Package com.stuypulse.stuylib.control.angle.feedforward

Class AngleArmFeedforward

java.lang.Object

com.stuypulse.stuylib.control.angle.AngleController

com.stuypulse.stuylib.control.angle.feedforward.AngleArmFeedforward

public class AngleArmFeedforward
extends AngleController

A feedforward term to account for gravity for motorized arms that can move continuously (if not use `ArmFeedforward`)

The motor feedforward used in the context of an arm will not account for gravity that is acting on the arm.

Can be paired with MotorFeedforward or other controllers with .add

Constructor Summary

Constructors

Constructor	Description
AngleArmFeedforward(Number kG)	Create arm feedforward

Method Summary

Modifier and Type	Method	Description
protected double	calculate(Angle setpoint, Angle measurement)	Calculates voltage to hold arm at the setpoint angle

Methods inherited from class com.stuypulse.stuylib.control.angle.AngleController

add, getError, getMeasurement, getOutput, getSetpoint, isDoneDegrees, isDoneRadians, setMeasurementFilter, setOutputFilter, setSetpointFilter, update

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AngleArmFeedforward

public AngleArmFeedforward(Number kG)

Create arm feedforward

Parameters:

kG - term to hold arm vertical against gravity (volts)

Method Details

calculate

protected double calculate(Angle setpoint,
 Angle measurement)

Calculates voltage to hold arm at the setpoint angle

Specified by:

calculate in class AngleController

Parameters:

setpoint - setpoint

measurement - measurement

Returns:

kG * cos(setpoint)