core/gay.zharel.hermes.kinematics/MotorFeedforward

MotorFeedforward

data class MotorFeedforward(val kS: Double, val kV: Double, val kA: Double)

Kinematic motor feedforward

Constructors

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

Properties

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@JvmField
val kA: Double

kStatic, \(k_a\)

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@JvmField
val kS: Double

kStatic, \(k_s\)

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@JvmField
val kV: Double

kVelocity, \(k_v\)

Functions

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fun compute(vel: DualNum<Time>): Double
fun compute(vel: Double, accel: Double): Double
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fun maxAchievableAcceleration(maxVoltage: Double, velocity: Double): Double

Computes the maximum achievable acceleration given the maximum voltage and velocity.

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fun minAchievableAcceleration(maxVoltage: Double, velocity: Double): Double

Computes the minimum achievable acceleration given the maximum voltage and velocity.