Package com.cdarobotics.cdalib.controllers

Class FFController

java.lang.Object

com.cdarobotics.cdalib.controllers.Controller

com.cdarobotics.cdalib.controllers.FFController

public class FFController
extends Controller

A feedforward Controller. The output is computed purely from the current measurement as kS + kF * current + cos(kCos * current), combining a static term, a term proportional to the measurement, and a cosine term (e.g. to compensate for gravity on a rotating arm).

Field Summary

Fields inherited from class com.cdarobotics.cdalib.controllers.Controller

target

Constructor Summary

Constructors

Constructor	Description
FFController(double target, double kS, double kF, double kCos)

Method Summary

Modifier and Type	Method	Description
double	update(double current, double dt)	Computes the control output for this loop.

Methods inherited from class com.cdarobotics.cdalib.controllers.Controller

getTarget, setTarget

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

FFController

public FFController(double target,
 double kS,
 double kF,
 double kCos)

Parameters:

target - the initial setpoint

kS - the static feedforward term

kF - the gain applied proportionally to the current measurement

kCos - the scale applied to the measurement inside the cosine term

Method Details

update

public double update(double current,
 double dt)

Description copied from class: Controller

Computes the control output for this loop.

Specified by:

update in class Controller

Parameters:

current - the current measured value

dt - the time elapsed since the previous update, in seconds

Returns:

the control output to apply