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“The ones you might want to modify are the feed-forward parts, stored in ff_leftff_right and ff_straight. These parameters modify the output ωω (angular velocity, positive in counterclockwise direction) for the time given in time_left_turntime_straight_turn and time_right_turn, which you might want to change aswell.”

what does changing the ff_left, ff_right, and ff_straight change, and do they have to add up to a certain number? also, what do the time_…_turn values change
i changed the ff_straight to -0.3 and the duckiebot stopped moving at the intersection

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