ArmFeedforward
Parameters
coefficients
the GravityFeedforwardParameters containing the feedforward gains
Secondary constructor for initializing the feedforward gains using individual parameters.
This constructor creates an instance of GravityFeedforwardParameters internally using the provided gain values for gravity, static friction, velocity, and acceleration.
Parameters
kG
gravity gain, used to compensate for the constant force due to gravity
kS
static gain, used to overcome static friction (multiplied by the sign of velocity)
kV
velocity gain, multiplied by the target velocity
kA
acceleration gain, multiplied by the target acceleration