#include <rmb/motorcontrol/feedforward/SimpleFeedforward.h>

Inheritance diagram for rmb::SimpleFeedforward< DistanceUnit >:

Public Types
using	Distance_t

using	VelocityUnit

using	Velocity_t

using	AccelerationUnit

using	Acceleration_t

using	KsUnit

using	Ks_t

using	KvUnit

using	Kv_t

using	KaUnit

using	Ka_t

Public Types inherited from rmb::Feedforward< DistanceUnit >
using	Distance_t

using	VelocityUnit

using	Velocity_t

using	AccelerationUnit

using	Acceleration_t

using	KsUnit = units::volts

using	Ks_t = units::unit_t<KsUnit>

using	KvUnit

using	Kv_t = units::unit_t<KvUnit>

using	KaUnit

using	Ka_t = units::unit_t<KaUnit>

Public Member Functions
	SimpleFeedforward (Ks_t kS, Kv_t kV, Ka_t kA)

units::volt_t	calculate (Velocity_t velocity, Distance_t distance=Distance_t(0.0), Acceleration_t acceleration=Acceleration_t(0.0)) const override

Velocity_t	maxAchievableVelocity (units::volt_t maxVoltage, Acceleration_t acceleration, Distance_t position=Distance_t(0.0)) const override

Velocity_t	minAchievableVelocity (units::volt_t maxVoltage, Acceleration_t acceleration, Distance_t position=Distance_t(0.0)) const override

Acceleration_t	maxAchievableAcceleration (units::volt_t maxVoltage, Velocity_t velocity, Distance_t position=Distance_t(0.0)) const override

Acceleration_t	minAchievableAcceleration (units::volt_t maxVoltage, Velocity_t velocity, Distance_t position=Distance_t(0.0)) const override

Kv_t	getVelocityGain () const override

Ka_t	getAcclerationGain () const override

units::volt_t	calculateStatic (Velocity_t velocity, Distance_t position=Distance_t(0)) const override

Public Member Functions inherited from rmb::Feedforward< DistanceUnit >
virtual units::volt_t	calculate (Velocity_t velocity, Distance_t distance=Distance_t(0.0), Acceleration_t acceleration=Acceleration_t(0.0)) const =0

virtual Velocity_t	maxAchievableVelocity (units::volt_t maxVoltage, Acceleration_t acceleration, Distance_t position) const =0

virtual Velocity_t	minAchievableVelocity (units::volt_t maxVoltage, Acceleration_t acceleration, Distance_t position) const =0

virtual Acceleration_t	maxAchievableAcceleration (units::volt_t maxVoltage, Velocity_t velocity, Distance_t position) const =0

virtual Acceleration_t	minAchievableAcceleration (units::volt_t maxVoltage, Velocity_t velocity, Distance_t position) const =0

virtual units::volt_t	calculateStatic (Velocity_t velocity, Distance_t position=Distance_t(0)) const =0

Detailed Description

template<typename DistanceUnit>
class rmb::SimpleFeedforward< DistanceUnit >

Voltage feedforward for an simple motor.

Template Parameters

DistanceUnit Base unit of distance for feedforward inputs.

Member Typedef Documentation

◆ Acceleration_t

template<typename DistanceUnit >

using rmb::SimpleFeedforward< DistanceUnit >::Acceleration_t

Initial value:

typename Feedforward<DistanceUnit>::

Acceleration_t

See also: Feedforward<DistanceUnit>::Acceleration_t

◆ AccelerationUnit

template<typename DistanceUnit >

using rmb::SimpleFeedforward< DistanceUnit >::AccelerationUnit

Initial value:

typename Feedforward<DistanceUnit>::

AccelerationUnit

See also: Feedforward<DistanceUnit>::AccelerationUnit

◆ Distance_t

template<typename DistanceUnit >

using rmb::SimpleFeedforward< DistanceUnit >::Distance_t

Initial value:

typename Feedforward<DistanceUnit>::

