fit
open fun fitRampData(timeSamples: List<Double>, positionSamples: List<Double>, powerSamples: List<Double>, fitStatic: Boolean, @Nullable file: File): RegressionUtil.RampResult
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).
Return
feedforward parameter estimates and additional summary statistics
Parameters
time
time samples
position
position samples
power
power samples
fit
fit kStatic
file
log file