Position Tuning with MotionMagicTorqueCurrentFOC

This is a simple guide on how to tune MotionMagicTorqueCurrentFOC:

Firstly, and most importantly, find your maximum and minimum setpoints!!!!!
Put these as preset position rotations in Phoenix Tuner. 
If you don't, your robot will break!

 

Signals:

Add the following signals to the plot:

• Position
• PID Position (Reference)
• Velocity
• PID Velocity (Reference Slope)

Create two groups to create uniform scales:

1. Position & Position (Reference)
2. Velocity & Velocity (Reference Slope)