mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-26 01:51:41 +00:00
Add holonomic follower examples (#2052)
This commit is contained in:
CTT
@@ -0,0 +1,353 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2019 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
package edu.wpi.first.wpilibj2.command;
|
||||
|
||||
import java.util.function.Consumer;
|
||||
import java.util.function.Supplier;
|
||||
|
||||
import edu.wpi.first.wpilibj.Timer;
|
||||
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.Pose2d;
|
||||
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
|
||||
import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
|
||||
import edu.wpi.first.wpilibj.kinematics.MecanumDriveMotorVoltages;
|
||||
import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
|
||||
import edu.wpi.first.wpilibj.trajectory.Trajectory;
|
||||
|
||||
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
|
||||
|
||||
/**
|
||||
* A command that uses two PID controllers ({@link PIDController}) and a
|
||||
* ProfiledPIDController ({@link ProfiledPIDController}) to follow a trajectory
|
||||
* {@link Trajectory} with a mecanum drive.
|
||||
*
|
||||
* <p>The command handles trajectory-following,
|
||||
* Velocity PID calculations, and feedforwards internally. This
|
||||
* is intended to be a more-or-less "complete solution" that can be used by teams without a great
|
||||
* deal of controls expertise.
|
||||
*
|
||||
* <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard
|
||||
* PID functionality of a "smart" motor controller) may use the secondary constructor that omits
|
||||
* the PID and feedforward functionality, returning only the raw wheel speeds from the PID
|
||||
* controllers.
|
||||
*
|
||||
* <p>The robot angle controller does not follow the angle given by
|
||||
* the trajectory but rather goes to the angle given in the final state of the trajectory.
|
||||
*/
|
||||
|
||||
@SuppressWarnings({"PMD.TooManyFields", "MemberName"})
|
||||
public class MecanumControllerCommand extends CommandBase {
|
||||
private final Timer m_timer = new Timer();
|
||||
private MecanumDriveWheelSpeeds m_prevSpeeds;
|
||||
private double m_prevTime;
|
||||
private Pose2d m_finalPose;
|
||||
private final boolean m_usePID;
|
||||
|
||||
private final Trajectory m_trajectory;
|
||||
private final Supplier<Pose2d> m_pose;
|
||||
private final SimpleMotorFeedforward m_feedforward;
|
||||
private final MecanumDriveKinematics m_kinematics;
|
||||
private final PIDController m_xController;
|
||||
private final PIDController m_yController;
|
||||
private final ProfiledPIDController m_thetaController;
|
||||
private final double m_maxWheelVelocityMetersPerSecond;
|
||||
private final PIDController m_frontLeftController;
|
||||
private final PIDController m_rearLeftController;
|
||||
private final PIDController m_frontRightController;
|
||||
private final PIDController m_rearRightController;
|
||||
private final Supplier<MecanumDriveWheelSpeeds> m_currentWheelSpeeds;
|
||||
private final Consumer<MecanumDriveMotorVoltages> m_outputDriveVoltages;
|
||||
private final Consumer<MecanumDriveWheelSpeeds> m_outputWheelSpeeds;
|
||||
|
||||
/**
|
||||
* Constructs a new MecanumControllerCommand that when executed will follow the provided
|
||||
* trajectory. PID control and feedforward are handled internally. Outputs are scaled from -12 to
|
||||
* 12 as a voltage output to the motor.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path
|
||||
* this is left to the user, since it is not appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* <p>Note 2: The rotation controller will calculate the rotation based on the final pose in the
|
||||
* trajectory, not the poses at each time step.
|
||||
*
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose - use one of
|
||||
* the odometry classes to provide this.
|
||||
* @param feedforward The feedforward to use for the drivetrain.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller
|
||||
* for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller
|
||||
* for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller
|
||||
* for angle for the robot.
|
||||
* @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
|
||||
* @param frontLeftController The front left wheel velocity PID.
|
||||
* @param rearLeftController The rear left wheel velocity PID.
|
||||
* @param frontRightController The front right wheel velocity PID.
|
||||
* @param rearRightController The rear right wheel velocity PID.
|
||||
* @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing
|
||||
* the current wheel speeds.
