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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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5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
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@@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
@@ -115,9 +116,7 @@ public class RobotContainer {
exampleTrajectory,
m_robotDrive::getPose,
new RamseteController(kRamseteB, kRamseteZeta),
ksVolts,
kvVoltSecondsPerMeter,
kaVoltSecondsSquaredPerMeter,
new SimpleMotorFeedforward(ksVolts, kvVoltSecondsPerMeter, kaVoltSecondsSquaredPerMeter),
kDriveKinematics,
m_robotDrive.getLeftEncoder()::getRate,
m_robotDrive.getRightEncoder()::getRate,