Tune Climber

[brhecker]

Find Feedforward and Feedback constant values for the climber.
Guide for tuning an elevator(the last control method on the page with both feedforward and feedback):
https://docs.wpilib.org/en/stable/docs/software/advanced-controls/introduction/tuning-elevator.html

Quick set of steps:

• Slowly increase kG until climber starts to move up on its own, then back it down slightly until it doesn't.
• Calculate an approximate base value for kV, this is related to the velocity and depends on the conversion factor from the motor rpm to the control velocity units(probably either meters or inches/second). This is in Volts per velocity unit
• example calculation: ((gear ratio * distance per rotation)/60(convert from rpm to rps)) * 12(full voltage) / (motor free speed)
• Adjust kV until the line of the measured position matches the profile position
• If it overshoots or is good on the way up, but undershoots on the way down, reduce kG and add kS in small increments
• Slowly add P until the final position looks very accurate without oscilating