|
||||
* @param outputDriveVoltages A MecanumDriveMotorVoltages object containing
|
||||
* the output motor voltages.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
|
||||
@SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
|
||||
public MecanumControllerCommand(Trajectory trajectory,
|
||||
Supplier<Pose2d> pose,
|
||||
SimpleMotorFeedforward feedforward,
|
||||
MecanumDriveKinematics kinematics,
|
||||
|
||||
PIDController xController,
|
||||
PIDController yController,
|
||||
ProfiledPIDController thetaController,
|
||||
|
||||
double maxWheelVelocityMetersPerSecond,
|
||||
|
||||
PIDController frontLeftController,
|
||||
PIDController rearLeftController,
|
||||
PIDController frontRightController,
|
||||
PIDController rearRightController,
|
||||
|
||||
Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
|
||||
|
||||
Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
|
||||
Subsystem... requirements) {
|
||||
m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
|
||||
m_pose = requireNonNullParam(pose, "pose", "MecanumControllerCommand");
|
||||
m_feedforward = requireNonNullParam(feedforward, "feedforward", "MecanumControllerCommand");
|
||||
m_kinematics = requireNonNullParam(kinematics, "kinematics", "MecanumControllerCommand");
|
||||
|
||||
m_xController = requireNonNullParam(xController, "xController",
|
||||
"MecanumControllerCommand");
|
||||
m_yController = requireNonNullParam(yController, "yController",
|
||||
"MecanumControllerCommand");
|
||||
m_thetaController = requireNonNullParam(thetaController, "thetaController",
|
||||
"MecanumControllerCommand");
|
||||
|
||||
m_maxWheelVelocityMetersPerSecond = requireNonNullParam(maxWheelVelocityMetersPerSecond,
|
||||
"maxWheelVelocityMetersPerSecond", "MecanumControllerCommand");
|
||||
|
||||
m_frontLeftController = requireNonNullParam(frontLeftController,
|
||||
"frontLeftController", "MecanumControllerCommand");
|
||||
m_rearLeftController = requireNonNullParam(rearLeftController,
|
||||
"rearLeftController", "MecanumControllerCommand");
|
||||
m_frontRightController = requireNonNullParam(frontRightController,
|
||||
"frontRightController", "MecanumControllerCommand");
|
||||
m_rearRightController = requireNonNullParam(rearRightController,
|
||||
"rearRightController", "MecanumControllerCommand");
|
||||
|
||||
m_currentWheelSpeeds = requireNonNullParam(currentWheelSpeeds,
|
||||
"currentWheelSpeeds", "MecanumControllerCommand");
|
||||
|
||||
m_outputDriveVoltages = requireNonNullParam(outputDriveVoltages,
|
||||
"outputDriveVoltages", "MecanumControllerCommand");
|
||||
|
||||
m_outputWheelSpeeds = null;
|
||||
|
||||
m_usePID = true;
|
||||
|
||||
addRequirements(requirements);
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructs a new MecanumControllerCommand that when executed will follow the provided
|
||||
* trajectory. The user should implement a velocity PID on the desired output wheel velocities.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path -
|
||||
* this is left to the user, since it is not appropriate for paths with non-stationary end-states.
|
||||
*
|
||||
* <p>Note2: The rotation controller will calculate the rotation based on the final pose
|
||||
* in the trajectory, not the poses at each time step.
|
||||
*
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose - use one of
|
||||
* the odometry classes to provide this.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller
|
||||
* for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller
|
||||
* for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller
|
||||
* for angle for the robot.
|
||||
* @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
|
||||
* @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing
|
||||
* the output wheel speeds.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
|
||||
@SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
|
||||
public MecanumControllerCommand(Trajectory trajectory,
|
||||
Supplier<Pose2d> pose,
|
||||
MecanumDriveKinematics kinematics,
|
||||
PIDController xController,
|
||||
PIDController yController,
|
||||
ProfiledPIDController thetaController,
|
||||
|
||||
double maxWheelVelocityMetersPerSecond,
|
||||
|
||||
Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
|
||||
Subsystem... requirements) {
|
||||
m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
|
||||
m_pose = requireNonNullParam(pose, "pose", "MecanumControllerCommand");
|
||||
m_feedforward = new SimpleMotorFeedforward(0, 0, 0);
|
||||
m_kinematics = requireNonNullParam(kinematics,
|
||||
"kinematics", "MecanumControllerCommand");
|
||||
|
||||
m_xController = requireNonNullParam(xController,
|
||||
"xController", "MecanumControllerCommand");
|
||||
m_yController = requireNonNullParam(yController,
|
||||
"xController", "MecanumControllerCommand");
|
||||
m_thetaController = requireNonNullParam(thetaController,
|
||||
"thetaController", "MecanumControllerCommand");
|
||||
|
||||
m_maxWheelVelocityMetersPerSecond = requireNonNullParam(maxWheelVelocityMetersPerSecond,
|
||||
"maxWheelVelocityMetersPerSecond", "MecanumControllerCommand");
|
||||
|
||||
m_frontLeftController = null;
|
||||
m_rearLeftController = null;
|
||||
m_frontRightController = null;
|
||||
m_rearRightController = null;
|
||||
|
||||
m_currentWheelSpeeds = null;
|
||||
|
||||
m_outputWheelSpeeds = requireNonNullParam(outputWheelSpeeds,
|
||||
"outputWheelSpeeds", "MecanumControllerCommand");
|
||||
|
||||
m_outputDriveVoltages = null;
|
||||
|
||||
m_usePID = false;
|
||||
|
||||
addRequirements(requirements);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
var initialState = m_trajectory.sample(0);
|
||||
|
||||
// Sample final pose to get robot rotation
|
||||
m_finalPose = m_trajectory.sample(m_trajectory.getTotalTimeSeconds()).poseMeters;
|
||||
|
||||
var initialXVelocity = initialState.velocityMetersPerSecond
|
||||
* initialState.poseMeters.getRotation().getCos();
|
||||
var initialYVelocity = initialState.velocityMetersPerSecond
|
||||
* initialState.poseMeters.getRotation().getSin();
|
||||
|
||||
m_prevSpeeds = m_kinematics.toWheelSpeeds(
|
||||
new ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0));
|
||||
|
||||
m_timer.reset();
|
||||
m_timer.start();
|
||||
}
|
||||
|
||||
@Override
|
||||
@SuppressWarnings("LocalVariableName")
|
||||
public void execute() {
|
||||
double curTime = m_timer.get();
|
||||
double dt = curTime - m_prevTime;
|
||||
|
||||
var desiredState = m_trajectory.sample(curTime);
|
||||
var desiredPose = desiredState.poseMeters;
|
||||
|
||||
var poseError = desiredPose.relativeTo(m_pose.get());
|
||||
|
||||
double targetXVel = m_xController.calculate(
|
||||
m_pose.get().getTranslation().getX(),
|
||||
desiredPose.getTranslation().getX());
|
||||
|
||||
double targetYVel = m_yController.calculate(
|
||||
m_pose.get().getTranslation().getY(),
|
||||
desiredPose.getTranslation().getY());
|
||||
|
||||
// The robot will go to the desired rotation of the final pose in the trajectory,
|
||||
// not following the poses at individual states.
