A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting against the force of gravity). More...

#include <frc/controller/ElevatorFeedforward.h>

Public Types
using	Distance = units::meters

using	Velocity

using	Acceleration

using	kv_unit = units::compound_unit<units::volts, units::inverse<Velocity>>

using	ka_unit

Public Member Functions
constexpr	ElevatorFeedforward (units::volt_t kS, units::volt_t kG, units::unit_t< kv_unit > kV, units::unit_t< ka_unit > kA=units::unit_t< ka_unit >(0), units::second_t dt=20_ms)
	Creates a new ElevatorFeedforward with the specified gains.

constexpr units::volt_t	Calculate (units::unit_t< Velocity > velocity, units::unit_t< Acceleration > acceleration) const
	Calculates the feedforward from the gains and setpoints assuming continuous control.

units::volt_t	Calculate (units::unit_t< Velocity > currentVelocity, units::unit_t< Velocity > nextVelocity, units::second_t dt) const
	Calculates the feedforward from the gains and setpoints assuming continuous control.

constexpr units::volt_t	Calculate (units::unit_t< Velocity > currentVelocity) const
	Calculates the feedforward from the gains and setpoint assuming discrete control.

constexpr units::volt_t	Calculate (units::unit_t< Velocity > currentVelocity, units::unit_t< Velocity > nextVelocity) const
	Calculates the feedforward from the gains and setpoints assuming discrete control.

constexpr units::unit_t< Velocity >	MaxAchievableVelocity (units::volt_t maxVoltage, units::unit_t< Acceleration > acceleration)
	Calculates the maximum achievable velocity given a maximum voltage supply and an acceleration.

constexpr units::unit_t< Velocity >	MinAchievableVelocity (units::volt_t maxVoltage, units::unit_t< Acceleration > acceleration)
	Calculates the minimum achievable velocity given a maximum voltage supply and an acceleration.

constexpr units::unit_t< Acceleration >	MaxAchievableAcceleration (units::volt_t maxVoltage, units::unit_t< Velocity > velocity)
	Calculates the maximum achievable acceleration given a maximum voltage supply and a velocity.

constexpr units::unit_t< Acceleration >	MinAchievableAcceleration (units::volt_t maxVoltage, units::unit_t< Velocity > velocity)
	Calculates the minimum achievable acceleration given a maximum voltage supply and a velocity.

constexpr void	SetKs (units::volt_t kS)
	Sets the static gain.

constexpr void	SetKg (units::volt_t kG)
	Sets the gravity gain.

constexpr void	SetKv (units::unit_t< kv_unit > kV)
	Sets the velocity gain.

constexpr void	SetKa (units::unit_t< ka_unit > kA)
	Sets the acceleration gain.

constexpr units::volt_t	GetKs () const
	Returns the static gain.

constexpr units::volt_t	GetKg () const
	Returns the gravity gain.

constexpr units::unit_t< kv_unit >	GetKv () const
	Returns the velocity gain.

constexpr units::unit_t< ka_unit >	GetKa () const
	Returns the acceleration gain.

Detailed Description

A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting against the force of gravity).

Member Typedef Documentation

◆ Acceleration

using frc::ElevatorFeedforward::Acceleration

Initial value:

units::compound_unit<Velocity, units::inverse<units::seconds>>

units::compound_unit

typename units::detail::compound_impl< U, Us... >::type compound_unit

Represents a unit type made up from other units.

Definition base.h:1438

◆ Distance

using frc::ElevatorFeedforward::Distance = units::meters

◆ ka_unit

using frc::ElevatorFeedforward::ka_unit

Initial value:

units::compound_unit<units::volts, units::inverse<Acceleration>>

◆ kv_unit

using frc::ElevatorFeedforward::kv_unit = units::compound_unit<units::volts, units::inverse<Velocity>>

◆ Velocity

using frc::ElevatorFeedforward::Velocity

Initial value:

units::compound_unit<Distance, units::inverse<units::seconds>>

Constructor & Destructor Documentation

◆ ElevatorFeedforward()

frc::ElevatorFeedforward::ElevatorFeedforward	(	units::volt_t	kS,
		units::volt_t	kG,
		units::unit_t< kv_unit >	kV,
		units::unit_t< ka_unit >	kA = units::unit_t<ka_unit>(0),
		units::second_t	dt = 20_ms )

inlineconstexpr

Creates a new ElevatorFeedforward with the specified gains.

Parameters

kS	The static gain, in volts.
kG	The gravity gain, in volts.
kV	The velocity gain, in volt seconds per distance.
kA	The acceleration gain, in volt seconds² per distance.
dt	The period in seconds.

Throws:: IllegalArgumentException for kv < zero.

Throws:: IllegalArgumentException for ka < zero.

Throws:: IllegalArgumentException for period ≤ zero.

Member Function Documentation

◆ Calculate() [1/4]

units::volt_t frc::ElevatorFeedforward::Calculate ( units::unit_t< Velocity > currentVelocity ) const

inlineconstexpr

Calculates the feedforward from the gains and setpoint assuming discrete control.

Use this method when the setpoint does not change.

Parameters

currentVelocity The velocity setpoint.

Returns: The computed feedforward, in volts.

◆ Calculate() [2/4]

units::volt_t frc::ElevatorFeedforward::Calculate	(	units::unit_t< Velocity >	currentVelocity,
		units::unit_t< Velocity >	nextVelocity ) const

inlineconstexpr

Calculates the feedforward from the gains and setpoints assuming discrete control.

Note this method is inaccurate when the velocity crosses 0.

Parameters

currentVelocity	The current velocity setpoint.
nextVelocity	The next velocity setpoint.

Returns: The computed feedforward, in volts.

