mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
[command] Modify swerve and mecanum commands to use new controller
This commit is contained in:
Prateek Machiraju
committed by
Peter Johnson
Peter Johnson
parent
5ca2702083
commit
aba035eb3d
@@ -11,10 +11,12 @@ 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.HolonomicDriveController;
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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.geometry.Rotation2d;
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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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@@ -45,18 +47,13 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
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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 HolonomicDriveController m_controller;
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private final Supplier<Rotation2d> m_desiredRotation;
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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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@@ -65,6 +62,8 @@ public class MecanumControllerCommand extends CommandBase {
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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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private MecanumDriveWheelSpeeds m_prevSpeeds;
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private double m_prevTime;
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow the provided
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@@ -74,8 +73,105 @@ public class MecanumControllerCommand extends CommandBase {
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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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* @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 desiredRotation The angle that the robot should be facing. This
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* is sampled at each time step.
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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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Supplier<Rotation2d> desiredRotation,
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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",
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"MecanumControllerCommand");
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m_pose = requireNonNullParam(pose, "pose", "MecanumControllerCommand");
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m_feedforward = requireNonNullParam(feedforward, "feedforward",
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"MecanumControllerCommand");
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m_kinematics = requireNonNullParam(kinematics, "kinematics",
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"MecanumControllerCommand");
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m_controller = new HolonomicDriveController(
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requireNonNullParam(xController,
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"xController", "SwerveControllerCommand"),
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requireNonNullParam(yController,
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"xController", "SwerveControllerCommand"),
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requireNonNullParam(thetaController,
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"thetaController", "SwerveControllerCommand")
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);
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m_desiredRotation = requireNonNullParam(desiredRotation, "desiredRotation",
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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. 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 final rotation of the robot will be set to the rotation of
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* the final pose in the trajectory. The robot will not follow the rotations
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* from the poses at each timestep. If alternate rotation behavior is desired,
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* the other constructor with a supplier for rotation should be used.
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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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@@ -102,58 +198,100 @@ public class MecanumControllerCommand extends CommandBase {
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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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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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PIDController xController,
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PIDController yController,
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ProfiledPIDController thetaController,
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this(trajectory, pose, feedforward, kinematics, xController, yController, thetaController,
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() -> trajectory.getStates().get(trajectory.getStates().size() - 1)
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.poseMeters.getRotation(),
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maxWheelVelocityMetersPerSecond, frontLeftController, rearLeftController,
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frontRightController, rearRightController, currentWheelSpeeds, outputDriveVoltages,
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requirements);
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}
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double maxWheelVelocityMetersPerSecond,
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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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* @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 desiredRotation The angle that the robot should be facing. This
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* is sampled at each time step.
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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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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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@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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Supplier<Rotation2d> desiredRotation,
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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",
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"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_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, "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_controller = new HolonomicDriveController(
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requireNonNullParam(xController,
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"xController", "SwerveControllerCommand"),
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requireNonNullParam(yController,
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"xController", "SwerveControllerCommand"),
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requireNonNullParam(thetaController,
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"thetaController", "SwerveControllerCommand")
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);
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m_desiredRotation = requireNonNullParam(desiredRotation, "desiredRotation",
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"MecanumControllerCommand");
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m_maxWheelVelocityMetersPerSecond = requireNonNullParam(maxWheelVelocityMetersPerSecond,
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"maxWheelVelocityMetersPerSecond", "MecanumControllerCommand");
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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_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 = requireNonNullParam(currentWheelSpeeds,
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"currentWheelSpeeds", "MecanumControllerCommand");
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m_currentWheelSpeeds = null;
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m_outputDriveVoltages = requireNonNullParam(outputDriveVoltages,
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"outputDriveVoltages", "MecanumControllerCommand");
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m_outputWheelSpeeds = requireNonNullParam(outputWheelSpeeds,
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"outputWheelSpeeds", "MecanumControllerCommand");
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m_outputWheelSpeeds = null;
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m_outputDriveVoltages = null;
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m_usePID = true;
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m_usePID = false;
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addRequirements(requirements);
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}
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@@ -165,8 +303,10 @@ public class MecanumControllerCommand extends CommandBase {
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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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* <p>Note 2: The final rotation of the robot will be set to the rotation of
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* the final pose in the trajectory. The robot will not follow the rotations
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* from the poses at each timestep. If alternate rotation behavior is desired,
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* the other constructor with a supplier for rotation should be used.
