abstract class HolonomicPIDVAFollower : 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.
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)
HolonomicPIDVAFollower(drive: Drive, translationalCoeffs: PIDCoefficients, headingCoeffs: PIDCoefficients, kV: Double, kA: Double, kStatic: Double, clock: NanoClock = NanoClock.system())
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. |
open var lastError: Pose2d
Robot pose error computed in the last update call. |
val clock: NanoClock
clock |
|
var trajectory: Trajectory |
open fun update(currentPose: Pose2d): Unit
Run a single iteration of the trajectory follower. |
|
abstract fun updateDrive(poseVelocity: Pose2d, poseAcceleration: Pose2d): Unit |
fun elapsedTime(): Double
Returns the elapsed time since the last followTrajectory calls. |
|
fun followTrajectory(trajectory: Trajectory): Unit
Follow the given trajectory. |
|
fun isFollowing(): Boolean
Returns true if the current trajectory has finished executing. |
class MecanumPIDVAFollower : 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. |
|
class SwervePIDVAFollower : 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. |