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[wpimath] Fully discretized ElevatorFF and ArmFF (#7024)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Nicholas Armstrong
2024-10-11 01:10:45 -04:00
committed by GitHub
parent 5d9a553104
commit 4adfa8bf64
31 changed files with 1004 additions and 425 deletions
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2
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
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@@ -48,7 +48,7 @@ void Elevator::ReachGoal(units::meter_t goal) {
auto pidOutput = m_controller.Calculate(m_encoder.GetDistance(),
m_setpoint.position / 1_m);
auto feedforwardOutput =
m_feedforward.Calculate(m_setpoint.velocity, next.velocity, 20_ms);
m_feedforward.Calculate(m_setpoint.velocity, next.velocity);
m_motor.SetVoltage(units::volt_t{pidOutput} + feedforwardOutput);