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394 lessons across 11 departments, from swerve geometry to the Impact Award essay. Written by a high-school student who needed this and could not find it.

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© 2026 LearnFRC. Built by Jahaan Pardhanani. Not affiliated with or endorsed by FIRST®.Privacy Terms394 lessons / 11 departments© 2026

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feedforward

drawer / Software

Feedforward

Control that predicts the output needed (e.g., to overcome gravity or reach a velocity) and is combined with PID for accuracy.

also calledFeed-forwardkS / kV / kA / kG

Official source

where you actually meet Feedforward

Feedforward is why a good shooter recovers to speed between shots instead of dipping. PID reacts to error; feedforward predicts the voltage the mechanism needs — kS to break friction, kV for velocity, kG to hold an arm against gravity. Once you characterise those constants, PID only has to clean up the remainder, and tuning becomes far less painful.

Lessons that use Feedforward

Free and structured, and none of them need an account to read.

3lessons

Programming, Controls & Sensors
Motors, Sensors, and Closed-Loop Control

Feedforward and Motion Profiling

Add feedforward to predict required output, and use trapezoid motion profiles for smooth, fast moves.open Getting Started with FRC
Advanced Techniques & Case Studies

Closed-Loop Control: PID + Feedforward for a Consistent Shot

Replace open-loop guessing with characterized feedforward and PID so your Fuel launcher hits target RPM every shot.open Mechanical, Build & Pneumatics
Advanced Techniques & Case Studies

Motion Profiling and Superstructure Coordination

Use trapezoidal profiles and coordinated state machines to move multi-DOF superstructures fast, smooth, and without self-collision.open

Filed next to it

the jargon travels in packs

Software

PID Controller

A feedback control loop (Proportional-Integral-Derivative) that drives a mechanism to a target by reacting to error.

Sensors & Controls

Encoder

A sensor that measures rotation/position of a shaft, essential for closed-loop control and odometry.

Mechanical

Gear Ratio

The ratio between input and output rotation in a gearbox, trading speed for torque (or vice-versa).

Software

Choreo

A trajectory-optimization tool that generates time-optimal autonomous paths, often paired with WPILib.

Feedforward is one of 70 entries in the catalogue. The guides are where these words get used in order, instead of one at a time.

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