kCos

constructor(kCos: Double, setpointToRadians: UnaryFunction)

Create a new kCos on the setpoint.

kCos

the kCos gain

setpointToRadians

conversion function to convert the supplied setpoint (usually in motor ticks) to radians, see EncoderTicks

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

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

kCos

the kCos gain

angle

current angular state of the system, see EncoderTicks