Package frc.lib5k.control
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Class Summary Class Description CubicDeadband This Scaling method was inspired by this blog post: http://www.mimirgames.com/articles/games/joystick-input-and-using-deadbands/ Formula: y = ((w * (x ^ 3) + (1.0 - w) * x) - (abs(x) / x) * (w * (d ^ 3) + (1.0 - w) * d)) / (1.0 - (w * (d ^ 3) + (1.0 - w) * d)) This can be visualized on desmos: https://www.desmos.com/calculator/awcputalxeJRADController A flywheel velocity controller designed by team 254, adapted and ported for use by team 5024.PID Our custom PID controller implementation.PIDv2 An implementation of team 1114's SimPID, that works with lib5k's kinematics systems, and provides telemetrySlewLimiter A tool for smoothing out joystick information (enforces a maximum rate of change)TimedSlewLimiter An extension of SlewLimiter that acts a bit more like TalonSRX's rampRate setting, and respects non 20ms periodsToggle