com.acmerobotics.roadrunner.followers

Class MecanumPIDVAFollower

TrajectoryFollower

HolonomicPIDVAFollower

com.acmerobotics.roadrunner.followers.MecanumPIDVAFollower

public class MecanumPIDVAFollower
extends HolonomicPIDVAFollower

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
MecanumPIDVAFollower(MecanumDrive 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.
MecanumPIDVAFollower(MecanumDrive 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
void	updateDrive(Pose2d poseVelocity, Pose2d poseAcceleration)

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

getLastError, setLastError, update, updateDrive

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

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

Constructor Detail

MecanumPIDVAFollower

public MecanumPIDVAFollower(MecanumDrive 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

MecanumPIDVAFollower

public MecanumPIDVAFollower(MecanumDrive 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

updateDrive

public void updateDrive(Pose2d poseVelocity,
                        Pose2d poseAcceleration)