Down The VelocityTorqueCurrentFOC Road

We like to use MotionMagic because it makes speed changes smoother! We use MotionMagic for basically all of our motion profiles.

When using a velocity profile, you are trying to get the motor to a specific velocity instead of a specific amount of rotations.

In Phoenix Tuner, plot Velocity (rotations/sec) and Acceleration (rotations/sec²).

You might want to turn off Acceleration because it is a very noisy signal

Then also plot Reference (rotations/sec) and ReferenceSlope (rotations/sec²).

Make sure the Reference and ReferenceSlope are from PID_VELOCITY (not PID_POSITION)

Start with the MotionMagic configs
- We don't use the cruise velocity gain because we are trying to get to our target velocity, not this velocity we are setting
- Make cruise acceleration 4, and double from there if needed after more tuning

Try to minimize the amount of feedback gains while tuning, but use them if necessary

kS
- Set to 1 and start doubling (use binary searching to get the optimum value)
- We are trying to get the smallest kS possible before the motor starts turning

kA
- Change it based on the Reference and our current Velocity signals
- The steeper the slope of the Reference, the more we have to increase kA in order to get the Velocity to match it
- A steeper slope means a higher kA and vice versa

kV
- After getting the Velocity to peak along with Reference, it's time to raise kV
- Increase kV until the Velocity line stays straight and is closely matching the Reference

These should get you pretty close to the Reference line - change kP and kD a little bit to get to your desired accuracy!