[Docs] Add Feedforward to ElevatorProfiledPid #5300
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jruaaa
changed the title
Starlight220
requested changes
Apr 30, 2023
| @@ -40,6 +43,6 @@ public void teleopPeriodic() { | |||
| } | |||
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| // Run controller and update motor output | |||
| m_motor.set(m_controller.calculate(m_encoder.getDistance())); | |||
| m_motor.setVoltage(m_controller.calculate(m_encoder.getDistance()) + m_feedforward.calculate(m_controller.getSetpoint().velocity)); | |||
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If output units are changed from duty cycle to volts, other values and docs need to be unit corrected.
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
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Do you need assistance with the C++ example? |
prateekma
approved these changes
May 18, 2023
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Fixes #5014 for Java example