com.acmerobotics.roadrunner.followers

Class HolonomicPIDVAFollower

TrajectoryFollower

com.acmerobotics.roadrunner.followers.HolonomicPIDVAFollower

Direct Known Subclasses:

MecanumPIDVAFollower, SwervePIDVAFollower

public class HolonomicPIDVAFollower
extends TrajectoryFollower

Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to determine the velocity correction. The feedforward components are instead applied at the wheel level.

Constructor Summary

Constructors

Constructor and Description
HolonomicPIDVAFollower(Drive drive, PIDCoefficients translationalCoeffs, PIDCoefficients headingCoeffs, double kV, double kA, double kStatic, NanoClock clock) Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to determine the velocity correction. The feedforward components are instead applied at the wheel level.
HolonomicPIDVAFollower(Drive drive, PIDCoefficients translationalCoeffs, PIDCoefficients headingCoeffs, double kV, double kA, double kStatic) Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to determine the velocity correction. The feedforward components are instead applied at the wheel level.

Method Summary

Modifier and Type	Method and Description
Pose2d	getLastError() Robot pose error computed in the last TrajectoryFollower.update call.
void	setLastError(Pose2d p) Robot pose error computed in the last TrajectoryFollower.update call.
void	update(Pose2d currentPose) Run a single iteration of the trajectory follower.
void	updateDrive(Pose2d poseVelocity, Pose2d poseAcceleration)

Methods inherited from class com.acmerobotics.roadrunner.followers.TrajectoryFollower

elapsedTime, followTrajectory, getClock, getLastError, getTrajectory, isFollowing, setLastError, setTrajectory, update

Constructor Detail

HolonomicPIDVAFollower

public HolonomicPIDVAFollower(Drive drive,
                              PIDCoefficients translationalCoeffs,
                              PIDCoefficients headingCoeffs,
                              double kV,
                              double kA,
                              double kStatic,
                              NanoClock clock)

Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to determine the velocity correction. The feedforward components are instead applied at the wheel level.

Parameters:

drive - mecanum drive instance

translationalCoeffs - PID coefficients for the robot axial and lateral (x and y, respectively) controllers

headingCoeffs - PID coefficients for the robot heading controller

kV - feedforward velocity gain

kA - feedforward acceleration gain

kStatic - signed, additive feedforward constant (used to overcome static friction)

clock - clock

drive - mecanum drive instance

translationalCoeffs - PID coefficients for the robot axial and lateral (x and y, respectively) controllers

headingCoeffs - PID coefficients for the robot heading controller

kV - feedforward velocity gain

kA - feedforward acceleration gain

kStatic - signed, additive feedforward constant (used to overcome static friction)

clock - clock

HolonomicPIDVAFollower

public HolonomicPIDVAFollower(Drive drive,
                              PIDCoefficients translationalCoeffs,
                              PIDCoefficients headingCoeffs,
                              double kV,
                              double kA,
                              double kStatic)

Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to determine the velocity correction. The feedforward components are instead applied at the wheel level.

Parameters:

drive - mecanum drive instance

translationalCoeffs - PID coefficients for the robot axial and lateral (x and y, respectively) controllers

headingCoeffs - PID coefficients for the robot heading controller

kV - feedforward velocity gain

kA - feedforward acceleration gain

kStatic - signed, additive feedforward constant (used to overcome static friction)

drive - mecanum drive instance

translationalCoeffs - PID coefficients for the robot axial and lateral (x and y, respectively) controllers

headingCoeffs - PID coefficients for the robot heading controller

kV - feedforward velocity gain

kA - feedforward acceleration gain

kStatic - signed, additive feedforward constant (used to overcome static friction)

Method Detail

getLastError

public Pose2d getLastError()

Robot pose error computed in the last TrajectoryFollower.update call.

See Also:

TrajectoryFollower.update

setLastError

public void setLastError(Pose2d p)

Robot pose error computed in the last TrajectoryFollower.update call.

See Also:

TrajectoryFollower.update

update

public void update(Pose2d currentPose)

Run a single iteration of the trajectory follower.

Parameters:

currentPose - current robot pose

updateDrive

public void updateDrive(Pose2d poseVelocity,
                        Pose2d poseAcceleration)