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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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5
wpimath/src/main/native/cpp/jni/ArmFeedforwardJNI.cpp
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@@ -26,10 +26,11 @@ Java_edu_wpi_first_math_jni_ArmFeedforwardJNI_calculate
{
return frc::ArmFeedforward{units::volt_t{ks}, units::volt_t{kg},
units::unit_t<frc::ArmFeedforward::kv_unit>{kv},
units::unit_t<frc::ArmFeedforward::ka_unit>{ka}}
units::unit_t<frc::ArmFeedforward::ka_unit>{ka},
units::second_t{dt}}
.Calculate(units::radian_t{currentAngle},
units::radians_per_second_t{currentVelocity},
units::radians_per_second_t{nextVelocity}, units::second_t{dt})
units::radians_per_second_t{nextVelocity})
.value();
}