I recently emailed CTRE to inquire about custom feedforward curves (as our recent testing indicates that having an intercept is quite important to accurately accounting for friction), and Omar informed me that a “throttle bump” function that supports arbitrary feedforward will be available in the next big firmware update. In light of this, it may not be necessary to move to motion profile mode (and in fact I’ve been considering moving us away from it, once this functionality becomes available).
Omar, can you give a little information about the following comment?
Posted by 2481 last year
“When I talked to Omar in St. Louis he said that next season the Talon SRX will be able to use their Pigeon IMU directly and perform a heading correction on motion profiles.”
If you look at the new Phoenix API code posted on the CTRE website (e.g. download the Hero SDK and peek at the Javadocs), you can start to get a sense for how this will likely work.
(Phoenix is here)…Any specific advice on how to “manipulate the feedforward” . (In general/specific methods) on the talons. Following Jared’s advice just without the extra V term on the RIO. Any advice would would
