Package org.team1540.rooster.drive.pipeline

Class FeedForwardProcessor

java.lang.Object

org.team1540.rooster.drive.pipeline.FeedForwardProcessor

All Implemented Interfaces:

Function<TankDriveData,TankDriveData>, Processor<TankDriveData,TankDriveData>

public class FeedForwardProcessor
extends Object
implements Processor<TankDriveData,TankDriveData>

Processor to apply an Oblarg-style feed-forward. This processor allows for velocity, acceleration, and static friction (vIntercept) feed-forwards. For further details, see apply(). The output will mirror the input with the exception of a change in the feed-forward value.

Constructor Summary

Constructors

Constructor	Description
FeedForwardProcessor(double velocityFeedFwd, double throtBump, double accelFeedFwd)	Creates a FeedForwardProcessor with the provided \(k_v\) and \(v_{Intercept}\)

Method Summary

Modifier and Type	Method	Description
@NotNull TankDriveData	apply(@NotNull TankDriveData command)	Applies feed-forwards to the provided TankDriveData.

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.util.function.Function

andThen, compose

Methods inherited from interface org.team1540.rooster.functional.Processor

followedBy, process

Constructor Detail

FeedForwardProcessor

public FeedForwardProcessor(double velocityFeedFwd,
                            double throtBump,
                            double accelFeedFwd)

Creates a FeedForwardProcessor with the provided \(k_v\) and \(v_{Intercept}\)

Parameters:

velocityFeedFwd - The velocity constant feed-forward \(k_v\), in output units per speed unit.

throtBump - The velocity intercept \(V_{intercept}\), in output units.

accelFeedFwd - The acceleration constant feed-forward \(k_a\), in output units per acceleration unit.

Method Detail

apply

@NotNull
public @NotNull TankDriveData apply(@NotNull
                                    @NotNull TankDriveData command)

Applies feed-forwards to the provided TankDriveData. The method for calculating the feed-forward is as follows:

1. The feed-forward starts at 0.
2. The product of the velocity (if present) and the velocity feed-forward is added.
3. The product of the acceleration (if present) and the acceleration feed-forward is added.
4. If the velocity is present and nonzero, the throttle bump (with the sign of the velocity) is added.

The calculated feed-forward is then added to any feed-forward already present in the DriveData.

Specified by:

apply in interface Function<TankDriveData,TankDriveData>

Parameters:

command - The data to use.

Returns:

A new TankDriveData as described above.