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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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@@ -186,63 +326,31 @@ public class MecanumControllerCommand extends CommandBase {
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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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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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this(trajectory, pose, kinematics, xController, yController, thetaController,
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() -> trajectory.getStates().get(trajectory.getStates().size() - 1)
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.poseMeters.getRotation(),
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maxWheelVelocityMetersPerSecond, outputWheelSpeeds, 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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new ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0));
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m_timer.reset();
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m_timer.start();
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@@ -255,31 +363,9 @@ public class MecanumControllerCommand extends CommandBase {
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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().getX(),
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desiredPose.getX());
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double targetYVel = m_yController.calculate(
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m_pose.get().getY(),
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desiredPose.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();
|
||||
targetYVel += vRef * poseError.getRotation().getSin();
|
||||
|
||||
var targetChassisSpeeds = new ChassisSpeeds(targetXVel, targetYVel, targetAngularVel);
|
||||
|
||||
var targetChassisSpeeds = m_controller.calculate(m_pose.get(), desiredState,
|
||||
m_desiredRotation.get());
|
||||
var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
|
||||
|
||||
targetWheelSpeeds.normalize(m_maxWheelVelocityMetersPerSecond);
|
||||
@@ -287,7 +373,7 @@ public class MecanumControllerCommand extends CommandBase {
|
||||
var frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeftMetersPerSecond;
|
||||
var rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeftMetersPerSecond;
|
||||
var frontRightSpeedSetpoint = targetWheelSpeeds.frontRightMetersPerSecond;
|
||||
var rearRightSpeedSetpoint = targetWheelSpeeds.rearRightMetersPerSecond;
|
||||
var rearRightSpeedSetpoint = targetWheelSpeeds.rearRightMetersPerSecond;
|
||||
|
||||
double frontLeftOutput;
|
||||
double rearLeftOutput;
|
||||
@@ -296,32 +382,32 @@ public class MecanumControllerCommand extends CommandBase {
|
||||
|
||||
if (m_usePID) {
|
||||
final double frontLeftFeedforward = m_feedforward.calculate(frontLeftSpeedSetpoint,
|
||||
(frontLeftSpeedSetpoint - m_prevSpeeds.frontLeftMetersPerSecond) / dt);
|
||||
(frontLeftSpeedSetpoint - m_prevSpeeds.frontLeftMetersPerSecond) / dt);
|
||||
|
||||
final double rearLeftFeedforward = m_feedforward.calculate(rearLeftSpeedSetpoint,
|
||||
(rearLeftSpeedSetpoint - m_prevSpeeds.rearLeftMetersPerSecond) / dt);
|
||||
(rearLeftSpeedSetpoint - m_prevSpeeds.rearLeftMetersPerSecond) / dt);
|
||||
|
||||
final double frontRightFeedforward = m_feedforward.calculate(frontRightSpeedSetpoint,
|
||||
(frontRightSpeedSetpoint - m_prevSpeeds.frontRightMetersPerSecond) / dt);
|
||||
(frontRightSpeedSetpoint - m_prevSpeeds.frontRightMetersPerSecond) / dt);
|
||||
|
||||
final double rearRightFeedforward = m_feedforward.calculate(rearRightSpeedSetpoint,
|
||||
(rearRightSpeedSetpoint - m_prevSpeeds.rearRightMetersPerSecond) / dt);
|
||||
(rearRightSpeedSetpoint - m_prevSpeeds.rearRightMetersPerSecond) / dt);
|
||||
|
||||
frontLeftOutput = frontLeftFeedforward + m_frontLeftController.calculate(
|
||||
m_currentWheelSpeeds.get().frontLeftMetersPerSecond,
|
||||
frontLeftSpeedSetpoint);
|
||||
m_currentWheelSpeeds.get().frontLeftMetersPerSecond,
|
||||
frontLeftSpeedSetpoint);
|
||||
|
||||
rearLeftOutput = rearLeftFeedforward + m_rearLeftController.calculate(
|
||||
m_currentWheelSpeeds.get().rearLeftMetersPerSecond,
|
||||
rearLeftSpeedSetpoint);
|
||||
m_currentWheelSpeeds.get().rearLeftMetersPerSecond,
|
||||
rearLeftSpeedSetpoint);
|
||||
|
||||
frontRightOutput = frontRightFeedforward + m_frontRightController.calculate(
|
||||
m_currentWheelSpeeds.get().frontRightMetersPerSecond,
