JRADController (InfiniteRecharge API)

java.lang.Object
- frc.lib5k.control.JRADController

```
public class JRADController
extends java.lang.Object
```
A flywheel velocity controller designed by team 254, adapted and ported for use by team 5024.

To tune the controller, start with kLoadRatio at 1.0, kJ at a small non-zero number, and kF at 0.0 (this is used to get to the setpoint faster)
- If voltage dips between balls decrease, increase kJ.
- Voltage can be compensated up set kLoadRatio to (setpoint - lowestRPM)

Constructor Summary

Constructors
Constructor Description

JRADController(double kJ, double kF, double kLoadRatio)
Create a JRAD controller.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`double`	`calculate(double voltage)`	Calculate a system output voltage
`void`	`setSetpoint(double voltageSetpoint)`	Set a voltage setpoint for the controller

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - JRADController
```
public JRADController(double kJ,
                      double kF,
                      double kLoadRatio)
```
    Create a JRAD controller.
    
    Parameters:
    
    kJ - Compensation factor for sequential balls (should be a small non-zero number)
    
    kF - Multiplier to get to setpoint faster (Can probably be 0.0)
    
    kLoadRatio - A load ratio multiplier. This should be larger than 1.0
- Method Detail
  - setSetpoint
```
public void setSetpoint(double voltageSetpoint)
```
    Set a voltage setpoint for the controller
    
    Parameters:
    
    voltageSetpoint - Voltage controller setpoint
  - calculate
```
public double calculate(double voltage)
```
    Calculate a system output voltage
    
    Parameters:
    
    voltage - Current system voltage
    
    Returns:
    
    System output (in volts)