Arm
constructor(kS: Double, kCos: Double, kV: Double, kA: Double, @NonNull position: Supplier<Measure<Angle>>, @NonNull velocity: Supplier<Measure<Velocity<Angle>>>, @NonNull acceleration: Supplier<Measure<Velocity<Velocity<Angle>>>>)
Creates a new ArmFeedforward with the specified gains and suppliers for the setpoints.
Parameters
k
The static gain.
k
The gravity gain.
k
The velocity gain.
k
The acceleration gain.
position
The current angular position of the arm.
velocity
The current angular velocity of the arm.
acceleration
The current angular acceleration of the arm.