Controlling an Arm Mechanism¶
Some notes about controlling an arm mechanism using a Falcon 500 motor controller.
TalonFXConfiguration configuration = new TalonFXConfiguration();
configuration.motionCruiseVelocity = FAST_MOTION_CONSTRAINTS.maxVelocity / SENSOR_VELOCITY_COEFFICIENT;
configuration.motionAcceleration = FAST_MOTION_CONSTRAINTS.maxAcceleration / SENSOR_VELOCITY_COEFFICIENT;
configuration.slot0.kP = 0.25;
configuration.slot0.kI = 0.0;
configuration.slot0.kD = 0.0;
configuration.primaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();
configuration.voltageCompSaturation = 12.0;