Add TrapezoidProfile external PID examples (#2131)

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+  m_autonomousCommand = m_container.GetAutonomousCommand();
+
+  if (m_autonomousCommand != nullptr) {
+    m_autonomousCommand->Schedule();
+  }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+  // This makes sure that the autonomous stops running when
+  // teleop starts running. If you want the autonomous to
+  // continue until interrupted by another command, remove
+  // this line or comment it out.
+  if (m_autonomousCommand != nullptr) {
+    m_autonomousCommand->Cancel();
+    m_autonomousCommand = nullptr;
+  }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc2/command/button/JoystickButton.h>
+#include <units/units.h>
+
+RobotContainer::RobotContainer() {
+  // Initialize all of your commands and subsystems here
+
+  // Configure the button bindings
+  ConfigureButtonBindings();
+
+  // Set up default drive command
+  m_drive.SetDefaultCommand(frc2::RunCommand(
+      [this] {
+        m_drive.ArcadeDrive(
+            m_driverController.GetY(frc::GenericHID::kLeftHand),
+            m_driverController.GetX(frc::GenericHID::kRightHand));
+      },
+      {&m_drive}));
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+  // Configure your button bindings here
+
+  // Move the arm to 2 radians above horizontal when the 'A' button is pressed.
+  frc2::JoystickButton(&m_driverController, 1)
+      .WhenPressed([this] { m_arm.SetGoal(2_rad); }, {&m_arm});
+
+  // Move the arm to neutral position when the 'B' button is pressed.
+  frc2::JoystickButton(&m_driverController, 1)
+      .WhenPressed([this] { m_arm.SetGoal(ArmConstants::kArmOffset); },
+                   {&m_arm});
+
+  // While holding the shoulder button, drive at half speed
+  frc2::JoystickButton(&m_driverController, 6)
+      .WhenPressed([this] { m_drive.SetMaxOutput(.5); })
+      .WhenReleased([this] { m_drive.SetMaxOutput(1); });
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+  // Runs the chosen command in autonomous
+  return new frc2::InstantCommand([] {});
+}

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/ArmSubsystem.h"
+
+#include "Constants.h"
+
+using namespace ArmConstants;
+using State = frc::TrapezoidProfile<units::radians>::State;
+
+ArmSubsystem::ArmSubsystem()
+    : frc2::TrapezoidProfileSubsystem<units::radians>(
+          {kMaxVelocity, kMaxAcceleration}, kArmOffset),
+      m_motor(kMotorPort),
+      m_feedforward(kS, kCos, kV, kA) {
+  m_motor.SetPID(kP, 0, 0);
+}
+
+void ArmSubsystem::UseState(State setpoint) {
+  // Calculate the feedforward from the sepoint
+  units::volt_t feedforward =
+      m_feedforward.Calculate(setpoint.position, setpoint.velocity);
+  // Add the feedforward to the PID output to get the motor output
+  m_motor.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,
+                      setpoint.position.to<double>(), feedforward / 12_V);
+}

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/DriveSubsystem.h"
+
+using namespace DriveConstants;
+
+DriveSubsystem::DriveSubsystem()
+    : m_left1{kLeftMotor1Port},
+      m_left2{kLeftMotor2Port},
+      m_right1{kRightMotor1Port},
+      m_right2{kRightMotor2Port},
+      m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
+      m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
+  // Set the distance per pulse for the encoders
+  m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+  m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+}
+
+void DriveSubsystem::Periodic() {
+  // Implementation of subsystem periodic method goes here.
+}
+
+void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
+  m_drive.ArcadeDrive(fwd, rot);
+}
+
+void DriveSubsystem::ResetEncoders() {
+  m_leftEncoder.Reset();
+  m_rightEncoder.Reset();
+}
+
+double DriveSubsystem::GetAverageEncoderDistance() {
+  return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.0;
+}
+
+frc::Encoder& DriveSubsystem::GetLeftEncoder() { return m_leftEncoder; }
+
+frc::Encoder& DriveSubsystem::GetRightEncoder() { return m_rightEncoder; }
+
+void DriveSubsystem::SetMaxOutput(double maxOutput) {
+  m_drive.SetMaxOutput(maxOutput);
+}

