Team100 · truher · Jan 30, 2026 · Jan 30, 2026
diff --git a/lib/src/main/java/org/team100/frc2025/CalgamesArm/CalgamesMech.java b/lib/src/main/java/org/team100/frc2025/CalgamesArm/CalgamesMech.java
@@ -9,7 +9,6 @@
 
 import org.team100.lib.commands.MoveAndHold;
 import org.team100.lib.config.ElevatorUtil.ScoringLevel;
-import org.team100.lib.config.Feedforward100;
 import org.team100.lib.config.Identity;
 import org.team100.lib.config.PIDConstants;
 import org.team100.lib.geometry.AccelerationSE2;
@@ -29,6 +28,7 @@
 import org.team100.lib.mechanism.RotaryMechanism;
 import org.team100.lib.motor.MotorPhase;
 import org.team100.lib.motor.NeutralMode;
+import org.team100.lib.motor.ctre.Falcon6Motor;
 import org.team100.lib.motor.ctre.Kraken6Motor;
 import org.team100.lib.motor.sim.SimulatedBareMotor;
 import org.team100.lib.music.Music;
@@ -170,7 +170,7 @@ public CalgamesMech(
                         100,
                         100,
                         PIDConstants.makePositionPID(elevatorfrontLog, 5),
-                        Feedforward100.makeWCPSwerveTurningFalcon6(elevatorfrontLog));
+                        Falcon6Motor.swerveSteerFF(elevatorfrontLog));
                 IncrementalBareEncoder elevatorFrontEncoder = elevatorFrontMotor.encoder();
 
                 m_elevatorFront = new LinearMechanism(
@@ -185,7 +185,7 @@ public CalgamesMech(
                         100, // orginally 60
                         100, // originally 90
                         PIDConstants.makePositionPID(elevatorbackLog, 5),
-                        Feedforward100.makeWCPSwerveTurningFalcon6(elevatorbackLog));
+                        Falcon6Motor.swerveSteerFF(elevatorbackLog));
                 Talon6Encoder elevatorBackEncoder = elevatorBackMotor.encoder();
                 m_elevatorBack = new LinearMechanism(
                         elevatorbackLog, elevatorBackMotor, elevatorBackEncoder,
@@ -200,7 +200,7 @@ public CalgamesMech(
                         100, // og 60
                         100, // og 90
                         PIDConstants.makePositionPID(shoulderLog, 5),
-                        Feedforward100.makeWCPSwerveTurningFalcon6(shoulderLog));
+                        Falcon6Motor.swerveSteerFF(shoulderLog));
                 Talon6Encoder shoulderEncoder = shoulderMotor.encoder();
                 // The shoulder has a 5048 on the intermediate shaft
                 AS5048RotaryPositionSensor shoulderSensor = new AS5048RotaryPositionSensor(
@@ -230,7 +230,7 @@ public CalgamesMech(
                         40, // og 60
                         60, // og 90
                         PIDConstants.makePositionPID(wristLog, 8), // og 10
-                        Feedforward100.makeWCPSwerveTurningFalcon6(wristLog));
+                        Falcon6Motor.swerveSteerFF(wristLog));
                 // the wrist has no angle sensor, so it needs to start in the "zero" position.
                 Talon6Encoder wristEncoder = wristMotor.encoder();
                 final double wristGearRatio = 55.710;

diff --git a/lib/src/main/java/org/team100/frc2025/Climber/Climber.java b/lib/src/main/java/org/team100/frc2025/Climber/Climber.java
@@ -2,7 +2,6 @@
 
 import java.util.function.DoubleSupplier;
 
-import org.team100.lib.config.Feedforward100;
 import org.team100.lib.config.Identity;
 import org.team100.lib.config.PIDConstants;
 import org.team100.lib.controller.r1.PIDFeedback;
@@ -45,7 +44,7 @@ public Climber(LoggerFactory parent, CanId canID) {
                 Falcon6Motor motor = new Falcon6Motor(log, canID, NeutralMode.BRAKE, MotorPhase.REVERSE,
                         20, 20,
                         PIDConstants.makePositionPID(log, 1),
-                        Feedforward100.makeArmPivot(log));
+                        Falcon6Motor.ff2(log));
 
                 double inputOffset = 0.440602;
                 RotaryPositionSensor sensor = new AS5048RotaryPositionSensor(

diff --git a/lib/src/main/java/org/team100/frc2025/Climber/ClimberIntake.java b/lib/src/main/java/org/team100/frc2025/Climber/ClimberIntake.java
@@ -1,6 +1,5 @@
 package org.team100.frc2025.Climber;
 
