Has anyone used arbitrary feed forward to provide left and right feed forward velocities when using the talon’s Motion Profile Arc ?
I saw a brief mention here https://www.chiefdelphi.com/t/motion-profiling-turning-in-place-talon-srx/166457 .
We used the talon motion arc profile to run our profiles last year using vel/pos/angle of the robot center. This year we would like to provide
left and right vel/pos/angle while still taking advantage of the talon’s capabilites. Would setting vel = 0 and
arbFeedForward = Vleft + Vright
auxArbFeedForward = Vleft - Vright
accomplish what I have in mind? The left side would get the sum of these two terms, or Vleft, as a feed forward and the right side would get the difference, or Vright. We would have to scale the Vleft and Vright to the talon’s expected +/-1 arbitrary feed forward range.
I have read discussion of not being able to do both right and left velocity with motion arc profile because the position and angle loops would fight each other, but I don’t see why that would be the case.