Package com.stuypulse.stuylib.control.feedforward

Class VelocityFeedforwardController

java.lang.Object

com.stuypulse.stuylib.control.Controller

com.stuypulse.stuylib.control.feedforward.VelocityFeedforwardController

public class VelocityFeedforwardController
extends Controller

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

Constructor Summary

Constructors

Constructor	Description
VelocityFeedforwardController(MotorFeedforward feedforward)	Create a velocity 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 a velocity 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

VelocityFeedforwardController

public VelocityFeedforwardController(MotorFeedforward feedforward)

Create a velocity controller with a feedforward model

Parameters:

feedforward - the model

Method Details

calculate

protected double calculate(double setpoint,
 double measurement)

Calculates a motor output by feeding a velocity setpoint to a feedforward model.

Specified by:

calculate in class Controller

Parameters:

setpoint - velocity setpoint of the controller

measurement - measurement, which is not used in calculating an output

Returns:

motor output from feedforward model