Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Make public final values in feedforwards private and add getters (#6851)

Browse Source
This commit is contained in:
Joseph Eng
2024-07-20 07:01:56 -07:00
committed by GitHub
parent d827c84c5e
commit b4d42d8980
22 changed files with 288 additions and 94 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
View File

@@ -192,17 +192,46 @@ class WPILIB_DLLEXPORT ArmFeedforward {
return MaxAchievableAcceleration(-maxVoltage, angle, velocity);
}
/**
* Returns the static gain.
*
* @return The static gain.
*/
units::volt_t GetKs() const { return kS; }
/**
* Returns the gravity gain.
*
* @return The gravity gain.
*/
units::volt_t GetKg() const { return kG; }
/**
* Returns the velocity gain.
*
* @return The velocity gain.
*/
units::unit_t<kv_unit> GetKv() const { return kV; }
/**
* Returns the acceleration gain.
*
* @return The acceleration gain.
*/
units::unit_t<ka_unit> GetKa() const { return kA; }
private:
/// The static gain, in volts.
const units::volt_t kS;
units::volt_t kS;
/// The gravity gain, in volts.
const units::volt_t kG;
units::volt_t kG;
/// The velocity gain, in volt seconds per radian.
const units::unit_t<kv_unit> kV;
/// The velocity gain, in V/(rad/s)volt seconds per radian.
units::unit_t<kv_unit> kV;
/// The acceleration gain, in volt seconds² per radian.
const units::unit_t<ka_unit> kA;
/// The acceleration gain, in V/(rad/s²).
units::unit_t<ka_unit> kA;
};
} // namespace frc

37
wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
View File

@@ -182,17 +182,46 @@ class ElevatorFeedforward {
return MaxAchievableAcceleration(-maxVoltage, velocity);
}
/**
* Returns the static gain.
*
* @return The static gain.
*/
units::volt_t GetKs() const { return kS; }
/**
* Returns the gravity gain.
*
* @return The gravity gain.
*/
units::volt_t GetKg() const { return kG; }
/**
* Returns the velocity gain.
*
* @return The velocity gain.
*/
units::unit_t<kv_unit> GetKv() const { return kV; }
/**
* Returns the acceleration gain.
*
* @return The acceleration gain.
*/
units::unit_t<ka_unit> GetKa() const { return kA; }
private:
/// The static gain.
const units::volt_t kS;
units::volt_t kS;
/// The gravity gain.
const units::volt_t kG;
units::volt_t kG;
/// The velocity gain.
const units::unit_t<kv_unit> kV;
units::unit_t<kv_unit> kV;
/// The acceleration gain.
const units::unit_t<ka_unit> kA;
units::unit_t<ka_unit> kA;
};
} // namespace frc

40
wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
View File

@@ -245,16 +245,44 @@ class SimpleMotorFeedforward {
return MaxAchievableAcceleration(-maxVoltage, velocity);
}
/** The static gain. */
const units::volt_t kS;
/**
* Returns the static gain.
*
* @return The static gain.
*/
units::volt_t GetKs() const { return kS; }
/** The velocity gain. */
const units::unit_t<kv_unit> kV;
/**
* Returns the velocity gain.
*
* @return The velocity gain.
*/
units::unit_t<kv_unit> GetKv() const { return kV; }
/** The acceleration gain. */
const units::unit_t<ka_unit> kA;
/**
* Returns the acceleration gain.
*
* @return The acceleration gain.
*/
units::unit_t<ka_unit> GetKa() const { return kA; }
/**
* Returns the period.
*
* @return The period.
*/
units::second_t GetDt() const { return m_dt; }
private:
/** The static gain. */
units::volt_t kS;
/** The velocity gain. */
units::unit_t<kv_unit> kV;
/** The acceleration gain. */
units::unit_t<ka_unit> kA;
/** The period. */
units::second_t m_dt;
};