|
||||
double targetAngularVel = m_thetaController.calculate(
|
||||
m_pose.get().getRotation().getRadians(),
|
||||
m_finalPose.getRotation().getRadians());
|
||||
|
||||
double vRef = desiredState.velocityMetersPerSecond;
|
||||
|
||||
targetXVel += vRef * poseError.getRotation().getCos();
|
||||
targetYVel += vRef * poseError.getRotation().getSin();
|
||||
|
||||
var targetChassisSpeeds = new ChassisSpeeds(targetXVel, targetYVel, targetAngularVel);
|
||||
|
||||
var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
|
||||
|
||||
targetWheelSpeeds.normalize(m_maxWheelVelocityMetersPerSecond);
|
||||
|
||||
var frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeftMetersPerSecond;
|
||||
var rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeftMetersPerSecond;
|
||||
var frontRightSpeedSetpoint = targetWheelSpeeds.frontRightMetersPerSecond;
|
||||
var rearRightSpeedSetpoint = targetWheelSpeeds.rearRightMetersPerSecond;
|
||||
|
||||
double frontLeftOutput;
|
||||
double rearLeftOutput;
|
||||
double frontRightOutput;
|
||||
double rearRightOutput;
|
||||
|
||||
if (m_usePID) {
|
||||
final double frontLeftFeedforward = m_feedforward.calculate(frontLeftSpeedSetpoint,
|
||||
(frontLeftSpeedSetpoint - m_prevSpeeds.frontLeftMetersPerSecond) / dt);
|
||||
|
||||
final double rearLeftFeedforward = m_feedforward.calculate(rearLeftSpeedSetpoint,
|
||||
(rearLeftSpeedSetpoint - m_prevSpeeds.rearLeftMetersPerSecond) / dt);
|
||||
|
||||
final double frontRightFeedforward = m_feedforward.calculate(frontRightSpeedSetpoint,
|
||||
(frontRightSpeedSetpoint - m_prevSpeeds.frontRightMetersPerSecond) / dt);
|
||||
|
||||
final double rearRightFeedforward = m_feedforward.calculate(rearRightSpeedSetpoint,
|
||||
(rearRightSpeedSetpoint - m_prevSpeeds.rearRightMetersPerSecond) / dt);
|
||||
|
||||
frontLeftOutput = frontLeftFeedforward + m_frontLeftController.calculate(
|
||||
m_currentWheelSpeeds.get().frontLeftMetersPerSecond,
|
||||
frontLeftSpeedSetpoint);
|
||||
|
||||
rearLeftOutput = rearLeftFeedforward + m_rearLeftController.calculate(
|
||||
m_currentWheelSpeeds.get().rearLeftMetersPerSecond,
|
||||
rearLeftSpeedSetpoint);
|
||||
|
||||
frontRightOutput = frontRightFeedforward + m_frontRightController.calculate(
|
||||
m_currentWheelSpeeds.get().frontRightMetersPerSecond,
|
||||
frontRightSpeedSetpoint);
|
||||
|
||||
rearRightOutput = rearRightFeedforward + m_rearRightController.calculate(
|
||||
m_currentWheelSpeeds.get().rearRightMetersPerSecond,
|
||||
rearRightSpeedSetpoint);
|
||||
|
||||
m_outputDriveVoltages.accept(new MecanumDriveMotorVoltages(
|
||||
frontLeftOutput,
|
||||
frontRightOutput,
|
||||
rearLeftOutput,
|
||||
rearRightOutput));
|
||||
|
||||
} else {
|
||||
m_outputWheelSpeeds.accept(new MecanumDriveWheelSpeeds(
|
||||
frontLeftSpeedSetpoint,
|
||||
frontRightSpeedSetpoint,
|
||||
rearLeftSpeedSetpoint,
|
||||
rearRightSpeedSetpoint));
|
||||
}
|
||||
|
||||
m_prevTime = curTime;
|
||||
m_prevSpeeds = targetWheelSpeeds;
|
||||
}
|
||||
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
m_timer.stop();
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return m_timer.hasPeriodPassed(m_trajectory.getTotalTimeSeconds());
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,158 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2019 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
package edu.wpi.first.wpilibj2.command;
|
||||
|
||||
|
||||
import java.util.function.Consumer;
|
||||
import java.util.function.Supplier;
|
||||
|
||||
import edu.wpi.first.wpilibj.Timer;
|
||||
import edu.wpi.first.wpilibj.controller.PIDController;
|
||||
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
|
||||
import edu.wpi.first.wpilibj.geometry.Pose2d;
|
||||
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
|
||||
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
|
||||
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
|
||||
import edu.wpi.first.wpilibj.trajectory.Trajectory;
|
||||
|
||||
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
|
||||
|
||||
/**
|
||||
* A command that uses two PID controllers ({@link PIDController}) and a
|
||||
* ProfiledPIDController ({@link ProfiledPIDController}) to follow a trajectory
|
||||
* {@link Trajectory} with a swerve drive.
|
||||
*
|
||||
* <p>This command outputs the raw desired Swerve Module States ({@link SwerveModuleState})
|
||||
* in an array. The desired wheel and module rotation velocities should be taken
|
||||
* from those and used in velocity PIDs.
|
||||
*
|
||||
* <p>The robot angle controller does not follow the angle given by
|
||||
* the trajectory but rather goes to the angle given in the final state of the trajectory.
