Controllers for generic control tasks including tracking motion profiles (not limited to 2D paths or trajectories).
data class PIDCoefficients
Proportional, integral, and derivative (PID) gains used by PIDFController. |
|
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. |