Package com.revrobotics.spark.config

Class FeedForwardConfig

java.lang.Object
com.revrobotics.config.BaseConfig
com.revrobotics.spark.config.FeedForwardConfig
public class FeedForwardConfig extends BaseConfig

  • Constructor Details

    • FeedForwardConfig

      public FeedForwardConfig()
      Create a new object to configure Feed Forward.

  • Method Details

    • apply

      public FeedForwardConfig apply(FeedForwardConfig config)
      Applies settings from another FeedForwardConfig to this one.

      Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

      Parameters:
      config - The FeedForwardConfig to copy settings from
      Returns:
      The updated FeedForwardConfig for method chaining

    • kS

      public FeedForwardConfig kS(double kS)
      Set the kS Static Gain of the controller.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use kS(double, ClosedLoopSlot).

      Parameters:
      kS - The kS gain in Volts
      Returns:
      The modified FeedForwardConfig object for method chaining

    • kV

      public FeedForwardConfig kV(double kV)
      Set the kV Velocity Gain of the controller.

      This is not applied in Position control mode.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use kV(double, ClosedLoopSlot).

      Parameters:
      kV - The kV gain in Volts per velocity
      Returns:
      The modified FeedForwardConfig object for method chaining

    • kA

      public FeedForwardConfig kA(double kA)
      Set the kA Acceleration Gain of the controller.

      This is only applied in MAXMotion control modes

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use kA(double, ClosedLoopSlot).

      Parameters:
      kA - The kA gain in Volts per velocity per second
      Returns:
      The modified FeedForwardConfig object for method chaining

    • kG

      public FeedForwardConfig kG(double kG)
      Set the kG Static Gravity Gain of the controller.

      This is statically applied, for an elevator or linear mechanism. For an arm or rotary mechanism, see kCos(double, ClosedLoopSlot). Set this to 0 if kCos is being used.

      This is only applied in Position and MAXMotion Position control modes

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use kG(double, ClosedLoopSlot).

      Parameters:
      kG - The kG gain in Volts
      Returns:
      The modified FeedForwardConfig object for method chaining

    • kCos

      public FeedForwardConfig kCos(double kCos)
      Set the kCos Cosine Gravity Gain of the controller.

      This is multiplied by the cosine of the absolute position of the mechanism (See kCosRatio(double kCosRatio) for info on configuring this) for an arm mechanism. Set it to 0 if kG is being used.

      This is only applied in Position and MAXMotion Position control modes

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use kCos(double, ClosedLoopSlot).

      Parameters:
      kCos - The kCos gain in Volts
      Returns:
      The modified FeedForwardConfig object for method chaining

    • kCosRatio

      public FeedForwardConfig kCosRatio(double kCosRatio)
      Set the kCosRatio of the controller.

      This sets the ratio that is used to calculate the absolute position of your arm mechanism for use with kCos. This is applied after the conversion factor and should convert from those units to absolute rotations of your mechanism. Ensure your selected encoder is zeroed such that 0 = horizontal.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use kCosRatio(double, ClosedLoopSlot).

      Parameters:
      kCosRatio - The kCosRatio
      Returns:
      The modified FeedForwardConfig object for method chaining

    • kS

      public FeedForwardConfig kS(double kS, ClosedLoopSlot slot)
      Set the kS Static Gain of the controller for a specific closed loop slot.
      Parameters:
      kS - The kS gain in Volts
      slot - The closed loop slot to set the values for
      Returns:
      The modified FeedForwardConfig object for method chaining

    • kV

      public FeedForwardConfig kV(double kV, ClosedLoopSlot slot)
      Set the kV Velocity Gain of the controller for a specific closed loop slot.

      This is not applied in Position control mode.

      Parameters:
      kV - The kV gain in Volts per velocity
      slot - The closed loop slot to set the values for
      Returns:
      The modified FeedForwardConfig object for method chaining

    • kA

      public FeedForwardConfig kA(double kA, ClosedLoopSlot slot)
      Set the kA Acceleration Gain of the controller for a specific closed loop slot.

