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[wpilib] Add pose estimators (#2867)

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Pose and state estimators can filter latency-compensated global measurements and fuse them with state-space drivetrain model information to estimate robot position. They are drop-in replacements for the existing odometry classes.

Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Declan Freeman-Gleason
2020-11-28 17:35:35 -05:00
committed by GitHub
parent 3413bfc06a
commit bc8f338771
58 changed files with 4958 additions and 39 deletions
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57
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/AnalogGyro.h>
#include <frc/estimator/SwerveDrivePoseEstimator.h>
#include <frc/geometry/Translation2d.h>
#include <frc/kinematics/SwerveDriveKinematics.h>
#include <frc/kinematics/SwerveDriveOdometry.h>
#include <wpi/math>
#include "SwerveModule.h"
/**
* Represents a swerve drive style drivetrain.
*/
class Drivetrain {
public:
Drivetrain() { m_gyro.Reset(); }
void Drive(units::meters_per_second_t xSpeed,
units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
bool fieldRelative);
void UpdateOdometry();
static constexpr auto kMaxSpeed = 3.0_mps; // 3 meters per second
static constexpr units::radians_per_second_t kMaxAngularSpeed{
wpi::math::pi}; // 1/2 rotation per second
private:
frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
frc::Translation2d m_frontRightLocation{+0.381_m, -0.381_m};
frc::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
SwerveModule m_frontLeft{1, 2};
SwerveModule m_frontRight{2, 3};
SwerveModule m_backLeft{5, 6};
SwerveModule m_backRight{7, 8};
frc::AnalogGyro m_gyro{0};
frc::SwerveDriveKinematics<4> m_kinematics{
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
m_backRightLocation};
// Gains are for example purposes only - must be determined for your own
// robot!
frc::SwerveDrivePoseEstimator<4> m_poseEstimator{
frc::Rotation2d(), frc::Pose2d(), m_kinematics,
{0.1, 0.1, 0.1}, {0.05}, {0.1, 0.1, 0.1}};
};

27
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/StateSpaceUtil.h>
#include <frc/geometry/Pose2d.h>
/**
* This dummy class represents a global measurement sensor, such as a computer
* vision solution.
*/
class ExampleGlobalMeasurementSensor {
public:
static frc::Pose2d GetEstimatedGlobalPose(
const frc::Pose2d& estimatedRobotPose) {
auto randVec = frc::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
return frc::Pose2d(estimatedRobotPose.X() + units::meter_t(randVec(0)),
estimatedRobotPose.Y() + units::meter_t(randVec(1)),
estimatedRobotPose.Rotation() +
frc::Rotation2d(units::radian_t(randVec(3))));
}
};

54
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/kinematics/SwerveModuleState.h>
#include <units/angular_velocity.h>
#include <units/time.h>
#include <units/velocity.h>
#include <units/voltage.h>
#include <wpi/math>
class SwerveModule {
public:
SwerveModule(int driveMotorChannel, int turningMotorChannel);
frc::SwerveModuleState GetState() const;
void SetDesiredState(const frc::SwerveModuleState& state);
private:
static constexpr auto kWheelRadius = 0.0508_m;
static constexpr int kEncoderResolution = 4096;
static constexpr auto kModuleMaxAngularVelocity =
wpi::math::pi * 1_rad_per_s; // radians per second
static constexpr auto kModuleMaxAngularAcceleration =
wpi::math::pi * 2_rad_per_s / 1_s; // radians per second^2
frc::PWMVictorSPX m_driveMotor;
frc::PWMVictorSPX m_turningMotor;
frc::Encoder m_driveEncoder{0, 1};
frc::Encoder m_turningEncoder{2, 3};
frc2::PIDController m_drivePIDController{1.0, 0, 0};
frc::ProfiledPIDController<units::radians> m_turningPIDController{
1.0,
0.0,
0.0,
{kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration}};
frc::SimpleMotorFeedforward<units::meters> m_driveFeedforward{1_V,
3_V / 1_mps};
frc::SimpleMotorFeedforward<units::radians> m_turnFeedforward{
1_V, 0.5_V / 1_rad_per_s};
};