Navigation/com.amarcolini.joos.followers/HolonomicPIDVAFollower

HolonomicPIDVAFollower

class HolonomicPIDVAFollower @JvmOverloads constructor(axialCoeffs: PIDCoefficients, lateralCoeffs: PIDCoefficients, headingCoeffs: PIDCoefficients, admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system) : 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

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@JvmOverloads
constructor(axialCoeffs: PIDCoefficients, lateralCoeffs: PIDCoefficients, headingCoeffs: PIDCoefficients, admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system)

Properties

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open override var lastError: Pose2d

Robot pose error computed in the last update call.

Functions

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open override fun followTrajectory(trajectory: Trajectory)

Follow the given trajectory.

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protected open override fun internalUpdate(currentPose: Pose2d, currentRobotVel: Pose2d?): DriveSignal