#include <arm_feedforward.h>

Inheritance diagram for core::ArmFeedforward:

Public Member Functions
	ArmFeedforward (double kS, double kV, double kA, double kG)

double	calculate (double v, double a, Rotation2d angle) const

Public Member Functions inherited from core::Feedforward
	Feedforward (double kS, double kV, double kA)

double	calculate (double v, double a) const

double	max_vel (double max_voltage) const

double	max_acc (double max_voltage) const

Detailed Description

ArmFeedforward is an extension of the Feedforward class that adds a gravity compensation term for use in arms/lifts. It calculates the output required to hold the mechanism in place against gravity.

The formula used is:

output = kS * sign(v) + kV * v + kA * a + kG * cos(angle)

where:

kS is the static gain
kV is the velocity gain
kA is the acceleration gain
kG is the gravity gain
angle is the current angle of the arm (specifically the CG), for a lift this is always 0

Author: Jack Cammarata

Date: 6/27/2025

Constructor & Destructor Documentation

◆ ArmFeedforward()

core::ArmFeedforward::ArmFeedforward	(	double	kS,
		double	kV,
		double	kA,
		double	kG )

inline

Constructs an ArmFeedforward with the given parameters.

Parameters

kS	The static gain.
kG	The gravity gain.
kV	The velocity gain.
kA	The acceleration gain.

Member Function Documentation

◆ calculate()

double core::ArmFeedforward::calculate	(	double	v,
		double	a,
		Rotation2d	angle ) const