Elevator
constructor(kS: Double, kG: Double, kV: Double, kA: Double, @NonNull velocity: DoubleSupplier, @NonNull acceleration: DoubleSupplier)
Creates a new ElevatorFeedforward 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.
velocity
The current velocity of the elevator.
acceleration
The current acceleration of the elevator.