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Add feedforward components (#2045)

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Add helper classes for computing feedforwards with parameters supplied by the characterization tool.
This commit is contained in:
Oblarg
2019-11-09 23:16:42 -05:00
committed by Peter Johnson
parent 5f33d6af12
commit 7dc7c71b58
13 changed files with 457 additions and 63 deletions
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33
wpilibc/src/main/native/cpp/controller/ArmFeedforward.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/controller/ArmFeedforward.h"
#include <wpi/MathExtras.h>
using namespace frc;
using Angle = units::radians;
using Velocity = units::radians_per_second;
using Acceleration = units::compound_unit<units::radians_per_second,
units::inverse<units::second>>;
using kv_unit = units::compound_unit<units::volts,
units::inverse<units::radians_per_second>>;
using ka_unit =
units::compound_unit<units::volts, units::inverse<Acceleration>>;
ArmFeedforward::ArmFeedforward(units::volt_t kS, units::volt_t kCos,
units::unit_t<kv_unit> kV,
units::unit_t<ka_unit> kA)
: m_kS(kS), m_kCos(kCos), m_kV(kV), m_kA(kA) {}
units::volt_t ArmFeedforward::Calculate(
units::unit_t<Angle> angle, units::unit_t<Velocity> velocity,
units::unit_t<Acceleration> acceleration) {
return m_kS * wpi::sgn(velocity) + m_kCos * units::math::cos(angle) +
m_kV * velocity + m_kA * acceleration;
}