BunyipsLib/org.murraybridgebunyips.bunyipslib.external.ff/ArmFeedforward/calculate

calculate

open fun calculate(position: Measure<Angle>, velocity: Measure<Velocity<Angle>>, acceleration: Measure<Velocity<Velocity<Angle>>>): Double

Calculates the feedforward from the gains and setpoints.

Return

The computed feedforward.

Parameters

position

The position setpoint.

velocity

The velocity setpoint.

acceleration

The acceleration setpoint.

open fun calculate(position: Measure<Angle>, velocity: Measure<Velocity<Angle>>): Double

Calculates the feedforward from the gains and velocity setpoint (acceleration is assumed to be zero).

Return

The computed feedforward.

Parameters

position

The position setpoint.

velocity

The velocity setpoint.

open fun calculate(positionRadians: Double, velocityRadiansPerSecond: Double): Double

Implicit feedforward of assumed radians unit. Assumed acceleration of zero.

Return

controller output

Parameters

positionRadians

radians of position setpoint

velocityRadiansPerSecond

radians/sec of velocity setpoint