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 <units/units.h>
+#include <wpi/math>
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or bool constants.  This should not be used for any other purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace DriveConstants {
+constexpr int kLeftMotor1Port = 0;
+constexpr int kLeftMotor2Port = 1;
+constexpr int kRightMotor1Port = 2;
+constexpr int kRightMotor2Port = 3;
+
+constexpr int kLeftEncoderPorts[]{0, 1};
+constexpr int kRightEncoderPorts[]{2, 3};
+constexpr bool kLeftEncoderReversed = false;
+constexpr bool kRightEncoderReversed = true;
+
+constexpr int kEncoderCPR = 1024;
+constexpr double kWheelDiameterInches = 6;
+constexpr double kEncoderDistancePerPulse =
+    // Assumes the encoders are directly mounted on the wheel shafts
+    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+}  // namespace DriveConstants
+
+namespace ArmConstants {
+constexpr int kMotorPort = 4;
+
+constexpr double kP = 1;
+
+// These are fake gains; in actuality these must be determined individually for
+// each robot
+constexpr auto kS = 1_V;
+constexpr auto kCos = 1_V;
+constexpr auto kV = 0.5_V * 1_s / 1_rad;
+constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
+
+constexpr auto kMaxVelocity = 3_rad_per_s;
+constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
+
+constexpr int kEncoderPorts[]{4, 5};
+constexpr int kEncoderPPR = 256;
+constexpr auto kEncoderDistancePerPulse = 2.0_rad * wpi::math::pi / kEncoderPPR;
+
+// The offset of the arm from the horizontal in its neutral position,
+// measured from the horizontal
+constexpr auto kArmOffset = 0.5_rad;
+}  // namespace ArmConstants
+
+namespace AutoConstants {
+constexpr auto kAutoTimeoutSeconds = 12_s;
+constexpr auto kAutoShootTimeSeconds = 7_s;
+}  // namespace AutoConstants
+
+namespace OIConstants {
+constexpr int kDriverControllerPort = 1;
+}  // namespace OIConstants

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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/SpeedController.h>
+
+/**
+ * A simplified stub class that simulates the API of a common "smart" motor
+ * controller.
+ *
+ * <p>Has no actual functionality.
+ */
+class ExampleSmartMotorController : public frc::SpeedController {
+ public:
+  enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };
+
+  /**
+   * Creates a new ExampleSmartMotorController.
+   *
+   * @param port The port for the controller.
+   */
+  explicit ExampleSmartMotorController(int port) {}
+
+  /**
+   * Example method for setting the PID gains of the smart controller.
+   *
+   * @param kp The proportional gain.
+   * @param ki The integral gain.
+   * @param kd The derivative gain.
+   */
+  void SetPID(double kp, double ki, double kd) {}
+
+  /**
+   * Example method for setting the setpoint of the smart controller in PID
+   * mode.
+   *
+   * @param mode The mode of the PID controller.
+   * @param setpoint The controller setpoint.
+   * @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
+   */
+  void SetSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
+
+  /**
+   * Places this motor controller in follower mode.
+   *
+   * @param master The master to follow.
+   */
+  void Follow(ExampleSmartMotorController master) {}
+
+  /**
+   * Returns the encoder distance.
+   *
+   * @return The current encoder distance.
+   */
+  double GetEncoderDistance() { return 0; }
+
+  /**
+   * Returns the encoder rate.
+   *
+   * @return The current encoder rate.
+   */
+  double GetEncoderRate() { return 0; }
+
+  /**
+   * Resets the encoder to zero distance.
+   */
+  void ResetEncoder() {}
+
+  void Set(double speed) override {}
+
+  double Get() const override { return 0; }
+
+  void SetInverted(bool isInverted) override {}
+
+  bool GetInverted() const override { return false; }
+
+  void Disable() override {}
+
+  void StopMotor() override {}
+
+  void PIDWrite(double output) override {}
+};

