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[wpimath] Clean up arm and elevator feedforward APIs (#7595)

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This commit is contained in:
Tyler Veness
2024-12-27 06:12:14 -08:00
committed by GitHub
parent 2a757eaeb5
commit df244cd198
5 changed files with 12 additions and 66 deletions
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3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java
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@@ -110,8 +110,7 @@ public class Elevator implements AutoCloseable {
// With the setpoint value we run PID control like normal
double pidOutput = m_pidController.calculate(m_encoder.getDistance(), m_setpoint.position);
double feedforwardOutput =
m_feedforward.calculateWithVelocities(m_setpoint.velocity, next.velocity);
double feedforwardOutput = m_feedforward.calculate(m_setpoint.velocity, next.velocity);
m_motor.setVoltage(pidOutput + feedforwardOutput);