Comments (2)
7910f6ba7ee4
commented on August 24, 2024
1
fscalar I think is not exactly ks (?) since it's a scalar being applied to an already existing configuration angleKv (since the feedforward when it gets to the angle motor has already been multiplied by this Kv).
I also may have found where the issues have originated, which might not require an fscalar anymore. The talons apparently have their feedforward in percentage, not volts. I'm currently now testing feedforward with it simply scaled down with the nominal voltage, and it seems to work well, I'll make an issue for it later.
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thenetworkgrinch
commented on August 24, 2024
Feel free to commit the solution after testing!
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Related Issues (20)
- Add feedforward support for heading/theta PID controller HOT 1
- SysID drive routine wheels not guaranteed to spin in the right direction HOT 1
- Robot is too slow on simulation. HOT 1
- Add an intermediate logging level HOT 1
- Pathplanner odometry reset option does not reset the angle HOT 2
- AbsoluteDriveAdv causes Stuttery Turning using the joystick
- Parameterize discretization deltatime
- Cubic scaling on raw axes limits maximum velocity HOT 11
- Extract configurator for TalonFX
- Move towards rio-based control loops
- Place unit conversion in control and getter functions
- Add PathPlanner NamedCommand printCommand
- Modifying pidfproperties.json appears to do nothing --- all PID values set to zero (0), but the robot still drives around? HOT 3
- SparkMaxSwerve.java SparkMaxSwerve::setPosition won't set the position if there is an absoluteEncoder HOT 1
- Disable cosine compensation by default
- Remove `SwerveController` in favor of command in user side.
- Add option to use FOC on TalonFX motors HOT 1
- Change NetworkTables keys
- Add DataLog support
- NaxX onbaord I2c warning applied to i2c in MXP Port HOT 2
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