Plotting and Scheming

Plot (pluh):

One of the most valuable tools for your tuning endeavors is the Phoenix Tuner plot. The reason this is so useful is that it shows you how much your mechanism is off (in terms of position and velocity) in an intuitive manner.

Read through this guide to understand plotting with Phoenix Tuner:

https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/plotting.html

Signals to Plot (pluh):

• Position: The actual position of the motor according to the motor (or the CANcoder if there is one)

• PIDPosition/Reference: The expected position of the motor; The position that you want the motor to be at

• Velocity: The actual velocity of the motor

• PIDPosition/Reference Slope: The expected velocity of the motor; The velocity that you want the motor to be at

Plotting Tips:

• Axis Alignment: One of the most annoying things to deal with when plotting is when the axes for multiple signals are misaligned. To fix this issue, you can group certain signals together. Generally, I put Position and Reference Position in one group and Velocity and Reference Velocity in another. 

  • • In the Phoenix Tuner window, go to the following tab. 

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    • Then, hit the + button to add a new group and drag the signals you want to the correct group.

• Presets: It's a good idea to use the three preset boxes to quickly set the target position for the motor at your whim.