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[wpimath] Make SimpleMotorFeedforward only support discrete feedforward (#6647)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Nicholas Armstrong
2024-07-16 20:23:11 -04:00
committed by GitHub
parent 5f261a88af
commit 30c7632ab8
31 changed files with 540 additions and 218 deletions
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3
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/cpp/Robot.cpp
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@@ -40,8 +40,7 @@ class Robot : public frc::TimedRobot {
m_motor.SetSetpoint(
ExampleSmartMotorController::PIDMode::kPosition,
m_setpoint.position.value(),
m_feedforward.Calculate(m_setpoint.velocity, next.velocity, kDt) /
12_V);
m_feedforward.Calculate(m_setpoint.velocity, next.velocity) / 12_V);
m_setpoint = next;
}