References:
WPILib: Introduction to DC Motor Feedforward
https://docs.wpilib.org/en/stable/docs/software/advanced-controls/introduction/introduction-to-feedforward.html

WPILib: Feedforward Control in WPILib
https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/feedforward.html#feedforward-control-in-wpilib

WPILib: Combining Feedforward and PID Control
https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/combining-feedforward-feedback.html