Package edu.wpi.first.math.controller
package edu.wpi.first.math.controller
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ClassesClassDescriptionA helper class that computes feedforward outputs for a simple arm (modeled as a motor acting against the force of gravity on a beam suspended at an angle).Implements a bang-bang controller, which outputs either 0 or 1 depending on whether the measurement is less than the setpoint.Constructs a control-affine plant inversion model-based feedforward from given model dynamics.Filters the provided voltages to limit a differential drive's linear and angular acceleration.A helper class which computes the feedforward outputs for a differential drive drivetrain.Motor voltages for a differential drive.A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting against the force of gravity).This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain (i.e.Contains the controller coefficients and logic for an implicit model follower.Constructs a plant inversion model-based feedforward from a
LinearSystem.Contains the controller coefficients and logic for a linear-quadratic regulator (LQR).The linear time-varying differential drive controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear differential drive model linearized around the drivetrain's current state.The linear time-varying unicycle controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear unicycle model linearized around the drivetrain's current state.Implements a PID control loop.Implements a PID control loop whose setpoint is constrained by a trapezoid profile.Ramsete is a nonlinear time-varying feedback controller for unicycle models that drives the model to a desired pose along a two-dimensional trajectory.A helper class that computes feedforward outputs for a simple permanent-magnet DC motor.