[sysid] Remove unused "gains to encoder counts" checkbox

sysid/src/main/native/cpp/analysis/AnalysisManager.cpp

@@ -218,15 +218,11 @@ sysid::FeedbackGains AnalysisManager::CalculateFeedback(
   const auto& Ka = ff[2];
   FeedbackGains fb;
   if (m_settings.type == FeedbackControllerLoopType::kPosition) {
-    fb = sysid::CalculatePositionFeedbackGains(
-        m_settings.preset, m_settings.lqr, Kv, Ka,
-        m_settings.convertGainsToEncTicks ? m_settings.gearing * m_settings.cpr
-                                          : 1);
+    fb = sysid::CalculatePositionFeedbackGains(m_settings.preset,
+                                               m_settings.lqr, Kv, Ka);
   } else {
-    fb = sysid::CalculateVelocityFeedbackGains(
-        m_settings.preset, m_settings.lqr, Kv, Ka,
-        m_settings.convertGainsToEncTicks ? m_settings.gearing * m_settings.cpr
-                                          : 1);
+    fb = sysid::CalculateVelocityFeedbackGains(m_settings.preset,
+                                               m_settings.lqr, Kv, Ka);
   }
 
   return fb;

sysid/src/main/native/cpp/analysis/FeedbackAnalysis.cpp

@@ -20,7 +20,7 @@ using Ka_t = decltype(1_V / 1_mps_sq);
 
 FeedbackGains sysid::CalculatePositionFeedbackGains(
     const FeedbackControllerPreset& preset, const LQRParameters& params,
-    double Kv, double Ka, double encFactor) {
+    double Kv, double Ka) {
   // If acceleration requires no effort, velocity becomes an input for position
   // control. We choose an appropriate model in this case to avoid numerical
   // instabilities in the LQR.
@@ -34,9 +34,9 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
     // Compensate for any latency from sensor measurements, filtering, etc.
     controller.LatencyCompensate(system, preset.period, 0.0_s);
 
-    return {controller.K(0, 0) * preset.outputConversionFactor / encFactor,
+    return {controller.K(0, 0) * preset.outputConversionFactor,
             controller.K(0, 1) * preset.outputConversionFactor /
-                (encFactor * (preset.normalized ? 1 : preset.period.value()))};
+                (preset.normalized ? 1 : preset.period.value())};
   }
 
   // This is our special model to avoid instabilities in the LQR.
@@ -49,8 +49,7 @@ FeedbackGains sysid::CalculatePositionFeedbackGains(
   // Compensate for any latency from sensor measurements, filtering, etc.
   controller.LatencyCompensate(system, preset.period, 0.0_s);
 
-  return {Kv * controller.K(0, 0) * preset.outputConversionFactor / encFactor,
-          0.0};
+  return {Kv * controller.K(0, 0) * preset.outputConversionFactor, 0.0};
 }
 
 FeedbackGains sysid::CalculateVelocityFeedbackGains(

sysid/src/main/native/cpp/view/Analyzer.cpp

@@ -562,7 +562,6 @@ void Analyzer::DisplayFeedbackGains() {
     m_settings.type = FeedbackControllerLoopType::kVelocity;
     m_selectedLoopType =
         static_cast<int>(FeedbackControllerLoopType::kVelocity);
-    m_settings.convertGainsToEncTicks = m_selectedPreset > 2;
     UpdateFeedbackGains();
   }
   ImGui::SameLine();
@@ -646,59 +645,6 @@ void Analyzer::DisplayFeedbackGains() {
       "accurate if the characteristic timescale of the mechanism "
       "is small.");
 
