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.

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

followTrajectory

public void followTrajectory(@NotNull
                             Trajectory trajectory)

Follow the given trajectory.

See Also:

trajectory

internalUpdate

@NotNull
protected DriveSignal internalUpdate(@NotNull
                                              Pose2d currentPose,
                                              @Nullable
                                              Pose2d currentRobotVel)