feedforward.h

#pragma once
 
#include "vex/vex.h"
#include "core/math/util.h"
#include "core/math/moving_average.h"
#include <math.h>
#include <vector>

class FeedForward {
   public:
    // Instance variables for the feedforward constants
    double kS; 
    double kV; 
    double kA; 
    double kG; 

    FeedForward(const double& kS, const double& kV, const double& kA, const double& kG);

    double calculate(double v, double a, double pid_ref = 0.0);
 
   private:
};