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Add feed-forward and slew rate limiting to advanced drive examples (#2301)

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This commit is contained in:
Oblarg
2020-01-23 21:07:38 -05:00
committed by Peter Johnson
parent 1cee5ccb93
commit 0ab81d768f
16 changed files with 192 additions and 67 deletions
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17
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
@@ -53,6 +54,9 @@ public class Drivetrain {
private final DifferentialDriveOdometry m_odometry;
// Gains are for example purposes only - must be determined for your own robot!
private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 3);
/**
* Constructs a differential drive object.
* Sets the encoder distance per pulse and resets the gyro.
@@ -88,12 +92,15 @@ public class Drivetrain {
* @param speeds The desired wheel speeds.
*/
public void setSpeeds(DifferentialDriveWheelSpeeds speeds) {
double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(),
final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
final double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(),
speeds.leftMetersPerSecond);
double rightOutput = m_rightPIDController.calculate(m_rightEncoder.getRate(),
final double rightOutput = m_rightPIDController.calculate(m_rightEncoder.getRate(),
speeds.rightMetersPerSecond);
m_leftGroup.set(leftOutput);
m_rightGroup.set(rightOutput);
m_leftGroup.setVoltage(leftOutput + leftFeedforward);
m_rightGroup.setVoltage(rightOutput + rightFeedforward);
}
/**

16
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Robot.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,7 @@
package edu.wpi.first.wpilibj.examples.differentialdrivebot;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.SlewRateLimiter;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
@@ -15,6 +16,11 @@ public class Robot extends TimedRobot {
private final XboxController m_controller = new XboxController(0);
private final Drivetrain m_drive = new Drivetrain();
// Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
private final SlewRateLimiter m_speedLimiter = new SlewRateLimiter(3);
private final SlewRateLimiter m_rotLimiter = new SlewRateLimiter(3);
@Override
public void autonomousPeriodic() {
teleopPeriodic();
@@ -25,13 +31,17 @@ public class Robot extends TimedRobot {
public void teleopPeriodic() {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
final var xSpeed = -m_controller.getY(GenericHID.Hand.kLeft) * Drivetrain.kMaxSpeed;
final var xSpeed =
-m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft))
* Drivetrain.kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
final var rot = -m_controller.getX(GenericHID.Hand.kRight) * Drivetrain.kMaxAngularSpeed;
final var rot =
-m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
* Drivetrain.kMaxAngularSpeed;
m_drive.drive(xSpeed, rot);
}

27
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
@@ -56,6 +57,9 @@ public class Drivetrain {
private final MecanumDriveOdometry m_odometry = new MecanumDriveOdometry(m_kinematics,
getAngle());
// Gains are for example purposes only - must be determined for your own robot!
private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 3);
/**
* Constructs a MecanumDrive and resets the gyro.
*/
@@ -93,23 +97,28 @@ public class Drivetrain {
* @param speeds The desired wheel speeds.
*/
public void setSpeeds(MecanumDriveWheelSpeeds speeds) {
final var frontLeftOutput = m_frontLeftPIDController.calculate(
final double frontLeftFeedforward = m_feedforward.calculate(speeds.frontLeftMetersPerSecond);
final double frontRightFeedforward = m_feedforward.calculate(speeds.frontRightMetersPerSecond);
final double backLeftFeedforward = m_feedforward.calculate(speeds.rearLeftMetersPerSecond);
final double backRightFeedforward = m_feedforward.calculate(speeds.rearRightMetersPerSecond);
final double frontLeftOutput = m_frontLeftPIDController.calculate(
m_frontLeftEncoder.getRate(), speeds.frontLeftMetersPerSecond
);
final var frontRightOutput = m_frontRightPIDController.calculate(
final double frontRightOutput = m_frontRightPIDController.calculate(
m_frontRightEncoder.getRate(), speeds.frontRightMetersPerSecond
);
final var backLeftOutput = m_backLeftPIDController.calculate(
final double backLeftOutput = m_backLeftPIDController.calculate(
m_backLeftEncoder.getRate(), speeds.rearLeftMetersPerSecond
);
final var backRightOutput = m_backRightPIDController.calculate(
final double backRightOutput = m_backRightPIDController.calculate(
m_backRightEncoder.getRate(), speeds.rearRightMetersPerSecond
);
m_frontLeftMotor.set(frontLeftOutput);
m_frontRightMotor.set(frontRightOutput);
m_backLeftMotor.set(backLeftOutput);
m_backRightMotor.set(backRightOutput);
m_frontLeftMotor.setVoltage(frontLeftOutput + frontLeftFeedforward);
m_frontRightMotor.setVoltage(frontRightOutput + frontRightFeedforward);
m_backLeftMotor.setVoltage(backLeftOutput + backLeftFeedforward);
m_backRightMotor.setVoltage(backRightOutput + backRightFeedforward);
}
/**

