Navigation/com.amarcolini.joos.followers/TankPIDVAFollower

TankPIDVAFollower

public final class TankPIDVAFollower extends TrajectoryFollower

Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

Parameters

axialCoeffs

PID coefficients for the robot axial (robot X) controller

crossTrackCoeffs

PID coefficients for the robot heading controller based on cross track error

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

TankPIDVAFollower

@JvmOverloads()

public TankPIDVAFollower TankPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients crossTrackCoeffs, Pose2d admissibleError, Double timeout, NanoClock clock)

@JvmOverloads()

public TankPIDVAFollower TankPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients crossTrackCoeffs, Pose2d admissibleError, Double timeout)

@JvmOverloads()

public TankPIDVAFollower TankPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients crossTrackCoeffs, Pose2d admissibleError)

@JvmOverloads()

public TankPIDVAFollower TankPIDVAFollower(PIDCoefficients axialCoeffs, PIDCoefficients crossTrackCoeffs)

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.