-  // Add CPR and Gearing for converting Feedback Gains
-  ImGui::Separator();
-  ImGui::Spacing();
-
-  if (ImGui::Checkbox("Convert Gains to Encoder Counts",
-                      &m_settings.convertGainsToEncTicks)) {
-    UpdateFeedbackGains();
-  }
-  sysid::CreateTooltip(
-      "Whether the feedback gains should be in terms of encoder counts or "
-      "output units. Because smart motor controllers usually don't have "
-      "direct access to the output units (i.e. m/s for a drivetrain), they "
-      "perform feedback on the encoder counts directly. If you are using a "
-      "PID Controller on the RoboRIO, you are probably performing feedback "
-      "on the output units directly.\n\nNote that if you have properly set "
-      "up position and velocity conversion factors with the SPARK MAX, you "
-      "can leave this box unchecked. The motor controller will perform "
-      "feedback on the output directly.");
-
-  if (m_settings.convertGainsToEncTicks) {
-    ImGui::SetNextItemWidth(ImGui::GetFontSize() * 5);
-    if (ImGui::InputDouble("##Numerator", &m_gearingNumerator, 0.0, 0.0, "%.4f",
-                           ImGuiInputTextFlags_EnterReturnsTrue) &&
-        m_gearingNumerator > 0) {
-      m_settings.gearing = m_gearingNumerator / m_gearingDenominator;
-      UpdateFeedbackGains();
-    }
-    ImGui::SameLine();
-    ImGui::SetNextItemWidth(ImGui::GetFontSize() * 5);
-    if (ImGui::InputDouble("##Denominator", &m_gearingDenominator, 0.0, 0.0,
-                           "%.4f", ImGuiInputTextFlags_EnterReturnsTrue) &&
-        m_gearingDenominator > 0) {
-      m_settings.gearing = m_gearingNumerator / m_gearingDenominator;
-      UpdateFeedbackGains();
-    }
-    sysid::CreateTooltip(
-        "The gearing between the encoder and the motor shaft (# of encoder "
-        "turns / # of motor shaft turns).");
-
-    ImGui::SetNextItemWidth(ImGui::GetFontSize() * 5);
-    if (ImGui::InputInt("CPR", &m_settings.cpr, 0, 0,
-                        ImGuiInputTextFlags_EnterReturnsTrue) &&
-        m_settings.cpr > 0) {
-      UpdateFeedbackGains();
-    }
-    sysid::CreateTooltip(
-        "The counts per rotation of your encoder. This is the number of counts "
-        "reported in user code when the encoder is rotated exactly once. Some "
-        "common values for various motors/encoders are:\n\n"
-        "Falcon 500: 2048\nNEO: 1\nCTRE Mag Encoder / CANCoder: 4096\nREV "
-        "Through Bore Encoder: 8192\n");
-  }
-
   ImGui::Separator();
   ImGui::Spacing();
 

sysid/src/main/native/include/sysid/analysis/AnalysisManager.h

@@ -74,22 +74,6 @@ class AnalysisManager {
      * zero indicates it needs to be set to the default.
      */
     units::second_t stepTestDuration = 0_s;
-
-    /**
-     * The conversion factor of counts per revolution.
-     */
-    int cpr = 1440;
-
-    /**
-     * The conversion factor of gearing.
-     */
-    double gearing = 1;
-
-    /**
-     * Whether or not the gains should be in the encoder's units (mainly for use
-     * in a smart motor controller).
-     */
-    bool convertGainsToEncTicks = false;
   };
 
   /**

sysid/src/main/native/include/sysid/analysis/FeedbackAnalysis.h

@@ -48,18 +48,14 @@ struct FeedbackGains {
  * Calculates position feedback gains for the given controller preset, LQR
  * controller gain parameters and feedforward gains.
  *
- * @param preset           The feedback controller preset.
- * @param params           The parameters for calculating optimal feedback
- *                         gains.
- * @param Kv               Velocity feedforward gain.
- * @param Ka               Acceleration feedforward gain.
- * @param encFactor        The factor to convert the gains from output units to
- *                         encoder units. This is usually encoder EPR * gearing
- *                         * units per rotation.
+ * @param preset The feedback controller preset.
+ * @param params The parameters for calculating optimal feedback gains.
+ * @param Kv     Velocity feedforward gain.
+ * @param Ka     Acceleration feedforward gain.
  */
 FeedbackGains CalculatePositionFeedbackGains(
     const FeedbackControllerPreset& preset, const LQRParameters& params,
-    double Kv, double Ka, double encFactor = 1.0);
+    double Kv, double Ka);
 
 /**
  * Calculates velocity feedback gains for the given controller preset, LQR

sysid/src/main/native/include/sysid/view/Analyzer.h

@@ -227,9 +227,6 @@ class Analyzer : public glass::View {
   double m_threshold = 0.2;
   float m_stepTestDuration = 0;
 
-  double m_gearingNumerator = 1.0;
-  double m_gearingDenominator = 1.0;
-
   bool combinedGraphFit = false;
 
   // Logger