Tyler Veness e3ce991f18 PIDController feed forward term can now be calculated by the end user ...

The current feed forward calculation is only useful for velocity PID controllers where F, the feed forward constant, is 1 over the maximum setpoint for the output. For motion profiles which use position PID controllers, the appropriate calculation for velocity and acceleration feed forwards is different. This change allows the user to provide their own feed forward implementation without having to rewrite the entire Calculate() function.

Both default feed forward calculations are velocity feed forwards. Suggestions for sensible feed forward constants are included in the inline comments.

Change-Id: Id175786f26bd342de52a1fae89595cbeba5dfc93

2016-01-05 10:52:25 -08:00

4.8 KiB

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