TalonFX Configs (Slot0 & Output)

We use Slot0Configs for PID/FF, plus output and motion configs. Gravity compensation type depends on mechanism.

Slot0Configs slot0 = new Slot0Configs();
slot0.kP = Gains.kP; slot0.kI = Gains.kI; slot0.kD = Gains.kD;
slot0.kS = Gains.kS; slot0.kV = Gains.kV; slot0.kG = Gains.kG;
slot0.GravityType = GravityTypeValue.Arm_Cosine; // or Elevator_Static

MotorOutputConfigs out = new MotorOutputConfigs()
  .withInverted(InvertedValue.Clockwise_Positive)
  .withPeakForwardDutyCycle(Constants.maxForward)
  .withPeakReverseDutyCycle(Constants.maxReverse);

TalonFXConfiguration all = new TalonFXConfiguration();
all.Slot0 = slot0;
all.MotorOutput = out;
fx.getConfigurator().apply(all);

Tip: Use StaticFeedforwardSignValue.UseClosedLoopSign for elevators to keep kS direction consistent with setpoint sign.