com.acmerobotics.roadrunner.followers

Class TankPIDVAFollower

TrajectoryFollower

com.acmerobotics.roadrunner.followers.TankPIDVAFollower

public class TankPIDVAFollower
extends TrajectoryFollower

Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to class MecanumPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

See Also:

class MecanumPIDVAFollower

Constructor Summary

Constructors

Constructor and Description
TankPIDVAFollower(TankDrive drive, PIDCoefficients displacementCoeffs, PIDCoefficients crossTrackCoeffs, 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, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to class MecanumPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.
TankPIDVAFollower(TankDrive drive, PIDCoefficients displacementCoeffs, PIDCoefficients crossTrackCoeffs, 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, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to class MecanumPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.
TankPIDVAFollower(TankDrive drive, PIDCoefficients displacementCoeffs, PIDCoefficients crossTrackCoeffs, double kV, double kA, double kStatic, Pose2d admissibleError) Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to class MecanumPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.
TankPIDVAFollower(TankDrive drive, PIDCoefficients displacementCoeffs, PIDCoefficients crossTrackCoeffs, double kV, double kA, double kStatic) Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to class MecanumPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

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

TankPIDVAFollower

public TankPIDVAFollower(TankDrive drive,
                         PIDCoefficients displacementCoeffs,
                         PIDCoefficients crossTrackCoeffs,
                         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, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to class MecanumPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

Parameters:

drive - tank drive instance

displacementCoeffs - PID coefficients for the robot axial (x) controller

crossTrackCoeffs - PID coefficients for the robot heading controller based on cross track error

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 - tank drive instance

displacementCoeffs - PID coefficients for the robot axial (x) controller

crossTrackCoeffs - PID coefficients for the robot heading controller based on cross track error

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

See Also:

class MecanumPIDVAFollower

TankPIDVAFollower

public TankPIDVAFollower(TankDrive drive,
                         PIDCoefficients displacementCoeffs,
                         PIDCoefficients crossTrackCoeffs,
                         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, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to class MecanumPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

Parameters:

drive - tank drive instance

displacementCoeffs - PID coefficients for the robot axial (x) controller

crossTrackCoeffs - PID coefficients for the robot heading controller based on cross track error

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 - tank drive instance

displacementCoeffs - PID coefficients for the robot axial (x) controller

crossTrackCoeffs - PID coefficients for the robot heading controller based on cross track error

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

See Also:

class MecanumPIDVAFollower

TankPIDVAFollower

public TankPIDVAFollower(TankDrive drive,
                         PIDCoefficients displacementCoeffs,
                         PIDCoefficients crossTrackCoeffs,
                         double kV,
                         double kA,
                         double kStatic,
                         Pose2d admissibleError)

Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to class MecanumPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

Parameters:

drive - tank drive instance

displacementCoeffs - PID coefficients for the robot axial (x) controller

crossTrackCoeffs - PID coefficients for the robot heading controller based on cross track error

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 - tank drive instance

displacementCoeffs - PID coefficients for the robot axial (x) controller

crossTrackCoeffs - PID coefficients for the robot heading controller based on cross track error

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

See Also:

class MecanumPIDVAFollower

TankPIDVAFollower

public TankPIDVAFollower(TankDrive drive,
                         PIDCoefficients displacementCoeffs,
                         PIDCoefficients crossTrackCoeffs,
                         double kV,
                         double kA,
                         double kStatic)

Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to class MecanumPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

Parameters:

drive - tank drive instance

displacementCoeffs - PID coefficients for the robot axial (x) controller

crossTrackCoeffs - PID coefficients for the robot heading controller based on cross track error

kV - feedforward velocity gain

kA - feedforward acceleration gain

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

drive - tank drive instance

displacementCoeffs - PID coefficients for the robot axial (x) controller

crossTrackCoeffs - PID coefficients for the robot heading controller based on cross track error

kV - feedforward velocity gain

kA - feedforward acceleration gain

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

See Also:

class MecanumPIDVAFollower

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