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 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/TimedRobot.h>
+#include <frc2/command/Command.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotInit() override;
+  void RobotPeriodic() override;
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TestPeriodic() override;
+
+ private:
+  // Have it null by default so that if testing teleop it
+  // doesn't have undefined behavior and potentially crash.
+  frc2::Command* m_autonomousCommand = nullptr;
+
+  RobotContainer m_container;
+};

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/RobotContainer.h

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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/XboxController.h>
+#include <frc/smartdashboard/SendableChooser.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/ConditionalCommand.h>
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/ParallelRaceGroup.h>
+#include <frc2/command/RunCommand.h>
+#include <frc2/command/SequentialCommandGroup.h>
+#include <frc2/command/WaitCommand.h>
+#include <frc2/command/WaitUntilCommand.h>
+
+#include "Constants.h"
+#include "subsystems/ArmSubsystem.h"
+#include "subsystems/DriveSubsystem.h"
+
+namespace ac = AutoConstants;
+
+/**
+ * This class is where the bulk of the robot should be declared.  Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls).  Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+  RobotContainer();
+
+  frc2::Command* GetAutonomousCommand();
+
+ private:
+  // The driver's controller
+  frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+
+  // The robot's subsystems and commands are defined here...
+
+  // The robot's subsystems
+  DriveSubsystem m_drive;
+  ArmSubsystem m_arm;
+
+  // The chooser for the autonomous routines
+
+  void ConfigureButtonBindings();
+};

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/ArmSubsystem.h

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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/controller/ArmFeedforward.h>
+#include <frc2/command/TrapezoidProfileSubsystem.h>
+#include <units/units.h>
+
+#include "ExampleSmartMotorController.h"
+
+/**
+ * A robot arm subsystem that moves with a motion profile.
+ */
+class ArmSubsystem : public frc2::TrapezoidProfileSubsystem<units::radians> {
+  using State = frc::TrapezoidProfile<units::radians>::State;
+
+ public:
+  ArmSubsystem();
+
+  void UseState(State setpoint) override;
+
+ private:
+  ExampleSmartMotorController m_motor;
+  frc::ArmFeedforward m_feedforward;
+};

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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/SpeedControllerGroup.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class DriveSubsystem : public frc2::SubsystemBase {
+ public:
+  DriveSubsystem();
+
+  /**
+   * Will be called periodically whenever the CommandScheduler runs.
+   */
+  void Periodic() override;
+
+  // Subsystem methods go here.
+
+  /**
+   * Drives the robot using arcade controls.
+   *
+   * @param fwd the commanded forward movement
+   * @param rot the commanded rotation
+   */
+  void ArcadeDrive(double fwd, double rot);
+
+  /**
+   * Resets the drive encoders to currently read a position of 0.
+   */
+  void ResetEncoders();
+
+  /**
+   * Gets the average distance of the TWO encoders.
+   *
+   * @return the average of the TWO encoder readings
+   */
+  double GetAverageEncoderDistance();
+
+  /**
+   * Gets the left drive encoder.
+   *
+   * @return the left drive encoder
+   */
+  frc::Encoder& GetLeftEncoder();
+
+  /**
+   * Gets the right drive encoder.
+   *
+   * @return the right drive encoder
+   */
+  frc::Encoder& GetRightEncoder();
+
+  /**
+   * Sets the max output of the drive.  Useful for scaling the drive to drive
+   * more slowly.
+   *
+   * @param maxOutput the maximum output to which the drive will be constrained
+   */
+  void SetMaxOutput(double maxOutput);
+
+ private:
+  // Components (e.g. motor controllers and sensors) should generally be
+  // declared private and exposed only through public methods.
+
+  // The motor controllers
+  frc::PWMVictorSPX m_left1;
+  frc::PWMVictorSPX m_left2;
+  frc::PWMVictorSPX m_right1;
+  frc::PWMVictorSPX m_right2;
+
+  // The motors on the left side of the drive
+  frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+
+  // The motors on the right side of the drive
+  frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+
+  // The robot's drive
+  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
+
+  // The left-side drive encoder
+  frc::Encoder m_leftEncoder;
+
+  // The right-side drive encoder
+  frc::Encoder m_rightEncoder;
+};