use closed loop sign for feedforward ks

thedropbears · Mar 10, 2024 · 5ca12d5 · 5ca12d5
1 parent 362c9cb
commit 5ca12d5
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/components/chassis.py b/components/chassis.py
@@ -3,7 +3,7 @@
 
 from phoenix6.hardware import TalonFX, CANcoder
 from phoenix6.controls import VoltageOut, VelocityVoltage, PositionDutyCycle
-from phoenix6.signals import InvertedValue, NeutralModeValue
+from phoenix6.signals import InvertedValue, NeutralModeValue, StaticFeedforwardSignValue
 from phoenix6.configs import (
     ClosedLoopGeneralConfigs,
     MotorOutputConfigs,
@@ -93,7 +93,14 @@ def __init__(
 
         # configuration for motor pid
         steer_pid = (
-            Slot0Configs().with_k_p(3).with_k_i(0).with_k_d(0.1).with_k_s(0.16784)
+            Slot0Configs()
+            .with_k_p(3)
+            .with_k_i(0)
+            .with_k_d(0.1)
+            .with_k_s(0.16784)
+            .with_static_feedforward_sign(
+                StaticFeedforwardSignValue.USE_CLOSED_LOOP_SIGN
+            )
         )
         steer_closed_loop_config = ClosedLoopGeneralConfigs()
         steer_closed_loop_config.continuous_wrap = True