Package com.stuypulse.stuylib.control.feedforward

Class ArmFeedforward

java.lang.Object

com.stuypulse.stuylib.control.Controller

com.stuypulse.stuylib.control.feedforward.ArmFeedforward

public class ArmFeedforward
extends Controller

A feedforward term to account for gravity for motorized arms.

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
ArmFeedforward(Number kG)	Create arm feedforward
ArmFeedforward(Number kG, IFilter cosine)	Create arm feedforward

Method Summary

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

Methods inherited from class com.stuypulse.stuylib.control.Controller

add, getError, getMeasurement, getOutput, getSetpoint, isDone, setMeasurementFilter, setOutputFilter, setSetpointFilter, update

Methods inherited from class java.lang.Object

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

Constructor Details

ArmFeedforward

public ArmFeedforward(Number kG)

Create arm feedforward

Parameters:

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

ArmFeedforward

public ArmFeedforward(Number kG,
 IFilter cosine)

Create arm feedforward

Parameters:

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

cosine - function to calculate cosine of setpoint

Method Details

calculate

protected double calculate(double setpoint,
 double measurement)

Calculates voltage to hold arm at the setpoint angle

Specified by:

calculate in class Controller

Parameters:

setpoint - setpoint

measurement - measurement

Returns:

kG * cos(setpoint)