pub struct MotorFeedforwardController {
pub ks: f32,
pub kv: f32,
pub ka: f32,
pub target_acceleration: f32,
pub target: f32,
}
Expand description
Feedforward controller for motor control.
This controller is used to apply feedforward control to achieve desired motor behavior based on velocity and acceleration.
Fields§
§ks: f32
Feedforward constant for static friction compensation.
kv: f32
Feedforward constant for velocity compensation.
ka: f32
Feedforward constant for acceleration compensation.
target_acceleration: f32
Feedforward constant for the target acceleration.
target: f32
Target.
Implementations§
Source§impl MotorFeedforwardController
impl MotorFeedforwardController
Sourcepub const fn new(ks: f32, kv: f32, ka: f32, target_acceleration: f32) -> Self
pub const fn new(ks: f32, kv: f32, ka: f32, target_acceleration: f32) -> Self
Creates a new MotorFeedforwardController
with the given constants and target.
§Arguments
ks
- Feedforward constant for static friction compensation.kv
- Feedforward constant for velocity compensation.ka
- Feedforward constant for acceleration compensation.target_acceleration
- Feedforward constant for the target acceleration.
§Returns
A new MotorFeedforwardController
.
Trait Implementations§
Source§impl Clone for MotorFeedforwardController
impl Clone for MotorFeedforwardController
Source§fn clone(&self) -> MotorFeedforwardController
fn clone(&self) -> MotorFeedforwardController
Returns a copy of the value. Read more
1.0.0 · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source
. Read moreAuto Trait Implementations§
impl Freeze for MotorFeedforwardController
impl RefUnwindSafe for MotorFeedforwardController
impl Send for MotorFeedforwardController
impl Sync for MotorFeedforwardController
impl Unpin for MotorFeedforwardController
impl UnwindSafe for MotorFeedforwardController
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more