lang.Object

com.marslib.util.SimSysIdTuner

public class SimSysIdTuner
extends Object

Offline System Identification Tuner for MARSLib.

Parses AdvantageKit .wpilog telemetry files directly using WPILib's DataLogReader. Applies Multiple Linear Regression (OLS) to calculate mechanistic constants (kS, kV, kA), then back-calculates true Simulated Mass / Moment of Inertia for injection into dyn4j.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SimSysIdTuner.DataPoint

Constructor Summary

Constructors

Constructor	Description
SimSysIdTuner()

Method Summary

Modifier and Type	Method	Description
static void	main(String[] args)	Offline testing entrypoint.
static void	solveForSimConstants(String logFilePath, String voltageKey, String velocityKey, double gearing, double torqueConstant, double resistance)	Executes regression over a given WPILog file.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SimSysIdTuner

public SimSysIdTuner()

Method Details

solveForSimConstants

public static void solveForSimConstants(String logFilePath,
 String voltageKey,
 String velocityKey,
 double gearing,
 double torqueConstant,
 double resistance)

Executes regression over a given WPILog file.

Parameters:

logFilePath - Path to your AdvantageKit .wpilog file.

voltageKey - AdvantageKit log key for Applied Voltage (e.g. "Shooter/AppliedVolts").

velocityKey - AdvantageKit log key for Velocity (rad/s or m/s).

gearing - Gear ratio (e.g., 1.5 for 1.5:1).

torqueConstant - Motor Kt in N*m/A (Falcon 500 = ~0.0183).

resistance - Motor internal resistance in Ohms (Falcon 500 = ~0.046).

main

public static void main(String[] args)

Offline testing entrypoint. Run natively via IDE to tune robots without deploying.