Package frc.robot.shared.config

Class FeedforwardConfig

java.lang.Object

frc.robot.shared.config.AbstractConfig

frc.robot.shared.config.FeedforwardConfig

public class FeedforwardConfig
extends AbstractConfig

Configuration bundle for feedforward gains used by motor control subsystems.

Holds the gains that the subsystem consumes directly (kS, kV, kA, kG). Since SysIdHelper pre-multiplies position and velocity by 2pi before logging, the SysId analysis tool reports gains in per-radian units that can be entered here directly without correction.

Nested Class Summary

Nested classes/interfaces inherited from class frc.robot.shared.config.AbstractConfig

AbstractConfig.ComponentPoseConfig

Field Summary

Fields

Modifier and Type	Field	Description
double	kA	Acceleration feedforward gain in volts per radian per second squared.
double	kG	Gravity feedforward gain in volts.
double	kS	Static feedforward gain in volts.
double	kV	Velocity feedforward gain in volts per radian per second.

Constructor Summary

Constructors

Constructor	Description
FeedforwardConfig()

Method Summary

Modifier and Type	Method	Description
double	getkA()	Returns the acceleration feedforward gain, tuned via SmartDashboard.
double	getkG()	Returns the gravity feedforward gain, tuned via SmartDashboard.
double	getkS()	Returns the static feedforward gain, tuned via SmartDashboard.
double	getkV()	Returns the velocity feedforward gain, tuned via SmartDashboard.

Methods inherited from class frc.robot.shared.config.AbstractConfig

getDashboardPrefix, initializeNestedDashboardPrefixes, readTunableBoolean, readTunableDegrees, readTunableDegreesAsRadians, readTunableNumber, readTunableString, setDashboardPrefix

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

kS

public double kS

Static feedforward gain in volts.

kV

public double kV

Velocity feedforward gain in volts per radian per second.

kA

public double kA

Acceleration feedforward gain in volts per radian per second squared.

kG

public double kG

Gravity feedforward gain in volts.

This is the voltage needed to hold an arm-type mechanism stationary against gravity when horizontal. Set to 0 for non-arm mechanisms (flywheels, belts, turrets). WPILib's ArmFeedforward multiplies kG by the cosine of the angle from horizontal.

Constructor Details

FeedforwardConfig

public FeedforwardConfig()

Method Details

getkS

public double getkS()

Returns the static feedforward gain, tuned via SmartDashboard.

Returns:

kS in volts

getkV

public double getkV()

Returns the velocity feedforward gain, tuned via SmartDashboard.

Returns:

kV in volts per radian per second

getkA

public double getkA()

Returns the acceleration feedforward gain, tuned via SmartDashboard.

Returns:

kA in volts per radian per second squared

getkG

public double getkG()

Returns the gravity feedforward gain, tuned via SmartDashboard.

Returns:

kG in volts (voltage to hold the mechanism horizontal against gravity)