[TESTING] Characterize robot mechanisms

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Guide

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Make sure to double check TrackWidth in SysID

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Needs to be redone once the arm is on the bot

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Drivetrain:

• characterize using SysId
• determine PID values for trajetory

Arm:

• characterize using SysIdfor several setpoints along the arm. Then, use polynomial regression to determine a formula for the kG and kA values.