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 Only time will tell for sure, but it seems that the current software providers are hatching up a pretty good solution to the problem. - dlavery [more] |
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| Only time will tell for sure, but it seems that the current software providers are hatching up a pretty good solution to the problem. - dlavery [more] |
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#7
02-24-2014, 02:47 PM
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Re: Encoders, Mecanum, and PID
Feedforward is implemented in the PIDController class you are using now, see WPILib screensteps
It's a direct scaling factor between setpoint units and and output variable which for a motor controller is [-1, 1]. So if your max speed is N in encoder units then set the feedforward term to 1/N. 
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