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?