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

SimpleMotorFeedforward

open class SimpleMotorFeedforward : SystemController

A helper class that computes feedforward outputs for a simple permanent-magnet DC motor. Units of this class are determined by the inputs to the gains. Source

Since

3.5.0

Constructors

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constructor(kS: Double, kV: Double, kA: Double, @NonNull velocity: DoubleSupplier, @NonNull acceleration: DoubleSupplier)
Creates a new SimpleMotorFeedforward 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 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 getS(): Double
Static gain.
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open fun getV(): Double
Velocity gain.
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open fun maxAchievableAcceleration(maxVoltage: Double, velocity: Double): Double
Calculates the maximum achievable acceleration given a maximum voltage supply and a velocity.
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open fun maxAchievableVelocity(maxVoltage: Double, acceleration: Double): Double
Calculates the maximum achievable velocity given a maximum voltage supply and an acceleration.
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open fun minAchievableAcceleration(maxVoltage: Double, velocity: Double): Double
Calculates the maximum achievable acceleration given a maximum voltage supply and a velocity.
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open fun minAchievableVelocity(maxVoltage: Double, acceleration: Double): Double
Calculates the minimum achievable velocity given a maximum voltage supply 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.