Package com.stuypulse.stuylib.control.feedforward

Class PositionFeedforwardController

java.lang.Object

com.stuypulse.stuylib.control.Controller

com.stuypulse.stuylib.control.feedforward.PositionFeedforwardController

public class PositionFeedforwardController
extends Controller

A positional controller that uses a feedforward model to calculate motor outputs given positional setpoints.

The feedforward model takes in velocity setpoints, so the derivative of the positional setpoints must be calculated. This is done implicitly by this controller though.

Constructor Summary

Constructors

Constructor	Description
PositionFeedforwardController(MotorFeedforward feedforward)	Create a position controller with a feedforward model

Method Summary

Modifier and Type	Method	Description
protected double	calculate(double setpoint, double 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.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

PositionFeedforwardController

public PositionFeedforwardController(MotorFeedforward feedforward)

Create a position controller with a feedforward model

Parameters:

feedforward - feedforward model

Method Details

calculate

protected double calculate(double setpoint,
 double measurement)

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

Specified by:

calculate in class Controller

Parameters:

setpoint - positional setpoint

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

Returns:

motor output from feedforward model