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The general goal is calculate or tune a FeedForward gain so that the sensor velocity is near the target velocity. P (and potentially D/I) are then tuned to respond when the velocity error is nonzero. This allows for an aggressive closed-loop response with less overshoot caused by large changes in target velocity (let F do the heavy lifting).
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Using the F parameter to get close is a good policy, but it doesn't fix the problem. Using F as a crutch is no better than just setting a power target directly; the value produced by F doesn't change as the state of the system does. The issue here is that, as velocity PID is implemented in the Talons currently, P is useless. One must rely on the I term, because it is the only term which will actually help you get to your velocity goal based on changes in the system.