NextControl/dev.nextftc.control.feedforward

Package-level declarations

Feedforward models: SimpleFeedforward for basic velocity/acceleration feedforward, and ElevatorFeedforward/ArmFeedforward for gravity-compensated linear and rotational mechanisms.

Types

ArmFeedforward

class ArmFeedforward(val coefficients: GravityFeedforwardParameters)

Feedforward controller for arm mechanisms.

ElevatorFeedforward

class ElevatorFeedforward(val coefficients: GravityFeedforwardParameters)

Feedforward controller for elevator mechanisms.

GravityFeedforwardParameters

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

Parameters for ElevatorFeedforward and ArmFeedforward

SimpleFeedforward

class SimpleFeedforward(val coefficients: SimpleFFCoefficients)

A simple feedforward controller for velocity control.

SimpleFFCoefficients

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

Coefficients for a simple feedforward controller.