Navigation/com.amarcolini.joos.control/DCMotorFeedforward

DCMotorFeedforward

public final class DCMotorFeedforward extends Feedforward

Feedforward gains for DC motor velocity control.

Parameters

kV

velocity gain

kA

acceleration gain

kStatic

additive constant

Properties

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@JvmField()
public Double kA
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@JvmField()
public Double kStatic
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@JvmField()
public Double kV

Functions

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public Double calculate(Double vel, Double accel, Double base)

Computes the motor feedforward (i.e., open loop power) for the given set of coefficients on top of the given base output.