wpimath.controller Package
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A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting against the force of gravity on a beam suspended at an angle). |
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Implements a bang-bang controller, which outputs either 0 or 1 depending on whether the measurement is less than the setpoint. |
Constructs a control-affine plant inversion model-based feedforward from given model dynamics. |
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Constructs a control-affine plant inversion model-based feedforward from given model dynamics. |
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Constructs a control-affine plant inversion model-based feedforward from given model dynamics. |
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Filters the provided voltages to limit a differential drive's linear and angular acceleration. |
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Motor voltages for a differential drive. |
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A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting against the force of gravity). |
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This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain (i.e. |
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Contains the controller coefficients and logic for an implicit model follower. |
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Contains the controller coefficients and logic for an implicit model follower. |
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Contains the controller coefficients and logic for an implicit model follower. |
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The linear time-varying differential drive controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear model linearized around the drivetrain's current state. |
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The linear time-varying unicycle controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear model linearized around the drivetrain's current state. |
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Constructs a plant inversion model-based feedforward from a LinearSystem. |
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Constructs a plant inversion model-based feedforward from a LinearSystem. |
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Constructs a plant inversion model-based feedforward from a LinearSystem. |
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Contains the controller coefficients and logic for a linear-quadratic regulator (LQR). |
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Contains the controller coefficients and logic for a linear-quadratic regulator (LQR). |
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Contains the controller coefficients and logic for a linear-quadratic regulator (LQR). |
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Implements a PID control loop. |
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Implements a PID control loop whose setpoint is constrained by a trapezoid profile. |
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Implements a PID control loop whose setpoint is constrained by a trapezoid profile. |
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Ramsete is a nonlinear time-varying feedback controller for unicycle models that drives the model to a desired pose along a two-dimensional trajectory. |
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A helper class that computes feedforward voltages for a simple permanent-magnet DC motor. |