Package edu.wpi.first.math.controller
package edu.wpi.first.math.controller

ClassDescriptionA 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 bangbang controller, which outputs either 0 or 1 depending on whether the measurement is less than the setpoint.Constructs a controlaffine plant inversion modelbased 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 modelbased feedforward from a
LinearSystem
.Contains the controller coefficients and logic for a linearquadratic regulator (LQR).The linear timevarying 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 timevarying 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 timevarying feedback controller for unicycle models that drives the model to a desired pose along a twodimensional trajectory.A helper class that computes feedforward outputs for a simple permanentmagnet DC motor.