Using PathPlanner DriveFeedforward on SparkMAX or SparkFlex

Technical Programming
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I just implemented the SwerveSetpointGenerator into YAGSL but had to omit the feedforward entirely because I wasn’t sure how to translate the Newtons or Amperage to Voltage or PercentOut that could be used on a SparkMAX or SparkFlex. Has anyone been able to do this?

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I think you can use the WPILIB simple motor feedforward.

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I already am but I want to use Amp control that way i can get even better performance.

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