|
||||
frontRightSpeedSetpoint);
|
||||
m_currentWheelSpeeds.get().frontRightMetersPerSecond,
|
||||
frontRightSpeedSetpoint);
|
||||
|
||||
rearRightOutput = rearRightFeedforward + m_rearRightController.calculate(
|
||||
m_currentWheelSpeeds.get().rearRightMetersPerSecond,
|
||||
rearRightSpeedSetpoint);
|
||||
m_currentWheelSpeeds.get().rearRightMetersPerSecond,
|
||||
rearRightSpeedSetpoint);
|
||||
|
||||
m_outputDriveVoltages.accept(new MecanumDriveMotorVoltages(
|
||||
frontLeftOutput,
|
||||
|
||||
@@ -7,15 +7,15 @@
|
||||
|
||||
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.HolonomicDriveController;
|
||||
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.geometry.Rotation2d;
|
||||
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
|
||||
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
|
||||
import edu.wpi.first.wpilibj.trajectory.Trajectory;
|
||||
@@ -38,15 +38,12 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
|
||||
@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 HolonomicDriveController m_controller;
|
||||
private final Consumer<SwerveModuleState[]> m_outputModuleStates;
|
||||
private final Supplier<Rotation2d> m_desiredRotation;
|
||||
|
||||
/**
|
||||
* Constructs a new SwerveControllerCommand that when executed will follow the provided
|
||||
@@ -56,8 +53,66 @@ public class SwerveControllerCommand extends CommandBase {
|
||||
* <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 desiredRotation The angle that the drivetrain should be facing. This
|
||||
* is sampled at each time step.
|
||||
* @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,
|
||||
Supplier<Rotation2d> desiredRotation,
|
||||
Consumer<SwerveModuleState[]> outputModuleStates,
|
||||
Subsystem... requirements) {
|
||||
m_trajectory = requireNonNullParam(trajectory, "trajectory", "SwerveControllerCommand");
|
||||
m_pose = requireNonNullParam(pose, "pose", "SwerveControllerCommand");
|
||||
m_kinematics = requireNonNullParam(kinematics, "kinematics", "SwerveControllerCommand");
|
||||
|
||||
m_controller = new HolonomicDriveController(
|
||||
requireNonNullParam(xController,
|
||||
"xController", "SwerveControllerCommand"),
|
||||
requireNonNullParam(yController,
|
||||
"xController", "SwerveControllerCommand"),
|
||||
requireNonNullParam(thetaController,
|
||||
"thetaController", "SwerveControllerCommand")
|
||||
);
|
||||
|
||||
m_outputModuleStates = requireNonNullParam(outputModuleStates,
|
||||
"frontLeftOutput", "SwerveControllerCommand");
|
||||
|
||||
m_desiredRotation = requireNonNullParam(desiredRotation, "desiredRotation",
|
||||
"SwerveControllerCommand");
|
||||
|
||||
addRequirements(requirements);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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 final rotation of the robot will be set to the rotation of
|
||||
* the final pose in the trajectory. The robot will not follow the rotations
|
||||
* from the poses at each timestep. If alternate rotation behavior is desired,
|
||||
* the other constructor with a supplier for rotation should be used.
|
||||
*
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose - use one of
|
||||
@@ -73,38 +128,23 @@ public class SwerveControllerCommand extends CommandBase {
|
||||
* 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);
|
||||
Supplier<Pose2d> pose,
|
||||
SwerveDriveKinematics kinematics,
|
||||
PIDController xController,
|
||||
PIDController yController,
|
||||
ProfiledPIDController thetaController,
|
||||
Consumer<SwerveModuleState[]> outputModuleStates,
|
||||
Subsystem... requirements) {
|
||||
this(trajectory, pose, kinematics, xController, yController, thetaController,
|
||||
() -> trajectory.getStates().get(trajectory.getStates().size() - 1)
|
||||
.poseMeters.getRotation(),
|
||||
outputModuleStates, 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();
|
||||
}
|
||||
@@ -113,37 +153,13 @@ public class SwerveControllerCommand extends CommandBase {
|
||||
@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().getX(),
|
||||
desiredPose.getX());
|
||||
|
||||
double targetYVel = m_yController.calculate(
|
||||
m_pose.get().getY(),
|
||||
desiredPose.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 targetChassisSpeeds = m_controller.calculate(m_pose.get(), desiredState,
|
||||
m_desiredRotation.get());
|
||||
var targetModuleStates = m_kinematics.toSwerveModuleStates(targetChassisSpeeds);
|
||||
|
||||
m_outputModuleStates.accept(targetModuleStates);
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
|
||||
Reference in New Issue
Block a user