Package frc.lib.math

Class DoubleJointedArmFeedforward

java.lang.Object

frc.lib.math.DoubleJointedArmFeedforward

public class DoubleJointedArmFeedforward
extends Object

Calculates feedforward voltages for a double jointed arm.

https://www.chiefdelphi.com/t/whitepaper-two-jointed-arm-dynamics/423060

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	DoubleJointedArmFeedforward.JointConfig	Data for linkage and revolute joint

Constructor Summary

Constructors

Constructor	Description
DoubleJointedArmFeedforward(DoubleJointedArmFeedforward.JointConfig joint_1, DoubleJointedArmFeedforward.JointConfig joint_2)	Feedforward for two linkages

Method Summary

Modifier and Type	Method	Description
Vector<N2>	calculate(Vector<N2> position)	Determine feedforward to hold a setpoint still
Vector<N2>	calculate(Vector<N2> position, Vector<N2> velocity, Vector<N2> acceleration)	Determine feedforward given setpoint and two derivatives

Methods inherited from class java.lang.Object

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

Constructor Details

DoubleJointedArmFeedforward

public DoubleJointedArmFeedforward(DoubleJointedArmFeedforward.JointConfig joint_1,
 DoubleJointedArmFeedforward.JointConfig joint_2)

Feedforward for two linkages

Method Details

calculate

public Vector<N2> calculate(Vector<N2> position)

Determine feedforward to hold a setpoint still

calculate

public Vector<N2> calculate(Vector<N2> position,
 Vector<N2> velocity,
 Vector<N2> acceleration)

Determine feedforward given setpoint and two derivatives