SysId routines log has wrong units. Also use appropriate units/scaling when running SysID tool.

[brettle]

RobotCode2024/src/main/java/org/carlmontrobotics/subsystems/Arm.java

Lines 199 to 204 in 864bd30

	.angularVelocity(velocity.mut_replace(
	armMasterEncoder.getVelocity() / 60,
	RotationsPerSecond))
	.angularPosition(distance.mut_replace(
	armMasterEncoder.getPosition(),
	Rotations));

Since the constructor sets the conversion factors for the encoder, the returned values will be rads and rads/s, not rots and rots/s.

Separately, no matter what units you actually log with, wpilib's sysid logging code will convert your measurements to rots and rots/sec and that's what the sysid tool will assume is in the log. As a result, to get the sysid tool to produce constants that use rads instead of rots you'll need to make the following changes in the Data Seletor pane before clicking "Load": 1) change the units in the Data Selector pane to radians, and 2) set both the Velocity scaling and Position scaling to 2*pi.

[brettle]

Value passed for velocity is wrong.