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[wpimath] Remove rho overload from LinearQuadraticRegulator constructors (#2687)

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It was added as part of Bryson's rule described in
https://file.tavsys.net/control/controls-engineering-in-frc.pdf. It
doesn't really simplify usage though, and the same thing can be
replicated by multiplying the elements of Q by rho manually. It's easier
to do it that way, it's how 3512 has been doing controller debugging for
a while, and it's probably what other teams will do as well instead of
using the "more structured" way.

Removing these unhelpful overloads also simplifies the LQR interface.
This commit is contained in:
Tyler Veness
2020-09-03 20:53:17 -07:00
committed by GitHub
parent 8edc17dac9
commit 35790a8990
10 changed files with 16 additions and 216 deletions
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4
wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
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@@ -70,10 +70,6 @@ class Robot : public frc::TimedRobot {
// Decrease this to more heavily penalize state excursion, or make the
// controller behave more aggressively.
{1.0 * 2.0 * wpi::math::pi / 360.0, 10.0 * 2.0 * wpi::math::pi / 360.0},
// rho balances Q and R. Increasing this will penalize state excursion
// more heavily, while decreasing this will penalize control effort more
// heavily.
1.0,
// relms. Control effort (voltage) tolerance. Decrease this to more
// heavily penalize control effort, or make the controller less
// aggressive. 12 is a good starting point because that is the

4
wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
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@@ -67,10 +67,6 @@ class Robot : public frc::TimedRobot {
// Decrease this to more heavily penalize state excursion, or make the
// controller behave more aggressively.
{0.0254, 0.254},
// rho balances Q and R. Increasing this will penalize state excursion
// more heavily, while decreasing this will penalize control effort more
// heavily.
1.0,
// relms. Control effort (voltage) tolerance. Decrease this to more
// heavily penalize control effort, or make the controller less
// aggressive. 12 is a good starting point because that is the

4
wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
View File

@@ -63,10 +63,6 @@ class Robot : public frc::TimedRobot {
// to more heavily penalize state excursion, or make the controller behave
// more aggressively.
{8.0},
// rho balances Q and R, or velocity and voltage weights. Increasing this
// will penalize state excursion more heavily, while decreasing this will
// penalize control effort more heavily.
1.0,
// relms. Control effort (voltage) tolerance. Decrease this to more
// heavily penalize control effort, or make the controller less
// aggressive. 12 is a good starting point because that is the

4
wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
View File

@@ -63,10 +63,6 @@ class Robot : public frc::TimedRobot {
// to more heavily penalize state excursion, or make the controller behave
// more aggressively.
{8.0},
// rho balances Q and R, or velocity and voltage weights. Increasing this
// will penalize state excursion more heavily, while decreasing this will
// penalize control effort more heavily.
1.0,
// relms. Control effort (voltage) tolerance. Decrease this to more
// heavily penalize control effort, or make the controller less
// aggressive. 12 is a good starting point because that is the