|
||||
*/
|
||||
|
||||
@SuppressWarnings("MemberName")
|
||||
public class SwerveControllerCommand extends CommandBase {
|
||||
private final Timer m_timer = new Timer();
|
||||
private Pose2d m_finalPose;
|
||||
|
||||
private final Trajectory m_trajectory;
|
||||
private final Supplier<Pose2d> m_pose;
|
||||
private final SwerveDriveKinematics m_kinematics;
|
||||
private final PIDController m_xController;
|
||||
private final PIDController m_yController;
|
||||
private final ProfiledPIDController m_thetaController;
|
||||
private final Consumer<SwerveModuleState[]> m_outputModuleStates;
|
||||
|
||||
/**
|
||||
* Constructs a new SwerveControllerCommand that when executed will follow the provided
|
||||
* trajectory. This command will not return output voltages but rather raw module states from the
|
||||
* position controllers which need to be put into a velocity PID.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path-
|
||||
* this is left to the user, since it is not appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* <p>Note 2: The rotation controller will calculate the rotation based on the final pose
|
||||
* in the trajectory, not the poses at each time step.
|
||||
*
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose - use one of
|
||||
* the odometry classes to provide this.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller
|
||||
* for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller
|
||||
* for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller
|
||||
* for angle for the robot.
|
||||
* @param outputModuleStates The raw output module states from the
|
||||
* position controllers.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
|
||||
@SuppressWarnings("ParameterName")
|
||||
public SwerveControllerCommand(Trajectory trajectory,
|
||||
Supplier<Pose2d> pose,
|
||||
SwerveDriveKinematics kinematics,
|
||||
PIDController xController,
|
||||
PIDController yController,
|
||||
ProfiledPIDController thetaController,
|
||||
|
||||
Consumer<SwerveModuleState[]> outputModuleStates,
|
||||
Subsystem... requirements) {
|
||||
m_trajectory = requireNonNullParam(trajectory, "trajectory", "SwerveControllerCommand");
|
||||
m_pose = requireNonNullParam(pose, "pose", "SwerveControllerCommand");
|
||||
m_kinematics = requireNonNullParam(kinematics, "kinematics", "SwerveControllerCommand");
|
||||
|
||||
m_xController = requireNonNullParam(xController,
|
||||
"xController", "SwerveControllerCommand");
|
||||
m_yController = requireNonNullParam(yController,
|
||||
"xController", "SwerveControllerCommand");
|
||||
m_thetaController = requireNonNullParam(thetaController,
|
||||
"thetaController", "SwerveControllerCommand");
|
||||
|
||||
m_outputModuleStates = requireNonNullParam(outputModuleStates,
|
||||
"frontLeftOutput", "SwerveControllerCommand");
|
||||
addRequirements(requirements);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
// Sample final pose to get robot rotation
|
||||
m_finalPose = m_trajectory.sample(m_trajectory.getTotalTimeSeconds()).poseMeters;
|
||||
|
||||
m_timer.reset();
|
||||
m_timer.start();
|
||||
}
|
||||
|
||||
@Override
|
||||
@SuppressWarnings("LocalVariableName")
|
||||
public void execute() {
|
||||
double curTime = m_timer.get();
|
||||
|
||||
var desiredState = m_trajectory.sample(curTime);
|
||||
var desiredPose = desiredState.poseMeters;
|
||||
|
||||
var poseError = desiredPose.relativeTo(m_pose.get());
|
||||
|
||||
double targetXVel = m_xController.calculate(
|
||||
m_pose.get().getTranslation().getX(),
|
||||
desiredPose.getTranslation().getX());
|
||||
|
||||
double targetYVel = m_yController.calculate(
|
||||
m_pose.get().getTranslation().getY(),
|
||||
desiredPose.getTranslation().getY());
|
||||
|
||||
// The robot will go to the desired rotation of the final pose in the trajectory,
|
||||
// not following the poses at individual states.
|
||||
double targetAngularVel = m_thetaController.calculate(
|
||||
m_pose.get().getRotation().getRadians(),
|
||||
m_finalPose.getRotation().getRadians());
|
||||
|
||||
double vRef = desiredState.velocityMetersPerSecond;
|
||||
|
||||
targetXVel += vRef * poseError.getRotation().getCos();
|
||||
targetYVel += vRef * poseError.getRotation().getSin();
|
||||
|
||||
var targetChassisSpeeds = new ChassisSpeeds(targetXVel, targetYVel, targetAngularVel);
|
||||
|
||||
var targetModuleStates = m_kinematics.toSwerveModuleStates(targetChassisSpeeds);
|
||||
|
||||
m_outputModuleStates.accept(targetModuleStates);
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
m_timer.stop();
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return m_timer.hasPeriodPassed(m_trajectory.getTotalTimeSeconds());
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,187 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2019 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#include "frc2/command/MecanumControllerCommand.h"
|
||||
|
||||
using namespace frc2;
|
||||
using namespace units;
|
||||
|
||||
MecanumControllerCommand::MecanumControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::SimpleMotorFeedforward<units::meters> feedforward,
|
||||
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
|
||||
frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
units::meters_per_second_t maxWheelVelocity,
|
||||
std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
|
||||
frc2::PIDController frontLeftController,
|
||||
frc2::PIDController rearLeftController,
|
||||
frc2::PIDController frontRightController,
|
||||
frc2::PIDController rearRightController,
|
||||
std::function<void(units::volt_t, units::volt_t, units::volt_t,
|
||||
units::volt_t)>
|
||||
output,
|
||||
std::initializer_list<Subsystem*> requirements)
|
||||
: m_trajectory(trajectory),
|
||||
m_pose(pose),
|
||||
m_feedforward(feedforward),
|
||||
m_kinematics(kinematics),
|
||||
m_xController(std::make_unique<frc2::PIDController>(xController)),
|
||||
m_yController(std::make_unique<frc2::PIDController>(yController)),
|
||||
m_thetaController(
|
||||
std::make_unique<frc::ProfiledPIDController<units::radians>>(
|
||||
thetaController)),
|
||||
m_maxWheelVelocity(maxWheelVelocity),
|
||||
m_frontLeftController(
|
||||
std::make_unique<frc2::PIDController>(frontLeftController)),
|
||||
m_rearLeftController(
|
||||
std::make_unique<frc2::PIDController>(rearLeftController)),
|
||||
m_frontRightController(
|
||||
std::make_unique<frc2::PIDController>(frontRightController)),
|
||||
m_rearRightController(
|
||||
std::make_unique<frc2::PIDController>(rearRightController)),
|
||||
m_currentWheelSpeeds(currentWheelSpeeds),
|
||||
m_outputVolts(output),
|
||||
m_usePID(true) {
|
||||
AddRequirements(requirements);
|
||||
}
|
||||
|
||||
MecanumControllerCommand::MecanumControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
|
||||
frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
units::meters_per_second_t maxWheelVelocity,
|
||||
std::function<void(units::meters_per_second_t, units::meters_per_second_t,
|
||||
units::meters_per_second_t, units::meters_per_second_t)>
|
||||
output,
|
||||
std::initializer_list<Subsystem*> requirements)
|
||||
: m_trajectory(trajectory),
|
||||
m_pose(pose),
|
||||
m_kinematics(kinematics),
|
||||
m_xController(std::make_unique<frc2::PIDController>(xController)),
|
||||
m_yController(std::make_unique<frc2::PIDController>(yController)),
|
||||
m_thetaController(
|
||||
std::make_unique<frc::ProfiledPIDController<units::radians>>(
|
||||
thetaController)),
|
||||
m_maxWheelVelocity(maxWheelVelocity),
|
||||
m_outputVel(output),
|
||||
m_usePID(false) {
|
||||
AddRequirements(requirements);
|
||||
}
|
||||
|
||||
void MecanumControllerCommand::Initialize() {
|
||||
m_prevTime = 0_s;
|
||||
auto initialState = m_trajectory.Sample(0_s);
|
||||
|
||||
auto initialXVelocity =
|
||||
initialState.velocity * initialState.pose.Rotation().Cos();
|
||||
auto initialYVelocity =
|
||||
initialState.velocity * initialState.pose.Rotation().Sin();
|
||||
|
||||
m_prevSpeeds = m_kinematics.ToWheelSpeeds(
|
||||
frc::ChassisSpeeds{initialXVelocity, initialYVelocity, 0_rad_per_s});
|
||||
|
||||
m_timer.Reset();
|
||||
m_timer.Start();
|
||||
if (m_usePID) {
|
||||
m_frontLeftController->Reset();
|
||||
m_rearLeftController->Reset();
|
||||
m_frontRightController->Reset();
|
||||
m_rearRightController->Reset();
|
||||
}
|
||||
}
|
||||
|
||||
void MecanumControllerCommand::Execute() {
|
||||
auto curTime = second_t(m_timer.Get());
|
||||
auto dt = curTime - m_prevTime;
|
||||
|
||||
auto m_desiredState = m_trajectory.Sample(curTime);
|
||||
auto m_desiredPose = m_desiredState.pose;
|
||||
|
||||
auto m_poseError = m_desiredPose.RelativeTo(m_pose());
|
||||
|
||||
auto targetXVel = meters_per_second_t(
|
||||
m_xController->Calculate((m_pose().Translation().X().to<double>()),
|
||||
(m_desiredPose.Translation().X().to<double>())));
|
||||
auto targetYVel = meters_per_second_t(
|
||||
m_yController->Calculate((m_pose().Translation().Y().to<double>()),
|
||||
(m_desiredPose.Translation().Y().to<double>())));
|
||||
|
||||
// Profiled PID Controller only takes meters as setpoint and measurement
|
||||
// The robot will go to the desired rotation of the final pose in the
|
||||
// trajectory, not following the poses at individual states.
|
||||
auto targetAngularVel = radians_per_second_t(m_thetaController->Calculate(
|
||||
m_pose().Rotation().Radians(), m_finalPose.Rotation().Radians()));
|
||||
|
||||
auto vRef = m_desiredState.velocity;
|
||||
|
||||
targetXVel += vRef * m_poseError.Rotation().Cos();
|
||||
targetYVel += vRef * m_poseError.Rotation().Sin();
|
||||
|
||||
auto targetChassisSpeeds =
|
||||
frc::ChassisSpeeds{targetXVel, targetYVel, targetAngularVel};
|
||||
|
||||
auto targetWheelSpeeds = m_kinematics.ToWheelSpeeds(targetChassisSpeeds);
|
||||
|
||||
targetWheelSpeeds.Normalize(m_maxWheelVelocity);
|
||||
|
||||
auto frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeft;
|
||||
auto rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeft;
|
||||
auto frontRightSpeedSetpoint = targetWheelSpeeds.frontRight;
|
||||
auto rearRightSpeedSetpoint = targetWheelSpeeds.rearRight;
|
||||
|
||||
if (m_usePID) {
|
||||
auto frontLeftFeedforward = m_feedforward.Calculate(
|
||||
frontLeftSpeedSetpoint,
|
||||
(frontLeftSpeedSetpoint - m_prevSpeeds.frontLeft) / dt);
|
||||
|
||||
auto rearLeftFeedforward = m_feedforward.Calculate(
|
||||
