Weird lateral ramp logger plot?

[ruiyuansd]

Robot Setup: Mecanum Drive with Three Deadwheeel Localizer
Beacuse of the difference between (kS_forward, kV_forward) and (kS_lateral, kV_lateral), the ramp logger regression plot is not ideal. Any suggestion on that?

[rbrott]

This plot exposes a limitation of the robot model. The additional friction dynamics when strafing cannot be captured by a single multiplier but require an additional offset at least. On the bright side, this was just as broken in previous versions of Road Runner, and feedback can make up some of the difference.

[pn89348]

In this case, is it better to use the regression line similar to what's shown in the screenshot or to exclude the flat portion at the beginning?

[rbrott]

Theoretically you should remove the flat portion, though I don't expect it to make a big difference in the overall fit because the line must still pass through the origin.