BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.external.control.ff/kCos

kCos

open class kCos : SystemController

Cosine feedforward gain. Used to overcome non-linear dynamics in rotation.

Exposes two constructors for applying cosine on the setpoint or on the current angular position of the system.

Author

Lucas Bubner, 2025

Since

8.0.0

Constructors

constructor(kCos: Double, setpointToRadians: UnaryFunction)

Create a new kCos on the setpoint.

constructor(kCos: Double, angle: Supplier<Measure<Angle>>)

Create a new kCos on the dynamic angular position of the system.

Inherited properties

val NULL: SystemController

A null controller that does nothing.

Functions

open fun calculate(ignored: Double, setpoint: Double): Double

Calculate the next output of this control algorithm.

getCoefficients

open fun getCoefficients(): Array<Double>

Gets the current coefficients for this controller.

setCoefficients

open fun setCoefficients(@NonNull coeffs: Array<Double>)

Sets the coefficients for this controller.

Inherited functions

open fun compose(@NonNull plus: SystemController): CompositeController

Composes this controller with another controller, returning a new controller that is the composition of the two by summing the outputs of each controller together.

open fun compose(@NonNull other: SystemController, @NonNull combiner: DoubleBinaryOperator): CompositeController

Composes this controller with another controller, returning a new controller that is the composition of the two.

open fun pidf(): Optional<PIDFController>

Get the PIDF controller associated with this controller, if applicable.

open fun reset()

Reset this controller back to an un-accumulated state, if applicable.

setCoefficients

open fun setCoefficients(@NonNull coeffs: Array<Double>)

Sets the coefficients for this controller.