calculate

fun calculate(position: Double, velocity: Double, acceleration: Double): Double(source)

Calculates the feedforward output for the given position, velocity, and acceleration.

the feedforward output: kG * cos(position) + kS * sign(velocity) + kV * velocity + kA * acceleration

position

the arm position in radians (0 = horizontal, π/2 = vertical up)

velocity

the target angular velocity

acceleration

the target angular acceleration

Calculates the feedforward output from a MotionState.

the feedforward output

state

the target motion state containing position, velocity, and acceleration