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https://github.com/wpilibsuite/allwpilib
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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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#include <cmath>
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#include <functional>
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#include <memory>
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#include <frc/controller/PIDController.h>
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#include <frc/controller/ProfiledPIDController.h>
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#include <frc/controller/SimpleMotorFeedforward.h>
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#include <frc/geometry/Pose2d.h>
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#include <frc/kinematics/ChassisSpeeds.h>
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#include <frc/kinematics/MecanumDriveKinematics.h>
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#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
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#include <frc/trajectory/Trajectory.h>
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#include <units/units.h>
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#include "CommandBase.h"
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#include "CommandHelper.h"
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#include "frc2/Timer.h"
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#pragma once
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namespace frc2 {
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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
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* teams without a great deal of controls expertise.
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*
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* <p>Advanced teams seeking more flexibility (for example, those who wish to
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* use the onboard PID functionality of a "smart" motor controller) may use the
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* secondary constructor that omits the PID and feedforward functionality,
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* returning only the raw wheel speeds from the PID 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
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* trajectory.
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*/
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class MecanumControllerCommand
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: public CommandHelper<CommandBase, MecanumControllerCommand> {
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public:
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow
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* the provided trajectory. PID control and feedforward are handled
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* internally. Outputs are scaled from -12 to 12 as a voltage output to the
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* motor.
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*
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* <p>Note: The controllers will *not* set the outputVolts to zero upon
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* completion of the path this is left to the user, since it is not
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* 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
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* final pose 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,
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* provided by the odometry class.
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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 maxWheelVelocity 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 output The output of the velocity PIDs.
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* @param requirements The subsystems to require.
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*/
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MecanumControllerCommand(
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frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
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frc::SimpleMotorFeedforward<units::meters> feedforward,
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frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
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frc2::PIDController yController,
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frc::ProfiledPIDController<units::radians> thetaController,
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units::meters_per_second_t maxWheelVelocity,
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std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
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frc2::PIDController frontLeftController,
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frc2::PIDController rearLeftController,
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frc2::PIDController frontRightController,
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frc2::PIDController rearRightController,
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std::function<void(units::volt_t, units::volt_t, units::volt_t,
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units::volt_t)>
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output,
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std::initializer_list<Subsystem*> requirements);
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow
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* the provided trajectory. The user should implement a velocity PID on the
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* desired output wheel velocities.
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*
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* <p>Note: The controllers will *not* set the outputVolts to zero upon
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* completion of the path - this is left to the user, since it is not
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* 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
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* final pose 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
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* of 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 maxWheelVelocity The maximum velocity of a drivetrain wheel.
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* @param output The output of the position PIDs.
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* @param requirements The subsystems to require.
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*/
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MecanumControllerCommand(
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frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
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frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
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frc2::PIDController yController,
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frc::ProfiledPIDController<units::radians> thetaController,
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units::meters_per_second_t maxWheelVelocity,
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std::function<void(units::meters_per_second_t, units::meters_per_second_t,
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units::meters_per_second_t,
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units::meters_per_second_t)>
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output,
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std::initializer_list<Subsystem*> requirements);
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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private:
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frc::Trajectory m_trajectory;
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std::function<frc::Pose2d()> m_pose;
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frc::SimpleMotorFeedforward<units::meters> m_feedforward;
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frc::MecanumDriveKinematics m_kinematics;
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std::unique_ptr<frc2::PIDController> m_xController;
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std::unique_ptr<frc2::PIDController> m_yController;
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std::unique_ptr<frc::ProfiledPIDController<units::radians>> m_thetaController;
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const units::meters_per_second_t m_maxWheelVelocity;
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std::unique_ptr<frc2::PIDController> m_frontLeftController;
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std::unique_ptr<frc2::PIDController> m_rearLeftController;
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std::unique_ptr<frc2::PIDController> m_frontRightController;
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std::unique_ptr<frc2::PIDController> m_rearRightController;
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std::function<frc::MecanumDriveWheelSpeeds()> m_currentWheelSpeeds;
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std::function<void(units::meters_per_second_t, units::meters_per_second_t,
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units::meters_per_second_t, units::meters_per_second_t)>
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m_outputVel;
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std::function<void(units::volt_t, units::volt_t, units::volt_t,
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units::volt_t)>
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m_outputVolts;
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bool m_usePID;
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frc2::Timer m_timer;
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frc::MecanumDriveWheelSpeeds m_prevSpeeds;
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units::second_t m_prevTime;
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frc::Pose2d m_finalPose;
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};
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} // namespace frc2
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@@ -0,0 +1,119 @@
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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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#include <cmath>
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#include <functional>
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#include <memory>
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#include <frc/controller/PIDController.h>
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#include <frc/controller/ProfiledPIDController.h>
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#include <frc/geometry/Pose2d.h>
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#include <frc/kinematics/ChassisSpeeds.h>
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#include <frc/kinematics/SwerveDriveKinematics.h>
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#include <frc/kinematics/SwerveModuleState.h>
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#include <frc/trajectory/Trajectory.h>
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#include <units/units.h>
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#include "CommandBase.h"
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#include "CommandHelper.h"
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#include "frc2/Timer.h"
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#pragma once
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namespace frc2 {
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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 swerve drive.
