Tuning Procedures
Every tuning procedure in the guide, by mechanism and output family.
Pick your mechanism and output family to jump straight to its step-by-step procedure. Voltage procedures are shown in teal and torque-current procedures in violet, here and on every page.
| Mechanism | Voltage (V) | Torque-current (A) |
|---|---|---|
| Flywheel | Voltage procedure | Torque-current procedure |
| Turret | Voltage procedure | Torque-current procedure |
| Arm | Voltage procedure | Torque-current procedure |
| Elevator | Voltage procedure | Torque-current procedure |
| Linear deployment | Voltage procedure | Torque-current procedure |
Before you start
Every procedure assumes the general tuning workflow: set mechanism units first, choose StaticFeedforwardSign for the request you'll use, and get the feedforwards right before adding kP. If you're not sure which output family to use, see Choosing a Control Mode.
Printing procedures for the practice field
Each procedure panel has a Print button that prints just that procedure. On the Voltage Control and Torque-Current Control pages, Print all procedures on this page prints every procedure there, one per sheet. Turn on background graphics in the print dialog to keep the panel colors and step numbers.