Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Change terminology for ArmFeedforward gravity gain (NFC) (#4791)

Browse Source
This commit is contained in:
Charlie
2022-12-12 01:43:44 -05:00
committed by GitHub
parent 944dd7265d
commit da3ec1be10
1 changed files with 11 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.math.controller;
*/
public class ArmFeedforward {
public final double ks;
public final double kcos;
public final double kg;
public final double kv;
public final double ka;
@@ -19,13 +19,13 @@ public class ArmFeedforward {
* units of the computed feedforward.
*
* @param ks The static gain.
* @param kcos The gravity gain.
* @param kg The gravity gain.
* @param kv The velocity gain.
* @param ka The acceleration gain.
*/
public ArmFeedforward(double ks, double kcos, double kv, double ka) {
public ArmFeedforward(double ks, double kg, double kv, double ka) {
this.ks = ks;
this.kcos = kcos;
this.kg = kg;
this.kv = kv;
this.ka = ka;
}
@@ -35,11 +35,11 @@ public class ArmFeedforward {
* Units of the gain values will dictate units of the computed feedforward.
*
* @param ks The static gain.
* @param kcos The gravity gain.
* @param kg The gravity gain.
* @param kv The velocity gain.
*/
public ArmFeedforward(double ks, double kcos, double kv) {
this(ks, kcos, kv, 0);
public ArmFeedforward(double ks, double kg, double kv) {
this(ks, kg, kv, 0);
}
/**
@@ -55,7 +55,7 @@ public class ArmFeedforward {
public double calculate(
double positionRadians, double velocityRadPerSec, double accelRadPerSecSquared) {
return ks * Math.signum(velocityRadPerSec)
+ kcos * Math.cos(positionRadians)
+ kg * Math.cos(positionRadians)
+ kv * velocityRadPerSec
+ ka * accelRadPerSecSquared;
}
@@ -92,7 +92,7 @@ public class ArmFeedforward {
*/
public double maxAchievableVelocity(double maxVoltage, double angle, double acceleration) {
// Assume max velocity is positive
return (maxVoltage - ks - Math.cos(angle) * kcos - acceleration * ka) / kv;
return (maxVoltage - ks - Math.cos(angle) * kg - acceleration * ka) / kv;
}
/**
@@ -110,7 +110,7 @@ public class ArmFeedforward {
*/
public double minAchievableVelocity(double maxVoltage, double angle, double acceleration) {
// Assume min velocity is negative, ks flips sign
return (-maxVoltage + ks - Math.cos(angle) * kcos - acceleration * ka) / kv;
return (-maxVoltage + ks - Math.cos(angle) * kg - acceleration * ka) / kv;
}
/**
@@ -127,7 +127,7 @@ public class ArmFeedforward {
* @return The maximum possible acceleration at the given velocity.
*/
public double maxAchievableAcceleration(double maxVoltage, double angle, double velocity) {
return (maxVoltage - ks * Math.signum(velocity) - Math.cos(angle) * kcos - velocity * kv) / ka;
return (maxVoltage - ks * Math.signum(velocity) - Math.cos(angle) * kg - velocity * kv) / ka;
}
/**