-import org.team100.lib.config.Feedforward100;
 import org.team100.lib.config.Identity;
 import org.team100.lib.config.PIDConstants;
 import org.team100.lib.logging.LoggerFactory;
@@ -30,7 +29,7 @@ public ClimberIntake(LoggerFactory parent, CanId canID) {
                         20, // og 50
                         20, // og 2
                         PIDConstants.zero(log),
-                        Feedforward100.makeKrakenClimberIntake(log));
+                        Kraken6Motor.highFrictionFF(log));
             }
             default -> {
                 m_motor = new LazySimulatedBareMotor(

diff --git a/lib/src/main/java/org/team100/frc2025/grip/Manipulator.java b/lib/src/main/java/org/team100/frc2025/grip/Manipulator.java
@@ -2,7 +2,6 @@
 
 import java.util.List;
 
-import org.team100.lib.config.Feedforward100;
 import org.team100.lib.config.Identity;
 import org.team100.lib.config.PIDConstants;
 import org.team100.lib.logging.Level;
@@ -12,6 +11,7 @@
 import org.team100.lib.motor.BareMotor;
 import org.team100.lib.motor.MotorPhase;
 import org.team100.lib.motor.NeutralMode;
+import org.team100.lib.motor.ctre.Falcon6Motor;
 import org.team100.lib.motor.ctre.Kraken6Motor;
 import org.team100.lib.motor.sim.LazySimulatedBareMotor;
 import org.team100.lib.motor.sim.SimulatedBareMotor;
@@ -56,19 +56,19 @@ public Manipulator(LoggerFactory parent) {
                         40, // og 40
                         40, // og 40
                         PIDConstants.zero(leftMotorLog),
-                        Feedforward100.makeShooterFalcon6(leftMotorLog));
+                        Falcon6Motor.ff(leftMotorLog));
                 Kraken6Motor rightMotor = new Kraken6Motor(rightMotorLog, new CanId(20), NeutralMode.COAST,
                         MotorPhase.REVERSE,
                         40, // og 40
                         40, // og 40
                         PIDConstants.zero(rightMotorLog),
-                        Feedforward100.makeShooterFalcon6(rightMotorLog));
+                        Falcon6Motor.ff(rightMotorLog));
                 Kraken6Motor algaeMotor = new Kraken6Motor(algaeMotorLog, new CanId(21), NeutralMode.COAST,
                         MotorPhase.FORWARD,
                         120, // og 120
                         120, // og 120
                         PIDConstants.zero(algaeMotorLog),
-                        Feedforward100.makeShooterFalcon6(algaeMotorLog));
+                        Falcon6Motor.ff(algaeMotorLog));
                 algaeMotor.setTorqueLimit(4);
                 m_algaeMotor = algaeMotor;
                 m_rightLaser = new LaserCan100(new CanId(17));

diff --git a/lib/src/main/java/org/team100/lib/config/Feedforward100.java b/lib/src/main/java/org/team100/lib/config/Feedforward100.java
@@ -1,33 +1,10 @@
 package org.team100.lib.config;
 
-import java.util.ArrayList;
-import java.util.List;
-
 import org.team100.lib.logging.LoggerFactory;
 import org.team100.lib.tuning.Mutable;
 
 /**
- * The motor feedforward model includes four constants.
- * 
- * @param kV  Velocity: ratio between unloaded speed (rev/s) and voltage, so the
- *            units are VOLT-SEC/REV. This reflects the "Back EMF" aspect of a
- *            motor: it produces a voltage proportional to speed. The value is
- *            an intrinsic property of the motor.
- * @param kA  Acceleration: ratio between acceleration (rev/s^2) and voltage, so
- *            the units are VOLT-SEC^2/REV. This reflects torque production in
- *            the motor: torque is proportional to current, which is
- *            proportional to (net) voltage. The value will depend on the
- *            inertia of the mechanism.
- * @param kD  Deceleration: like kA but when the motor is braking, i.e.
- *            acceleration is opposite to the current speed. Motors seem to
- *            decelerate much better than they accelerate -- perhaps the current
- *            limit acts differently (or not at all)?
- * @param kSS Static friction: voltage to get the motor moving from a stop, so
- *            the units are VOLTS. The value will depend on the "stickiness" of
- *            the mechanism.
- * @param kDS Dynamic friction: voltage to just barely keep the motor moving,
- *            the units are VOLTS. The value will depend on the "viscosity" of
- *            the mechanism.
+ * Feedforward model with three constants, and friction.
  * 
  * @see https://en.wikipedia.org/wiki/Motor_constants
  * @see {@link edu.wpi.first.math.controller.SimpleMotorFeedforward} which uses
@@ -36,144 +13,52 @@
  *      models.
  */
 public class Feedforward100 {
-    private final List<Runnable> m_listeners = new ArrayList<>();
-
     private final Mutable kV;
     private final Mutable kA;
     private final Mutable kD;
-    private final Mutable kSS;
-    private final Mutable kDS;
-    private final double staticFrictionSpeedLimit;
+    private final Friction friction;
 
