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https://github.com/wpilibsuite/allwpilib
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[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
@@ -10,6 +10,7 @@
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#include <initializer_list>
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#include <memory>
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#include <frc/controller/HolonomicDriveController.h>
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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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@@ -63,8 +64,61 @@ class MecanumControllerCommand
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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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* @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 desiredRotation The angle that the robot should be facing.
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* This is sampled at each time step.
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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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std::function<frc::Rotation2d()> desiredRotation,
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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. 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 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,
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@@ -114,8 +168,61 @@ class MecanumControllerCommand
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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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* @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 desiredRotation The angle that the robot should be facing.
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* This is sampled at each time step.
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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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std::function<frc::Rotation2d()> desiredRotation,
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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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wpi::ArrayRef<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. 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 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,
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@@ -164,8 +271,48 @@ class MecanumControllerCommand
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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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* @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 desiredRotation The angle that the robot should be facing.
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* This is sampled at each time step.
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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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std::function<frc::Rotation2d()> desiredRotation,
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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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/**
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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>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
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@@ -202,8 +349,48 @@ class MecanumControllerCommand
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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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* @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 desiredRotation The angle that the robot should be facing.
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* This is sampled at every time step.
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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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std::function<frc::Rotation2d()> desiredRotation,
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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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wpi::ArrayRef<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 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
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@@ -244,9 +431,8 @@ class MecanumControllerCommand
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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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frc::HolonomicDriveController m_controller;
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std::function<frc::Rotation2d()> m_desiredRotation;
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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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@@ -264,6 +450,5 @@ class MecanumControllerCommand
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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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@@ -10,6 +10,7 @@
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#include <initializer_list>
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#include <memory>
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#include <frc/controller/HolonomicDriveController.h>
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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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@@ -70,8 +71,46 @@ class SwerveControllerCommand
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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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* @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 desiredRotation The angle that the drivetrain should be
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* facing. This is sampled at each time step.
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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<frc::Rotation2d()> desiredRotation,
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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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/**
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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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* <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,
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@@ -106,8 +145,47 @@ class SwerveControllerCommand
