SimpleFFCoefficients

data class SimpleFFCoefficients @JvmOverloads constructor(var kS: Double, var kV: Double, var kA: Double = 0.0)(source)

Coefficients for a simple feedforward controller.

These coefficients model the relationship between desired motion and motor output: output = kS * sign(velocity) + kV * velocity + kA * acceleration

Constructors

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

Acceleration gain. Multiplied by the desired acceleration to produce the additional output needed to accelerate the system (overcomes inertia).

Static friction gain. The minimum output needed to overcome static friction and start moving. Applied in the direction of desired velocity.

Velocity gain. Multiplied by the desired velocity to produce the output needed to maintain that velocity against back-EMF and viscous friction.