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FeedForward

kernelvex::control::feedforward

Struct FeedForward 

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pub struct FeedForward { /* private fields */ }
Expand description

Feedforward controller for linear motion.

Computes motor voltage based on desired velocity and acceleration using:

voltage = ks * sign(v) + kv * v + ka * a

§Gains

  • ks: Static friction compensation. The minimum voltage needed to start moving from rest. Applied in the direction of motion.
  • kv: Velocity feedforward. Voltage required per unit velocity to maintain constant speed against friction and back-EMF.
  • ka: Acceleration feedforward. Voltage required per unit acceleration to overcome inertia.

§Example

let ff = FeedForward::new()
    .set_gains(0.1, 0.5, 0.01);

let voltage = ff.calculate(target_velocity, target_acceleration);

Implementations§

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impl FeedForward

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pub const fn new() -> FeedForward

Creates a new feedforward controller with zero gains.

Use set_gains or individual setters to configure.

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pub const fn ks(&self) -> f64

Returns the static friction gain.

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pub const fn kv(&self) -> f64

Returns the velocity feedforward gain.

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pub const fn ka(&self) -> f64

Returns the acceleration feedforward gain.

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pub const fn set_gains(&mut self, ks: f64, kv: f64, ka: f64) -> Self

Sets all feedforward gains at once.

§Arguments
  • ks - Static friction compensation
  • kv - Velocity feedforward gain
  • ka - Acceleration feedforward gain
§Returns

A new FeedForward with the specified gains.

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pub const fn set_ks(&mut self, ks: f64)

Sets the static friction gain.

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pub const fn set_kv(&mut self, kv: f64)

Sets the velocity feedforward gain.

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pub const fn set_ka(&mut self, ka: f64)

Sets the acceleration feedforward gain.

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pub fn calculate(&self, velocity: f64, acceleration: f64) -> f64

Calculates the feedforward voltage for the given velocity and acceleration.

§Arguments
  • velocity - Desired velocity (units depend on your system)
  • acceleration - Desired acceleration (units depend on your system)
§Returns

The feedforward voltage output.

§Formula
voltage = ks * sign(velocity) + kv * velocity + ka * acceleration

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