mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +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
@@ -10,6 +10,7 @@
|
||||
#include <initializer_list>
|
||||
#include <memory>
|
||||
|
||||
#include <frc/controller/HolonomicDriveController.h>
|
||||
#include <frc/controller/PIDController.h>
|
||||
#include <frc/controller/ProfiledPIDController.h>
|
||||
#include <frc/controller/SimpleMotorFeedforward.h>
|
||||
@@ -63,8 +64,61 @@ class MecanumControllerCommand
|
||||
* completion of the path this is left to the user, since it is not
|
||||
* appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* <p>Note 2: The rotation controller will calculate the rotation based on the
|
||||
* final pose in the trajectory, not the poses at each time step.
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose,
|
||||
* provided by the odometry class.
|
||||
* @param feedforward The feedforward to use for the drivetrain.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller
|
||||
* for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller
|
||||
* for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller
|
||||
* for angle for the robot.
|
||||
* @param desiredRotation The angle that the robot should be facing.
|
||||
* This is sampled at each time step.
|
||||
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
|
||||
* @param frontLeftController The front left wheel velocity PID.
|
||||
* @param rearLeftController The rear left wheel velocity PID.
|
||||
* @param frontRightController The front right wheel velocity PID.
|
||||
* @param rearRightController The rear right wheel velocity PID.
|
||||
* @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing
|
||||
* the current wheel speeds.
|
||||
* @param output The output of the velocity PIDs.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
MecanumControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::SimpleMotorFeedforward<units::meters> feedforward,
|
||||
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
|
||||
frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
std::function<frc::Rotation2d()> desiredRotation,
|
||||
units::meters_per_second_t maxWheelVelocity,
|
||||
std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
|
||||
frc2::PIDController frontLeftController,
|
||||
frc2::PIDController rearLeftController,
|
||||
frc2::PIDController frontRightController,
|
||||
frc2::PIDController rearRightController,
|
||||
std::function<void(units::volt_t, units::volt_t, units::volt_t,
|
||||
units::volt_t)>
|
||||
output,
|
||||
std::initializer_list<Subsystem*> requirements);
|
||||
|
||||
/**
|
||||
* Constructs a new MecanumControllerCommand that when executed will follow
|
||||
* the provided trajectory. PID control and feedforward are handled
|
||||
* internally. Outputs are scaled from -12 to 12 as a voltage output to the
|
||||
* motor.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon
|
||||
* completion of the path this is left to the user, since it is not
|
||||
* appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* <p>Note 2: The 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,
|
||||
@@ -114,8 +168,61 @@ class MecanumControllerCommand
|
||||
* completion of the path this is left to the user, since it is not
|
||||
* appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* <p>Note 2: The rotation controller will calculate the rotation based on the
|
||||
* final pose in the trajectory, not the poses at each time step.
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose,
|
||||
* provided by the odometry class.
|
||||
* @param feedforward The feedforward to use for the drivetrain.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller
|
||||
* for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller
|
||||
* for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller
|
||||
* for angle for the robot.
|
||||
* @param desiredRotation The angle that the robot should be facing.
|
||||
* This is sampled at each time step.
|
||||
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
|
||||
* @param frontLeftController The front left wheel velocity PID.
|
||||
* @param rearLeftController The rear left wheel velocity PID.
|
||||
* @param frontRightController The front right wheel velocity PID.
|
||||
* @param rearRightController The rear right wheel velocity PID.
|
||||
* @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing
|
||||
* the current wheel speeds.
|
||||
* @param output The output of the velocity PIDs.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
MecanumControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::SimpleMotorFeedforward<units::meters> feedforward,
|
||||
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
|
||||
frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
std::function<frc::Rotation2d()> desiredRotation,
|
||||
units::meters_per_second_t maxWheelVelocity,
|
||||
std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
|
||||
frc2::PIDController frontLeftController,
|
||||
frc2::PIDController rearLeftController,
|
||||
frc2::PIDController frontRightController,
|
||||
frc2::PIDController rearRightController,
|
||||
std::function<void(units::volt_t, units::volt_t, units::volt_t,
|
||||
units::volt_t)>
|
||||
output,
|
||||
wpi::ArrayRef<Subsystem*> requirements = {});
|
||||
|
||||
/**
|
||||
* Constructs a new MecanumControllerCommand that when executed will follow
|
||||
* the provided trajectory. PID control and feedforward are handled
|
||||
* internally. Outputs are scaled from -12 to 12 as a voltage output to the
|
||||
* motor.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon
|
||||
* completion of the path this is left to the user, since it is not
|
||||
* appropriate for paths with nonstationary endstates.
|
||||
*
|
||||
* <p>Note 2: The 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,
|
||||
@@ -164,8 +271,48 @@ class MecanumControllerCommand
|
||||
* completion of the path - this is left to the user, since it is not
|
||||
* appropriate for paths with non-stationary end-states.
|
||||
*
|
||||
* <p>Note2: The rotation controller will calculate the rotation based on the
|
||||
* final pose in the trajectory, not the poses at each time step.
