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[wpimath] Add ArmFeedforward calculate() overload that takes current and next velocity instead of acceleration (#6540)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Nicholas Armstrong
2024-04-28 15:01:08 -04:00
committed by GitHub
parent 1727c74b80
commit 1ec089c7f9
8 changed files with 355 additions and 28 deletions
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17
wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
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@@ -76,6 +76,23 @@ class WPILIB_DLLEXPORT ArmFeedforward {
kV * velocity + kA * acceleration;
}
/**
* Calculates the feedforward from the gains and setpoints.
*
* @param currentAngle The current angle in radians. This angle should be
* measured from the horizontal (i.e. if the provided angle is 0, the arm
* should be parallel to the floor). If your encoder does not follow this
* convention, an offset should be added.
* @param currentVelocity The current velocity setpoint in radians per second.
* @param nextVelocity The next velocity setpoint in radians per second.
* @param dt Time between velocity setpoints in seconds.
* @return The computed feedforward in volts.
*/
units::volt_t Calculate(units::unit_t<Angle> currentAngle,
units::unit_t<Velocity> currentVelocity,
units::unit_t<Velocity> nextVelocity,
units::second_t dt) const;
// Rearranging the main equation from the calculate() method yields the
// formulas for the methods below: