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Add DifferentialDrive voltage constraint (#2075)

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This commit is contained in:
Oblarg
2019-11-22 00:43:02 -05:00
committed by Peter Johnson
parent e0bc97f66b
commit 21e957ee42
17 changed files with 868 additions and 70 deletions
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10
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
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@@ -12,7 +12,7 @@
#include <frc/shuffleboard/Shuffleboard.h>
#include <frc/trajectory/Trajectory.h>
#include <frc/trajectory/TrajectoryGenerator.h>
#include <frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h>
#include <frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h>
#include <frc2/command/InstantCommand.h>
#include <frc2/command/RamseteCommand.h>
#include <frc2/command/SequentialCommandGroup.h>
@@ -44,11 +44,19 @@ void RobotContainer::ConfigureButtonBindings() {
}
frc2::Command* RobotContainer::GetAutonomousCommand() {
// Create a voltage constraint to ensure we don't accelerate too fast
frc::DifferentialDriveVoltageConstraint autoVoltageConstraint(
frc::SimpleMotorFeedforward<units::meters>(
DriveConstants::ks, DriveConstants::kv, DriveConstants::ka),
DriveConstants::kDriveKinematics, 10_V);
// Set up config for trajectory
frc::TrajectoryConfig config(AutoConstants::kMaxSpeed,
AutoConstants::kMaxAcceleration);
// Add kinematics to ensure max speed is actually obeyed
config.SetKinematics(DriveConstants::kDriveKinematics);
// Apply the voltage constraint
config.AddConstraint(autoVoltageConstraint);
// An example trajectory to follow. All units in meters.
auto exampleTrajectory = frc::TrajectoryGenerator::GenerateTrajectory(