Package frc.robot.systems.drive.controllers

Class HolonomicController

java.lang.Object

frc.robot.systems.drive.controllers.HolonomicController

public class HolonomicController
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	HolonomicController.ConstraintType

Field Summary

Fields

Modifier and Type	Field	Description
static final LoggedTunableNumber	distanceMaxAMPSS
static final LoggedTunableNumber	distanceMaxVMPS
static final LoggedTunableNumber	distanceToleranceMeters
static final LoggedTunableNumber	ffRadius
static final LoggedTunableNumber	omegaD
static final LoggedTunableNumber	omegaI
static final LoggedTunableNumber	omegaIRange
static final LoggedTunableNumber	omegaIZone
static final LoggedTunableNumber	omegaMaxADPSS
static final LoggedTunableNumber	omegaMaxVDPS
static final LoggedTunableNumber	omegaP
static final LoggedTunableNumber	omegaS
static final LoggedTunableNumber	omegaToleranceDegrees
static final LoggedTunableNumber	omegaV
static final LoggedTunableNumber	xD
static final LoggedTunableNumber	xI
static final LoggedTunableNumber	xIRange
static final LoggedTunableNumber	xIZone
static final LoggedTunableNumber	xMaxAMPSS
static final LoggedTunableNumber	xMaxVMPS
static final LoggedTunableNumber	xP
static final LoggedTunableNumber	xS
static final LoggedTunableNumber	xToleranceMeters
static final LoggedTunableNumber	xV
static final LoggedTunableNumber	yD
static final LoggedTunableNumber	yI
static final LoggedTunableNumber	yIRange
static final LoggedTunableNumber	yIZone
static final LoggedTunableNumber	yMaxAMPSS
static final LoggedTunableNumber	yMaxVMPS
static final LoggedTunableNumber	yP
static final LoggedTunableNumber	yS
static final LoggedTunableNumber	yToleranceMeters
static final LoggedTunableNumber	yV

Constructor Summary

Constructors

Constructor	Description
HolonomicController()

Method Summary

Modifier and Type	Method	Description
boolean	atGoal()
boolean	atPositionTimeout()
edu.wpi.first.math.kinematics.ChassisSpeeds	calculate(edu.wpi.first.math.geometry.Pose2d goalPose, edu.wpi.first.math.geometry.Pose2d currentPose)
edu.wpi.first.math.kinematics.ChassisSpeeds	calculate(edu.wpi.first.math.geometry.Pose2d goalPose, edu.wpi.first.math.kinematics.ChassisSpeeds goalSpeed, edu.wpi.first.math.geometry.Pose2d currentPose)
edu.wpi.first.math.geometry.Pose2d	getPoseError()
edu.wpi.first.math.geometry.Pose2d	getPositionGoal()
edu.wpi.first.math.geometry.Pose2d	getPositionSetpoint()
edu.wpi.first.math.kinematics.ChassisSpeeds	getVelocitySetpoint()
void	reset(edu.wpi.first.math.geometry.Pose2d startPose, edu.wpi.first.math.geometry.Pose2d goalPose)
void	reset(edu.wpi.first.math.geometry.Pose2d robotPose, edu.wpi.first.math.kinematics.ChassisSpeeds robotChassisSpeeds, edu.wpi.first.math.geometry.Pose2d goalPose)
void	setConstraintType(HolonomicController.ConstraintType type, edu.wpi.first.math.geometry.Pose2d robotPose, edu.wpi.first.math.geometry.Pose2d goalPose)
void	updateAlignmentControllers()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

xP

public static final LoggedTunableNumber xP

xD

public static final LoggedTunableNumber xD

xI

public static final LoggedTunableNumber xI

xIZone

public static final LoggedTunableNumber xIZone

xIRange

public static final LoggedTunableNumber xIRange

xMaxVMPS

public static final LoggedTunableNumber xMaxVMPS

xMaxAMPSS

public static final LoggedTunableNumber xMaxAMPSS

xS

public static final LoggedTunableNumber xS

xV

public static final LoggedTunableNumber xV

xToleranceMeters

public static final LoggedTunableNumber xToleranceMeters

yP

public static final LoggedTunableNumber yP

yD

public static final LoggedTunableNumber yD

yI

public static final LoggedTunableNumber yI

yIZone

public static final LoggedTunableNumber yIZone

yIRange

public static final LoggedTunableNumber yIRange

yMaxVMPS

public static final LoggedTunableNumber yMaxVMPS

yMaxAMPSS

public static final LoggedTunableNumber yMaxAMPSS

yS

public static final LoggedTunableNumber yS

yV

public static final LoggedTunableNumber yV

yToleranceMeters

public static final LoggedTunableNumber yToleranceMeters

omegaP

public static final LoggedTunableNumber omegaP

omegaD

public static final LoggedTunableNumber omegaD

omegaI

public static final LoggedTunableNumber omegaI

omegaIZone

public static final LoggedTunableNumber omegaIZone

omegaIRange

public static final LoggedTunableNumber omegaIRange

omegaMaxVDPS

public static final LoggedTunableNumber omegaMaxVDPS

omegaMaxADPSS

public static final LoggedTunableNumber omegaMaxADPSS

omegaS

public static final LoggedTunableNumber omegaS

omegaV

public static final LoggedTunableNumber omegaV

omegaToleranceDegrees

public static final LoggedTunableNumber omegaToleranceDegrees

distanceMaxVMPS

public static final LoggedTunableNumber distanceMaxVMPS

distanceMaxAMPSS

public static final LoggedTunableNumber distanceMaxAMPSS

distanceToleranceMeters

public static final LoggedTunableNumber distanceToleranceMeters

ffRadius

public static final LoggedTunableNumber ffRadius

Constructor Details

HolonomicController

public HolonomicController()

Method Details

setConstraintType

public void setConstraintType(HolonomicController.ConstraintType type,
 edu.wpi.first.math.geometry.Pose2d robotPose,
 edu.wpi.first.math.geometry.Pose2d goalPose)

reset

public void reset(edu.wpi.first.math.geometry.Pose2d startPose,
 edu.wpi.first.math.geometry.Pose2d goalPose)

reset

public void reset(edu.wpi.first.math.geometry.Pose2d robotPose,
 edu.wpi.first.math.kinematics.ChassisSpeeds robotChassisSpeeds,
 edu.wpi.first.math.geometry.Pose2d goalPose)

calculate

public edu.wpi.first.math.kinematics.ChassisSpeeds calculate(edu.wpi.first.math.geometry.Pose2d goalPose,
 edu.wpi.first.math.geometry.Pose2d currentPose)

calculate

public edu.wpi.first.math.kinematics.ChassisSpeeds calculate(edu.wpi.first.math.geometry.Pose2d goalPose,
 edu.wpi.first.math.kinematics.ChassisSpeeds goalSpeed,
 edu.wpi.first.math.geometry.Pose2d currentPose)

atGoal

public boolean atGoal()

getPositionGoal

public edu.wpi.first.math.geometry.Pose2d getPositionGoal()

getPositionSetpoint

public edu.wpi.first.math.geometry.Pose2d getPositionSetpoint()

atPositionTimeout

public boolean atPositionTimeout()

getVelocitySetpoint

public edu.wpi.first.math.kinematics.ChassisSpeeds getVelocitySetpoint()

getPoseError

public edu.wpi.first.math.geometry.Pose2d getPoseError()

updateAlignmentControllers

public void updateAlignmentControllers()