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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/RapidReactCommandBot/include/subsystems/Shooter.h
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@@ -38,7 +38,7 @@ class Shooter : public frc2::SubsystemBase {
frc::Encoder m_shooterEncoder{ShooterConstants::kEncoderPorts[0],
ShooterConstants::kEncoderPorts[1],
ShooterConstants::kEncoderReversed};
frc::SimpleMotorFeedforward<units::turns> m_shooterFeedforward{
frc::SimpleMotorFeedforward<units::radians> m_shooterFeedforward{
ShooterConstants::kS, ShooterConstants::kV};
frc::PIDController m_shooterFeedback{ShooterConstants::kP, 0.0, 0.0};
};