abstract class TrajectoryFollower (source)
Generic Trajectory follower for time-based pose reference tracking.
admissibleError - admissible/satisfactory pose error at the end of each move
timeout - max time to wait for the error to be admissible
<init> |
Generic Trajectory follower for time-based pose reference tracking. TrajectoryFollower(admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system()) |
clock |
clock val clock: NanoClock |
lastError |
Robot pose error computed in the last update call. abstract var lastError: Pose2d |
trajectory |
Trajectory being followed if isFollowing is true. lateinit var trajectory: Trajectory |
elapsedTime |
Returns the elapsed time since the last followTrajectory call. fun elapsedTime(): Double |
followTrajectory |
Follow the given trajectory. open fun followTrajectory(trajectory: Trajectory): Unit |
internalUpdate |
abstract fun internalUpdate(currentPose: Pose2d, currentRobotVel: Pose2d?): DriveSignal |
isFollowing |
Returns true if the current trajectory is currently executing. fun isFollowing(): Boolean |
update |
Run a single iteration of the trajectory follower. fun update(currentPose: Pose2d, currentRobotVel: Pose2d? = null): DriveSignal |
HolonomicPIDVAFollower |
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. class HolonomicPIDVAFollower : TrajectoryFollower |
RamseteFollower |
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf. class RamseteFollower : TrajectoryFollower |
TankPIDVAFollower |
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. class TankPIDVAFollower : TrajectoryFollower |