NextControl/dev.nextftc.control.feedforward/SimpleFeedforward/SimpleFeedforward

SimpleFeedforward

constructor(coefficients: SimpleFFCoefficients)(source)

Parameters

coefficients

The SimpleFFCoefficients containing kS, kV, and kA gains.

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

Constructs a SimpleFeedforward instance using individual feedforward coefficients.

Parameters

The static friction gain, applied to overcome static friction and initiate movement. Corresponds to the kS parameter in SimpleFFCoefficients.

The velocity gain, applied to oppose back-EMF and viscous friction. Corresponds to the kV parameter in SimpleFFCoefficients.

The acceleration gain, applied to overcome inertia and provide additional output for changes in velocity. Defaults to 0.0 for systems without acceleration compensation. Corresponds to the kA parameter in SimpleFFCoefficients.