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*
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* <p>The command handles trajectory-following, Velocity PID calculations, and
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* feedforwards internally. This is intended to be a more-or-less "complete
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* solution" that can be used by teams without a great deal of controls
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* expertise.
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*
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* <p>Advanced teams seeking more flexibility (for example, those who wish to
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* use the onboard PID functionality of a "smart" motor controller) may use the
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* secondary constructor that omits the PID and feedforward functionality,
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* returning only the raw module states from the position PID 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
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* trajectory.
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*/
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template <size_t NumModules>
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class SwerveControllerCommand
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: public CommandHelper<CommandBase, SwerveControllerCommand<NumModules>> {
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using voltsecondspermeter =
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units::compound_unit<units::voltage::volt, units::second,
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units::inverse<units::meter>>;
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using voltsecondssquaredpermeter =
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units::compound_unit<units::voltage::volt, units::squared<units::second>,
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units::inverse<units::meter>>;
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public:
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/**
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* Constructs a new SwerveControllerCommand that when executed will follow the
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* provided trajectory. This command will not return output voltages but
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* rather raw module states from the position controllers which need to be put
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* into a velocity PID.
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*
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* <p>Note: The controllers will *not* set the outputVolts to zero upon
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* completion of the path- this is left to the user, since it is not
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* 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
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* final pose 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,
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* provided by the odometry class.
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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 output The raw output module states from the
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* position controllers.
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* @param requirements The subsystems to require.
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*/
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SwerveControllerCommand(
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frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
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frc::SwerveDriveKinematics<NumModules> kinematics,
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frc2::PIDController xController, frc2::PIDController yController,
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frc::ProfiledPIDController<units::radians> thetaController,
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std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
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output,
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std::initializer_list<Subsystem*> requirements);
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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private:
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frc::Trajectory m_trajectory;
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std::function<frc::Pose2d()> m_pose;
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frc::SwerveDriveKinematics<NumModules> m_kinematics;
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std::unique_ptr<frc2::PIDController> m_xController;
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std::unique_ptr<frc2::PIDController> m_yController;
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std::unique_ptr<frc::ProfiledPIDController<units::radians>> m_thetaController;
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std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
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m_outputStates;
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frc2::Timer m_timer;
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units::second_t m_prevTime;
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frc::Pose2d m_finalPose;
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};
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} // namespace frc2
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#include "SwerveControllerCommand.inc"
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@@ -0,0 +1,89 @@
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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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#pragma once
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#include <memory>
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namespace frc2 {
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template <size_t NumModules>
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SwerveControllerCommand<NumModules>::SwerveControllerCommand(
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frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
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frc::SwerveDriveKinematics<NumModules> kinematics,
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frc2::PIDController xController, frc2::PIDController yController,
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frc::ProfiledPIDController<units::radians> thetaController,
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std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
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std::initializer_list<Subsystem*> requirements)
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: m_trajectory(trajectory),
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m_pose(pose),
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m_kinematics(kinematics),
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m_xController(std::make_unique<frc2::PIDController>(xController)),
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m_yController(std::make_unique<frc2::PIDController>(yController)),
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m_thetaController(
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std::make_unique<frc::ProfiledPIDController<units::radians>>(
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thetaController)),
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m_outputStates(output) {
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this->AddRequirements(requirements);
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}
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template <size_t NumModules>
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void SwerveControllerCommand<NumModules>::Initialize() {
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m_finalPose = m_trajectory.Sample(m_trajectory.TotalTime()).pose;
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m_timer.Reset();
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m_timer.Start();
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}
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template <size_t NumModules>
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void SwerveControllerCommand<NumModules>::Execute() {
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auto curTime = units::second_t(m_timer.Get());
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auto m_desiredState = m_trajectory.Sample(curTime);
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auto m_desiredPose = m_desiredState.pose;
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auto m_poseError = m_desiredPose.RelativeTo(m_pose());
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auto targetXVel = units::meters_per_second_t(m_xController->Calculate(
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(m_pose().Translation().X().template to<double>()),
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(m_desiredPose.Translation().X().template to<double>())));
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auto targetYVel = units::meters_per_second_t(m_yController->Calculate(
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(m_pose().Translation().Y().template to<double>()),
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(m_desiredPose.Translation().Y().template to<double>())));
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// Profiled PID Controller only takes meters as setpoint and measurement
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// The robot will go to the desired rotation of the final pose in the
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// trajectory, not following the poses at individual states.
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auto targetAngularVel =
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units::radians_per_second_t(m_thetaController->Calculate(
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m_pose().Rotation().Radians(), m_finalPose.Rotation().Radians()));
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auto vRef = m_desiredState.velocity;
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targetXVel += vRef * m_poseError.Rotation().Cos();
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targetYVel += vRef * m_poseError.Rotation().Sin();
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auto targetChassisSpeeds =
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frc::ChassisSpeeds{targetXVel, targetYVel, targetAngularVel};
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auto targetModuleStates =
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m_kinematics.ToSwerveModuleStates(targetChassisSpeeds);
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m_outputStates(targetModuleStates);
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}
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template <size_t NumModules>
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void SwerveControllerCommand<NumModules>::End(bool interrupted) {
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m_timer.Stop();
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}
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template <size_t NumModules>
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bool SwerveControllerCommand<NumModules>::IsFinished() {
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return m_timer.HasPeriodPassed(m_trajectory.TotalTime());
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}
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} // namespace frc2
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