I’ve been looking at the new REVLib API and noticed that even though they implemented a trapezoidal motion profile that uses position control, the only feedforward you can input into the config is Kf which is just Kv from what I’ve read. Even further, they discourage you from using their “kF” entirely when using MAXMotion:
On top of this, they don’t expose the velocity and acceleration setpoints in the API, meaning you can’t calculate the feedforward on the RIO. And even if you could, you can only input a static value for arbitrary feedforward when calling the setReference() method, which when using a motion profile is only called once, when the profile first starts.
If you plan on using Rev motor controllers this year how do you plan on implementing your motion profiles? Will you disregard feedforward entirely like REV recommends, or will you calculate the profile on the RIO, giving you access to add the feedforward into the setReference() method? Or is there a way to add feedforward using MAXMotion that I have just missed?
Does anyone know if REV plans to change their API to let users input kV, kA, kS, and kG, and be able to configure between elevator, arm, or simple feedforward?