Expand on Robot Config documentation (#854)

Writerside/hi.tree

@@ -7,6 +7,7 @@
                   start-page="Home.md">
 
     <toc-element topic="Home.md"/>
+    <toc-element topic="Robot-Config.md"/>
     <toc-element topic="PathPlanner-GUI.topic">
         <toc-element topic="gui-Getting-Started.md"/>
         <toc-element topic="gui-Editing-Paths-and-Autos.md"/>

Writerside/topics/Robot-Config.md

@@ -0,0 +1,87 @@
+# Robot Config
+
+Both the GUI and PathPlannerLib require various configuration options to be set in order to generate trajectories that
+are accurately limited for the performance of your robot. All of these values have an effect on the performance of your
+robot, determining its maximum velocity, acceleration, etc. Therefore, you should take care to ensure that these options
+are configured as accurately as possible.
+
+## Robot Config Options
+
+Robot Mass
+: The mass of the robot, including bumpers and battery, in Kilograms. In most cases, choosing the maximum robot weight
+of ~68 KG (150 lbs) will work fine. However, lightweight robots may benefit from increased acceleration and better
+friction estimates if the robot mass is measured accurately.
+
+Robot MOI
+: The Moment of Inertia, or MOI, of the robot, including battery and bumpers. This can be calculated via CAD software,
+or measured in various ways.
+
+### Calculating MOI through sysID (Recommended)
+
+Once sysID has been performed, the robot's MOI can be calculated using the following formula:
+
+$$
+\begin{equation}
+I = \text{mass} * \frac{\text{trackwidth}}{2} * \frac{kA_{\text{angular}}}{kA_{\text{linear}}}
+\end{equation}
+$$
+
+Where $kA_{\text{angular}}$ is the acceleration constant of the drive motors while rotating the robot,
+and $kA_{\text{linear}}$ is the acceleration constant of the drive motors while driving straight.
+
+### Calculating a Rough MOI Estimate
+
+The robot's MOI can be roughly estimated using the following formula:
+
+$$
+\begin{equation}
+I = \frac{1}{12} * \text{mass} * (\text{length}^2 + \text{width}^2)
+\end{equation}
+$$
+
+However, this will likely lead to an inaccurate estimate as it assumes a uniform distribution of mass.
+
+Wheelbase
+: The distance between the front and back of the drivebase, in meters. Only relevant in holonomic mode.
+
+Trackwidth
+: The distance between the left and right sides of the drivebase, in meters.
+
+## Module Config Options
+
+Wheel Radius
+: The radius of the drive wheels, in meters. This should be listed wherever you buy your wheels from, but can also be
+measured.
+
+Drive Gearing
+: The gear reduction from the motors to the wheels. Since this is a reduction, this value should be greater than 1. For
+example, the gearing of an SDS MK4i module with L3 gearing is ~6.12
+
+True Max Drive Speed
+: The true maximum speed of the robot/drive module while driving under load, in meters/second.
+
+> **Note**
+>
+> It is very important that the True Max Drive Speed is measured for your actual robot. This value is not simply a "max
+> velocity" limit on the robot. It encodes information about how much motor torque can actually be used to accelerate the
+> robot.
+>
+> This can be easily measured by driving the robot in a straight line as fast as possible on a charged battery, and
+> measuring the robot's maximum velocity.
+>
+> However, this test requires a lot of space and access to the robot. If you are unable to measure this value, it can be
+> estimated by using about 85% of the module's free speed.
+>
+{style="note"}
+
+Wheel COF
+: The coefficient of friction between the drive wheels and the carpet. Some wheels will have their COF listed on their
+store page. The COF of friction can also be calculated by measuring how much force is required to pull the robot (
+causing the wheels to slide) across the carpet. You can also tune this number until the wheels no longer slip while
+accelerating or turning in corners.
+
+Drive Motor
+: The type of motor used to drive the wheels of the robot.
+
+Drive Current Limit
+: The supply current limit applied to the drive motor controllers, in Amps.

Writerside/topics/gui-Settings.md

@@ -4,51 +4,15 @@ The settings menu can be accessed via the [Navigation Menu](gui-Navigation-Menu.
 
 <img src="settings.png" alt="settings" border-effect="rounded"/>
 
-## Robot Config
+## Robot Config & Module Config
 
 Bumper Width
 : The width of the robot, including bumpers, in meters. Used for visualization.
 
 Bumper Length
 : The length of the robot, including bumpers, in meters. Used for visualization.
 
-Robot Mass
-: The mass of the robot, including bumpers and battery, in Kilograms.
-
-Robot MOI
-: The Moment of Inertia, or MOI, of the robot, including battery and bumpers. This can be calculated via CAD software,
-or calculated by applying a constant torque to all drive motors and measuring the angular acceleration of the robot.
-
-Wheelbase
-: The distance between the front and back of the drivebase, in meters. Only relevant in holonomic mode.
-
-Trackwidth
-: The distance between the left and right sides of the drivebase, in meters.
-
-## Module Config
-
-Wheel Radius
-: The radius of the drive wheels, in meters.
-
-Drive Gearing
-: The gear reduction from the motors to the wheels.
-
-True Max Drive Speed
-: The true maximum speed of the robot/drive module while driving under load, in meters/second.
-
-Wheel COF
-: The coefficient of friction between the drive wheels and the carpet. Some wheels will have their COF listed on their
-store page. The COF of friction can also be calculated by measuring how much force is required to pull the robot (
-causing the wheels to slide) across the carpet. You can also tune this number until the wheels no longer slip while
-accelerating or turning in corners.
-
-Drive Motor
-: The type of motor used to drive the wheels of the robot.
-
-Drive Current Limit
-: The supply current limit applied to the drive motor controllers, in Amps. Below this field, the Max Optimal Limit is
-displayed, which is the maximum usable current limit that prevents the wheels from slipping. This is calculated based on
-other configuration options.
+See [](Robot-Config.md) for Robot/Module Configuration options and how to find them.
 
 ## Default Constraints