Implementing Feedforward/Feedback Motion Profile with Talon SRX

[jojoguy10]

This is a great paper (you should upload it to the white papers section of CD as well)! I do have one question after reading through it: On page 3, you explain the F gain value and how it's related to the Talon's measured throttle. You say that "For the left side of the robot at full throttle, the Talon SRX reported a speed of 1210" but I don't see 1210 anywhere in the image. It sounds like you logged the data to a file and grabbed from that. Can you explain where you got 1210 for the throttle? Is it the "Velocity" measurement in the image? If so, was the velocity still positive 1210?

Thanks!