// keep track of the last moving setpoints for debugging
double targetPosition, targetSpeed, targetAccel;
public PredictiveLinearController(double p, double i, double d, double vff, double aff, double dff, double cycleTime, double epsilon) {
this.feedback = new PidLinear(p, i, d, cycleTime);
this.vff = vff;
this.aff = aff;
this.dff = dff;
this.cycleTime = cycleTime;