BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.external.control.ff/ArmFeedforward

ArmFeedforward

open class ArmFeedforward : SystemController

A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting against the force of gravity on a beam suspended at an angle), adjusted to use WPIUnits for unit assertion. Source

Since

3.5.0

Constructors

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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.

Properties

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open var kA: Double
Acceleration gain.
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open var kCos: Double
Cosine gain.
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open var kS: Double
Static gain.
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open var kV: Double
Velocity gain.

Inherited properties

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val NULL: SystemController
A null controller that does nothing.

Functions

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open fun calculate(): Double
open fun calculate(current: Double, target: Double): Double
Calculates the feedforward from the gains and setpoints.
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open fun getA(): Double
Acceleration gain.
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@NonNull
open fun getCoefficients(): Array<Double>
Gets the current coefficients for this controller.
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open fun getCos(): Double
Gravity gain.
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open fun getS(): Double
Static gain.
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open fun getV(): Double
Velocity gain.
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@NonNull
open fun maxAchievableAcceleration(@NonNull maxVoltage: Measure<Voltage>, @NonNull angle: Measure<Angle>, @NonNull velocity: Measure<Velocity<Angle>>): Measure<Velocity<Velocity<Angle>>>
Calculates the maximum achievable acceleration given a maximum voltage supply, a position, and a velocity.
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@NonNull
open fun maxAchievableVelocity(@NonNull maxVoltage: Measure<Voltage>, @NonNull angle: Measure<Angle>, @NonNull acceleration: Measure<Velocity<Velocity<Angle>>>): Measure<Velocity<Angle>>
Calculates the maximum achievable velocity given a maximum voltage supply, a position, and an acceleration.
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@NonNull
open fun minAchievableAcceleration(@NonNull maxVoltage: Measure<Voltage>, @NonNull angle: Measure<Angle>, @NonNull velocity: Measure<Velocity<Angle>>): Measure<Velocity<Velocity<Angle>>>
Calculates the minimum achievable acceleration given a maximum voltage supply, a position, and a velocity.
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@NonNull
open fun minAchievableVelocity(@NonNull maxVoltage: Measure<Voltage>, @NonNull angle: Measure<Angle>, @NonNull acceleration: Measure<Velocity<Velocity<Angle>>>): Measure<Velocity<Angle>>
Calculates the minimum achievable velocity given a maximum voltage supply, a position, and an acceleration.
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open fun setCoefficients(@NonNull coeffs: Array<Double>)
Sets the coefficients for this controller.

Inherited functions

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@NonNull
open fun compose(@NonNull other: SystemController, @NonNull combiner: DoubleBinaryOperator): CompositeController
Composes this controller with another controller, returning a new controller that is the composition of the two.
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@NonNull
open fun pidf(): Optional<PIDFController>
Get the PIDF controller associated with this controller, if applicable.
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open fun reset()
Reset this controller back to an un-accumulated state, if applicable.
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open fun setCoefficients(@NonNull coeffs: Array<Double>)
Sets the coefficients for this controller.