I have read the Talon SRX guide on setting the feed forward parameter and there is no confusion for me there. I also understand how the proportional/integral/derivative gains are set after the feed forward gain is set.
I am mainly confused about the application of this knowledge to the robot’s drive base. If I wanted to control individually how fast each side of the robot was going (differential steering model) in tank drive or most importantly during autonomous, then would I have to tune the velocity controller with one side of the robot not moving and the other side moving? (the side I want to control) The concern is the clear difference in friction between when the robot is driving completely straight and when only one side of the robot is moving (motor has to do more work due to friction caused other side). If I tune the controller for the latter scenario, will it still work for the former scenario? How will this difference in friction be accounted for?