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

Class AnglePositionFeedforwardController

java.lang.Object

com.stuypulse.stuylib.control.angle.AngleController

com.stuypulse.stuylib.control.angle.feedforward.AnglePositionFeedforwardController

public class AnglePositionFeedforwardController
extends AngleController

A positional feedforward controller for angular systems.

See Also:

• PositionFeedforwardController

Constructor Summary

Constructors

Constructor	Description
AnglePositionFeedforwardController(MotorFeedforward feedforward)	Create an angle position feedforward controller

Method Summary

Modifier and Type	Method	Description
protected double	calculate(Angle setpoint, Angle measurement)	Calculates a motor output by feeding the derivative of a positional setpoint to a feedforward model

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

AnglePositionFeedforwardController

public AnglePositionFeedforwardController(MotorFeedforward feedforward)

Create an angle position feedforward controller

Parameters:

feedforward - model

Method Details

calculate

protected double calculate(Angle setpoint,
 Angle measurement)

Calculates a motor output by feeding the derivative of a positional setpoint to a feedforward model

Specified by:

calculate in class AngleController

Parameters:

setpoint - angular positional setpoint

measurement - angular position measurement, which is not used by the feedforward model

Returns:

motor output from feedforward model