light::DriveFF Struct Reference

Per-wheel feedforward + simple velocity-loop gains. More...

#include <ramsete.hpp>

Public Attributes
float	kS = 0.0f
	Volts to break static friction.
float	kV = 0.0f
	Volts per (in/s) at steady state.
float	kA = 0.0f
	Volts per (in/s²).
float	kP = 0.0f
	Volts per (in/s) of velocity error.

Detailed Description

Per-wheel feedforward + simple velocity-loop gains.

Definition at line 63 of file ramsete.hpp.

Member Data Documentation

kA

float light::DriveFF::kA = 0.0f

Volts per (in/s²).

Definition at line 66 of file ramsete.hpp.

kP

float light::DriveFF::kP = 0.0f

Volts per (in/s) of velocity error.

Definition at line 67 of file ramsete.hpp.

kS

float light::DriveFF::kS = 0.0f

Volts to break static friction.

Definition at line 64 of file ramsete.hpp.

kV

float light::DriveFF::kV = 0.0f

Volts per (in/s) at steady state.

Definition at line 65 of file ramsete.hpp.

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The documentation for this struct was generated from the following file:

• include/LightLib/path/ramsete.hpp