What is Arbitrary Feed Forward for Talon Position Control

I’ve noticed with position control you have the ability to specify a feed forward arguement:

 Talon.set(ControlMode.Position, mPeriodicIO.demand, DemandType.ArbitraryFeedForward,
                mPeriodicIO.feedforward);

It is my understand that this is some sort of speed control?

It’s just a percent output you specify that’s added to the output of the Talon.
https://phoenix-documentation.readthedocs.io/en/latest/ch16_ClosedLoop.html#arbitrary-feed-forward

ah so just a speed bump in the case of position mode. Is there any sort of slow down?

In many cases people use that feed-forward as the minimum drive percentage that can break free of the friction and cause the drivetrain to move. This helps make the PiD control easier to tune and control.

What everyone else said. Just don’t forget to negate it when driving backwards.

1 Like

This topic was automatically closed 365 days after the last reply. New replies are no longer allowed.