#include <feedforward.h>

Public Attributes
double	kS

double	kV

double	kA

double	kG

Detailed Description

ff_config_t holds the parameters to make the theoretical model of a real world system equation is of the form kS if the system is not stopped, 0 otherwise

kV * desired velocity
kA * desired acceleration
kG

Member Data Documentation

◆ kA

double FeedForward::ff_config_t::kA

kA - Acceleration coefficient: the power required to change the mechanism's speed. Multiplied by the requested acceleration.

◆ kG

double FeedForward::ff_config_t::kG

kG - Gravity coefficient: only needed for lifts. The power required to overcome gravity and stay at steady state.

◆ kS

double FeedForward::ff_config_t::kS

Coefficient to overcome static friction: the point at which the motor starts to move.

◆ kV

double FeedForward::ff_config_t::kV

Veclocity coefficient: the power required to keep the mechanism in motion. Multiplied by the requested velocity.

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