Navigation/com.amarcolini.joos.control/Feedforward

Feedforward

abstract class Feedforward

Feedforward model for basic velocity/acceleration control.

Inheritors

Constructors

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constructor()

Functions

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fun calculate(vel: Double, accel: Double): Double

Computes the feedforward output for the desired velocity and acceleration.

fun calculate(vels: List<Double>, accels: List<Double>): List<Double>

Computes the feedforward output for the desired velocities and accelerations.

abstract fun calculate(vel: Double, accel: Double, base: Double): Double

Computes the feedforward output for the desired velocity and acceleration on top of the given base output.