com.acmerobotics.roadrunner.followers

Class HolonomicPIDVAFollower

TrajectoryFollower

com.acmerobotics.roadrunner.followers.HolonomicPIDVAFollower

public class HolonomicPIDVAFollower
extends 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.

Field Summary

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

trajectory

Constructor Summary

Constructors

Constructor and Description
HolonomicPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients lateralCoeffs, PIDCoefficients headingCoeffs, 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.
HolonomicPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients lateralCoeffs, PIDCoefficients headingCoeffs, 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.
HolonomicPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients lateralCoeffs, PIDCoefficients headingCoeffs, 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.
HolonomicPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients lateralCoeffs, PIDCoefficients headingCoeffs) 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
Pose2d	getLastError() Robot pose error computed in the last update call.
protected DriveSignal	internalUpdate(Pose2d currentPose)
protected void	setLastError(Pose2d p) Robot pose error computed in the last update call.

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

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

Constructor Detail

HolonomicPIDVAFollower

@JvmOverloads
public HolonomicPIDVAFollower(@NotNull
                                            PIDCoefficients axialCoeffs,
                                            @NotNull
                                            PIDCoefficients lateralCoeffs,
                                            @NotNull
                                            PIDCoefficients headingCoeffs,
                                            @NotNull
                                            Pose2d admissibleError,
                                            double timeout,
                                            @NotNull
                                            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:

axialCoeffs - PID coefficients for the robot axial controller (robot X)

lateralCoeffs - PID coefficients for the robot lateral controller (robot Y)

headingCoeffs - PID coefficients for the robot heading controller

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

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

clock - clock

HolonomicPIDVAFollower

@JvmOverloads
public HolonomicPIDVAFollower(@NotNull
                                            PIDCoefficients axialCoeffs,
                                            @NotNull
                                            PIDCoefficients lateralCoeffs,
                                            @NotNull
                                            PIDCoefficients headingCoeffs,
                                            @NotNull
                                            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:

axialCoeffs - PID coefficients for the robot axial controller (robot X)

lateralCoeffs - PID coefficients for the robot lateral controller (robot Y)

headingCoeffs - PID coefficients for the robot heading controller

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

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

HolonomicPIDVAFollower

@JvmOverloads
public HolonomicPIDVAFollower(@NotNull
                                            PIDCoefficients axialCoeffs,
                                            @NotNull
                                            PIDCoefficients lateralCoeffs,
                                            @NotNull
                                            PIDCoefficients headingCoeffs,
                                            @NotNull
                                            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:

axialCoeffs - PID coefficients for the robot axial controller (robot X)

lateralCoeffs - PID coefficients for the robot lateral controller (robot Y)

headingCoeffs - PID coefficients for the robot heading controller

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

HolonomicPIDVAFollower

@JvmOverloads
public HolonomicPIDVAFollower(@NotNull
                                            PIDCoefficients axialCoeffs,
                                            @NotNull
                                            PIDCoefficients lateralCoeffs,
                                            @NotNull
                                            PIDCoefficients headingCoeffs)

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:

axialCoeffs - PID coefficients for the robot axial controller (robot X)

lateralCoeffs - PID coefficients for the robot lateral controller (robot Y)

headingCoeffs - PID coefficients for the robot heading controller

Method Detail

getLastError

@NotNull
public Pose2d getLastError()

Robot pose error computed in the last update call.

See Also:

update

setLastError

protected void setLastError(@NotNull
                            Pose2d p)

Robot pose error computed in the last update call.

See Also:

update

internalUpdate

@NotNull
protected DriveSignal internalUpdate(@NotNull
                                              Pose2d currentPose)