linear_motor_ff.h

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/**
 * @file linear_motor_ff.h
 * @brief A control loop that uses static friction, velocity, and acceleration to get an output
 * voltage
 *
 * This determines the output voltage for a linear motor to reach a specific reference state given
 * static friction, motor acceleration, and motor velocity
 */
 
#pragma once
 
#include <math.h>
 
#include "core/math/controls/feedforward.h"
#include "core/math/units.h"
 
struct FFMotorState {
  units::Acceleration accel;
  units::Velocity vel;
};
 
class LinearMotorFF : public FeedForward<FFMotorState, units::Voltage> {
 public:
  void reset() override;
  /**
   * @brief Linear Motor FeedForward object contructor
   *
   * @param kS the voltage needed to overcome the motors static friction
   * @param kV the volatage needed for the motor to cruise at a constant velocity
   * @param kA the voltage needed to induce a given acceleration to the motor
   */
  LinearMotorFF(const units::Voltage& kS, const units::LinearVelocityFeedforward& kV,
                const units::LinearAccelerationFeedforward& kA);
 
  /**
   * @brief updates the linear motor feedforward output
   *
   * @param reference the reference state for the motor
   */
  units::Voltage calculate(const FFMotorState& reference) override;
 
  units::Voltage kS_;
  units::LinearVelocityFeedforward kV_;
  units::LinearAccelerationFeedforward kA_;
};