com.acmerobotics.roadrunner.tuning

Class AccelRegression

com.acmerobotics.roadrunner.tuning.AccelRegression

public class AccelRegression

Container for acceleration feedforward regression data. This data can be gathered through pretty much any motion although it's standard to apply constant/step voltage/power.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	AccelRegression.AccelResult Feedforward parameter estimates from the ramp regression and additional summary statistics

Constructor Summary

Constructors

Constructor and Description
AccelRegression(java.util.List<java.lang.Double> timeSamples, java.util.List<java.lang.Double> positionSamples, java.util.List<java.lang.Double> powerSamples) Container for acceleration feedforward regression data. This data can be gathered through pretty much any motion although it's standard to apply constant/step voltage/power.
AccelRegression(java.util.List<java.lang.Double> timeSamples, java.util.List<java.lang.Double> positionSamples) Container for acceleration feedforward regression data. This data can be gathered through pretty much any motion although it's standard to apply constant/step voltage/power.
AccelRegression(java.util.List<java.lang.Double> timeSamples) Container for acceleration feedforward regression data. This data can be gathered through pretty much any motion although it's standard to apply constant/step voltage/power.
AccelRegression() Container for acceleration feedforward regression data. This data can be gathered through pretty much any motion although it's standard to apply constant/step voltage/power.

Method Summary

Modifier and Type	Method and Description
void	add(double time, double position, double power) Add a sample to the regression.
AccelRegression.AccelResult	fit(double kV, double kStatic) Fit kA from the accel test data.
void	save(java.io.File file) Save the data to a CSV file for debugging or additional analysis.

Constructor Detail

AccelRegression

@JvmOverloads
public AccelRegression(@NotNull
                                     java.util.List<java.lang.Double> timeSamples,
                                     @NotNull
                                     java.util.List<java.lang.Double> positionSamples,
                                     @NotNull
                                     java.util.List<java.lang.Double> powerSamples)

Container for acceleration feedforward regression data. This data can be gathered through pretty much any motion although it's standard to apply constant/step voltage/power.

Parameters:

timeSamples - time samples

positionSamples - position samples

powerSamples - power (scaled voltage) samples

AccelRegression

@JvmOverloads
public AccelRegression(@NotNull
                                     java.util.List<java.lang.Double> timeSamples,
                                     @NotNull
                                     java.util.List<java.lang.Double> positionSamples)

Container for acceleration feedforward regression data. This data can be gathered through pretty much any motion although it's standard to apply constant/step voltage/power.

Parameters:

timeSamples - time samples

positionSamples - position samples

AccelRegression

@JvmOverloads
public AccelRegression(@NotNull
                                     java.util.List<java.lang.Double> timeSamples)

Container for acceleration feedforward regression data. This data can be gathered through pretty much any motion although it's standard to apply constant/step voltage/power.

Parameters:

timeSamples - time samples

AccelRegression

@JvmOverloads
public AccelRegression()

Container for acceleration feedforward regression data. This data can be gathered through pretty much any motion although it's standard to apply constant/step voltage/power.

Method Detail

add

public void add(double time,
                double position,
                double power)

Add a sample to the regression.

fit

@NotNull
public AccelRegression.AccelResult fit(double kV,
                                                double kStatic)

Fit kA from the accel test data.

save

public void save(@NotNull
                 java.io.File file)

Save the data to a CSV file for debugging or additional analysis.