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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 desiredRotation The angle that the drivetrain should be
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* facing. This is sampled at each time step.
|
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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<frc::Rotation2d()> desiredRotation,
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std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
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output,
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wpi::ArrayRef<Subsystem*> requirements = {});
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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 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,
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@@ -144,15 +222,15 @@ class SwerveControllerCommand
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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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frc::HolonomicDriveController m_controller;
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std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
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m_outputStates;
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std::function<frc::Rotation2d()> m_desiredRotation;
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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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frc::Rotation2d m_finalRotation;
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};
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} // namespace frc2
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@@ -17,16 +17,51 @@ SwerveControllerCommand<NumModules>::SwerveControllerCommand(
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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,
|
||||
std::function<frc::Rotation2d()> desiredRotation,
|
||||
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
|
||||
std::initializer_list<Subsystem*> requirements)
|
||||
: m_trajectory(trajectory),
|
||||
m_pose(pose),
|
||||
m_kinematics(kinematics),
|
||||
m_xController(std::make_unique<frc2::PIDController>(xController)),
|
||||
m_yController(std::make_unique<frc2::PIDController>(yController)),
|
||||
m_thetaController(
|
||||
std::make_unique<frc::ProfiledPIDController<units::radians>>(
|
||||
thetaController)),
|
||||
m_controller(xController, yController, thetaController),
|
||||
m_desiredRotation(desiredRotation),
|
||||
m_outputStates(output) {
|
||||
this->AddRequirements(requirements);
|
||||
}
|
||||
|
||||
template <size_t NumModules>
|
||||
SwerveControllerCommand<NumModules>::SwerveControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::SwerveDriveKinematics<NumModules> kinematics,
|
||||
frc2::PIDController xController, frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
|
||||
std::initializer_list<Subsystem*> requirements)
|
||||
: m_trajectory(trajectory),
|
||||
m_pose(pose),
|
||||
m_kinematics(kinematics),
|
||||
m_controller(xController, yController, thetaController),
|
||||
m_outputStates(output) {
|
||||
this->AddRequirements(requirements);
|
||||
m_desiredRotation = [&] {
|
||||
return m_trajectory.States().back().pose.Rotation();
|
||||
};
|
||||
}
|
||||
|
||||
template <size_t NumModules>
|
||||
SwerveControllerCommand<NumModules>::SwerveControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::SwerveDriveKinematics<NumModules> kinematics,
|
||||
frc2::PIDController xController, frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
std::function<frc::Rotation2d()> desiredRotation,
|
||||
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
|
||||
wpi::ArrayRef<Subsystem*> requirements)
|
||||
: m_trajectory(trajectory),
|
||||
m_pose(pose),
|
||||
m_kinematics(kinematics),
|
||||
m_controller(xController, yController, thetaController),
|
||||
m_desiredRotation(desiredRotation),
|
||||
m_outputStates(output) {
|
||||
this->AddRequirements(requirements);
|
||||
}
|
||||
@@ -42,19 +77,16 @@ SwerveControllerCommand<NumModules>::SwerveControllerCommand(
|
||||
: m_trajectory(trajectory),
|
||||
m_pose(pose),
|
||||
m_kinematics(kinematics),
|
||||
m_xController(std::make_unique<frc2::PIDController>(xController)),
|
||||
m_yController(std::make_unique<frc2::PIDController>(yController)),
|
||||
m_thetaController(
|
||||
std::make_unique<frc::ProfiledPIDController<units::radians>>(
|
||||
thetaController)),
|
||||
m_controller(xController, yController, thetaController),
|
||||
m_outputStates(output) {
|
||||
this->AddRequirements(requirements);
|
||||
m_desiredRotation = [&] {
|
||||
return m_trajectory.States().back().pose.Rotation();
|
||||
};
|
||||
}
|
||||
|
||||
template <size_t NumModules>
|
||||
void SwerveControllerCommand<NumModules>::Initialize() {
|
||||
m_finalPose = m_trajectory.Sample(m_trajectory.TotalTime()).pose;
|
||||
|
||||
m_timer.Reset();
|
||||
m_timer.Start();
|
||||
}
|
||||
@@ -62,34 +94,10 @@ void SwerveControllerCommand<NumModules>::Initialize() {
|
||||
template <size_t NumModules>
|
||||
void SwerveControllerCommand<NumModules>::Execute() {
|
||||
auto curTime = units::second_t(m_timer.Get());
|
||||
|
||||
auto m_desiredState = m_trajectory.Sample(curTime);
|
||||
auto m_desiredPose = m_desiredState.pose;
|
||||
|
||||
auto m_poseError = m_desiredPose.RelativeTo(m_pose());
|
||||
|
||||
auto targetXVel = units::meters_per_second_t(
|
||||
m_xController->Calculate((m_pose().X().template to<double>()),
|
||||
(m_desiredPose.X().template to<double>())));
|
||||
auto targetYVel = units::meters_per_second_t(
|
||||
m_yController->Calculate((m_pose().Y().template to<double>()),
|
||||
(m_desiredPose.Y().template to<double>())));
|
||||
|
||||
// Profiled PID Controller only takes meters as setpoint and measurement
|
||||
// The robot will go to the desired rotation of the final pose in the
|
||||
// trajectory, not following the poses at individual states.
|
||||
auto targetAngularVel =
|
||||
units::radians_per_second_t(m_thetaController->Calculate(
|
||||
m_pose().Rotation().Radians(), m_finalPose.Rotation().Radians()));
|
||||
|
||||
auto vRef = m_desiredState.velocity;
|
||||
|
||||
targetXVel += vRef * m_poseError.Rotation().Cos();
|
||||
targetYVel += vRef * m_poseError.Rotation().Sin();
|
||||
|
||||
auto targetChassisSpeeds =
|
||||
frc::ChassisSpeeds{targetXVel, targetYVel, targetAngularVel};
|
||||
|
||||
m_controller.Calculate(m_pose(), m_desiredState, m_desiredRotation());
|
||||
auto targetModuleStates =
|
||||
m_kinematics.ToSwerveModuleStates(targetChassisSpeeds);
|
||||
|
||||
|
||||
Reference in New Issue
Block a user