What is voltage compensation?

In FTC, voltage matters in almost every aspect, a simple voltage compensation algorithm saves a lot of tuning time by “normalizing” the voltage to get similar performance on all voltages.

How to use it

To initialize, use the following code:

VoltageCompensator(kf);

Where kf is your tuned feedforward gain. Start at 1.0 and use that to tune your feedforward gain.

Then, in your main loop, use the following code:

getVoltageCompensatedKf(controlEffort);

Where controlEffort is the value you want to compensate for. It will return the value after compensation.