Distance_t

See also: Feedforward<DistanceUnit>::Distance_t

◆ Ka_t

template<typename DistanceUnit >

using rmb::SimpleFeedforward< DistanceUnit >::Ka_t

Initial value:

typename Feedforward<

DistanceUnit>::Ka_t

rmb::SimpleFeedforward::Ka_t

typename Feedforward< DistanceUnit >::Ka_t Ka_t

Definition SimpleFeedforward.h:43

See also: Feedforward<DistanceUnit>::Ka_t

◆ KaUnit

template<typename DistanceUnit >

using rmb::SimpleFeedforward< DistanceUnit >::KaUnit

Initial value:

typename Feedforward<

DistanceUnit>::KaUnit

rmb::SimpleFeedforward::KaUnit

typename Feedforward< DistanceUnit >::KaUnit KaUnit

Definition SimpleFeedforward.h:41

See also: Feedforward<DistanceUnit>::KaUnit

◆ Ks_t

template<typename DistanceUnit >

using rmb::SimpleFeedforward< DistanceUnit >::Ks_t

Initial value:

typename Feedforward<

DistanceUnit>::Ks_t

rmb::SimpleFeedforward::Ks_t

typename Feedforward< DistanceUnit >::Ks_t Ks_t

Definition SimpleFeedforward.h:35

See also: Feedforward<DistanceUnit>::Ks_t

◆ KsUnit

template<typename DistanceUnit >

using rmb::SimpleFeedforward< DistanceUnit >::KsUnit

Initial value:

typename Feedforward<

DistanceUnit>::KsUnit

rmb::SimpleFeedforward::KsUnit

typename Feedforward< DistanceUnit >::KsUnit KsUnit

Definition SimpleFeedforward.h:33

See also: Feedforward<DistanceUnit>::KsUnit

◆ Kv_t

template<typename DistanceUnit >

using rmb::SimpleFeedforward< DistanceUnit >::Kv_t

Initial value:

typename Feedforward<

DistanceUnit>::Kv_t

rmb::SimpleFeedforward::Kv_t

typename Feedforward< DistanceUnit >::Kv_t Kv_t

Definition SimpleFeedforward.h:39

See also: Feedforward<DistanceUnit>::Kv_t

◆ KvUnit

template<typename DistanceUnit >

using rmb::SimpleFeedforward< DistanceUnit >::KvUnit

Initial value:

typename Feedforward<

DistanceUnit>::KvUnit

rmb::SimpleFeedforward::KvUnit

typename Feedforward< DistanceUnit >::KvUnit KvUnit

Definition SimpleFeedforward.h:37

See also: Feedforward<DistanceUnit>::KvUnit

◆ Velocity_t

template<typename DistanceUnit >

using rmb::SimpleFeedforward< DistanceUnit >::Velocity_t

Initial value:

typename Feedforward<DistanceUnit>::

Velocity_t

See also: Feedforward<DistanceUnit>::Velocity_t

◆ VelocityUnit

template<typename DistanceUnit >

using rmb::SimpleFeedforward< DistanceUnit >::VelocityUnit

Initial value:

typename Feedforward<DistanceUnit>::

VelocityUnit

See also: Feedforward<DistanceUnit>::VelocityUnit

Constructor & Destructor Documentation

◆ SimpleFeedforward()

template<typename DistanceUnit >

rmb::SimpleFeedforward< DistanceUnit >::SimpleFeedforward	(	Ks_t	kS,
		Kv_t	kV,
		Ka_t	kA )

inline

Create a simple motor feedforward

Parameters

kS	Static gain
kV	Velocity gain
kA	Acceleration gain

Member Function Documentation

◆ calculate()

template<typename DistanceUnit >

units::volt_t rmb::SimpleFeedforward< DistanceUnit >::calculate	(	Velocity_t	velocity,
		Distance_t	distance = Distance_t(0.0),
		Acceleration_t	acceleration = Acceleration_t(0.0) ) const

inlineoverride

Calculates a feedforward voltage at a desired velocity, acceleration, and distance.

Parameters

velocity	Desired Velocity
distance	Position of Motor (Not always useful).
acceleration	Desired Acceleration

◆ calculateStatic()

template<typename DistanceUnit >

units::volt_t rmb::SimpleFeedforward< DistanceUnit >::calculateStatic	(	Velocity_t	velocity,
		Distance_t	position = Distance_t(0) ) const

inlineoverride

Calculates the static gain of the feedforward at a given position. This is the value added on tot he end of the feedforward calculation. A velocity term is included only to determine the direction of movment. This is useful when adding feedforwads to the PID loops of motor controllers.

