Package org.firstinspires.ftc.teamcode.subsystems.roadrunner.util

Class RegressionUtil

java.lang.Object

org.firstinspires.ftc.teamcode.subsystems.roadrunner.util.RegressionUtil

public class RegressionUtil
extends Object

Various regression utilities.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	RegressionUtil.AccelResult	Feedforward parameter estimates from the ramp regression and additional summary statistics
static class	RegressionUtil.RampResult	Feedforward parameter estimates from the ramp regression and additional summary statistics

Constructor Summary

Constructors

Constructor	Description
RegressionUtil()

Method Summary

Modifier and Type	Method	Description
static RegressionUtil.AccelResult	fitAccelData(List<Double> timeSamples, List<Double> positionSamples, List<Double> powerSamples, RegressionUtil.RampResult rampResult, File file)	Run regression to compute acceleration feedforward.
static RegressionUtil.RampResult	fitRampData(List<Double> timeSamples, List<Double> positionSamples, List<Double> powerSamples, boolean fitStatic, File file)	Run regression to compute velocity and static feedforward from ramp test data.

Methods inherited from class java.lang.Object

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

Constructor Details

RegressionUtil

public RegressionUtil()

Method Details

fitRampData

public static RegressionUtil.RampResult fitRampData(List<Double> timeSamples,
 List<Double> positionSamples,
 List<Double> powerSamples,
 boolean fitStatic,
 @Nullable
 File file)

Run regression to compute velocity and static feedforward from ramp test data.

Here's the general procedure for gathering the requisite data: 1. Slowly ramp the motor power/voltage and record encoder values along the way. 2. Run a linear regression on the encoder velocity vs. motor power plot to obtain a slope (kV) and an optional intercept (kStatic).

Parameters:

timeSamples - time samples

positionSamples - position samples

powerSamples - power samples

fitStatic - fit kStatic

file - log file

fitAccelData

public static RegressionUtil.AccelResult fitAccelData(List<Double> timeSamples,
 List<Double> positionSamples,
 List<Double> powerSamples,
 RegressionUtil.RampResult rampResult,
 @Nullable
 File file)

Run regression to compute acceleration feedforward.

Parameters:

timeSamples - time samples

positionSamples - position samples

powerSamples - power samples

rampResult - ramp result

file - log file