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Add holonomic follower examples (#2052)
This commit is contained in:
CTT
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj2.command;
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import java.util.function.Consumer;
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import java.util.function.Supplier;
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import edu.wpi.first.wpilibj.Timer;
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import edu.wpi.first.wpilibj.controller.PIDController;
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import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
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import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
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import edu.wpi.first.wpilibj.geometry.Pose2d;
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import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
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import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
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import edu.wpi.first.wpilibj.kinematics.MecanumDriveMotorVoltages;
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import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
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import edu.wpi.first.wpilibj.trajectory.Trajectory;
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import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
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/**
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* A command that uses two PID controllers ({@link PIDController}) and a
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* ProfiledPIDController ({@link ProfiledPIDController}) to follow a trajectory
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* {@link Trajectory} with a mecanum drive.
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*
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* <p>The command handles trajectory-following,
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* Velocity PID calculations, and feedforwards internally. This
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* is intended to be a more-or-less "complete solution" that can be used by teams without a great
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* deal of controls expertise.
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*
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* <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard
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* PID functionality of a "smart" motor controller) may use the secondary constructor that omits
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* the PID and feedforward functionality, returning only the raw wheel speeds from the PID
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* controllers.
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*
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* <p>The robot angle controller does not follow the angle given by
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* the trajectory but rather goes to the angle given in the final state of the trajectory.
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*/
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@SuppressWarnings({"PMD.TooManyFields", "MemberName"})
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public class MecanumControllerCommand extends CommandBase {
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private final Timer m_timer = new Timer();
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private MecanumDriveWheelSpeeds m_prevSpeeds;
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private double m_prevTime;
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private Pose2d m_finalPose;
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private final boolean m_usePID;
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private final Trajectory m_trajectory;
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private final Supplier<Pose2d> m_pose;
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private final SimpleMotorFeedforward m_feedforward;
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private final MecanumDriveKinematics m_kinematics;
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private final PIDController m_xController;
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private final PIDController m_yController;
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private final ProfiledPIDController m_thetaController;
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private final double m_maxWheelVelocityMetersPerSecond;
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private final PIDController m_frontLeftController;
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private final PIDController m_rearLeftController;
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private final PIDController m_frontRightController;
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private final PIDController m_rearRightController;
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private final Supplier<MecanumDriveWheelSpeeds> m_currentWheelSpeeds;
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private final Consumer<MecanumDriveMotorVoltages> m_outputDriveVoltages;
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private final Consumer<MecanumDriveWheelSpeeds> m_outputWheelSpeeds;
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow the provided
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* trajectory. PID control and feedforward are handled internally. Outputs are scaled from -12 to
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* 12 as a voltage output to the motor.
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*
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* <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path
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* this is left to the user, since it is not appropriate for paths with nonstationary endstates.
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*
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* <p>Note 2: The rotation controller will calculate the rotation based on the final pose in the
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* trajectory, not the poses at each time step.
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*
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* @param trajectory The trajectory to follow.
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* @param pose A function that supplies the robot pose - use one of
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* the odometry classes to provide this.
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* @param feedforward The feedforward to use for the drivetrain.
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* @param kinematics The kinematics for the robot drivetrain.
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* @param xController The Trajectory Tracker PID controller
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* for the robot's x position.
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* @param yController The Trajectory Tracker PID controller
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* for the robot's y position.
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* @param thetaController The Trajectory Tracker PID controller
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* for angle for the robot.
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* @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
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* @param frontLeftController The front left wheel velocity PID.
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* @param rearLeftController The rear left wheel velocity PID.
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* @param frontRightController The front right wheel velocity PID.
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* @param rearRightController The rear right wheel velocity PID.
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* @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing
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* the current wheel speeds.
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* @param outputDriveVoltages A MecanumDriveMotorVoltages object containing
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* the output motor voltages.
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* @param requirements The subsystems to require.
