ElevatorFeedforward

coefficients

the GravityFeedforwardParameters containing the feedforward gains

constructor(kG: Double, kS: Double = 0.0, kV: Double = 0.0, kA: Double = 0.0)(source)

Secondary constructor for initializing the ElevatorFeedforward with individual feedforward parameters.

gravity feedforward gain, used to compensate for constant gravitational forces

static friction feedforward gain, used to overcome static friction (multiplied by the sign of velocity)

velocity feedforward gain, multiplied by the desired velocity

acceleration feedforward gain, multiplied by the desired acceleration