class HolonomicPIDVAFollower : TrajectoryFollower (source)
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.
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
<init> |
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(axialCoeffs: PIDCoefficients, lateralCoeffs: PIDCoefficients, headingCoeffs: 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 |