A helper class that computes feedforward voltages for a simple permanent-magnet DC motor. More...

#include <frc/controller/SimpleMotorFeedforward.h>

Public Types
using	Velocity = units::compound_unit< Distance, units::inverse< units::seconds > >

using	Acceleration = units::compound_unit< Velocity, units::inverse< units::seconds > >

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

using	ka_unit = units::compound_unit< units::volts, units::inverse< Acceleration > >

Public Member Functions
constexpr	SimpleMotorFeedforward (units::volt_t kS, units::unit_t< kv_unit > kV, units::unit_t< ka_unit > kA=units::unit_t< ka_unit >(0))
	Creates a new SimpleMotorFeedforward with the specified gains. More...

constexpr units::volt_t	Calculate (units::unit_t< Velocity > velocity, units::unit_t< Acceleration > acceleration=units::unit_t< Acceleration >(0)) const
	Calculates the feedforward from the gains and setpoints. More...

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

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

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

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

Public Attributes
units::volt_t	kS {0}

units::unit_t< kv_unit >	kV {0}

units::unit_t< ka_unit >	kA {0}

Detailed Description

template<class Distance>
class frc::SimpleMotorFeedforward< Distance >

A helper class that computes feedforward voltages for a simple permanent-magnet DC motor.

Constructor & Destructor Documentation

◆ SimpleMotorFeedforward()

template<class Distance >

constexpr frc::SimpleMotorFeedforward< Distance >::SimpleMotorFeedforward	(	units::volt_t	kS,
		units::unit_t< kv_unit >	kV,
		units::unit_t< ka_unit >	kA = `units::unit_t<ka_unit>(0)`
	)

inlineconstexpr

Creates a new SimpleMotorFeedforward with the specified gains.

Parameters

kS	The static gain, in volts.
kV	The velocity gain, in volt seconds per distance.
kA	The acceleration gain, in volt seconds^2 per distance.

Member Function Documentation

◆ Calculate()

template<class Distance >

constexpr units::volt_t frc::SimpleMotorFeedforward< Distance >::Calculate	(	units::unit_t< Velocity >	velocity,
		units::unit_t< Acceleration >	acceleration = `units::unit_t<Acceleration>(0)`
	)		const

inlineconstexpr

Calculates the feedforward from the gains and setpoints.

Parameters

velocity	The velocity setpoint, in distance per second.
acceleration	The acceleration setpoint, in distance per second^2.

Returns: The computed feedforward, in volts.

◆ MaxAchievableAcceleration()

template<class Distance >

constexpr units::unit_t<Acceleration> frc::SimpleMotorFeedforward< Distance >::MaxAchievableAcceleration	(	units::volt_t	maxVoltage,
		units::unit_t< Velocity >	velocity
	)		const

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 motor.
velocity	The velocity of the motor.

Returns: The maximum possible acceleration at the given velocity.

◆ MaxAchievableVelocity()

template<class Distance >

constexpr units::unit_t<Velocity> frc::SimpleMotorFeedforward< Distance >::MaxAchievableVelocity	(	units::volt_t	maxVoltage,
		units::unit_t< Acceleration >	acceleration
	)		const

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 motor.
acceleration	The acceleration of the motor.

Returns: The maximum possible velocity at the given acceleration.

◆ MinAchievableAcceleration()

template<class Distance >

constexpr units::unit_t<Acceleration> frc::SimpleMotorFeedforward< Distance >::MinAchievableAcceleration	(	units::volt_t	maxVoltage,
		units::unit_t< Velocity >	velocity
	)		const

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 motor.
velocity	The velocity of the motor.

Returns: The minimum possible acceleration at the given velocity.

◆ MinAchievableVelocity()

template<class Distance >

constexpr units::unit_t<Velocity> frc::SimpleMotorFeedforward< Distance >::MinAchievableVelocity	(	units::volt_t	maxVoltage,
		units::unit_t< Acceleration >	acceleration
	)		const

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 motor.
acceleration	The acceleration of the motor.

Returns: The minimum possible velocity at the given acceleration.

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

frc/controller/SimpleMotorFeedforward.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<class Distance> class frc::SimpleMotorFeedforward< Distance >

Constructor & Destructor Documentation

◆ SimpleMotorFeedforward()

Member Function Documentation

◆ Calculate()

◆ MaxAchievableAcceleration()

◆ MaxAchievableVelocity()

◆ MinAchievableAcceleration()

◆ MinAchievableVelocity()

template<class Distance>
class frc::SimpleMotorFeedforward< Distance >