Use calculated kA, kV, and kS constants for module feedforward

Question

Use calculated kA, kV, and kS constants for module feedforward

Closed this issue 7 months ago · 1 comments

Currently, these constants are calculated by public static SimpleMotorFeedforward createDriveFeedforward(double optimalVoltage, double maxSpeed, double wheelGripCoefficientOfFriction) in SwerveMath, however I would like a way to provide my own kV, kA, and kS, constants so I can use my sysid calculated values.

You could add an optional entry to one of the JSONs.

Answer 1 · 2024-02-03T22:19:45.000Z

Wrong repo for the issue, and you can!

https://broncbotz3481.github.io/YAGSL/swervelib/SwerveDrive.html#replaceSwerveModuleFeedforward(edu.wpi.first.math.controller.SimpleMotorFeedforward)