NextControl/dev.nextftc.control.feedforward/ElevatorFeedforward

ElevatorFeedforward

class ElevatorFeedforward(val coefficients: GravityFeedforwardParameters)(source)

Feedforward controller for elevator mechanisms.

This feedforward applies a constant gravity compensation term plus velocity and acceleration feedforward terms. It is suitable for linear mechanisms like elevators where gravity exerts a constant force regardless of position.

Parameters

coefficients

the GravityFeedforwardParameters containing the feedforward gains

Constructors

ElevatorFeedforward

constructor(coefficients: GravityFeedforwardParameters)

constructor(kG: Double, kS: Double = 0.0, kV: Double = 0.0, kA: Double = 0.0)

Secondary constructor for initializing the ElevatorFeedforward with individual feedforward parameters.

Properties

coefficients

val coefficients: GravityFeedforwardParameters

Functions

calculate

fun <U : Unit<U>> calculate(state: MotionState<U>): Double

Calculates the feedforward output from a MotionState.

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

Calculates the feedforward output for the given velocity and acceleration.