| 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).
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| BangBangController |
Implements a bang-bang controller, which outputs either 0 or 1 depending on whether the
measurement is less than the setpoint.
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| ControlAffinePlantInversionFeedforward<States extends Num,Inputs extends Num> |
Constructs a control-affine plant inversion model-based feedforward from given model dynamics.
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| ElevatorFeedforward |
A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting
against the force of gravity).
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| HolonomicDriveController |
This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain
(i.e.
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| 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).
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| PIDController |
Implements a PID control loop.
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| ProfiledPIDController |
Implements a PID control loop whose setpoint is constrained by a trapezoid profile.
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| RamseteController |
Ramsete is a nonlinear time-varying feedback controller for unicycle models that drives the model
to a desired pose along a two-dimensional trajectory.
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| SimpleMotorFeedforward |
A helper class that computes feedforward outputs for a simple permanent-magnet DC motor.
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