Navigation/com.amarcolini.joos.followers/HolonomicPIDVAFollower

HolonomicPIDVAFollower

public final class HolonomicPIDVAFollower extends TrajectoryFollower

Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to determine the velocity correction. The feedforward components are instead applied at the wheel level.

Parameters

axialCoeffs

PID coefficients for the robot axial controller (robot X)

lateralCoeffs

PID coefficients for the robot lateral controller (robot Y)

headingCoeffs

PID coefficients for the robot heading controller

admissibleError

admissible/satisfactory pose error at the end of each move

timeout

max time to wait for the error to be admissible

clock

clock

Constructors

HolonomicPIDVAFollower

@JvmOverloads()

public HolonomicPIDVAFollower HolonomicPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients lateralCoeffs, PIDCoefficients headingCoeffs, Pose2d admissibleError, Double timeout, NanoClock clock)

@JvmOverloads()

public HolonomicPIDVAFollower HolonomicPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients lateralCoeffs, PIDCoefficients headingCoeffs, Pose2d admissibleError, Double timeout)

@JvmOverloads()

public HolonomicPIDVAFollower HolonomicPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients lateralCoeffs, PIDCoefficients headingCoeffs, Pose2d admissibleError)

@JvmOverloads()

public HolonomicPIDVAFollower HolonomicPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients lateralCoeffs, PIDCoefficients headingCoeffs)

Properties

private Pose2d lastError

Robot pose error computed in the last update call.

Functions

followTrajectory

public Unit followTrajectory(Trajectory trajectory)

Follow the given trajectory.

public Pose2d getLastError()

Robot pose error computed in the last update call.

protected DriveSignal internalUpdate(Pose2d currentPose, Pose2d currentRobotVel)

protected Unit setLastError(Pose2d lastError)

Robot pose error computed in the last update call.