Feed-forward coefficient for motion-constrained system

[ozrien]

When the range is limited, I like to manual throttle the mechanism (arm) up and down while plotting both throttle(motor-output) and sensor velocity. The first guess for fgain is then just me ball parking the ratio between the two from the plot. Also it's cool way to watch the sensor work.

If I remember right, your team uses LabVIEW, so throwing in a plot in the relevent VI should be pretty quick if you wanted to try this out.