rearLeftSpeedSetpoint,
|
||||
(rearLeftSpeedSetpoint - m_prevSpeeds.rearLeft) / dt);
|
||||
|
||||
auto frontRightFeedforward = m_feedforward.Calculate(
|
||||
frontRightSpeedSetpoint,
|
||||
(frontRightSpeedSetpoint - m_prevSpeeds.frontRight) / dt);
|
||||
|
||||
auto rearRightFeedforward = m_feedforward.Calculate(
|
||||
rearRightSpeedSetpoint,
|
||||
(rearRightSpeedSetpoint - m_prevSpeeds.rearRight) / dt);
|
||||
|
||||
auto frontLeftOutput = volt_t(m_frontLeftController->Calculate(
|
||||
m_currentWheelSpeeds().frontLeft.to<double>(),
|
||||
frontLeftSpeedSetpoint.to<double>())) +
|
||||
frontLeftFeedforward;
|
||||
auto rearLeftOutput = volt_t(m_rearLeftController->Calculate(
|
||||
m_currentWheelSpeeds().rearLeft.to<double>(),
|
||||
rearLeftSpeedSetpoint.to<double>())) +
|
||||
rearLeftFeedforward;
|
||||
auto frontRightOutput = volt_t(m_frontRightController->Calculate(
|
||||
m_currentWheelSpeeds().frontRight.to<double>(),
|
||||
frontRightSpeedSetpoint.to<double>())) +
|
||||
frontRightFeedforward;
|
||||
auto rearRightOutput = volt_t(m_rearRightController->Calculate(
|
||||
m_currentWheelSpeeds().rearRight.to<double>(),
|
||||
rearRightSpeedSetpoint.to<double>())) +
|
||||
rearRightFeedforward;
|
||||
|
||||
m_outputVolts(frontLeftOutput, rearLeftOutput, frontRightOutput,
|
||||
rearRightOutput);
|
||||
} else {
|
||||
m_outputVel(frontLeftSpeedSetpoint, rearLeftSpeedSetpoint,
|
||||
frontRightSpeedSetpoint, rearRightSpeedSetpoint);
|
||||
|
||||
m_prevTime = curTime;
|
||||
m_prevSpeeds = targetWheelSpeeds;
|
||||
}
|
||||
}
|
||||
|
||||
void MecanumControllerCommand::End(bool interrupted) { m_timer.Stop(); }
|
||||
|
||||
bool MecanumControllerCommand::IsFinished() {
|
||||
return m_timer.HasPeriodPassed(m_trajectory.TotalTime());
|
||||
}
|
||||
@@ -0,0 +1,175 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2019 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#include <cmath>
|
||||
#include <functional>
|
||||
#include <memory>
|
||||
|
||||
#include <frc/controller/PIDController.h>
|
||||
#include <frc/controller/ProfiledPIDController.h>
|
||||
#include <frc/controller/SimpleMotorFeedforward.h>
|
||||
#include <frc/geometry/Pose2d.h>
|
||||
#include <frc/kinematics/ChassisSpeeds.h>
|
||||
#include <frc/kinematics/MecanumDriveKinematics.h>
|
||||
#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
|
||||
#include <frc/trajectory/Trajectory.h>
|
||||
#include <units/units.h>
|
||||
|
||||
#include "CommandBase.h"
|
||||
#include "CommandHelper.h"
|
||||
#include "frc2/Timer.h"
|
||||
|
||||
#pragma once
|
||||
|
||||
namespace frc2 {
|
||||
/**
|
||||
* A command that uses two PID controllers ({@link PIDController}) and a
|
||||
* ProfiledPIDController ({@link ProfiledPIDController}) to follow a trajectory
|
||||
* {@link Trajectory} with a mecanum drive.
|
||||
*
|
||||
* <p>The command handles trajectory-following,
|
||||
* Velocity PID calculations, and feedforwards internally. This
|
||||
* is intended to be a more-or-less "complete solution" that can be used by
|
||||
* teams without a great deal of controls expertise.
|
||||
*
|
||||
* <p>Advanced teams seeking more flexibility (for example, those who wish to
|
||||
* use the onboard PID functionality of a "smart" motor controller) may use the
|
||||
* secondary constructor that omits the PID and feedforward functionality,
|
||||
* returning only the raw wheel speeds from the PID controllers.
|
||||
*
|
||||
* <p>The robot angle controller does not follow the angle given by
|
||||
* the trajectory but rather goes to the angle given in the final state of the
|
||||
* trajectory.
|
||||
*/
|
||||
class MecanumControllerCommand
|
||||
: public CommandHelper<CommandBase, MecanumControllerCommand> {
|
||||
public:
|
||||
/**
|
||||
* Constructs a new MecanumControllerCommand that when executed will follow
|
||||
* the provided trajectory. PID control and feedforward are handled
|
||||
* internally. Outputs are scaled from -12 to 12 as a voltage output to the
|
||||
* motor.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon
|
||||
* completion of the path this is left to the user, since it is not
|
||||
* appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* <p>Note 2: The rotation controller will calculate the rotation based on the
|
||||
* final pose in the trajectory, not the poses at each time step.
|
||||
*
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose,
|
||||
* provided by the odometry class.
|
||||
* @param feedforward The feedforward to use for the drivetrain.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller
|
||||
* for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller
|
||||
* for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller
|
||||
* for angle for the robot.
|
||||
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
|
||||
* @param frontLeftController The front left wheel velocity PID.
|
||||
* @param rearLeftController The rear left wheel velocity PID.
|
||||
* @param frontRightController The front right wheel velocity PID.
|
||||
* @param rearRightController The rear right wheel velocity PID.
|
||||
* @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing
|
||||
* the current wheel speeds.
