Controllers for generic control tasks including tracking motion profiles (not limited to 2D paths or trajectories).
class PIDCoefficients
This class stores the proportional, integral, and derivative gains used by PIDFController. |
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class PIDFController
PID controller with various feedforward components. kV, kA, and kStatic are designed for DC motor feedforward control (the most common kind of feedforward in FTC). kF provides a custom feedforward term for other plants. |