      This is only applied in MAXMotion control modes

      Parameters:
      kA - The kA gain in Volts per velocity per second
      slot - The closed loop slot to set the values for
      Returns:
      The modified FeedForwardConfig object for method chaining

    • kG

      public FeedForwardConfig kG(double kG, ClosedLoopSlot slot)
      Set the kG Static Gravity Gain of the controller for a specific closed loop slot.

      This is statically applied, for an elevator or linear mechanism. For an arm or rotary mechanism, see kCos(double, ClosedLoopSlot). Set this to 0 if kCos is being used.

      This is only applied in Position and MAXMotion Position control modes

      Parameters:
      kG - The kG gain in Volts
      slot - The closed loop slot to set the values for
      Returns:
      The modified FeedForwardConfig object for method chaining

    • kCos

      public FeedForwardConfig kCos(double kCos, ClosedLoopSlot slot)
      Set the kCos Cosine Gravity Gain of the controller for a specific closed loop slot.

      This is multiplied by the cosine of the absolute position of the mechanism (See kCosRatio(double kCosRatio, ClosedLoopSlot slot) for info on configuring this) for an arm mechanism. Set it to 0 if kG is being used.

      This is only applied in Position and MAXMotion Position control modes

      Parameters:
      kCos - The kCos gain in Volts
      slot - The closed loop slot to set the values for
      Returns:
      The modified FeedForwardConfig object for method chaining

    • kCosRatio

      public FeedForwardConfig kCosRatio(double kCosRatio, ClosedLoopSlot slot)
      Set the kCosRatio of the controller for a specific closed loop slot.

      This sets the ratio that is used to calculate the absolute position of your arm mechanism for use with kCos. This is applied after the conversion factor and should convert from those units to absolute rotations of your mechanism. Ensure your selected encoder is zeroed such that 0 = horizontal.

      Parameters:
      kCosRatio - The kCosRatio
      slot - The closed loop slot to set the values for
      Returns:
      The modified FeedForwardConfig object for method chaining

    • sv

      public FeedForwardConfig sv(double kS, double kV)
      Set the kS and kV gains for slot 0 in one call.

      For more information on the kS and kV gains, see kS(double) and kV(double).

      Parameters:
      kS - The kS gain in Volts
      kV - The kV gain in Volts per velocity
      Returns:
      The modified FeedForwardConfig object for method chaining

    • sva

      public FeedForwardConfig sva(double kS, double kV, double kA)
      Set the kS, kV, and kA gains for slot 0 in one call.

      For more information on the kS, kV, and kA gains, see kS(double), kV(double), and kA(double).

      Parameters:
      kS - The kS gain in Volts
      kV - The kV gain in Volts per velocity
      kA - The kA gain in Volts per velocity per second
      Returns:
      The modified FeedForwardConfig object for method chaining

    • svag

      public FeedForwardConfig svag(double kS, double kV, double kA, double kG)
      Set the kS, kV, kA, and kG gains for slot 0 in one call.

      For more information on the kS, kV, kA, and kG gains, see kS(double), kV(double), kA(double), and kG(double).

      Parameters:
      kS - The kS gain in Volts
      kV - The kV gain in Volts per velocity
      kA - The kA gain in Volts per velocity per second
      kG - The kG gain in Volts
      Returns:
      The modified FeedForwardConfig object for method chaining

    • svacr

      public FeedForwardConfig svacr(double kS, double kV, double kA, double kCos, double kCosRatio)
      Set the kS, kV, kA, kCos, and kCosRatio gains for slot 0 in one call.

      For more information on the kS, kV, kA, kCos, and kCosRatio gains, see kS(double), kV(double), kA(double), kCos(double), and kCosRatio(double).

      Parameters:
      kS - The kS gain in Volts
      kV - The kV gain in Volts per velocity
      kA - The kA gain in Volts per velocity per second
      kCos - The kCos gain in Volts
      kCosRatio - The ratio used to calculate the absolute position of your arm mechanism for use with kCos
      Returns:
      The modified FeedForwardConfig object for method chaining

    • sg

      public FeedForwardConfig sg(double kS, double kG)
      Set the kS and kG gains for slot 0 in one call.

