Package edu.wpi.first.math.controller

Class DifferentialDriveFeedforward

java.lang.Object
edu.wpi.first.math.controller.DifferentialDriveFeedforward
All Implemented Interfaces:
ProtobufSerializable, StructSerializable, WPISerializable
public class DifferentialDriveFeedforward extends Object implements ProtobufSerializable, StructSerializable
A helper class which computes the feedforward outputs for a differential drive drivetrain.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final double
    m_kAAngular
    The angular acceleration gain in volts per (radians per second squared).
    final double
    m_kALinear
    The linear acceleration gain in volts per (meters per second squared).
    final double
    m_kVAngular
    The angular velocity gain in volts per (radians per second).
    final double
    m_kVLinear
    The linear velocity gain in volts per (meters per second).
    static final DifferentialDriveFeedforwardProto
    proto
    DifferentialDriveFeedforward protobuf for serialization.
    static final DifferentialDriveFeedforwardStruct
    struct
    DifferentialDriveFeedforward struct for serialization.

  • Constructor Summary

    Constructors
    Constructor
    Description
    DifferentialDriveFeedforward(double kVLinear, double kALinear, double kVAngular, double kAAngular)
    Creates a new DifferentialDriveFeedforward with the specified parameters.
    DifferentialDriveFeedforward(double kVLinear, double kALinear, double kVAngular, double kAAngular, double trackwidth)
    Creates a new DifferentialDriveFeedforward with the specified parameters.

  • Method Summary

    Modifier and Type
    Method
    Description
    DifferentialDriveWheelVoltages
    calculate(double currentLeftVelocity, double nextLeftVelocity, double currentRightVelocity, double nextRightVelocity, double dtSeconds)
    Calculates the differential drive feedforward inputs given velocity setpoints.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • m_kVLinear

      public final double m_kVLinear
      The linear velocity gain in volts per (meters per second).

    • m_kALinear

      public final double m_kALinear
      The linear acceleration gain in volts per (meters per second squared).

    • m_kVAngular

      public final double m_kVAngular
      The angular velocity gain in volts per (radians per second).

    • m_kAAngular

      public final double m_kAAngular
      The angular acceleration gain in volts per (radians per second squared).

    • struct

      public static final DifferentialDriveFeedforwardStruct struct
      DifferentialDriveFeedforward struct for serialization.

    • proto

      public static final DifferentialDriveFeedforwardProto proto
      DifferentialDriveFeedforward protobuf for serialization.

  • Constructor Details

    • DifferentialDriveFeedforward

      public DifferentialDriveFeedforward(double kVLinear, double kALinear, double kVAngular, double kAAngular, double trackwidth)
      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

      public DifferentialDriveFeedforward(double kVLinear, double kALinear, double kVAngular, double kAAngular)
      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).

  • Method Details

    • calculate

      public DifferentialDriveWheelVoltages calculate(double currentLeftVelocity, double nextLeftVelocity, double currentRightVelocity, double nextRightVelocity, double dtSeconds)
      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.
      dtSeconds - Discretization timestep.
      Returns:
      A DifferentialDriveWheelVoltages object containing the computed feedforward voltages.