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Add feedforward components (#2045)

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Add helper classes for computing feedforwards with parameters supplied by the characterization tool.
This commit is contained in:
Oblarg
2019-11-09 23:16:42 -05:00
committed by Peter Johnson
parent 5f33d6af12
commit 7dc7c71b58
13 changed files with 457 additions and 63 deletions
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22
wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
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@@ -13,6 +13,7 @@
#include <frc/controller/PIDController.h>
#include <frc/controller/RamseteController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/geometry/Pose2d.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/trajectory/Trajectory.h>
@@ -41,12 +42,6 @@ namespace frc2 {
* @see Trajectory
*/
class RamseteCommand : public CommandHelper<CommandBase, RamseteCommand> {
using voltsecondspermeter =
units::compound_unit<units::volt, units::second,
units::inverse<units::meter>>;
using voltsecondssquaredpermeter =
units::compound_unit<units::volt, units::squared<units::second>,
units::inverse<units::meter>>;
public:
/**
@@ -63,11 +58,7 @@ class RamseteCommand : public CommandHelper<CommandBase, RamseteCommand> {
* the odometry classes to provide this.
* @param controller The RAMSETE controller used to follow the
* trajectory.
* @param ks Constant feedforward term for the robot drive.
* @param kv Velocity-proportional feedforward term for the robot
* drive.
* @param ka Acceleration-proportional feedforward term for the
* robot drive.
* @param feedforward A component for calculating the feedforward for the drive.
* @param kinematics The kinematics for the robot drivetrain.
* @param leftSpeed A function that supplies the speed of the left side
* of the robot drive.
@@ -82,9 +73,8 @@ class RamseteCommand : public CommandHelper<CommandBase, RamseteCommand> {
* @param requirements The subsystems to require.
*/
RamseteCommand(frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::RamseteController controller, units::volt_t ks,
units::unit_t<voltsecondspermeter> kv,
units::unit_t<voltsecondssquaredpermeter> ka,
frc::RamseteController controller,
frc::SimpleMotorFeedforward<units::meters> feedforward,
frc::DifferentialDriveKinematics kinematics,
std::function<units::meters_per_second_t()> leftSpeed,
std::function<units::meters_per_second_t()> rightSpeed,
@@ -129,9 +119,7 @@ class RamseteCommand : public CommandHelper<CommandBase, RamseteCommand> {
frc::Trajectory m_trajectory;
std::function<frc::Pose2d()> m_pose;
frc::RamseteController m_controller;
const units::volt_t m_ks;
const units::unit_t<voltsecondspermeter> m_kv;
const units::unit_t<voltsecondssquaredpermeter> m_ka;
frc::SimpleMotorFeedforward<units::meters> m_feedforward;
frc::DifferentialDriveKinematics m_kinematics;
std::function<units::meters_per_second_t()> m_leftSpeed;
std::function<units::meters_per_second_t()> m_rightSpeed;