      For more information on the kS and kG gains, see kS(double) and kG(double).

      Parameters:
      kS - The kS gain in Volts
      kG - The kG gain in Volts
      Returns:
      The modified FeedForwardConfig object for method chaining

    • scr

      public FeedForwardConfig scr(double kS, double kCos, double kCosRatio)
      Set the kS, kCos, and kCosRatio gains for slot 0 in one call.

      For more information on the kS, kCos, and kCosRatio gains, see kS(double), kCos(double), and kCosRatio(double).

      Parameters:
      kS - The kS gain in Volts
      kCos - The kCos gain in Volts
      kCosRatio - The ratio used to calculate the absolute position of your arm mechanism for use with kCos
      Returns:
      The modified FeedForwardConfig object for method chaining

    • sv

      public FeedForwardConfig sv(double kS, double kV, ClosedLoopSlot slot)
      Set the kS and kV gains for the provided slot in one call.

      For more information on the kS and kV gains, see kS(double) and kV(double).

      Parameters:
      kS - The kS gain in Volts
      kV - The kV gain in Volts per velocity
      Returns:
      The modified FeedForwardConfig object for method chaining

    • sva

      public FeedForwardConfig sva(double kS, double kV, double kA, ClosedLoopSlot slot)
      Set the kS, kV, and kA gains for the provided slot in one call.

      For more information on the kS, kV, and kA gains, see kS(double), kV(double), and kA(double).

      Parameters:
      kS - The kS gain in Volts
      kV - The kV gain in Volts per velocity
      kA - The kA gain in Volts per velocity per second
      Returns:
      The modified FeedForwardConfig object for method chaining

    • svag

      public FeedForwardConfig svag(double kS, double kV, double kA, double kG, ClosedLoopSlot slot)
      Set the kS, kV, kA, and kG gains for the provided slot in one call.

      For more information on the kS, kV, kA, and kG gains, see kS(double), kV(double), kA(double), and kG(double).

      Parameters:
      kS - The kS gain in Volts
      kV - The kV gain in Volts per velocity
      kA - The kA gain in Volts per velocity per second
      kG - The kG gain in Volts
      Returns:
      The modified FeedForwardConfig object for method chaining

    • svacr

      public FeedForwardConfig svacr(double kS, double kV, double kA, double kCos, double kCosRatio, ClosedLoopSlot slot)
      Set the kS, kV, kA, kCos, and kCosRatio gains for the provided slot in one call.

      For more information on the kS, kV, kA, kCos, and kCosRatio gains, see kS(double), kV(double), kA(double), kCos(double), and kCosRatio(double).

      Parameters:
      kS - The kS gain in Volts
      kV - The kV gain in Volts per velocity
      kA - The kA gain in Volts per velocity per second
      kCos - The kCos gain in Volts
      kCosRatio - The ratio used to calculate the absolute position of your arm mechanism for use with kCos
      Returns:
      The modified FeedForwardConfig object for method chaining

    • sg

      public FeedForwardConfig sg(double kS, double kG, ClosedLoopSlot slot)
      Set the kS and kG gains for the provided slot in one call.

      For more information on the kS and kG gains, see kS(double) and kG(double).

      Parameters:
      kS - The kS gain in Volts
      kG - The kG gain in Volts
      Returns:
      The modified FeedForwardConfig object for method chaining

    • scr

      public FeedForwardConfig scr(double kS, double kCos, double kCosRatio, ClosedLoopSlot slot)
      Set the kS, kCos, and kCosRatio gains for the provided slot in one call.

      For more information on the kS, kCos, and kCosRatio gains, see kS(double), kCos(double), and kCosRatio(double).

      Parameters:
      kS - The kS gain in Volts
      kCos - The kCos gain in Volts
      kCosRatio - The ratio used to calculate the absolute position of your arm mechanism for use with kCos
      Returns:
      The modified FeedForwardConfig object for method chaining