MotorPositionConstants
constructor(pidConstants: PIDCoefficients = PIDCoefficients(0.0), ffCoefficients: SimpleFFCoefficients = SimpleFFCoefficients(0.0, 0.0, 0.0), kG: Double = 0.0, kCos: Double = 0.0, kCosRatio: Double = 0.0)
Parameters
pidConstants
The underlying PID coefficient holder.
ffCoefficients
The underlying feedforward coefficient holder.
kG
Gravity compensation constant. Defaults to 0.0.
kCos
Cosine amplitude compensation. Defaults to 0.0.
kCosRatio
Ratio for cosine compensation (e.g., linkage ratio). Defaults to 0.0.