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose - use one
|
||||
* of the odometry classes to provide this.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller
|
||||
* for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller
|
||||
* for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller
|
||||
* for angle for the robot.
|
||||
* @param desiredRotation The angle that the robot should be facing.
|
||||
* This is sampled at each time step.
|
||||
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
|
||||
* @param output The output of the position PIDs.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
MecanumControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
|
||||
frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
std::function<frc::Rotation2d()> desiredRotation,
|
||||
units::meters_per_second_t maxWheelVelocity,
|
||||
std::function<void(units::meters_per_second_t, units::meters_per_second_t,
|
||||
units::meters_per_second_t,
|
||||
units::meters_per_second_t)>
|
||||
output,
|
||||
std::initializer_list<Subsystem*> requirements);
|
||||
|
||||
/**
|
||||
* Constructs a new MecanumControllerCommand that when executed will follow
|
||||
* the provided trajectory. The user should implement a velocity PID on the
|
||||
* desired output wheel velocities.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon
|
||||
* completion of the path - this is left to the user, since it is not
|
||||
* appropriate for paths with non-stationary end-states.
|
||||
*
|
||||
* <p>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
|
||||
@@ -202,8 +349,48 @@ class MecanumControllerCommand
|
||||
* completion of the path - this is left to the user, since it is not
|
||||
* appropriate for paths with non-stationary end-states.
|
||||
*
|
||||
* <p>Note2: The rotation controller will calculate the rotation based on the
|
||||
* final pose in the trajectory, not the poses at each time step.
|
||||
* @param trajectory The trajectory to follow.
|
||||
* @param pose A function that supplies the robot pose - use one
|
||||
* of the odometry classes to provide this.
|
||||
* @param kinematics The kinematics for the robot drivetrain.
|
||||
* @param xController The Trajectory Tracker PID controller
|
||||
* for the robot's x position.
|
||||
* @param yController The Trajectory Tracker PID controller
|
||||
* for the robot's y position.
|
||||
* @param thetaController The Trajectory Tracker PID controller
|
||||
* for angle for the robot.
|
||||
* @param desiredRotation The angle that the robot should be facing.
|
||||
* This is sampled at every time step.
|
||||
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
|
||||
* @param output The output of the position PIDs.
|
||||
* @param requirements The subsystems to require.
|
||||
*/
|
||||
MecanumControllerCommand(
|
||||
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
|
||||
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
|
||||
frc2::PIDController yController,
|
||||
frc::ProfiledPIDController<units::radians> thetaController,
|
||||
std::function<frc::Rotation2d()> desiredRotation,
|
||||
units::meters_per_second_t maxWheelVelocity,
|
||||
std::function<void(units::meters_per_second_t, units::meters_per_second_t,
|
||||
units::meters_per_second_t,
|
||||
units::meters_per_second_t)>
|
||||
output,
|
||||
wpi::ArrayRef<Subsystem*> requirements = {});
|
||||
|
||||
/**
|
||||
* Constructs a new MecanumControllerCommand that when executed will follow
|
||||
* the provided trajectory. The user should implement a velocity PID on the
|
||||
* desired output wheel velocities.
|
||||
*
|
||||
* <p>Note: The controllers will *not* set the outputVolts to zero upon
|
||||
* completion of the path - this is left to the user, since it is not
|
||||
* appropriate for paths with non-stationary end-states.
|
||||
*
|
||||
* <p>Note2: The 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
|
||||
@@ -244,9 +431,8 @@ class MecanumControllerCommand
|
||||
std::function<frc::Pose2d()> m_pose;
|
||||
frc::SimpleMotorFeedforward<units::meters> m_feedforward;
|
||||
frc::MecanumDriveKinematics m_kinematics;
|
||||
std::unique_ptr<frc2::PIDController> m_xController;
|
||||
std::unique_ptr<frc2::PIDController> m_yController;
|
||||
std::unique_ptr<frc::ProfiledPIDController<units::radians>> m_thetaController;
|
||||
frc::HolonomicDriveController m_controller;
|
||||
std::function<frc::Rotation2d()> m_desiredRotation;
|
||||
const units::meters_per_second_t m_maxWheelVelocity;
|
||||
std::unique_ptr<frc2::PIDController> m_frontLeftController;
|
||||
std::unique_ptr<frc2::PIDController> m_rearLeftController;
|
||||
@@ -264,6 +450,5 @@ class MecanumControllerCommand
|
||||
frc2::Timer m_timer;
|
||||
frc::MecanumDriveWheelSpeeds m_prevSpeeds;
|
||||
units::second_t m_prevTime;
|
||||
frc::Pose2d m_finalPose;
|
||||
};
|
||||
} // namespace frc2
|
||||
|
||||
Reference in New Issue
Block a user