Enum StaticFeedforwardSignValue

Namespace

CTRE.Phoenix6.Signals

Assembly

Phoenix6.Hardware.dll

Static feedforward sign during position closed loop.

This determines the sign of the applied kS during position closed-loop modes. The default behavior uses the velocity reference sign. This works well with velocity closed loop, Motion Magic® controls, and position closed loop when velocity reference is specified (motion profiling).

However, when using position closed loop with zero velocity reference (no motion profiling), the application may want to apply static feedforward based on the sign of closed loop error instead. When doing so, we recommend using the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

public enum StaticFeedforwardSignValue

Extension Methods

StaticFeedforwardSignValueExtensions.Value(StaticFeedforwardSignValue)

Fields

UseClosedLoopSign = 1

Use the sign of closed loop error. This is useful when using position closed loop with zero velocity reference (no motion profiling). We recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

UseVelocitySign = 0

Use the velocity reference sign. This works well with velocity closed loop, Motion Magic® controls, and position closed loop when velocity reference is specified (motion profiling).