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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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7
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
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@@ -8,7 +8,6 @@
package edu.wpi.first.wpilibj.examples.ramsetecommand;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -63,11 +62,7 @@ public final class Constants {
public static final double kMaxSpeedMetersPerSecond = 3;
public static final double kMaxAccelerationMetersPerSecondSquared = 3;
public static final DifferentialDriveKinematicsConstraint kAutoPathConstraints =
new DifferentialDriveKinematicsConstraint(DriveConstants.kDriveKinematics,
kMaxSpeedMetersPerSecond);
// Reasonable baseline values for a RAMSETE Controller in units of meters and seconds
// Reasonable baseline values for a RAMSETE follower in units of meters and seconds
public static final double kRamseteB = 2;
public static final double kRamseteZeta = 0.7;
}

15
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
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@@ -20,6 +20,7 @@ import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -91,11 +92,23 @@ public class RobotContainer {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// Create a voltage constraint to ensure we don't accelerate too fast
var autoVoltageConstraint =
new DifferentialDriveVoltageConstraint(
new SimpleMotorFeedforward(ksVolts,
kvVoltSecondsPerMeter,
kaVoltSecondsSquaredPerMeter),
kDriveKinematics,
10);
// Create config for trajectory
TrajectoryConfig config =
new TrajectoryConfig(kMaxSpeedMetersPerSecond, kMaxAccelerationMetersPerSecondSquared)
// Add kinematics to ensure max speed is actually obeyed
.setKinematics(kDriveKinematics);
.setKinematics(kDriveKinematics)
// Apply the voltage constraint
.addConstraint(autoVoltageConstraint);
// An example trajectory to follow. All units in meters.
Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(