It is rational to choose the right means to your ends to develop very elegant abstract formal theories of rational choice, and then turn these into what look like moral theories. Philosophers tend to be ravished by the formal beauty of such theories, and they don't pay much attention to the fact that our human limitations make them pretty useless in practice, while the simple point about instrumental reasoning is too shallow to be of much real moral interest.
Allen W. WoodFichte takes an I or free will to be not a thing or being but an act which is not undetermined but self-determined, in accordance with reasons or norms rationally self-given.
Allen W. WoodKant does not think there is anything wrong with being beneficent from sympathy. He thinks we have a duty to cultivate sympathetic feelings by participating in the situations of others and acquiring an understanding of them. He thinks we also have a duty to make ourselves into the kind of person for whom the recognition that something is our duty would be a sufficient incentive to do it (if no other incentives were available to us). That's what he means by "the duty to act from the motive of duty".
Allen W. WoodNotice that tearing oneself out of the insensible state is the opposite of remaining in it; the man who is beneficent from duty nevertheless acts with feelings, if not with empirical inclinations.
Allen W. Wood