Package org.wpilib.math.controller

package org.wpilib.math.controller
  • Classes
    Class
    Description
    AntiTipping
    AntiTipping provides a proportional correction system to prevent the robot from tipping over during operation.
    ArmFeedforward
    A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting against the force of gravity on a beam suspended at an angle).
    BangBangController
    Implements a bang-bang controller, which outputs either 0 or 1 depending on whether the measurement is less than the setpoint.
    ControlAffinePlantInversionFeedforward<States extends Num, Inputs extends Num>
    Constructs a control-affine plant inversion model-based feedforward from given model dynamics.
    DifferentialDriveAccelerationLimiter
    Filters the provided voltages to limit a differential drive's linear and angular acceleration.
    DifferentialDriveFeedforward
    A helper class which computes the feedforward outputs for a differential drive drivetrain.
    DifferentialDriveWheelVoltages
    Motor voltages for a differential drive.
    ElevatorFeedforward
    A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting against the force of gravity).
    ImplicitModelFollower<States extends Num, Inputs extends Num, Outputs extends Num>
    Contains the controller coefficients and logic for an implicit model follower.
    LinearPlantInversionFeedforward<States extends Num, Inputs extends Num, Outputs extends Num>
    Constructs a plant inversion model-based feedforward from a LinearSystem.
    LinearQuadraticRegulator<States extends Num, Inputs extends Num, Outputs extends Num>
    Contains the controller coefficients and logic for a linear-quadratic regulator (LQR).
    LTVDifferentialDriveController
    The linear time-varying differential drive controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear differential drive model linearized around the drivetrain's current state.
    LTVUnicycleController
    The linear time-varying unicycle controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear unicycle model linearized around the drivetrain's current state.
    PIDController
    Implements a PID control loop.
    ProfiledPIDController
    Implements a PID control loop whose setpoint is constrained by a trapezoid profile.
    SimpleMotorFeedforward
    A helper class that computes feedforward outputs for a simple permanent-magnet DC motor.