[sysid] Remove obsolete WPILib presets, rename CTRE presets (wpilibsu…

…ite#6460)
chauser · May 30, 2024 · 5f6b8c7 · 5f6b8c7
1 parent 717b787
commit 5f6b8c7
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Showing 4 changed files with 19 additions and 24 deletions.
diff --git a/sysid/src/main/native/cpp/view/Analyzer.cpp b/sysid/src/main/native/cpp/view/Analyzer.cpp
@@ -31,11 +31,10 @@ Analyzer::Analyzer(glass::Storage& storage, wpi::Logger& logger)
     : m_logger(logger) {
   // Fill the StringMap with preset values.
   m_presets["Default"] = presets::kDefault;
-  m_presets["WPILib (2020-)"] = presets::kWPILibNew;
-  m_presets["WPILib (Pre-2020)"] = presets::kWPILibOld;
-  m_presets["CANCoder"] = presets::kCTRECANCoder;
-  m_presets["CTRE"] = presets::kCTREDefault;
-  m_presets["CTRE (Pro)"] = presets::kCTREProDefault;
+  m_presets["WPILib"] = presets::kWPILib;
+  m_presets["CTRE Phoenix 5 CANcoder"] = presets::kCTREv5CANCoder;
+  m_presets["CTRE Phoenix 5"] = presets::kCTREv5;
+  m_presets["CTRE Phoenix 6"] = presets::kCTREv6;
   m_presets["REV Brushless Encoder Port"] = presets::kREVNEOBuiltIn;
   m_presets["REV Brushed Encoder Port"] = presets::kREVNonNEO;
   m_presets["REV Data Port"] = presets::kREVNonNEO;

diff --git a/sysid/src/main/native/include/sysid/analysis/FeedbackControllerPreset.h b/sysid/src/main/native/include/sysid/analysis/FeedbackControllerPreset.h
@@ -73,9 +73,7 @@ enum class FeedbackControllerLoopType { kPosition, kVelocity };
 namespace presets {
 inline constexpr FeedbackControllerPreset kDefault{1.0, 1.0, 20_ms, true, 0_s};
 
-inline constexpr FeedbackControllerPreset kWPILibNew{kDefault};
-inline constexpr FeedbackControllerPreset kWPILibOld{1.0 / 12.0, 1.0, 50_ms,
-                                                     false, 0_s};
+inline constexpr FeedbackControllerPreset kWPILib{kDefault};
 
 // Measurement delay from a moving average filter:
 //
@@ -117,20 +115,19 @@ inline constexpr FeedbackControllerPreset kWPILibOld{1.0 / 12.0, 1.0, 50_ms,
  *
  * Total delay = 50 ms + 31.5 ms = 81.5 ms.
  */
-inline constexpr FeedbackControllerPreset kCTRECANCoder{1.0 / 12.0, 60.0, 1_ms,
-                                                        true, 81.5_ms};
-inline constexpr FeedbackControllerPreset kCTREDefault{1023.0 / 12.0, 0.1, 1_ms,
-                                                       false, 81.5_ms};
+inline constexpr FeedbackControllerPreset kCTREv5CANCoder{1.0 / 12.0, 60.0,
+                                                          1_ms, true, 81.5_ms};
+inline constexpr FeedbackControllerPreset kCTREv5{1023.0 / 12.0, 0.1, 1_ms,
+                                                  false, 81.5_ms};
 /**
  * https://api.ctr-electronics.com/phoenixpro/release/cpp/classctre_1_1phoenixpro_1_1hardware_1_1core_1_1_core_c_a_ncoder.html#a718a1a214b58d3c4543e88e3cb51ade5
  *
- * Phoenix Pro uses standard units and Voltage output. This means the output
+ * Phoenix 6 uses standard units and Voltage output. This means the output
  * is 1.0, time factor is 1.0, and closed loop operates at 1 millisecond. All
- * Pro devices make use of Kalman filters default-tuned to lowest latency, which
- * in testing is roughly 1 millisecond
+ * Phoenix 6 devices make use of Kalman filters default-tuned to lowest latency,
+ * which in testing is roughly 1 millisecond
  */
-inline constexpr FeedbackControllerPreset kCTREProDefault{1.0, 1.0, 1_ms, true,
-                                                          1_ms};
+inline constexpr FeedbackControllerPreset kCTREv6{1.0, 1.0, 1_ms, true, 1_ms};
 
 /**
  * https://github.com/wpilibsuite/sysid/issues/258#issuecomment-1010658237

diff --git a/sysid/src/main/native/include/sysid/view/Analyzer.h b/sysid/src/main/native/include/sysid/view/Analyzer.h
@@ -56,11 +56,10 @@ class Analyzer : public glass::View {
    * The different motor controller timing presets that can be used.
    */
   static constexpr const char* kPresetNames[] = {"Default",
-                                                 "WPILib (2020-)",
-                                                 "WPILib (Pre-2020)",
-                                                 "CANCoder",
-                                                 "CTRE (Pro)",
-                                                 "CTRE",
+                                                 "WPILib",
+                                                 "CTRE Phoenix 5 CANcoder",
+                                                 "CTRE Phoenix 5",
+                                                 "CTRE Phoenix 6",
                                                  "REV Brushless Encoder Port",
                                                  "REV Brushed Encoder Port",
                                                  "REV Data Port",

diff --git a/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp b/sysid/src/test/native/cpp/analysis/FeedbackAnalysisTest.cpp
@@ -55,7 +55,7 @@ TEST(FeedbackAnalysisTest, VelocityCTRE) {
   sysid::LQRParameters params{1, 1.5, 7};
 
   auto [Kp, Kd] = sysid::CalculateVelocityFeedbackGains(
-      sysid::presets::kCTRECANCoder, params, Kv, Ka);
+      sysid::presets::kCTREv5CANCoder, params, Kv, Ka);
 
   EXPECT_NEAR(Kp, 0.000417, 0.00005);
   EXPECT_NEAR(Kd, 0.00, 0.05);
@@ -68,7 +68,7 @@ TEST(FeedbackAnalysisTest, VelocityCTREConversion) {
   sysid::LQRParameters params{1, 1.5, 7};
 
   auto [Kp, Kd] = sysid::CalculateVelocityFeedbackGains(
-      sysid::presets::kCTRECANCoder, params, Kv, Ka, 3.0);
+      sysid::presets::kCTREv5CANCoder, params, Kv, Ka, 3.0);
 
   // This should have the same Kp as the test above, but scaled by a factor
   // of 3.