yams::motorcontrollers::SmartMotorControllerConfig::PIDGains Struct Reference

#include <SmartMotorControllerConfig.hpp>

Public Attributes
double	kP {0.0}
double	kI {0.0}
double	kD {0.0}
double	kS {0.0}
double	kV {0.0}
double	kA {0.0}
double	kG {0.0}
std::optional< wpi::math::ArmFeedforward >	armFF
std::optional< wpi::math::ElevatorFeedforward >	elevatorFF
std::optional< wpi::math::SimpleMotorFeedforward< wpi::units::turns > >	simpleFF
std::optional< math::LQRConfig >	lqr

Detailed Description

Aggregated PID and feedforward gains for one closed-loop slot.

Member Data Documentation

armFF

std::optional<wpi::math::ArmFeedforward> yams::motorcontrollers::SmartMotorControllerConfig::PIDGains::armFF

elevatorFF

std::optional<wpi::math::ElevatorFeedforward> yams::motorcontrollers::SmartMotorControllerConfig::PIDGains::elevatorFF

kA

double yams::motorcontrollers::SmartMotorControllerConfig::PIDGains::kA {0.0}

kD

double yams::motorcontrollers::SmartMotorControllerConfig::PIDGains::kD {0.0}

kG

double yams::motorcontrollers::SmartMotorControllerConfig::PIDGains::kG {0.0}

kI

double yams::motorcontrollers::SmartMotorControllerConfig::PIDGains::kI {0.0}

kP

double yams::motorcontrollers::SmartMotorControllerConfig::PIDGains::kP {0.0}

kS

double yams::motorcontrollers::SmartMotorControllerConfig::PIDGains::kS {0.0}

kV

double yams::motorcontrollers::SmartMotorControllerConfig::PIDGains::kV {0.0}

lqr

std::optional<math::LQRConfig> yams::motorcontrollers::SmartMotorControllerConfig::PIDGains::lqr

simpleFF

std::optional<wpi::math::SimpleMotorFeedforward<wpi::units::turns> > yams::motorcontrollers::SmartMotorControllerConfig::PIDGains::simpleFF

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

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/motorcontrollers/SmartMotorControllerConfig.hpp