MotorVelocityConstants
data class MotorVelocityConstants(pidConstants: PIDCoefficients = PIDCoefficients(0.0, 0.0, 0.0), ffCoefficients: SimpleFFCoefficients = SimpleFFCoefficients(0.0, 0.0, 0.0))
Tuning constants for velocity control.
Exposes PID gains (kP, kI, kD) and feedforward gains (kS, kV, kA).
Parameters
pidConstants
The underlying PID coefficient holder.
ffCoefficients
The underlying feedforward coefficient holder.
Constructors
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constructor(pidConstants: PIDCoefficients = PIDCoefficients(0.0, 0.0, 0.0), ffCoefficients: SimpleFFCoefficients = SimpleFFCoefficients(0.0, 0.0, 0.0))