FeedForward Tuner

The feedforward tuner determines how much power your robot needs to overcome natural friction with the floor. By accounting for friction, your robot can accelerate faster from a stop and follow paths more precisely.

There are two separate feedforward values to tune — one for driving and one for strafing.

How It Works

Static friction means your robot needs a small amount of power applied before it actually starts moving. The feedforward constant represents this minimum power threshold. Without it, your robot will hesitate or lag at the start of every movement.

How to Run (Manual Tuner)

This is a manual tuner — you adjust the value yourself while watching the robot.

Open the FeedForwardTuner op mode on your Driver Station
Start with a low constant value (e.g. 0.01)
Gradually increase the constant
Stop increasing as soon as the robot starts to move
Set the constant to just below that threshold — the highest value where the robot stays still
Repeat separately for drive and strafe

Java


// Example values (yours will vary)
public static double DRIVE_FEED_FORWARD = 0.055;
public static double STRAFE_FEED_FORWARD = 0.072;

Warning: Setting the feedforward too high will cause your robot to creep forward unintentionally during autonomous. The goal is the highest value where the robot still does not move.

Tip: Strafe feedforward is almost always higher than drive feedforward since strafing produces more friction on mecanum wheels.

Works With

✅ Mecanum Drive
✅ Swerve Drive