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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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49
wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
View File

@@ -131,37 +131,18 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
return m_dt;
}
/**
* Calculates the feedforward from the gains and setpoints.
*
* @param positionRadians The position (angle) setpoint. This angle should be measured from the
* horizontal (i.e. if the provided angle is 0, the arm should be parallel with the floor). If
* your encoder does not follow this convention, an offset should be added.
* @param velocityRadPerSec The velocity setpoint.
* @param accelRadPerSecSquared The acceleration setpoint.
* @return The computed feedforward.
*/
@Deprecated(forRemoval = true, since = "2025")
public double calculate(
double positionRadians, double velocityRadPerSec, double accelRadPerSecSquared) {
return ks * Math.signum(velocityRadPerSec)
+ kg * Math.cos(positionRadians)
+ kv * velocityRadPerSec
+ ka * accelRadPerSecSquared;
}
/**
* Calculates the feedforward from the gains and velocity setpoint assuming continuous control
* (acceleration is assumed to be zero).
*
* @param positionRadians The position (angle) setpoint. This angle should be measured from the
* @param position The position setpoint in radians. This angle should be measured from the
* horizontal (i.e. if the provided angle is 0, the arm should be parallel with the floor). If
* your encoder does not follow this convention, an offset should be added.
* @param velocity The velocity setpoint.
* @param velocity The velocity setpoint in radians per second.
* @return The computed feedforward.
*/
public double calculate(double positionRadians, double velocity) {
return calculate(positionRadians, velocity, 0);
public double calculate(double position, double velocity) {
return ks * Math.signum(velocity) + kg * Math.cos(position) + kv * velocity;
}
/**
@@ -172,29 +153,9 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
* your encoder does not follow this convention, an offset should be added.
* @param currentVelocity The current velocity setpoint in radians per second.
* @param nextVelocity The next velocity setpoint in radians per second.
* @param dt Time between velocity setpoints in seconds.
* @return The computed feedforward in volts.
*/
@SuppressWarnings("removal")
@Deprecated(forRemoval = true, since = "2025")
public double calculate(
double currentAngle, double currentVelocity, double nextVelocity, double dt) {
return ArmFeedforwardJNI.calculate(
ks, kv, ka, kg, currentAngle, currentVelocity, nextVelocity, dt);
}
/**
* Calculates the feedforward from the gains and setpoints assuming discrete control.
*
* @param currentAngle The current angle in radians. This angle should be measured from the
* horizontal (i.e. if the provided angle is 0, the arm should be parallel to the floor). If
* your encoder does not follow this convention, an offset should be added.
* @param currentVelocity The current velocity setpoint in radians per second.
* @param nextVelocity The next velocity setpoint in radians per second.
* @return The computed feedforward in volts.
*/
public double calculateWithVelocities(
double currentAngle, double currentVelocity, double nextVelocity) {
public double calculate(double currentAngle, double currentVelocity, double nextVelocity) {
return ArmFeedforwardJNI.calculate(
ks, kv, ka, kg, currentAngle, currentVelocity, nextVelocity, m_dt);
}

21
wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
View File

@@ -131,28 +131,15 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
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.
*/
@SuppressWarnings("removal")
@Deprecated(forRemoval = true, since = "2025")
public double calculate(double velocity, double acceleration) {
return ks * Math.signum(velocity) + kg + kv * velocity + ka * acceleration;
}
/**
* Calculates the feedforward from the gains and velocity setpoint assuming continuous control
* (acceleration is assumed to be zero).
*
* @param velocity The velocity setpoint.
* @param velocity The velocity setpoint in meters per second.
* @return The computed feedforward.
*/
public double calculate(double velocity) {
return calculate(velocity, 0);
return calculate(velocity, velocity);
}
/**
@@ -162,9 +149,9 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
*
* @param currentVelocity The current velocity setpoint in meters per second.
* @param nextVelocity The next velocity setpoint in meters per second.
* @return The computed feedforward in volts.
* @return The computed feedforward.
*/
public double calculateWithVelocities(double currentVelocity, double nextVelocity) {
public double calculate(double currentVelocity, double nextVelocity) {
// See wpimath/algorithms.md#Elevator_feedforward for derivation
if (ka == 0.0) {
return ks * Math.signum(nextVelocity) + kg + kv * nextVelocity;