| ArmFeedforward |
A 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).
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| BangBangController |
Implements a bang-bang controller, which outputs either 0 or 1 depending on whether the
measurement is less than the setpoint.
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| ControlAffinePlantInversionFeedforward<States extends Num,Inputs extends Num> |
Constructs a control-affine plant inversion model-based feedforward from given model dynamics.
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| DifferentialDriveAccelerationLimiter |
Filters the provided voltages to limit a differential drive's linear and angular acceleration.
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| DifferentialDriveFeedforward |
A helper class which computes the feedforward outputs for a differential drive drivetrain.
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| DifferentialDriveWheelVoltages |
Motor voltages for a differential drive.
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| ElevatorFeedforward |
A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting
against the force of gravity).
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| HolonomicDriveController |
This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain
(i.e.
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| ImplicitModelFollower<States extends Num,Inputs extends Num,Outputs extends Num> |
Contains the controller coefficients and logic for an implicit model follower.
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| LinearPlantInversionFeedforward<States extends Num,Inputs extends Num,Outputs extends Num> |
Constructs a plant inversion model-based feedforward from a LinearSystem. |
| LinearQuadraticRegulator<States extends Num,Inputs extends Num,Outputs extends Num> |
Contains the controller coefficients and logic for a linear-quadratic regulator (LQR).
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| LTVDifferentialDriveController |
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.
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| LTVUnicycleController |
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.
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| PIDController |
Implements a PID control loop.
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| ProfiledPIDController |
Implements a PID control loop whose setpoint is constrained by a trapezoid profile.
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| RamseteController |
Ramsete is a nonlinear time-varying feedback controller for unicycle models that drives the model
to a desired pose along a two-dimensional trajectory.
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| SimpleMotorFeedforward |
A helper class that computes feedforward outputs for a simple permanent-magnet DC motor.
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