wpimath.controller Package

ArmFeedforward(*args, **kwargs)

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).

ControlAffinePlantInversionFeedforward_1_1(…)

Constructs a control-affine plant inversion model-based feedforward from given model dynamics.

ControlAffinePlantInversionFeedforward_2_1(…)

Constructs a control-affine plant inversion model-based feedforward from given model dynamics.

ControlAffinePlantInversionFeedforward_2_2(…)

Constructs a control-affine plant inversion model-based feedforward from given model dynamics.

ElevatorFeedforward(*args, **kwargs)

A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting against the force of gravity).

LinearPlantInversionFeedforward_1_1(*args, …)

Constructs a plant inversion model-based feedforward from a LinearSystem.

LinearPlantInversionFeedforward_2_1(*args, …)

Constructs a plant inversion model-based feedforward from a LinearSystem.

LinearPlantInversionFeedforward_2_2(*args, …)

Constructs a plant inversion model-based feedforward from a LinearSystem.

LinearQuadraticRegulator_1_1(*args, **kwargs)

Overloaded function.

LinearQuadraticRegulator_2_1(*args, **kwargs)

Overloaded function.

LinearQuadraticRegulator_2_2(*args, **kwargs)

Overloaded function.

SimpleMotorFeedforward(*args, **kwargs)

A helper class that computes feedforward voltages for a simple permanent-magnet DC motor.

SimpleMotorFeedforwardMeters(*args, **kwargs)

A helper class that computes feedforward voltages for a simple permanent-magnet DC motor.