com.acmerobotics.roadrunner.followers

Class RamseteFollower

TrajectoryFollower

com.acmerobotics.roadrunner.followers.RamseteFollower

public class RamseteFollower
extends TrajectoryFollower

Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.

See Also:

Ramsete01.pdf

Constructor Summary

Constructors

Constructor and Description
RamseteFollower(TankDrive drive, double b, double zeta, double kV, double kA, double kStatic, NanoClock clock) Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.
RamseteFollower(TankDrive drive, double b, double zeta, double kV, double kA, double kStatic) Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.

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.

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

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

Constructor Detail

RamseteFollower

public RamseteFollower(TankDrive drive,
                       double b,
                       double zeta,
                       double kV,
                       double kA,
                       double kStatic,
                       NanoClock clock)

Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.

Parameters:

drive - tank drive

b - b parameter (non-negative)

zeta - zeta parameter (on (0, 1))

kV - feedforward velocity gain

kA - feedforward acceleration gain (currently unused)

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

clock - clock

drive - tank drive

b - b parameter (non-negative)

zeta - zeta parameter (on (0, 1))

kV - feedforward velocity gain

kA - feedforward acceleration gain (currently unused)

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

clock - clock

See Also:

Ramsete01.pdf

RamseteFollower

public RamseteFollower(TankDrive drive,
                       double b,
                       double zeta,
                       double kV,
                       double kA,
                       double kStatic)

Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.

Parameters:

drive - tank drive

b - b parameter (non-negative)

zeta - zeta parameter (on (0, 1))

kV - feedforward velocity gain

kA - feedforward acceleration gain (currently unused)

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

drive - tank drive

b - b parameter (non-negative)

zeta - zeta parameter (on (0, 1))

kV - feedforward velocity gain

kA - feedforward acceleration gain (currently unused)

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

See Also:

Ramsete01.pdf

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