frc::DifferentialDriveFeedforward Class Reference

A helper class which computes the feedforward outputs for a differential drive drivetrain. More...

#include <frc/controller/DifferentialDriveFeedforward.h>

Public Member Functions
constexpr	DifferentialDriveFeedforward (decltype(1_V/1_mps) kVLinear, decltype(1_V/1_mps_sq) kALinear, decltype(1_V/1_rad_per_s) kVAngular, decltype(1_V/1_rad_per_s_sq) kAAngular, units::meter_t trackwidth)
	Creates a new DifferentialDriveFeedforward with the specified parameters.
constexpr	DifferentialDriveFeedforward (decltype(1_V/1_mps) kVLinear, decltype(1_V/1_mps_sq) kALinear, decltype(1_V/1_mps) kVAngular, decltype(1_V/1_mps_sq) kAAngular)
	Creates a new DifferentialDriveFeedforward with the specified parameters.
DifferentialDriveWheelVoltages	Calculate (units::meters_per_second_t currentLeftVelocity, units::meters_per_second_t nextLeftVelocity, units::meters_per_second_t currentRightVelocity, units::meters_per_second_t nextRightVelocity, units::second_t dt)
	Calculates the differential drive feedforward inputs given velocity setpoints.

Public Attributes
decltype(1_V/1_mps)	m_kVLinear
decltype(1_V/1_mps_sq)	m_kALinear
decltype(1_V/1_mps)	m_kVAngular
decltype(1_V/1_mps_sq)	m_kAAngular

Detailed Description

A helper class which computes the feedforward outputs for a differential drive drivetrain.

Constructor & Destructor Documentation

DifferentialDriveFeedforward() [1/2]

frc::DifferentialDriveFeedforward::DifferentialDriveFeedforward ( decltype(1_V/1_mps) kVLinear, decltype(1_V/1_mps_sq) kALinear, decltype(1_V/1_rad_per_s) kVAngular, decltype(1_V/1_rad_per_s_sq) kAAngular, units::meter_t trackwidth )

inlineconstexpr

Creates a new DifferentialDriveFeedforward with the specified parameters.

Parameters

kVLinear	The linear velocity gain in volts per (meters per second).
kALinear	The linear acceleration gain in volts per (meters per second squared).
kVAngular	The angular velocity gain in volts per (radians per second).
kAAngular	The angular acceleration gain in volts per (radians per second squared).
trackwidth	The distance between the differential drive's left and right wheels, in meters.

DifferentialDriveFeedforward() [2/2]

frc::DifferentialDriveFeedforward::DifferentialDriveFeedforward ( decltype(1_V/1_mps) kVLinear, decltype(1_V/1_mps_sq) kALinear, decltype(1_V/1_mps) kVAngular, decltype(1_V/1_mps_sq) kAAngular )

inlineconstexpr

Creates a new DifferentialDriveFeedforward with the specified parameters.

Parameters

kVLinear	The linear velocity gain in volts per (meters per second).
kALinear	The linear acceleration gain in volts per (meters per second squared).
kVAngular	The angular velocity gain in volts per (meters per second).
kAAngular	The angular acceleration gain in volts per (meters per second squared).

Member Function Documentation

Calculate()

DifferentialDriveWheelVoltages frc::DifferentialDriveFeedforward::Calculate	(	units::meters_per_second_t	currentLeftVelocity,
		units::meters_per_second_t	nextLeftVelocity,
		units::meters_per_second_t	currentRightVelocity,
		units::meters_per_second_t	nextRightVelocity,
		units::second_t	dt )

Calculates the differential drive feedforward inputs given velocity setpoints.

Parameters

currentLeftVelocity	The current left velocity of the differential drive in meters/second.
nextLeftVelocity	The next left velocity of the differential drive in meters/second.
currentRightVelocity	The current right velocity of the differential drive in meters/second.
nextRightVelocity	The next right velocity of the differential drive in meters/second.
dt	Discretization timestep.

Member Data Documentation

m_kAAngular

decltype(1_V / 1_mps_sq) frc::DifferentialDriveFeedforward::m_kAAngular

m_kALinear

decltype(1_V / 1_mps_sq) frc::DifferentialDriveFeedforward::m_kALinear

m_kVAngular

decltype(1_V / 1_mps) frc::DifferentialDriveFeedforward::m_kVAngular

m_kVLinear

decltype(1_V / 1_mps) frc::DifferentialDriveFeedforward::m_kVLinear

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The documentation for this class was generated from the following file:

• frc/controller/DifferentialDriveFeedforward.h