Pioneer Robotics Documentation/pioneer.pathing.follower/RobotFeedforward

RobotFeedforward

class RobotFeedforward(val kVX: Double, val kAX: Double, val kVY: Double, val kAY: Double, val kVTheta: Double, val kATheta: Double, val kStaticX: Double = 0.0, val kStaticY: Double = 0.0, val kStaticTheta: Double = 0.0)

Feedforward for X (forward), Y (strafe), and Theta (rotation). All units:

linear: cm/s, cm/s^2
angular: rad/s, rad/s^2

Constructors

RobotFeedforward

constructor(kVX: Double, kAX: Double, kVY: Double, kAY: Double, kVTheta: Double, kATheta: Double, kStaticX: Double = 0.0, kStaticY: Double = 0.0, kStaticTheta: Double = 0.0)

Properties

val kATheta: Double

val kAX: Double

val kAY: Double

val kStaticTheta: Double

val kStaticX: Double

val kStaticY: Double

val kVTheta: Double

val kVX: Double

val kVY: Double

Functions

fun calculateTheta(v: Double, a: Double): Double

fun calculateX(v: Double, a: Double): Double

fun calculateY(v: Double, a: Double): Double