Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Fix SimpleFeedforward overload set (#7516)

Browse Source
This commit is contained in:
Tyler Veness
2024-12-07 20:32:16 -08:00
committed by GitHub
parent 6dbff902fa
commit c497e4ec22
8 changed files with 17 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
View File

@@ -123,20 +123,6 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
return m_dt;
}
/**
* Calculates the feedforward from the gains and setpoints assuming continuous control.
*
* @param velocity The velocity setpoint.
* @param acceleration The acceleration setpoint.
* @return The computed feedforward.
* @deprecated Use {@link #calculateWithVelocities(double, double)} instead.
*/
@SuppressWarnings("removal")
@Deprecated(forRemoval = true, since = "2025")
public double calculate(double velocity, double acceleration) {
return ks * Math.signum(velocity) + kv * velocity + ka * acceleration;
}
/**
* Calculates the feedforward from the gains and velocity setpoint assuming continuous control
* (acceleration is assumed to be zero).
@@ -157,7 +143,7 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
* @param nextVelocity The next velocity setpoint.
* @return The computed feedforward.
*/
public double calculateWithVelocities(double currentVelocity, double nextVelocity) {
public double calculate(double currentVelocity, double nextVelocity) {
// See wpimath/algorithms.md#Simple_motor_feedforward for derivation
if (ka == 0.0) {
return ks * Math.signum(nextVelocity) + kv * nextVelocity;