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

calculate

open fun calculate(velocity: Double, acceleration: Double): Double

Calculates the feedforward from the gains and setpoints.

Return

The computed feedforward.

Parameters

velocity

The velocity setpoint.

acceleration

The acceleration setpoint.

open fun calculate(velocity: Double): Double

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

Return

The computed feedforward.

Parameters

velocity

The velocity setpoint.