What are the positional gains and velocity gains needed to tune Feedforward?

[NoahMarvelsofMAS]

I can't find the params in the mecanum config.

[rbrott]

What are the positional gains and velocity gains needed to tune Feedforward?

This question conflates feedforward and feedback.

• The feedforward model describes how velocities and accelerations can be converted into motor voltages. Its parameters are

      // feedforward parameters (in tick units)
      public double kS = 0;
      public double kV = 0;
      public double kA = 0;

• The feedback controller take position and velocity errors and computes corrections to get the robot toward the desired state. The parameters are

      // path controller gains
      public double axialGain = 0.0;
      public double lateralGain = 0.0;
      public double headingGain = 0.0; // shared with turn
  
      public double axialVelGain = 0.0;
      public double lateralVelGain = 0.0;
      public double headingVelGain = 0.0; // shared with turn