For a XM540 in position controller mode, could I get an explanation of how the first feedforward term is calculated (Referring to the block diagram at 2.4.25 at https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/). Is the feedforward based on the present motor position and goal position or does it use the previous goal position and the new incoming goal position to calculate a feedforward velocity?
For a XM540 in position controller mode, could I get an explanation of how the first feedforward term is calculated (Referring to the block diagram at 2.4.25 at https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/). Is the feedforward based on the present motor position and goal position or does it use the previous goal position and the new incoming goal position to calculate a feedforward velocity?