DifferentialDriveFeedforward

class wpimath.DifferentialDriveFeedforward(*args, **kwargs)

Bases: pybind11_object

A helper class which computes the feedforward outputs for a differential drive drivetrain.

Overloaded function.

  1. __init__(self: wpimath._wpimath.DifferentialDriveFeedforward, kVLinear: wpimath.units.volt_seconds_per_meter, kALinear: wpimath.units.volt_seconds_squared_per_meter, kVAngular: wpimath.units.volt_seconds_per_radian, kAAngular: wpimath.units.volt_seconds_squared_per_radian, trackwidth: wpimath.units.meters) -> None

Creates a new DifferentialDriveFeedforward with the specified parameters.

Parameters:

  • kVLinear – The linear velocity gain in volts per (meters per second).

  • kALinear – The linear acceleration gain in volts per (meters per second squared).

  • kVAngular – The angular velocity gain in volts per (radians per second).

  • kAAngular – The angular acceleration gain in volts per (radians per second squared).

  • trackwidth – The distance between the differential drive’s left and right wheels, in meters.

  1. __init__(self: wpimath._wpimath.DifferentialDriveFeedforward, kVLinear: wpimath.units.volt_seconds_per_meter, kALinear: wpimath.units.volt_seconds_squared_per_meter, kVAngular: wpimath.units.volt_seconds_per_meter, kAAngular: wpimath.units.volt_seconds_squared_per_meter) -> None

Creates a new DifferentialDriveFeedforward with the specified parameters.

Parameters:

  • kVLinear – The linear velocity gain in volts per (meters per second).

  • kALinear – The linear acceleration gain in volts per (meters per second squared).

  • kVAngular – The angular velocity gain in volts per (meters per second).

  • kAAngular – The angular acceleration gain in volts per (meters per second squared).

calculate(currentLeftVelocity: wpimath.units.meters_per_second, nextLeftVelocity: wpimath.units.meters_per_second, currentRightVelocity: wpimath.units.meters_per_second, nextRightVelocity: wpimath.units.meters_per_second, dt: wpimath.units.seconds) → wpimath._wpimath.DifferentialDriveWheelVoltages

Calculates the differential drive feedforward inputs given velocity setpoints.

Parameters:

  • currentLeftVelocity – The current left velocity of the differential drive in meters/second.

  • nextLeftVelocity – The next left velocity of the differential drive in meters/second.

  • currentRightVelocity – The current right velocity of the differential drive in meters/second.

  • nextRightVelocity – The next right velocity of the differential drive in meters/second.

  • dt – Discretization timestep.