FeedForward

Constructors

FeedForward()

Create a FeedForward object for the fiven constants.

Prototype

FeedForward(const double _kv, const double _ks, const double _ka);

Example

lightning::FeedForward speed_controller (5,1000,350); 

Parameters
_kv	The velocity constant.
_ks	The Friction constant.
_ka	Acceleration control.

---

FeedForward() copy

Copy constructor.

Prototype

FeedForward(const FeedForward &other);

Example

lightning::FeedForward speed_controller (5,1000,350); 
lightning::FeedForward another_controller(speed_controller); 

Parameters
other	FeedForward object to copy.

---

Functions

update()

Updates the controller.

info

You should put this function inside of while loop to update the input to the current reading.

Prototype

  void update(const double input);

Example

//Controlling a Flywheel 
void move_flywheel(lightning::FeedForward controller,const int target_rpm){
  float velocity = get_flywheel_velocity(); 
  while(1){
    float velocity = get_flywheel_velocity(); 

    controller.update(velocity);

    flywheel.move_voltage(controller.get_output()); 
  }
}

Parameters
input	The actual input of the controller. "The current reading"

---

Setters

set_kv()

Sets the kv constant.

Prototype

void set_kv(const double kv); 

Example

void autonomous(){
velocity_control.set_kv(2.12); 
}

Parameters
kv	The kv constant.

---

set_ks()

Sets the ks constant.

Prototype

void set_ks(const double ks); 

Example

void autonomous(){
velocity_control.set_ks(1500); 
}

Parameters
ks	The friction constant.

---

set_ka()

Sets the ka constant.

Prototype

void set_ka(const double ka); 

Example

void autonomous(){
velocity_control.set_ka(2.25); 
}

Parameters
ka	The acceleration constant.

---

Getters

get_kv()

Get the kv constant.

Prototype

  double get_kv(void) const;

Example

   null

Returns: The kv constant.

get_ks()

Get the friction constant

Prototype

  double get_ks(void) const;

Example

   double ks_constant = controller.get_ks(); 

Returns: The ks constant.

get_ka()

Gets the acceleration constant.

Prototype

  double get_ka(void) const;

Example

   double ka_constant = controller.get_ka();

Returns: The Ka constant.

get_output

Gets the current output of the controller.

note

You should put this output to your motors. Sending as voltage.

Prototype

  double get_output(void) const;

Example

//Controlling a Flywheel 
void move_flywheel(lightning::FeedForward controller,const int target_rpm){
  float velocity = get_flywheel_velocity(); 
  while(1){
    float velocity = get_flywheel_velocity(); 

    controller.update(velocity);

    flywheel.move_voltage(controller.get_output()); 
  }
}

Returns: The current output.