-    Feedforward100(
+    /**
+     * @param kV       Back-EMF. Voltage to maintain speed against the back-EMF of
+     *                 the motor. V = kV * omega, so kV units are volt-sec/rev.
+     *                 The value is an intrinsic property of the motor.
+     * @param kA       Acceleration. Voltage to produce acceleration of the motor
+     *                 shaft. V = kA * alpha, so kA units are volt-sec^2/rev.
+     *                 This reflects the motor torque and mechanism inertia. Torque
+     *                 is proportional to current, which is proportional to (net)
+     *                 voltage. The value will depend on the inertia of the
+     *                 mechanism.
+     * @param kD       Deceleration. like kA but when the motor is braking, i.e.
+     *                 acceleration is opposite to the current speed. Motors
+     *                 typically decelerate ("plugging") much better than they
+     *                 accelerate ("motoring").
+     * @param friction Models static, dynamic, and viscous friction.
+     */
+    public Feedforward100(
             LoggerFactory log,
             double kV,
             double kA,
             double kD,
-            double kSS,
-            double kDS,
-            double staticFrictionSpeedLimit) {
-        this.kV = new Mutable(log, "kV", kV, this::onChange);
-        this.kA = new Mutable(log, "kA", kA, this::onChange);
-        this.kD = new Mutable(log, "kD", kD, this::onChange);
-        this.kSS = new Mutable(log, "kSS", kSS, this::onChange);
-        this.kDS = new Mutable(log, "kDS", kDS, this::onChange);
-        this.staticFrictionSpeedLimit = staticFrictionSpeedLimit;
-    }
-
-    public static Feedforward100 makeNeo(LoggerFactory log) {
-        return new Feedforward100(log, 0.122, 0.000, 0.000, 0.5, 0.5, 0.5); //0.122, 0.000, 0.000, 0.1, 0.065, 0.5
-    }
-
-    public static Feedforward100 makeNeo2(LoggerFactory log) {
-        return new Feedforward100(log, 0.122, 0.05, 0.0250, 0.100, 0.065, 0.5);
-    }
-
-    public static Feedforward100 makeNeoArm(LoggerFactory log) {
-        return new Feedforward100(log, 0.22, 1, 1, 0, 0, 0);
-    }
-
-    public static Feedforward100 makeNeo550(LoggerFactory log) {
-        return new Feedforward100(log, 0.12, 0, 0, 0, .07, 0);
-    }
-
-    public static Feedforward100 makeArmPivot(LoggerFactory log) {
-        return new Feedforward100(
-                log,
-                0.09,
-                0.005,
-                0.005,
-                0.100,
-                0.065,
-                0.5);
-    }
-
-    public static Feedforward100 makeClimber(LoggerFactory log) {
-        return new Feedforward100(
-                log,
-                0.14,
-                0.05,
-                0.05,
-                0.100,
-                0.1,
-                0.0);
-    }
-
-    public static Feedforward100 zero(LoggerFactory log) {
-        return new Feedforward100(log, 0, 0, 0, 0, 0, 0);
-    }
-
-    public static Feedforward100 makeNeoVortex(LoggerFactory log) {
-        return new Feedforward100(log, 0.122, 0.000, 0.000, 0.100, 0.065, 0.5);
-    }
-
-    public static Feedforward100 makeWCPSwerveTurningFalcon(LoggerFactory log) {
-        return new Feedforward100(log, 0.110, 0.000, 0.000, 0.180, 0.010, 0.5);
+            Friction friction) {
+        LoggerFactory ffLog = log.type(this);
+        this.kV = new Mutable(ffLog, "kV", kV);
+        this.kA = new Mutable(ffLog, "kA", kA);
+        this.kD = new Mutable(ffLog, "kD", kD);
+        this.friction = friction;
     }
 