|
||||
* @param output The output of the velocity PIDs.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
MecanumControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::SimpleMotorFeedforward<units::meters> feedforward,
|
||||
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
|
||||
frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
units::meters_per_second_t maxWheelVelocity,
|
||||
std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
|
||||
frc2::PIDController frontLeftController,
|
||||
frc2::PIDController rearLeftController,
|
||||
frc2::PIDController frontRightController,
|
||||
frc2::PIDController rearRightController,
|
||||
std::function<void(units::volt_t, units::volt_t, units::volt_t,
|
||||
units::volt_t)>
|
||||
output,
|
||||
std::initializer_list<Subsystem*> requirements);
|
||||
|
||||
/**
|
||||
* Constructs a new MecanumControllerCommand that when executed will follow
|
||||
* the provided trajectory. The user should implement a velocity PID on the
|
||||
* desired output wheel velocities.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon
|
||||
* completion of the path - this is left to the user, since it is not
|
||||
* appropriate for paths with non-stationary end-states.
|
||||
*
|
||||
* <p>Note2: The rotation controller will calculate the rotation based on the
|
||||
* final pose in the trajectory, not the poses at each time step.
|
||||
*
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose - use one
|
||||
* of the odometry classes to provide this.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller
|
||||
* for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller
|
||||
* for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller
|
||||
* for angle for the robot.
|
||||
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
|
||||
* @param output The output of the position PIDs.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
MecanumControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
|
||||
frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
units::meters_per_second_t maxWheelVelocity,
|
||||
std::function<void(units::meters_per_second_t, units::meters_per_second_t,
|
||||
units::meters_per_second_t,
|
||||
units::meters_per_second_t)>
|
||||
output,
|
||||
std::initializer_list<Subsystem*> requirements);
|
||||
|
||||
void Initialize() override;
|
||||
|
||||
void Execute() override;
|
||||
|
||||
void End(bool interrupted) override;
|
||||
|
||||
bool IsFinished() override;
|
||||
|
||||
private:
|
||||
frc::Trajectory m_trajectory;
|
||||
std::function<frc::Pose2d()> m_pose;
|
||||
frc::SimpleMotorFeedforward<units::meters> m_feedforward;
|
||||
frc::MecanumDriveKinematics m_kinematics;
|
||||
std::unique_ptr<frc2::PIDController> m_xController;
|
||||
std::unique_ptr<frc2::PIDController> m_yController;
|
||||
std::unique_ptr<frc::ProfiledPIDController<units::radians>> m_thetaController;
|
||||
const units::meters_per_second_t m_maxWheelVelocity;
|
||||
std::unique_ptr<frc2::PIDController> m_frontLeftController;
|
||||
std::unique_ptr<frc2::PIDController> m_rearLeftController;
|
||||
std::unique_ptr<frc2::PIDController> m_frontRightController;
|
||||
std::unique_ptr<frc2::PIDController> m_rearRightController;
|
||||
std::function<frc::MecanumDriveWheelSpeeds()> m_currentWheelSpeeds;
|
||||
std::function<void(units::meters_per_second_t, units::meters_per_second_t,
|
||||
units::meters_per_second_t, units::meters_per_second_t)>
|
||||
m_outputVel;
|
||||
std::function<void(units::volt_t, units::volt_t, units::volt_t,
|
||||
units::volt_t)>
|
||||
m_outputVolts;
|
||||
|
||||
bool m_usePID;
|
||||
frc2::Timer m_timer;
|
||||
frc::MecanumDriveWheelSpeeds m_prevSpeeds;
|
||||
units::second_t m_prevTime;
|
||||
frc::Pose2d m_finalPose;
|
||||
};
|
||||
} // namespace frc2
|
||||
@@ -0,0 +1,119 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2019 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#include <cmath>
|
||||
#include <functional>
|
||||
#include <memory>
|
||||
|
||||
#include <frc/controller/PIDController.h>
|
||||
#include <frc/controller/ProfiledPIDController.h>
|
||||
#include <frc/geometry/Pose2d.h>
|
||||
#include <frc/kinematics/ChassisSpeeds.h>
|
||||
#include <frc/kinematics/SwerveDriveKinematics.h>
|
||||
#include <frc/kinematics/SwerveModuleState.h>
|
||||
#include <frc/trajectory/Trajectory.h>
|
||||
#include <units/units.h>
|
||||
|
||||
#include "CommandBase.h"
|
||||
#include "CommandHelper.h"
|
||||
#include "frc2/Timer.h"
|
||||
|
||||
#pragma once
|
||||
|
||||
namespace frc2 {
|
||||
|
||||
/**
|
||||
* A command that uses two PID controllers ({@link PIDController}) and a
|
||||
* ProfiledPIDController ({@link ProfiledPIDController}) to follow a trajectory
|
||||
* {@link Trajectory} with a swerve drive.
|
||||
*
|
||||
* <p>The command handles trajectory-following, Velocity PID calculations, and
|
||||
* feedforwards internally. This is intended to be a more-or-less "complete
|
||||
* solution" that can be used by teams without a great deal of controls
|
||||
* expertise.
|
||||
*
|
||||
* <p>Advanced teams seeking more flexibility (for example, those who wish to
|
||||
* use the onboard PID functionality of a "smart" motor controller) may use the
|
||||
* secondary constructor that omits the PID and feedforward functionality,
|
||||
* returning only the raw module states from the position PID controllers.
|
||||
*
|
||||
* <p>The robot angle controller does not follow the angle given by
|
||||
* the trajectory but rather goes to the angle given in the final state of the
|
||||
* trajectory.
|
||||
*/
|
||||
template <size_t NumModules>
|
||||
class SwerveControllerCommand
|
||||
: public CommandHelper<CommandBase, SwerveControllerCommand<NumModules>> {
|
||||
using voltsecondspermeter =
|
||||
units::compound_unit<units::voltage::volt, units::second,
|
||||
units::inverse<units::meter>>;
|
||||
using voltsecondssquaredpermeter =
|
||||
units::compound_unit<units::voltage::volt, units::squared<units::second>,
|
||||
units::inverse<units::meter>>;
|
||||
|
||||
public:
|
||||
/**
|
||||
* Constructs a new SwerveControllerCommand that when executed will follow the
|
||||
* provided trajectory. This command will not return output voltages but
|
||||
* rather raw module states from the position controllers which need to be put
|
||||
* into a velocity PID.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon
|
||||
* completion of the path- this is left to the user, since it is not
|
||||
* appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* <p>Note 2: The rotation controller will calculate the rotation based on the
|
||||
* final pose in the trajectory, not the poses at each time step.
