core/com.rowanmcalpin.nextftc.core.control.controllers.feedforward/ArmFeedforward

ArmFeedforward

class ArmFeedforward(val kCos: Double, val ticksToAngle: (Double) -> Double) : Feedforward

ArmFeedforward is a simple implementation of Feedforward where the feedforward scales depending on the cosine of the arm angle. This is ideal for an arm with a fixed length.

Parameters

kCos

constant multiplier for output

ticksToAngle

conversion function to convert input ticks into an angle (in radians)

Constructors

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constructor(kCos: Double, ticksToAngle: (Double) -> Double)

Properties

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val kCos: Double
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Functions

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open override fun compute(position: Double): Double