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Added support for trajectory following

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This commit is contained in:
thenetworkgrinch
2023-02-01 16:48:31 -06:00
parent fab24d2fd1
commit e903438c33
3 changed files with 256 additions and 11 deletions
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5
swervelib/SwerveDrive.java
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@@ -61,7 +61,7 @@ public class SwerveDrive extends RobotDriveBase implements Sendable, AutoCloseab
/**
* Maximum speed in meters per second.
*/
public final double m_driverMaxSpeedMPS, m_driverMaxAngularVelocity, m_physicalMaxSpeedMPS;
public final double m_driverMaxSpeedMPS, m_driverMaxAngularVelocity, m_physicalMaxSpeedMPS, m_driveAccellerationMetersPerSecondSquared;
/**
* Swerve drive pose estimator for attempting to figure out our current position.
*/
@@ -73,7 +73,7 @@ public class SwerveDrive extends RobotDriveBase implements Sendable, AutoCloseab
/**
* Swerve drive kinematics.
*/
private final SwerveDriveKinematics2 m_swerveKinematics;
public final SwerveDriveKinematics2 m_swerveKinematics;
/**
* Field2d displayed on shuffleboard with current position.
*/
@@ -148,6 +148,7 @@ public class SwerveDrive extends RobotDriveBase implements Sendable, AutoCloseab
m_driverMaxSpeedMPS = driverMaxSpeedMetersPerSecond;
m_driverMaxAngularVelocity = driverMaxAngularVelocityRadiansPerSecond;
m_driveAccellerationMetersPerSecondSquared = driverMaxDriveAccelerationMetersPerSecond;
m_xLimiter = new SlewRateLimiter(driverMaxDriveAccelerationMetersPerSecond);
m_yLimiter = new SlewRateLimiter(driverMaxDriveAccelerationMetersPerSecond);
m_turningLimiter = new SlewRateLimiter(driverMaxAngularAccelerationRadiansPerSecond);