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*/
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@SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
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public MecanumControllerCommand(Trajectory trajectory,
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Supplier<Pose2d> pose,
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SimpleMotorFeedforward feedforward,
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MecanumDriveKinematics kinematics,
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PIDController xController,
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PIDController yController,
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ProfiledPIDController thetaController,
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double maxWheelVelocityMetersPerSecond,
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PIDController frontLeftController,
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PIDController rearLeftController,
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PIDController frontRightController,
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PIDController rearRightController,
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Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
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Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
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Subsystem... requirements) {
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m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
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m_pose = requireNonNullParam(pose, "pose", "MecanumControllerCommand");
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m_feedforward = requireNonNullParam(feedforward, "feedforward", "MecanumControllerCommand");
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m_kinematics = requireNonNullParam(kinematics, "kinematics", "MecanumControllerCommand");
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m_xController = requireNonNullParam(xController, "xController",
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"MecanumControllerCommand");
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m_yController = requireNonNullParam(yController, "yController",
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"MecanumControllerCommand");
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m_thetaController = requireNonNullParam(thetaController, "thetaController",
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"MecanumControllerCommand");
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m_maxWheelVelocityMetersPerSecond = requireNonNullParam(maxWheelVelocityMetersPerSecond,
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"maxWheelVelocityMetersPerSecond", "MecanumControllerCommand");
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m_frontLeftController = requireNonNullParam(frontLeftController,
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"frontLeftController", "MecanumControllerCommand");
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m_rearLeftController = requireNonNullParam(rearLeftController,
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"rearLeftController", "MecanumControllerCommand");
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m_frontRightController = requireNonNullParam(frontRightController,
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"frontRightController", "MecanumControllerCommand");
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m_rearRightController = requireNonNullParam(rearRightController,
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"rearRightController", "MecanumControllerCommand");
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m_currentWheelSpeeds = requireNonNullParam(currentWheelSpeeds,
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"currentWheelSpeeds", "MecanumControllerCommand");
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m_outputDriveVoltages = requireNonNullParam(outputDriveVoltages,
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"outputDriveVoltages", "MecanumControllerCommand");
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m_outputWheelSpeeds = null;
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m_usePID = true;
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addRequirements(requirements);
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}
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow the provided
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* trajectory. The user should implement a velocity PID on the desired output wheel velocities.
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*
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* <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path -
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* this is left to the user, since it is not appropriate for paths with non-stationary end-states.
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*
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* <p>Note2: The rotation controller will calculate the rotation based on the final pose
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* in the trajectory, not the poses at each time step.
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*
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* @param trajectory The trajectory to follow.
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* @param pose A function that supplies the robot pose - use one of
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* the odometry classes to provide this.
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* @param kinematics The kinematics for the robot drivetrain.
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* @param xController The Trajectory Tracker PID controller
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* for the robot's x position.
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* @param yController The Trajectory Tracker PID controller
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* for the robot's y position.
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* @param thetaController The Trajectory Tracker PID controller
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* for angle for the robot.
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* @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
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* @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing
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* the output wheel speeds.
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* @param requirements The subsystems to require.
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*/
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@SuppressWarnings({"PMD.ExcessiveParameterList", "ParameterName"})
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public MecanumControllerCommand(Trajectory trajectory,
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Supplier<Pose2d> pose,
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MecanumDriveKinematics kinematics,
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PIDController xController,
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PIDController yController,
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ProfiledPIDController thetaController,
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double maxWheelVelocityMetersPerSecond,
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Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
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Subsystem... requirements) {
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m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
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m_pose = requireNonNullParam(pose, "pose", "MecanumControllerCommand");
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m_feedforward = new SimpleMotorFeedforward(0, 0, 0);
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m_kinematics = requireNonNullParam(kinematics,
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"kinematics", "MecanumControllerCommand");
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m_xController = requireNonNullParam(xController,
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"xController", "MecanumControllerCommand");
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m_yController = requireNonNullParam(yController,
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"xController", "MecanumControllerCommand");
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m_thetaController = requireNonNullParam(thetaController,
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"thetaController", "MecanumControllerCommand");
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m_maxWheelVelocityMetersPerSecond = requireNonNullParam(maxWheelVelocityMetersPerSecond,
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"maxWheelVelocityMetersPerSecond", "MecanumControllerCommand");
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m_frontLeftController = null;
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m_rearLeftController = null;
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m_frontRightController = null;
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m_rearRightController = null;
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m_currentWheelSpeeds = null;
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m_outputWheelSpeeds = requireNonNullParam(outputWheelSpeeds,
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"outputWheelSpeeds", "MecanumControllerCommand");
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m_outputDriveVoltages = null;
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m_usePID = false;
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addRequirements(requirements);
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}
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@Override
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public void initialize() {
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var initialState = m_trajectory.sample(0);
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// Sample final pose to get robot rotation
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m_finalPose = m_trajectory.sample(m_trajectory.getTotalTimeSeconds()).poseMeters;
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var initialXVelocity = initialState.velocityMetersPerSecond
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* initialState.poseMeters.getRotation().getCos();
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var initialYVelocity = initialState.velocityMetersPerSecond
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* initialState.poseMeters.getRotation().getSin();
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m_prevSpeeds = m_kinematics.toWheelSpeeds(
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new ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0));
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m_timer.reset();
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m_timer.start();
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}
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@Override
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@SuppressWarnings("LocalVariableName")
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public void execute() {
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double curTime = m_timer.get();
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double dt = curTime - m_prevTime;
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var desiredState = m_trajectory.sample(curTime);
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var desiredPose = desiredState.poseMeters;
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var poseError = desiredPose.relativeTo(m_pose.get());
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double targetXVel = m_xController.calculate(
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m_pose.get().getTranslation().getX(),
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desiredPose.getTranslation().getX());
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double targetYVel = m_yController.calculate(
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m_pose.get().getTranslation().getY(),
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desiredPose.getTranslation().getY());
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// The robot will go to the desired rotation of the final pose in the trajectory,
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// not following the poses at individual states.
