How do I find the correct value of Kv? Should I calculate it or determine it through testing?
You can either determine it through trial and error, or you can run a sysid test to calculate the feedforward values (i.e. Kv, Ka, Ks and so on)
Another issue is with the encoders. We use the follow method, and when the elevator is stopped, one encoder keeps increasing its value while the other stays constant.
He increased endlessly or stops?
kV can generally be calculated from motor spec sheets to high accuracy.
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