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

kG

open class kG : SystemController

Constant feedforward gain. Used to overcome constant forces such as gravity.

Author

Lucas Bubner, 2025

Since

8.0.0

Constructors

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constructor(kG: Double)
Create a new kG gain.

Inherited properties

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val NULL: SystemController
A null controller that does nothing.

Functions

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open fun calculate(ignored: Double, setpoint: Double): Double
Calculate the next output of this control algorithm.
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@NonNull
open fun getCoefficients(): Array<Double>
Gets the current coefficients for this controller.
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open fun setCoefficients(@NonNull coeffs: Array<Double>)
Sets the coefficients for this controller.

Inherited functions

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@NonNull
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.
@NonNull
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.
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@NonNull
open fun pidf(): Optional<PIDFController>
Get the PIDF controller associated with this controller, if applicable.
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open fun reset()
Reset this controller back to an un-accumulated state, if applicable.
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open fun setCoefficients(@NonNull coeffs: Array<Double>)
Sets the coefficients for this controller.