RamseteFollower

class RamseteFollower : TrajectoryFollower

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

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

RamseteFollower(drive: TankDrive, b: Double, zeta: Double, kV: Double, kA: Double, kStatic: Double, clock: NanoClock = NanoClock.system())

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

var lastError: Pose2d

Robot pose error computed in the last update call.

clock	`val clock: NanoClock` clock
trajectory	`var trajectory: Trajectory`

fun update(currentPose: Pose2d): Unit

Run a single iteration of the trajectory follower.

elapsedTime	`fun elapsedTime(): Double` Returns the elapsed time since the last followTrajectory calls.
followTrajectory	`fun followTrajectory(trajectory: Trajectory): Unit` Follow the given trajectory.
isFollowing	`fun isFollowing(): Boolean` Returns true if the current trajectory has finished executing.