MotorPositionConstants
data class MotorPositionConstants(pidConstants: PIDCoefficients = PIDCoefficients(0.0), ffCoefficients: SimpleFFCoefficients = SimpleFFCoefficients(0.0, 0.0, 0.0), var kG: Double = 0.0, var kCos: Double = 0.0, var kCosRatio: Double = 0.0)
Tuning constants for position control.
Exposes PID gains (kP, kI, kD), feedforward gains (kS, kV, kA), and additional compensation terms (kG for gravity, kCos/kCosRatio for cosine compensation).
Parameters
pidConstants
The underlying PID coefficient holder.
ffCoefficients
The underlying feedforward coefficient holder.
kG
Gravity compensation constant. Defaults to 0.0.
kCos
Cosine amplitude compensation. Defaults to 0.0.
kCosRatio
Ratio for cosine compensation (e.g., linkage ratio). Defaults to 0.0.
Constructors
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constructor(pidConstants: PIDCoefficients = PIDCoefficients(0.0), ffCoefficients: SimpleFFCoefficients = SimpleFFCoefficients(0.0, 0.0, 0.0), kG: Double = 0.0, kCos: Double = 0.0, kCosRatio: Double = 0.0)