com.acmerobotics.roadrunner.followers

Class SwervePIDVAFollower

TrajectoryFollower

HolonomicPIDVAFollower

com.acmerobotics.roadrunner.followers.SwervePIDVAFollower

public class SwervePIDVAFollower
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
SwervePIDVAFollower(SwerveDrive drive, PIDCoefficients translationalCoeffs, PIDCoefficients headingCoeffs, double kV, double kA, double kStatic, Pose2d admissibleError, double timeout, 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.
SwervePIDVAFollower(SwerveDrive drive, PIDCoefficients translationalCoeffs, PIDCoefficients headingCoeffs, double kV, double kA, double kStatic, Pose2d admissibleError, double timeout) 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.
SwervePIDVAFollower(SwerveDrive drive, PIDCoefficients translationalCoeffs, PIDCoefficients headingCoeffs, double kV, double kA, double kStatic, Pose2d admissibleError) 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.
SwervePIDVAFollower(SwerveDrive 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) Update the drive powers.

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

SwervePIDVAFollower

public SwervePIDVAFollower(SwerveDrive drive,
                           PIDCoefficients translationalCoeffs,
                           PIDCoefficients headingCoeffs,
                           double kV,
                           double kA,
                           double kStatic,
                           Pose2d admissibleError,
                           double timeout,
                           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)

admissibleError - admissible/satisfactory pose error at the end of each move

timeout - max time to wait for the error to be admissible

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)

admissibleError - admissible/satisfactory pose error at the end of each move

timeout - max time to wait for the error to be admissible

clock - clock

SwervePIDVAFollower

public SwervePIDVAFollower(SwerveDrive drive,
                           PIDCoefficients translationalCoeffs,
                           PIDCoefficients headingCoeffs,
                           double kV,
                           double kA,
                           double kStatic,
                           Pose2d admissibleError,
                           double timeout)

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)

admissibleError - admissible/satisfactory pose error at the end of each move

timeout - max time to wait for the error to be admissible

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)

admissibleError - admissible/satisfactory pose error at the end of each move

timeout - max time to wait for the error to be admissible

SwervePIDVAFollower

public SwervePIDVAFollower(SwerveDrive drive,
                           PIDCoefficients translationalCoeffs,
                           PIDCoefficients headingCoeffs,
                           double kV,
                           double kA,
                           double kStatic,
                           Pose2d admissibleError)

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)

admissibleError - admissible/satisfactory pose error at the end of each move

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)

admissibleError - admissible/satisfactory pose error at the end of each move

SwervePIDVAFollower

public SwervePIDVAFollower(SwerveDrive 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)

Update the drive powers.

Parameters:

poseVelocity - robot pose velocity

poseAcceleration - robot pose acceleration