     /**
-     * 9/24/04
-     * Voltage feedforward for steering motors in air.
-     * Tuned in air, not on carpet, so probably the velocity number is too low.
+     * Voltage to maintain the specified velocity.
+     * 
+     * @param motorRev_S setpoint speed
      */
-    public static Feedforward100 makeWCPSwerveTurningFalcon6(LoggerFactory log) {
-        return new Feedforward100(log, 0.150, 0.010, 0.010, 0.080, 0.100, 0.5);
-    }
-
-    public static Feedforward100 makeKrakenTurret(LoggerFactory log) {
-        return new Feedforward100(log, 0.150, 0.010, 0.010, 0.080, 0.100, 0.5);
-    }
-
-    public static Feedforward100 makeWCPSwerveDriveFalcon(LoggerFactory log) {
-        return new Feedforward100(log, 0.110, 0.000, 0.000, 0.375, 0.270, 0.5);
-    }
-
-    public static Feedforward100 makeWCPSwerveDriveFalcon6(LoggerFactory log) {
-        return new Feedforward100(log, 0.13, 0.017, 0.017, 0, 0.26, 0.06);
-    }
-
-    public static Feedforward100 makeWCPSwerveDriveKraken6(LoggerFactory log) {
-        return new Feedforward100(log, 0.13, 0.022, 0.007, 0.26, 0.26, 0.06); // WAS 0.115
-    }
-
-    public static Feedforward100 makeAMSwerveDriveFalcon6(LoggerFactory log) {
-        return new Feedforward100(log, 0.110, 0.000, 0.000, 0.180, 0.010, 0.1);
-    }
-
-    public static Feedforward100 makeSimple(LoggerFactory log) {
-        return new Feedforward100(log, 0.100, 0.100, 0.100, 0.100, 0.100, 0.1);
-    }
-
-    public static Feedforward100 makeShooterFalcon6(LoggerFactory log) {
-        return new Feedforward100(log, 0.110, 0.000, 0.000, 0.000, 0.900, 0.1);
-    }
-
-    public static Feedforward100 makeKraken6Elevator(LoggerFactory log) {
-        return new Feedforward100(log, 0.135, 0.005, 0.005, 0.005, 0.005, 0.1);
-        // return new Feedforward100(0, 0, 0, 0, 0);
-
-    }
-
-    public static Feedforward100 makeKraken6Wrist(LoggerFactory log) {
-        return new Feedforward100(log, 0.137, 0.0085, 0.002, 0.11, 0.11, 0.1);
-        // return new Feedforward100(log, 0.055, 0.025, 0.015, 0.005, 0.005, 0.1);
-
-    }
-
-    public static Feedforward100 makeKraken6WristWithLowerKd(LoggerFactory log) {
-        return new Feedforward100(log, 0.14, 0.013, 0.005, 0.2, 0.23, 0.1);
-        // return new Feedforward100(0, 0, 0, 0, 0);
-    }
-
-    public static Feedforward100 makeKrakenClimberIntake(LoggerFactory log) {
-        return new Feedforward100(log, 0.13, 0.022, 0.007, 0.26, 0.26, 0.06);
-    }
-
     public double velocityFFVolts(double motorRev_S) {
         return kV.getAsDouble() * motorRev_S;
     }
 
     /**
+     * Voltage to produce the specified acceleration.
+     * 
      * Uses kA when speed and accel are in the same direction.
      * Uses kD when speed and accel are opposite.
      * 
@@ -203,27 +88,22 @@ public double accelFFVolts(double motorRev_S, double motorRev_S_S) {
     }
 
     /**
+     * Voltage to balance friction (i.e. this has the same sign as the supplied
+     * speed).
+     * 
      * @param motorRev_S setpoint speed
      */
     public double frictionFFVolts(double motorRev_S) {
-        double direction = Math.signum(motorRev_S);
-        if (Math.abs(motorRev_S) < staticFrictionSpeedLimit) {
-            return kSS.getAsDouble() * direction;
-        }
-        return kDS.getAsDouble() * direction;
+        return friction.frictionFFVolts(motorRev_S);
     }
 
-    public static Feedforward100 makeTest1(LoggerFactory log) {
-        return new Feedforward100(log, 0.3, 0.000, 0.000, 0.000, 0.100, 3.5);
-    }
-
-    /////////////////////////////////////////////////////////////////////////
-
-    public void register(Runnable listener) {
-        m_listeners.add(listener);
+    public static Feedforward100 zero(LoggerFactory log) {
+        return new Feedforward100(log, 0, 0, 0,
+                new Friction(log, 0, 0, 0.0, 0));
     }
 
-    private void onChange(double ignored) {
-        m_listeners.stream().forEach(r -> r.run());
+    public static Feedforward100 test(LoggerFactory log) {
+        return new Feedforward100(log, 0.100, 0.100, 0.100,
+                new Friction(log, 0.100, 0.100, 0.0, 0.1));
     }
 }