20
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Robot.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,7 @@
package edu.wpi.first.wpilibj.examples.mecanumbot;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.SlewRateLimiter;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
@@ -15,6 +16,11 @@ public class Robot extends TimedRobot {
private final XboxController m_controller = new XboxController(0);
private final Drivetrain m_mecanum = new Drivetrain();
// Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
private final SlewRateLimiter m_xspeedLimiter = new SlewRateLimiter(3);
private final SlewRateLimiter m_yspeedLimiter = new SlewRateLimiter(3);
private final SlewRateLimiter m_rotLimiter = new SlewRateLimiter(3);
@Override
public void autonomousPeriodic() {
driveWithJoystick(false);
@@ -29,18 +35,24 @@ public class Robot extends TimedRobot {
private void driveWithJoystick(boolean fieldRelative) {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
final var xSpeed = -m_controller.getY(GenericHID.Hand.kLeft) * Drivetrain.kMaxSpeed;
final var xSpeed =
-m_xspeedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft))
* Drivetrain.kMaxSpeed;
// Get the y speed or sideways/strafe speed. We are inverting this because
// we want a positive value when we pull to the left. Xbox controllers
// return positive values when you pull to the right by default.
final var ySpeed = -m_controller.getX(GenericHID.Hand.kLeft) * Drivetrain.kMaxSpeed;
final var ySpeed =
-m_yspeedLimiter.calculate(m_controller.getX(GenericHID.Hand.kLeft))
* Drivetrain.kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
final var rot = -m_controller.getX(GenericHID.Hand.kRight) * Drivetrain.kMaxAngularSpeed;
final var rot =
-m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
* Drivetrain.kMaxAngularSpeed;
m_mecanum.drive(xSpeed, ySpeed, rot, fieldRelative);
}

20
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Robot.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,7 @@
package edu.wpi.first.wpilibj.examples.swervebot;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.SlewRateLimiter;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
@@ -15,6 +16,11 @@ public class Robot extends TimedRobot {
private final XboxController m_controller = new XboxController(0);
private final Drivetrain m_swerve = new Drivetrain();
// Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.
private final SlewRateLimiter m_xspeedLimiter = new SlewRateLimiter(3);
private final SlewRateLimiter m_yspeedLimiter = new SlewRateLimiter(3);
private final SlewRateLimiter m_rotLimiter = new SlewRateLimiter(3);
@Override
public void autonomousPeriodic() {
driveWithJoystick(false);
@@ -29,18 +35,24 @@ public class Robot extends TimedRobot {
private void driveWithJoystick(boolean fieldRelative) {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
final var xSpeed = -m_controller.getY(GenericHID.Hand.kLeft) * Drivetrain.kMaxSpeed;
final var xSpeed =
-m_xspeedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft))
* edu.wpi.first.wpilibj.examples.mecanumbot.Drivetrain.kMaxSpeed;
// Get the y speed or sideways/strafe speed. We are inverting this because
// we want a positive value when we pull to the left. Xbox controllers
// return positive values when you pull to the right by default.
final var ySpeed = -m_controller.getX(GenericHID.Hand.kLeft) * Drivetrain.kMaxSpeed;
final var ySpeed =
-m_yspeedLimiter.calculate(m_controller.getX(GenericHID.Hand.kLeft))
* edu.wpi.first.wpilibj.examples.mecanumbot.Drivetrain.kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
final var rot = -m_controller.getX(GenericHID.Hand.kRight) * Drivetrain.kMaxAngularSpeed;
final var rot =
-m_rotLimiter.calculate(m_controller.getX(GenericHID.Hand.kRight))
* edu.wpi.first.wpilibj.examples.mecanumbot.Drivetrain.kMaxAngularSpeed;
m_swerve.drive(xSpeed, ySpeed, rot, fieldRelative);
}

21
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
@@ -36,6 +37,10 @@ public class SwerveModule {
= new ProfiledPIDController(1, 0, 0,
new TrapezoidProfile.Constraints(kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration));
// Gains are for example purposes only - must be determined for your own robot!
private final SimpleMotorFeedforward m_driveFeedforward = new SimpleMotorFeedforward(1, 3);
private final SimpleMotorFeedforward m_turnFeedforward = new SimpleMotorFeedforward(1, 0.5);
/**
* Constructs a SwerveModule.
*
@@ -77,16 +82,20 @@ public class SwerveModule {
*/
public void setDesiredState(SwerveModuleState state) {
// Calculate the drive output from the drive PID controller.
final var driveOutput = m_drivePIDController.calculate(
final double driveOutput = m_drivePIDController.calculate(
m_driveEncoder.getRate(), state.speedMetersPerSecond);
final double driveFeedforward = m_driveFeedforward.calculate(state.speedMetersPerSecond);
// Calculate the turning motor output from the turning PID controller.
final var turnOutput = m_turningPIDController.calculate(
final double turnOutput = m_turningPIDController.calculate(
m_turningEncoder.get(), state.angle.getRadians()
);
// Calculate the turning motor output from the turning PID controller.
m_driveMotor.set(driveOutput);
m_turningMotor.set(turnOutput);
final double turnFeedforward =
m_turnFeedforward.calculate(m_turningPIDController.getSetpoint().velocity);
m_driveMotor.setVoltage(driveOutput + driveFeedforward);
m_turningMotor.setVoltage(turnOutput + turnFeedforward);
}
}