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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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3
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
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@@ -65,7 +65,8 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
exampleTrajectory, [this]() { return m_drive.GetPose(); },
frc::RamseteController(AutoConstants::kRamseteB,
AutoConstants::kRamseteZeta),
DriveConstants::ks, DriveConstants::kv, DriveConstants::ka,
frc::SimpleMotorFeedforward<units::meters>(
DriveConstants::ks, DriveConstants::kv, DriveConstants::ka),
DriveConstants::kDriveKinematics,
[this] {
return units::meters_per_second_t(m_drive.GetLeftEncoder().GetRate());