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double targetAngularVel = m_thetaController.calculate(
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m_pose.get().getRotation().getRadians(),
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m_finalPose.getRotation().getRadians());
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double vRef = desiredState.velocityMetersPerSecond;
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targetXVel += vRef * poseError.getRotation().getCos();
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targetYVel += vRef * poseError.getRotation().getSin();
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var targetChassisSpeeds = new ChassisSpeeds(targetXVel, targetYVel, targetAngularVel);
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var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
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targetWheelSpeeds.normalize(m_maxWheelVelocityMetersPerSecond);
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var frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeftMetersPerSecond;
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var rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeftMetersPerSecond;
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var frontRightSpeedSetpoint = targetWheelSpeeds.frontRightMetersPerSecond;
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var rearRightSpeedSetpoint = targetWheelSpeeds.rearRightMetersPerSecond;
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double frontLeftOutput;
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double rearLeftOutput;
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double frontRightOutput;
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double rearRightOutput;
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if (m_usePID) {
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final double frontLeftFeedforward = m_feedforward.calculate(frontLeftSpeedSetpoint,
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(frontLeftSpeedSetpoint - m_prevSpeeds.frontLeftMetersPerSecond) / dt);
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final double rearLeftFeedforward = m_feedforward.calculate(rearLeftSpeedSetpoint,
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(rearLeftSpeedSetpoint - m_prevSpeeds.rearLeftMetersPerSecond) / dt);
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final double frontRightFeedforward = m_feedforward.calculate(frontRightSpeedSetpoint,
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(frontRightSpeedSetpoint - m_prevSpeeds.frontRightMetersPerSecond) / dt);
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final double rearRightFeedforward = m_feedforward.calculate(rearRightSpeedSetpoint,
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(rearRightSpeedSetpoint - m_prevSpeeds.rearRightMetersPerSecond) / dt);
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frontLeftOutput = frontLeftFeedforward + m_frontLeftController.calculate(
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m_currentWheelSpeeds.get().frontLeftMetersPerSecond,
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frontLeftSpeedSetpoint);
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rearLeftOutput = rearLeftFeedforward + m_rearLeftController.calculate(
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m_currentWheelSpeeds.get().rearLeftMetersPerSecond,
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rearLeftSpeedSetpoint);
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frontRightOutput = frontRightFeedforward + m_frontRightController.calculate(
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m_currentWheelSpeeds.get().frontRightMetersPerSecond,
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frontRightSpeedSetpoint);
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rearRightOutput = rearRightFeedforward + m_rearRightController.calculate(
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m_currentWheelSpeeds.get().rearRightMetersPerSecond,
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rearRightSpeedSetpoint);
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m_outputDriveVoltages.accept(new MecanumDriveMotorVoltages(
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frontLeftOutput,
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frontRightOutput,
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rearLeftOutput,
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rearRightOutput));
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} else {
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m_outputWheelSpeeds.accept(new MecanumDriveWheelSpeeds(
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frontLeftSpeedSetpoint,
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frontRightSpeedSetpoint,
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rearLeftSpeedSetpoint,
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rearRightSpeedSetpoint));
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}
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m_prevTime = curTime;
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m_prevSpeeds = targetWheelSpeeds;
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}
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@Override
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public void end(boolean interrupted) {
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m_timer.stop();
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}
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@Override
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public boolean isFinished() {
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return m_timer.hasPeriodPassed(m_trajectory.getTotalTimeSeconds());
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}
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}
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||||
@@ -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;
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||||
|
||||
|
||||
import java.util.function.Consumer;
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||||
import java.util.function.Supplier;
|
||||
|
||||
import edu.wpi.first.wpilibj.Timer;
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||||
import edu.wpi.first.wpilibj.controller.PIDController;
|
||||
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
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||||
import edu.wpi.first.wpilibj.geometry.Pose2d;
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||||
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
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||||
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
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import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
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||||
import edu.wpi.first.wpilibj.trajectory.Trajectory;
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||||
|
||||
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.
|
||||
*
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||||
* <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
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||||
* 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;
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||||
private final PIDController m_xController;
|
||||
private final PIDController m_yController;
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||||
private final ProfiledPIDController m_thetaController;
|
||||
private final Consumer<SwerveModuleState[]> m_outputModuleStates;
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||||
|
||||
/**
|
||||
* 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());
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user