Parameters

velocity	term only to determine the direction of movment (positive or negetive).
position	positon at which the static gain is calculated.

Returns: Static gain.

◆ getAcclerationGain()

template<typename DistanceUnit >

Ka_t rmb::SimpleFeedforward< DistanceUnit >::getAcclerationGain ( ) const

inlineoverridevirtual

Return the acceleration gain of feed forward. This is the value that acceleration is multiplied by when calculating voltage. This is useful when adding feedforwads to the PID loops of motor controllers.

Returns: Acceleration gain.

Implements rmb::Feedforward< DistanceUnit >.

◆ getVelocityGain()

template<typename DistanceUnit >

Kv_t rmb::SimpleFeedforward< DistanceUnit >::getVelocityGain ( ) const

inlineoverridevirtual

Return the velocity gain of feed forward. This is the value that velocity is multiplied by when calculating voltage. This is useful when adding feedforwads to the PID loops of motor controllers.

Returns: Velocity gain.

Implements rmb::Feedforward< DistanceUnit >.

◆ maxAchievableAcceleration()

template<typename DistanceUnit >

Acceleration_t rmb::SimpleFeedforward< DistanceUnit >::maxAchievableAcceleration	(	units::volt_t	maxVoltage,
		Velocity_t	velocity,
		Distance_t	position = Distance_t(0.0) ) const

inlineoverride

Calculates the maximum achievable accceleration of a component.

Parameters

maxVoltage	max voltage that can be applied
velocity	velocity that this acceleration is achived at
position	position that this acceleration is achived at

Returns: Maximum achivable acceleration.

◆ maxAchievableVelocity()

template<typename DistanceUnit >

Velocity_t rmb::SimpleFeedforward< DistanceUnit >::maxAchievableVelocity	(	units::volt_t	maxVoltage,
		Acceleration_t	acceleration,
		Distance_t	position = Distance_t(0.0) ) const

inlineoverride

Calculates the minimum achievable velocity of a component.

Parameters

maxVoltage	max voltage that can be applied
acceleration	acceleration that this velocity is achived at
position	position that this veloocity is achived at

Returns: Maximum achivable velocity.

◆ minAchievableAcceleration()

template<typename DistanceUnit >

Acceleration_t rmb::SimpleFeedforward< DistanceUnit >::minAchievableAcceleration	(	units::volt_t	maxVoltage,
		Velocity_t	velocity,
		Distance_t	position = Distance_t(0.0) ) const

inlineoverride

Calculates the minimum achievable accceleration of a component.

Parameters

maxVoltage	max voltage that can be applied
velocity	velocity that this acceleration is achived at
position	position that this acceleration is achived at

Returns: Minimum achivable acceleration.

◆ minAchievableVelocity()

template<typename DistanceUnit >

Velocity_t rmb::SimpleFeedforward< DistanceUnit >::minAchievableVelocity	(	units::volt_t	maxVoltage,
		Acceleration_t	acceleration,
		Distance_t	position = Distance_t(0.0) ) const

inlineoverride

Calculates the minimum achievable velocity of a component.

Parameters

maxVoltage	max voltage that can be applied
acceleration	acceleration that this velocity is achived at
position	position that this veloocity is achived at

Returns: Minimum achivable velocity.

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

src/rmb/motorcontrol/feedforward/SimpleFeedforward.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ Acceleration_t

◆ AccelerationUnit

◆ Distance_t

◆ Ka_t

◆ KaUnit

◆ Ks_t

◆ KsUnit

◆ Kv_t

◆ KvUnit

◆ Velocity_t

◆ VelocityUnit

Constructor & Destructor Documentation

◆ SimpleFeedforward()

Member Function Documentation

◆ calculate()

◆ calculateStatic()

◆ getAcclerationGain()

◆ getVelocityGain()

◆ maxAchievableAcceleration()

◆ maxAchievableVelocity()

◆ minAchievableAcceleration()

◆ minAchievableVelocity()