10 #include <units/units.h>
12 #include "frc/geometry/Pose2d.h"
13 #include "frc/kinematics/ChassisSpeeds.h"
14 #include "frc/trajectory/Trajectory.h"
89 units::meters_per_second_t linearVelocityRef,
90 units::radians_per_second_t angularVelocityRef);
118 bool m_enabled =
true;
RamseteController()
Construct a Ramsete unicycle controller.
Definition: RamseteController.h:62
Represents one point on the trajectory.
Definition: Trajectory.h:39
bool AtReference() const
Returns true if the pose error is within tolerance of the reference.
void SetTolerance(const Pose2d &poseTolerance)
Sets the pose error which is considered tolerable for use with AtReference().
Represents the speed of a robot chassis.
Definition: ChassisSpeeds.h:26
Represents a 2d pose containing translational and rotational elements.
Definition: Pose2d.h:23
void SetEnabled(bool enabled)
Enables and disables the controller for troubleshooting purposes.
A class that enforces constraints on the differential drive kinematics.
Definition: SPIAccelerometerSim.h:16
ChassisSpeeds Calculate(const Pose2d ¤tPose, const Pose2d &poseRef, units::meters_per_second_t linearVelocityRef, units::radians_per_second_t angularVelocityRef)
Returns the next output of the Ramsete controller.
Ramsete is a nonlinear time-varying feedback controller for unicycle models that drives the model to ...
Definition: RamseteController.h:45