Package edu.wpi.first.math.jni

Class ArmFeedforwardJNI

java.lang.Object

edu.wpi.first.math.jni.WPIMathJNI

edu.wpi.first.math.jni.ArmFeedforwardJNI

public final class ArmFeedforwardJNI
extends WPIMathJNI

ArmFeedforward JNI.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.math.jni.WPIMathJNI

WPIMathJNI.Helper

Method Summary

Modifier and Type	Method	Description
static double	calculate(double ks, double kv, double ka, double kg, double currentAngle, double currentVelocity, double nextVelocity, double dt)	Obtain a feedforward voltage from a single jointed arm feedforward object.

Methods inherited from class edu.wpi.first.math.jni.WPIMathJNI

forceLoad

Methods inherited from class java.lang.Object

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

Method Details

calculate

public static double calculate(double ks,
 double kv,
 double ka,
 double kg,
 double currentAngle,
 double currentVelocity,
 double nextVelocity,
 double dt)

Obtain a feedforward voltage from a single jointed arm feedforward object.

Constructs an ArmFeedforward object and runs its currentVelocity and nextVelocity overload

Parameters:

ks - The ArmFeedforward's static gain in volts.

kv - The ArmFeedforward's velocity gain in volt seconds per radian.

ka - The ArmFeedforward's acceleration gain in volt seconds² per radian.

kg - The ArmFeedforward's gravity gain in volts.

currentAngle - The current angle in the calculation in radians.

currentVelocity - The current velocity in the calculation in radians per second.

nextVelocity - The next velocity in the calculation in radians per second.

dt - The time between velocity setpoints in seconds.

Returns:

The calculated feedforward in volts.