Package tagalong.controls

Class FeedforwardConstants

java.lang.Object

tagalong.controls.FeedforwardConstants

public class FeedforwardConstants
extends Object

Wrapper class for FeedForward coefficients for generic reuse or conversion between multiple devices

Field Summary

Fields

Modifier and Type	Field	Description
final double	a	FeedForward coefficient A or acceleration in volts per unit of acceleration
final double	g	FeedForward coefficient G or gravity in volts
final double	s	FeedForward coefficient S or static in volts
final double	v	FeedForward coefficient V or velocity in volts per unit of velocity

Constructor Summary

Constructors

Constructor	Description
FeedforwardConstants(double s, double g, double v, double a)

Method Summary

Modifier and Type	Method	Description
ArmFeedforward	getArmFeedforward()
ElevatorFeedforward	getElevatorFeedforward()
SimpleMotorFeedforward	getSimpleMotorFeedforward()

Methods inherited from class java.lang.Object

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

Field Details

s

public final double s

FeedForward coefficient S or static in volts

g

public final double g

FeedForward coefficient G or gravity in volts

v

public final double v

FeedForward coefficient V or velocity in volts per unit of velocity

a

public final double a

FeedForward coefficient A or acceleration in volts per unit of acceleration

Constructor Details

FeedforwardConstants

public FeedforwardConstants(double s,
 double g,
 double v,
 double a)

Parameters:

s - FeedForward coefficient S or static in volts

g - FeedForward coefficient G or gravity in volts

v - FeedForward coefficient V or velocity in volts per unit of velocity

a - FeedForward coefficient A or acceleration in volts per unit of acceleration

Method Details

getElevatorFeedforward

public ElevatorFeedforward getElevatorFeedforward()

Returns:

Constants converted to an ElevatorFeedforward

getArmFeedforward

public ArmFeedforward getArmFeedforward()

Returns:

Constants converted to an ArmFeedforward

getSimpleMotorFeedforward

public SimpleMotorFeedforward getSimpleMotorFeedforward()

Returns:

Constants converted to a SimpleMotorFeedforward