Package edu.wpi.first.wpilibj.controller

  • Class Summary 
    Class Description
    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).
    ControlAffinePlantInversionFeedforward<States extends Num,​Inputs extends Num>
    Constructs a control-affine plant inversion model-based feedforward from given model dynamics.
    ElevatorFeedforward
    A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting against the force of gravity).
    HolonomicDriveController
    This holonomic drive controller can be used to follow trajectories using a holonomic drive train (i.e.
    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).
    PIDController
    Implements a PID control loop.
    ProfiledPIDController
    Implements a PID control loop whose setpoint is constrained by a trapezoid profile.
    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.
    SimpleMotorFeedforward
    A helper class that computes feedforward outputs for a simple permanent-magnet DC motor.