Spark Max Smart Motion


I want to use smart motion on our elevator - right now we are just using encoder positions.

My main question is how do I use feed forward in the context of smart motion. How does it work, and how do I tune it?

Any other advice about smart motion would be appreciated.



If the smart motion works like motion magic the f term is multiplied by the velocity to get a base motor output in which normal pid is added onto so to tune f you have to start small and add until your motor follows expected velocity closely.

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Thank you!