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 fixes an issue with some commands not correctly requiring their
subsytems. Furthermore, an execute() method was added to the
DriveDistance command to continuously update the voltage command.
This includes physics simulation support for arms/elevator models, as well as differential drivetrains.
Swerve might be added at a later date.
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
It was added as part of Bryson's rule described in
https://file.tavsys.net/control/controls-engineering-in-frc.pdf. It
doesn't really simplify usage though, and the same thing can be
replicated by multiplying the elements of Q by rho manually. It's easier
to do it that way, it's how 3512 has been doing controller debugging for
a while, and it's probably what other teams will do as well instead of
using the "more structured" way.
Removing these unhelpful overloads also simplifies the LQR interface.
This avoids users having to call both IsOperatorControl() and IsEnabled() to figure out if their robot is
enabled and in the teleop state. The expression above involves calling two methods that each have their
own lock.
These new methods should only involve locking one mutex, since only one call is made to HAL_GetControlWord().
It doesn't make sense to continue to provide a less accurate method of performing odometry
when a more accurate method using distances exists.
This also removes the need to pass DifferentialDriveKinematics to the constructor.
This kind of filter is extremely useful for signals that are susceptible to sudden
outliers - ultrasonics, 1-D LIDAR, and results from vision processing are all
good use-cases.
This also modifies the existing ultrasonic examples accordingly.
Improves the APIs for various prebuilt subsystems (PIDSubsystem, TrapezoidProfileSubsystem, ProfiledPIDSubsystem). Addresses #2128, and also changes the rather cumbersome getSetpoint API to a more intuitive setSetpoint one. Updates examples to match.
The odometry classes previously took in the robot angle as an argument, meaning that users had to take care of offsetting the gyro themselves to accurately report the robot angle. This change will make it so that users will not have to worry about resetting gyros and adding offsets themselves, as this will be handled by the odometry classes.
