I known it has something to do with acceleration but I don’t know what it does or how it is calculated. Especially in the simple motor feed forward class when you are passing in a velocity not acceleration.

The acceleration gain has dimensions of voltage per acceleration, and tells you how much driving voltage is needed to make your mechanism accelerate at a given rate.

There’s a two-velocity calculate method on the feedforward class to make using it a bit easier; you specify the current and next desired velocities and the controller figures out the acceleration.

Essentially the equation describing the voltage required for a velocity of v, and an acceleration of a is:

V = kA * a + kV * v

In practice there’s usually a `kS`

term as well, though if your motor is very powerful you can sometimes omit this. See the following article for more info:

I know about the equation it just didn’t make much sense to me because I was wondering how the acceleration was calculated because voltage is proportional to speed. I guess that the acceleration constant is there to speed that up.

It’s proportional to both velocity and speed, simultaneously. If you leave out the acceleration term you’ll lag the profile because you’ll have the right voltage for *steady-state* velocity at each timestep but you’ll have left out the voltage that’s needed to drive the corresponding acceleration between them.