Split turret feedforward into separate chassis and hub gains#530
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phurley67 wants to merge 1 commit into
Open
Split turret feedforward into separate chassis and hub gains#530phurley67 wants to merge 1 commit into
phurley67 wants to merge 1 commit into
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Previously both chassis rotation and hub angular velocity compensation used the same kV_FEEDFORWARD gain. Split into kV_CHASSIS_FEEDFORWARD and kV_HUB_FEEDFORWARD so they can be tuned independently. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Pull request overview
This PR updates the turret subsystem feedforward constants to separate compensation for chassis rotation vs. apparent target motion during translation, enabling independent tuning without changing current behavior.
Changes:
- Replaced the single
kV_FEEDFORWARDwithkV_CHASSIS_FEEDFORWARDandkV_HUB_FEEDFORWARD(both default to 21). - Updated
Turret#setAngle(...)to apply the two feedforward terms separately. - Cleaned up
setAngle(...)parameter naming to avoid redundant unit suffixes when using WPILibAngularVelocity.
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Summary
kV_FEEDFORWARDinto two independent constants:kV_CHASSIS_FEEDFORWARD(compensates for robot body rotation) andkV_HUB_FEEDFORWARD(compensates for apparent target motion during translation)chassisOmegaRadPerSec->chassisOmega) since the WPILibAngularVelocitytype handles units internallyTest plan
🤖 Generated with Claude Code
Closes #529