core::PIDFF Class Reference

#include <pidff.h>

Public Member Functions
	PIDFF (double kP, double kI, double kD, double kS, double kV, double kA, double kG, double tolerance, double dt=0.01)
void	set_gains (double kP, double kI, double kD, double kS, double kV, double kA, double kG)
void	set_pid (double kP, double kI, double kD)
void	set_ff (double kS, double kV, double kA, double kG)
void	set_setpoint (double setpoint)
double	setpoint () const
void	set_output_limits (double minimum_output, double maximum_output)
double	calculate (double measurement, Rotation2d angle=Rotation2d())
double	calculate (double setpoint, double measurement, Rotation2d angle=Rotation2d())
double	calculate_with_ff (double measurement, double v, double a, Rotation2d angle=Rotation2d())
double	calculate_with_ff (double setpoint, double measurement, double v, double a, Rotation2d angle=Rotation2d())

Detailed Description

Creates a PIDFF controller that combines PID and Feedforward control.

This controller uses both feedback (PID) and feedforward control to improve tracking performance. The feedforward component handles the known dynamics of the system, while the PID component handles errors and disturbances.

output = pid_output + feedforward_output

Author

Jack Cammarata

Date

6/27/2025

Constructor & Destructor Documentation

PIDFF()

core::PIDFF::PIDFF ( double kP, double kI, double kD, double kS, double kV, double kA, double kG, double tolerance, double dt = 0.01 )

inline

Constructs a PIDFF controller with the given parameters.

Parameters

kP	The proportional gain.
kI	The integral gain.
kD	The derivative gain.
kS	The static gain.
kV	The velocity gain.
kA	The acceleration gain.
kG	The gravity compensation gain.
tolerance	The tolerance value for determining if at setpoint.
dt	The time step in seconds.

Member Function Documentation

calculate() [1/2]

double core::PIDFF::calculate ( double measurement, Rotation2d angle = Rotation2d() )

inline

Calculates the PIDFF output based on the current measurement. Uses only kS and kG from feedforward (no velocity or acceleration terms).

Parameters

measurement	The current measurement value.
angle	The current angle (for gravity compensation).

Returns

The calculated PIDFF output.

calculate() [2/2]

double core::PIDFF::calculate ( double setpoint, double measurement, Rotation2d angle = Rotation2d() )

inline

Calculates the PIDFF output based on the current measurement and a new setpoint. Uses only kS and kG from feedforward (no velocity or acceleration terms).

Parameters

setpoint	The desired setpoint value.
measurement	The current measurement value.
angle	The current angle (for gravity compensation).

Returns

The calculated PIDFF output.

calculate_with_ff() [1/2]

double core::PIDFF::calculate_with_ff ( double measurement, double v, double a, Rotation2d angle = Rotation2d() )

inline

Calculates the PIDFF output based on the current measurement and velocity/acceleration commands.

Parameters

measurement	The current measurement value.
v	The velocity command.
a	The acceleration command.
angle	The current angle (for gravity compensation).

Returns

The calculated PIDFF output.

calculate_with_ff() [2/2]

double core::PIDFF::calculate_with_ff ( double setpoint, double measurement, double v, double a, Rotation2d angle = Rotation2d() )

inline

Calculates the PIDFF output based on a new setpoint, measurement, and velocity/acceleration commands.

Parameters

setpoint	The new setpoint value.
measurement	The current measurement value.
v	The velocity command.
a	The acceleration command.
angle	The current angle (for gravity compensation).

Returns

The calculated PIDFF output.

set_ff()

void core::PIDFF::set_ff ( double kS, double kV, double kA, double kG )

inline

Sets the Feedforward gains.

Parameters

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

set_gains()

void core::PIDFF::set_gains ( double kP, double kI, double kD, double kS, double kV, double kA, double kG )

inline

Sets both the PID and Feedforward gains.

Parameters

kP	The proportional gain.
kI	The integral gain.
kD	The derivative gain.
kS	The static gain.
kV	The velocity gain.
kA	The acceleration gain.
kG	The gravity compensation gain.

set_output_limits()

void core::PIDFF::set_output_limits ( double minimum_output, double maximum_output )

inline

Sets the output limits.

Parameters

minimum_output	The minimum output value.
maximum_output	The maximum output value.

set_pid()

void core::PIDFF::set_pid ( double kP, double kI, double kD )

inline

Sets the PID gains.

Parameters

kP	The proportional gain.
kI	The integral gain.
kD	The derivative gain.

set_setpoint()

void core::PIDFF::set_setpoint ( double setpoint )

inline

Sets the setpoint.

Parameters

setpoint

The setpoint value.

setpoint()

double core::PIDFF::setpoint ( ) const

inline

Returns the current setpoint.

Returns

The setpoint value.

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The documentation for this class was generated from the following file:

• math/controls/pidff.h