◆ Calculate() [3/4]

units::volt_t frc::ElevatorFeedforward::Calculate	(	units::unit_t< Velocity >	currentVelocity,
		units::unit_t< Velocity >	nextVelocity,
		units::second_t	dt ) const

inline

Calculates the feedforward from the gains and setpoints assuming continuous control.

Parameters

currentVelocity	The current velocity setpoint.
nextVelocity	The next velocity setpoint.
dt	Time between velocity setpoints in seconds.

Returns: The computed feedforward, in volts.

◆ Calculate() [4/4]

units::volt_t frc::ElevatorFeedforward::Calculate	(	units::unit_t< Velocity >	velocity,
		units::unit_t< Acceleration >	acceleration ) const

inlineconstexpr

Calculates the feedforward from the gains and setpoints assuming continuous control.

Parameters

velocity	The velocity setpoint.
acceleration	The acceleration setpoint.

Returns: The computed feedforward, in volts.

Deprecated: Use the current/next velocity overload instead.

◆ GetKa()

units::unit_t< ka_unit > frc::ElevatorFeedforward::GetKa ( ) const

inlineconstexpr

Returns the acceleration gain.

Returns: The acceleration gain.

◆ GetKg()

units::volt_t frc::ElevatorFeedforward::GetKg ( ) const

inlineconstexpr

Returns the gravity gain.

Returns: The gravity gain.

◆ GetKs()

units::volt_t frc::ElevatorFeedforward::GetKs ( ) const

inlineconstexpr

Returns the static gain.

Returns: The static gain.

◆ GetKv()

units::unit_t< kv_unit > frc::ElevatorFeedforward::GetKv ( ) const

inlineconstexpr

Returns the velocity gain.

Returns: The velocity gain.

◆ MaxAchievableAcceleration()

units::unit_t< Acceleration > frc::ElevatorFeedforward::MaxAchievableAcceleration	(	units::volt_t	maxVoltage,
		units::unit_t< Velocity >	velocity )

inlineconstexpr

Calculates the maximum achievable acceleration given a maximum voltage supply and a velocity.

Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are simultaneously achievable - enter the velocity constraint, and this will give you a simultaneously-achievable acceleration constraint.

Parameters

maxVoltage	The maximum voltage that can be supplied to the elevator.
velocity	The velocity of the elevator.

Returns: The maximum possible acceleration at the given velocity.

◆ MaxAchievableVelocity()

units::unit_t< Velocity > frc::ElevatorFeedforward::MaxAchievableVelocity	(	units::volt_t	maxVoltage,
		units::unit_t< Acceleration >	acceleration )

inlineconstexpr

Calculates the maximum achievable velocity given a maximum voltage supply and an acceleration.

Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are simultaneously achievable - enter the acceleration constraint, and this will give you a simultaneously-achievable velocity constraint.

Parameters

maxVoltage	The maximum voltage that can be supplied to the elevator.
acceleration	The acceleration of the elevator.

Returns: The maximum possible velocity at the given acceleration.

◆ MinAchievableAcceleration()

units::unit_t< Acceleration > frc::ElevatorFeedforward::MinAchievableAcceleration	(	units::volt_t	maxVoltage,
		units::unit_t< Velocity >	velocity )

inlineconstexpr

Calculates the minimum achievable acceleration given a maximum voltage supply and a velocity.

Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are simultaneously achievable - enter the velocity constraint, and this will give you a simultaneously-achievable acceleration constraint.

Parameters

maxVoltage	The maximum voltage that can be supplied to the elevator.
velocity	The velocity of the elevator.

Returns: The minimum possible acceleration at the given velocity.

◆ MinAchievableVelocity()

units::unit_t< Velocity > frc::ElevatorFeedforward::MinAchievableVelocity	(	units::volt_t	maxVoltage,
		units::unit_t< Acceleration >	acceleration )

inlineconstexpr

Calculates the minimum achievable velocity given a maximum voltage supply and an acceleration.

Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are simultaneously achievable - enter the acceleration constraint, and this will give you a simultaneously-achievable velocity constraint.

Parameters

maxVoltage	The maximum voltage that can be supplied to the elevator.
acceleration	The acceleration of the elevator.

Returns: The minimum possible velocity at the given acceleration.

◆ SetKa()

void frc::ElevatorFeedforward::SetKa ( units::unit_t< ka_unit > kA )

inlineconstexpr

Sets the acceleration gain.

Parameters

kA	The acceleration gain.

◆ SetKg()

void frc::ElevatorFeedforward::SetKg ( units::volt_t kG )

inlineconstexpr

Sets the gravity gain.

Parameters

kG	The gravity gain.

◆ SetKs()

void frc::ElevatorFeedforward::SetKs ( units::volt_t kS )

inlineconstexpr

Sets the static gain.

Parameters

kS	The static gain.

◆ SetKv()

void frc::ElevatorFeedforward::SetKv ( units::unit_t< kv_unit > kV )

inlineconstexpr

Sets the velocity gain.

Parameters

kV	The velocity gain.

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

frc/controller/ElevatorFeedforward.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ Acceleration

◆ Distance

◆ ka_unit

◆ kv_unit

◆ Velocity

Constructor & Destructor Documentation

◆ ElevatorFeedforward()

Member Function Documentation

◆ Calculate() [1/4]

◆ Calculate() [2/4]

◆ Calculate() [3/4]

◆ Calculate() [4/4]

◆ GetKa()

◆ GetKg()

◆ GetKs()

◆ GetKv()

◆ MaxAchievableAcceleration()

◆ MaxAchievableVelocity()

◆ MinAchievableAcceleration()

◆ MinAchievableVelocity()

◆ SetKa()

◆ SetKg()

◆ SetKs()

◆ SetKv()