|
||||
*
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose,
|
||||
* provided by the odometry class.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller
|
||||
* for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller
|
||||
* for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller
|
||||
* for angle for the robot.
|
||||
* @param output The raw output module states from the
|
||||
* position controllers.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
SwerveControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::SwerveDriveKinematics<NumModules> kinematics,
|
||||
frc2::PIDController xController, frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
|
||||
output,
|
||||
std::initializer_list<Subsystem*> requirements);
|
||||
|
||||
void Initialize() override;
|
||||
|
||||
void Execute() override;
|
||||
|
||||
void End(bool interrupted) override;
|
||||
|
||||
bool IsFinished() override;
|
||||
|
||||
private:
|
||||
frc::Trajectory m_trajectory;
|
||||
std::function<frc::Pose2d()> m_pose;
|
||||
frc::SwerveDriveKinematics<NumModules> m_kinematics;
|
||||
std::unique_ptr<frc2::PIDController> m_xController;
|
||||
std::unique_ptr<frc2::PIDController> m_yController;
|
||||
std::unique_ptr<frc::ProfiledPIDController<units::radians>> m_thetaController;
|
||||
std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
|
||||
m_outputStates;
|
||||
|
||||
frc2::Timer m_timer;
|
||||
units::second_t m_prevTime;
|
||||
frc::Pose2d m_finalPose;
|
||||
};
|
||||
} // namespace frc2
|
||||
|
||||
#include "SwerveControllerCommand.inc"
|
||||
@@ -0,0 +1,89 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2019 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <memory>
|
||||
|
||||
namespace frc2 {
|
||||
|
||||
template <size_t NumModules>
|
||||
SwerveControllerCommand<NumModules>::SwerveControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::SwerveDriveKinematics<NumModules> kinematics,
|
||||
frc2::PIDController xController, frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
|
||||
std::initializer_list<Subsystem*> requirements)
|
||||
: m_trajectory(trajectory),
|
||||
m_pose(pose),
|
||||
m_kinematics(kinematics),
|
||||
m_xController(std::make_unique<frc2::PIDController>(xController)),
|
||||
m_yController(std::make_unique<frc2::PIDController>(yController)),
|
||||
m_thetaController(
|
||||
std::make_unique<frc::ProfiledPIDController<units::radians>>(
|
||||
thetaController)),
|
||||
m_outputStates(output) {
|
||||
this->AddRequirements(requirements);
|
||||
}
|
||||
|
||||
template <size_t NumModules>
|
||||
void SwerveControllerCommand<NumModules>::Initialize() {
|
||||
m_finalPose = m_trajectory.Sample(m_trajectory.TotalTime()).pose;
|
||||
|
||||
m_timer.Reset();
|
||||
m_timer.Start();
|
||||
}
|
||||
|
||||
template <size_t NumModules>
|
||||
void SwerveControllerCommand<NumModules>::Execute() {
|
||||
auto curTime = units::second_t(m_timer.Get());
|
||||
|
||||
auto m_desiredState = m_trajectory.Sample(curTime);
|
||||
auto m_desiredPose = m_desiredState.pose;
|
||||
|
||||
auto m_poseError = m_desiredPose.RelativeTo(m_pose());
|
||||
|
||||
auto targetXVel = units::meters_per_second_t(m_xController->Calculate(
|
||||
(m_pose().Translation().X().template to<double>()),
|
||||
(m_desiredPose.Translation().X().template to<double>())));
|
||||
auto targetYVel = units::meters_per_second_t(m_yController->Calculate(
|
||||
(m_pose().Translation().Y().template to<double>()),
|
||||
(m_desiredPose.Translation().Y().template to<double>())));
|
||||
|
||||
// Profiled PID Controller only takes meters as setpoint and measurement
|
||||
// The robot will go to the desired rotation of the final pose in the
|
||||
// trajectory, not following the poses at individual states.
|
||||
auto targetAngularVel =
|
||||
units::radians_per_second_t(m_thetaController->Calculate(
|
||||
m_pose().Rotation().Radians(), m_finalPose.Rotation().Radians()));
|
||||
|
||||
auto vRef = m_desiredState.velocity;
|
||||
|
||||
targetXVel += vRef * m_poseError.Rotation().Cos();
|
||||
targetYVel += vRef * m_poseError.Rotation().Sin();
|
||||
|
||||
auto targetChassisSpeeds =
|
||||
frc::ChassisSpeeds{targetXVel, targetYVel, targetAngularVel};
|
||||
|
||||
auto targetModuleStates =
|
||||
m_kinematics.ToSwerveModuleStates(targetChassisSpeeds);
|
||||
|
||||
m_outputStates(targetModuleStates);
|
||||
}
|
||||
|
||||
template <size_t NumModules>
|
||||
void SwerveControllerCommand<NumModules>::End(bool interrupted) {
|
||||
m_timer.Stop();
|
||||
}
|
||||
|
||||
template <size_t NumModules>
|
||||
bool SwerveControllerCommand<NumModules>::IsFinished() {
|
||||
return m_timer.HasPeriodPassed(m_trajectory.TotalTime());
|
||||
}
|
||||
|
||||
} // namespace frc2
|
||||
Reference in New Issue
Block a user