Package frc.lib.math

Class AngledElevatorFeedForward

java.lang.Object

edu.wpi.first.math.controller.ElevatorFeedforward

frc.lib.math.AngledElevatorFeedForward

All Implemented Interfaces:

ProtobufSerializable, StructSerializable, WPISerializable

public class AngledElevatorFeedForward
extends ElevatorFeedforward

A helper class that computes feedforward outputs for an elevator on a pivot (modeled as a motor acting against the force of gravity).

Field Summary

Fields inherited from class edu.wpi.first.math.controller.ElevatorFeedforward

ka, kg, ks, kv, proto, struct

Constructor Summary

Constructors

Constructor	Description
AngledElevatorFeedForward(double ks, double kg, double kv)	Creates a new ElevatorFeedforward with the specified gains.

Method Summary

Modifier and Type	Method	Description
double	calculate(double positionRadians, double velocity)	Calculates the feedforward from the gains and setpoints.
double	calculate(double positionRadians, double velocity, double acceleration)	Calculates the feedforward from the gains and setpoints.

Methods inherited from class edu.wpi.first.math.controller.ElevatorFeedforward

calculate, maxAchievableAcceleration, maxAchievableVelocity, minAchievableAcceleration, minAchievableVelocity

Methods inherited from class java.lang.Object

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

Constructor Details

AngledElevatorFeedForward

public AngledElevatorFeedForward(double ks,
 double kg,
 double kv)

Creates a new ElevatorFeedforward with the specified gains. Units of the gain values will dictate units of the computed feedforward.

Parameters:

ks - The static gain.

kg - The gravity gain.

kv - The velocity gain.

Method Details

calculate

public double calculate(double positionRadians,
 double velocity,
 double acceleration)

Calculates the feedforward from the gains and setpoints.

Overrides:

calculate in class ElevatorFeedforward

Parameters:

positionRadians - Angle of the elevator

velocity - The velocity setpoint.

acceleration - The acceleration setpoint.

Returns:

The computed feedforward.

calculate

public double calculate(double positionRadians,
 double velocity)

Calculates the feedforward from the gains and setpoints.

Overrides:

calculate in class ElevatorFeedforward

Parameters:

positionRadians - Angle of the elevator

velocity - The velocity setpoint.

Returns:

The computed feedforward.