class TankPIDVAFollower : TrajectoryFollower (source)
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 HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.
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
<init> |
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 HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level. TankPIDVAFollower(axialCoeffs: PIDCoefficients, crossTrackCoeffs: PIDCoefficients, admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system()) |
lastError |
Robot pose error computed in the last update call. var lastError: Pose2d |
followTrajectory |
Follow the given trajectory. fun followTrajectory(trajectory: Trajectory): Unit |
internalUpdate |
fun internalUpdate(currentPose: Pose2d, currentRobotVel: Pose2d?): DriveSignal |