Navigation/com.amarcolini.joos.control/DCMotorFeedforward

DCMotorFeedforward

data class DCMotorFeedforward @JvmOverloads constructor(var kV: Double = 0.0, var kA: Double = 0.0, var kStatic: Double = 0.0) : Feedforward

Feedforward gains for DC motor velocity control.

Parameters

kV

velocity gain

kA

acceleration gain

kStatic

additive constant

Constructors

DCMotorFeedforward

constructor(kV: Double = 0.0, kA: Double = 0.0, kStatic: Double = 0.0)

Properties

var kStatic: Double

Functions

open override fun calculate(vel: Double, accel: Double, base: Double): Double

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