Question about CANSparkMax PID with FeedForward

We are attempting to use the built in CANSparkMax’s PID controller with a feed forward. According to the documentation here: Closed Loop Control - SPARK MAX with this diagram:


You can use the PID controller with an arbitrary Feed Forward (like SimpleMotorFeedForward or ArmFeedForward). But I can’t find anywhere to set the other feed forward term. There is only a setFF function on the PidController to set the FF constant. The diagram has both the FF constant and an “Arbitrary Feed Forward Voltage”. How do I set that?

It’s part of the setReference method. You need to also give a PIDSlot, but if you don’t have multiple PID configurations, you should use 0 as the slot.

There’s another overload that lets you change the units

Thanks. I don’t know how I missed that.