Spark Max Smart Motion

#1

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.

Thanks

#2

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.

1 Like
#3

Thank you!