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 HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

See Also:

class HolonomicPIDVAFollower

Constructor Detail

TankPIDVAFollower

@JvmOverloads
public TankPIDVAFollower(@NotNull
                                       PIDCoefficients axialCoeffs,
                                       @NotNull
                                       PIDCoefficients crossTrackCoeffs,
                                       @NotNull
                                       Pose2d admissibleError,
                                       double timeout,
                                       @NotNull
                                       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 HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

Parameters:

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

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

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 HolonomicPIDVAFollower

TankPIDVAFollower

@JvmOverloads
public TankPIDVAFollower(@NotNull
                                       PIDCoefficients axialCoeffs,
                                       @NotNull
                                       PIDCoefficients crossTrackCoeffs,
                                       @NotNull
                                       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 HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

Parameters:

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

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

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 HolonomicPIDVAFollower

TankPIDVAFollower

@JvmOverloads
public TankPIDVAFollower(@NotNull
                                       PIDCoefficients axialCoeffs,
                                       @NotNull
                                       PIDCoefficients crossTrackCoeffs,
                                       @NotNull
                                       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 HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

Parameters:

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

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

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

See Also:

class HolonomicPIDVAFollower

TankPIDVAFollower

@JvmOverloads
public TankPIDVAFollower(@NotNull
                                       PIDCoefficients axialCoeffs,
                                       @NotNull
                                       PIDCoefficients crossTrackCoeffs)

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 HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

Parameters:

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

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

See Also:

class HolonomicPIDVAFollower

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)