Package com.stuypulse.stuylib.control.feedforward

Class ElevatorFeedforward

java.lang.Object

com.stuypulse.stuylib.control.Controller

com.stuypulse.stuylib.control.feedforward.ElevatorFeedforward

public class ElevatorFeedforward
extends Controller

A feedforward term to account for gravity for motorized lifts.

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

Can be paired with MotorFeedforward or other controllers with .add

Constructor Summary

Constructors

Constructor	Description
ElevatorFeedforward(Number kG)	Create ElevatorFeedforward

Method Summary

Modifier and Type	Method	Description
protected double	calculate(double setpoint, double measurement)	Calculate voltage to hold elevator at setpoint height

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

ElevatorFeedforward

public ElevatorFeedforward(Number kG)

Create ElevatorFeedforward

Parameters:

kG - voltage to hold lift

Method Details

calculate

protected double calculate(double setpoint,
 double measurement)

Calculate voltage to hold elevator at setpoint height

Specified by:

calculate in class Controller

Parameters:

setpoint - setpoint

measurement - measurement

Returns:

kG