Measure Arbitrary Feed Forward

Authors: Aditi, Armaan

Date: 7/10/23

Steps

The correct method for measuring arbitrary feed forward:

1. Clamp the joints together, going section by section (make sure to not damage any wiring)

2. Use rev hardware client to manually see the arbitrary ff at its most taxing position (ex 90 or 270 degrees)

3. Add those values as your arbitrary ff value in robot constants

4. Check to make sure that the ff value is working properly if not use the method below

Only use the method below if the one above has failed you

The other method for measuring arbitrary feed forward

1. Guess and chek the arbitrary ff value by making an editable variable and printing it to glass

2. Enter a number between 0 and 1

3. Guess and check until robot stops jittering too much

Resources

• Install-RevHardwareClient