GravityFeedforwardParameters

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

gravity value, added to overcome gravity

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

velocity gain, multiplied by the target velocity

acceleration gain, multiplied by the target acceleration