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Tuning Notes (Template)

Logs must contain:

  1. The requirement being validated.
  2. The data collected.
  3. Outcome and action taken.

Linked Subsystem/Requirement​

Subsystem:
Requirement ID:
Design intent:

Context​

  • Mechanism/command:
  • Sensors:

Trials​

  • Gains/settings tested:
  • Data/plots links:

Results​

  • Best settings and observed performance:
  • Side effects or issues:

Next steps​

  • Changes to try next; deploy plan.

Checklist

  • Settings and data logged
  • Best settings noted with evidence
  • Next steps planned
  • Data logs/plots:
  • Code/CAD changes:
  • Photos/videos:

Instructions (numbered)​

  1. Identify mechanism/command and sensors used.
  2. Log each trial: settings/gains, data/plots, observations.
  3. Record best settings and performance; note side effects/issues.
  4. Define next steps and deploy plan.

Best practices

  • Use consistent units; note conditions (battery state, load).
  • Save plots/logs with timestamps and settings.
  • Test changes one at a time.

Common mistakes

  • Missing context (units, conditions); unrepeatable tests.
  • Not saving data or final chosen settings.

Recommended tools

  • Logging (AdvantageKit/WPILib data log), plotting tool, spreadsheet for runs.

Data to Collect​

  • Voltage and current
  • Setpoint vs measured value
  • Pose/heading if applicable
  • Battery voltage
  • Temperature of motors/controllers
  • Errors/faults/warnings
  • Any relevant sensor streams

Key Signals for Tuning​

  • Commanded value
  • Measured value
  • Error signal
  • Voltage/current
  • Wheel speeds
  • Path progress (%)
  • Controller status