pathplanner::DriveFeedforwards Struct Reference

Public Member Functions
DriveFeedforwards	interpolate (const DriveFeedforwards &endVal, const double t) const
DriveFeedforwards	reverse () const
DriveFeedforwards	flip () const

Static Public Member Functions
static DriveFeedforwards	zeros (const size_t numModules)

Public Attributes
std::vector< units::meters_per_second_squared_t >	accelerations
std::vector< units::newton_t >	linearForces
std::vector< units::ampere_t >	torqueCurrents
std::vector< units::newton_t >	robotRelativeForcesX
std::vector< units::newton_t >	robotRelativeForcesY

Member Function Documentation

flip()

DriveFeedforwards pathplanner::DriveFeedforwards::flip ( ) const

inline

Flip the feedforwards for the other side of the field. Only does anything if mirrored symmetry is used

Returns

Flipped feedforwards

reverse()

DriveFeedforwards pathplanner::DriveFeedforwards::reverse ( ) const

inline

Reverse the feedforwards for driving backwards. This should only be used for differential drive robots.

Returns

Reversed feedforwards

zeros()

static DriveFeedforwards pathplanner::DriveFeedforwards::zeros ( const size_t  numModules )

inlinestatic

Create drive feedforwards consisting of all zeros

Parameters

numModules

Number of drive modules

Returns

Zero feedforwards

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The documentation for this struct was generated from the following file:

• src/main/native/include/pathplanner/lib/util/DriveFeedforwards.h