Package io.github.frc5024.lib5k.control_loops.statespace.util.easylqr

Class ArmMath

  • public class ArmMath
extends java.lang.Object
    This class contains utils for calculating parameters of arms

    • Constructor Summary

      Constructors 
      Constructor Description
      ArmMath()  

    • Method Summary

      All Methods Static Methods Concrete Methods 
      Modifier and Type Method Description
      static double calculateSJIJ​(double armLengthM, double armMassKg)
      Calculate the Moment of Inertia (J) for a single jointed arm with given parameters.

      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • ArmMath

        public ArmMath()

    • Method Detail

      • calculateSJIJ

        public static double calculateSJIJ​(double armLengthM,
                                   double armMassKg)
        Calculate the Moment of Inertia (J) for a single jointed arm with given parameters.
        Parameters:
        armLengthM - Length of the arm in meters
        armMassKg - Mass of the arm in Kg
        Returns:
        The Moment of Inertia