PIDF coding sample image of what it could look like

[ddiaz]

Can you explain more what your goals are? Are you trying to use PIDF move the arm to a position and hold that position (I assume that’s why you want the feed forward component)?

Also, check out this previous post:

Setting PIDF Coefficients in RUN_TO_POSITION Mode Causes Runtime Error

We are trying to set the PID coefficients for an arm controlled by a motor. We wanted to set a feed forward term to counteract gravity and make the system more stable, but when we set the coefficients using the code below, we get a not implemented exception. Why is this implemented for velocity control, but not position control? Is there any way to do this without programming the whole thing ourselves by hand? [BUG!]

-Danny