F1TENTH_4WD_ACTUATOR_CFG parameters identification

[loitonyngo]

Hello everyone,

I have a question about the parameters used in the f1_tenth actuators configs.
How were they chosen? Has there been a system identification process? Has there been some calculation using values from data sheets? Or were they selected via the rule of thumb?

Thanks in advance!

[byx4]

Thanks for the question!
I based my configs off of the mushr configs, which from what I know were adjusted to be pretty accurate. Since I was familiar with both the hardware of the F1Tenth and Mushr, I basically directly translated things like the servo speeds, motor kv*battery cell count, from one to another and represented that in sim. If everything is as planned, the f1_tenth actuators should be fairly accurate (given the mushr ones are).

[loitonyngo]

thank you for the reply!