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WPILibC++
2020.3.2
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A command that uses two PID controllers (PIDController) and a ProfiledPIDController (ProfiledPIDController) to follow a trajectory Trajectory with a mecanum drive. More...
#include <MecanumControllerCommand.h>
Public Member Functions | |
| MecanumControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SimpleMotorFeedforward< units::meters > feedforward, frc::MecanumDriveKinematics kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, units::meters_per_second_t maxWheelVelocity, std::function< frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds, frc2::PIDController frontLeftController, frc2::PIDController rearLeftController, frc2::PIDController frontRightController, frc2::PIDController rearRightController, std::function< void(units::volt_t, units::volt_t, units::volt_t, units::volt_t)> output, std::initializer_list< Subsystem * > requirements) | |
| Constructs a new MecanumControllerCommand that when executed will follow the provided trajectory. More... | |
| MecanumControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SimpleMotorFeedforward< units::meters > feedforward, frc::MecanumDriveKinematics kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, units::meters_per_second_t maxWheelVelocity, std::function< frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds, frc2::PIDController frontLeftController, frc2::PIDController rearLeftController, frc2::PIDController frontRightController, frc2::PIDController rearRightController, std::function< void(units::volt_t, units::volt_t, units::volt_t, units::volt_t)> output, wpi::ArrayRef< Subsystem * > requirements={}) | |
| Constructs a new MecanumControllerCommand that when executed will follow the provided trajectory. More... | |
| MecanumControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::MecanumDriveKinematics kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, units::meters_per_second_t maxWheelVelocity, std::function< void(units::meters_per_second_t, units::meters_per_second_t, units::meters_per_second_t, units::meters_per_second_t)> output, std::initializer_list< Subsystem * > requirements) | |
| Constructs a new MecanumControllerCommand that when executed will follow the provided trajectory. More... | |
| MecanumControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::MecanumDriveKinematics kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, units::meters_per_second_t maxWheelVelocity, std::function< void(units::meters_per_second_t, units::meters_per_second_t, units::meters_per_second_t, units::meters_per_second_t)> output, wpi::ArrayRef< Subsystem * > requirements={}) | |
| Constructs a new MecanumControllerCommand that when executed will follow the provided trajectory. More... | |
| void | Initialize () override |
| The initial subroutine of a command. More... | |
| void | Execute () override |
| The main body of a command. More... | |
| void | End (bool interrupted) override |
| The action to take when the command ends. More... | |
| bool | IsFinished () override |
| Whether the command has finished. More... | |
Public Member Functions inherited from frc2::CommandBase | |
| void | AddRequirements (std::initializer_list< Subsystem * > requirements) |
| Adds the specified requirements to the command. More... | |
| void | AddRequirements (wpi::ArrayRef< Subsystem * > requirements) |
| Adds the specified requirements to the command. More... | |
| void | AddRequirements (wpi::SmallSet< Subsystem *, 4 > requirements) |
| wpi::SmallSet< Subsystem *, 4 > | GetRequirements () const override |
| Specifies the set of subsystems used by this command. More... | |
| void | SetName (const wpi::Twine &name) |
| Sets the name of this Command. More... | |
| std::string | GetName () const override |
| Gets the name of this Command. More... | |
| std::string | GetSubsystem () const |
| Gets the subsystem name of this Command. More... | |
| void | SetSubsystem (const wpi::Twine &subsystem) |
| Sets the subsystem name of this Command. More... | |
| void | InitSendable (frc::SendableBuilder &builder) override |
| Initializes this Sendable object. More... | |
Public Member Functions inherited from frc2::Command | |
| Command (const Command &) | |
| Command & | operator= (const Command &) |
| Command (Command &&)=default | |
| Command & | operator= (Command &&)=default |
| ParallelRaceGroup | WithTimeout (units::second_t duration) && |
| Decorates this command with a timeout. More... | |
| ParallelRaceGroup | WithInterrupt (std::function< bool()> condition) && |
| Decorates this command with an interrupt condition. More... | |
| SequentialCommandGroup | BeforeStarting (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) && |
| Decorates this command with a runnable to run before this command starts. More... | |
| SequentialCommandGroup | BeforeStarting (std::function< void()> toRun, wpi::ArrayRef< Subsystem * > requirements={}) && |
| Decorates this command with a runnable to run before this command starts. More... | |
| SequentialCommandGroup | AndThen (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) && |
| Decorates this command with a runnable to run after the command finishes. More... | |
| SequentialCommandGroup | AndThen (std::function< void()> toRun, wpi::ArrayRef< Subsystem * > requirements={}) && |
| Decorates this command with a runnable to run after the command finishes. More... | |
| PerpetualCommand | Perpetually () && |
| Decorates this command to run perpetually, ignoring its ordinary end conditions. More... | |
| ProxyScheduleCommand | AsProxy () |
| Decorates this command to run "by proxy" by wrapping it in a {}. More... | |
| void | Schedule (bool interruptible) |
| Schedules this command. More... | |
| void | Schedule () |
| Schedules this command, defaulting to interruptible. | |
| void | Cancel () |
| Cancels this command. More... | |
| bool | IsScheduled () const |
| Whether or not the command is currently scheduled. More... | |
| bool | HasRequirement (Subsystem *requirement) const |
| Whether the command requires a given subsystem. More... | |
| bool | IsGrouped () const |
| Whether the command is currently grouped in a command group. More... | |
| void | SetGrouped (bool grouped) |
| Sets whether the command is currently grouped in a command group. More... | |
| virtual bool | RunsWhenDisabled () const |
| Whether the given command should run when the robot is disabled. More... | |
Public Member Functions inherited from frc::ErrorBase | |
| ErrorBase (const ErrorBase &)=default | |
| ErrorBase & | operator= (const ErrorBase &)=default |
| ErrorBase (ErrorBase &&)=default | |
| ErrorBase & | operator= (ErrorBase &&)=default |
| virtual Error & | GetError () |
| Retrieve the current error. More... | |
| virtual const Error & | GetError () const |
| Retrieve the current error. More... | |
| virtual void | ClearError () const |
| Clear the current error information associated with this sensor. | |
| virtual void | SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
| Set error information associated with a C library call that set an error to the "errno" global variable. More... | |
| virtual void | SetImaqError (int success, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
| Set the current error information associated from the nivision Imaq API. More... | |
| virtual void | SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
| Set the current error information associated with this sensor. More... | |
| virtual void | SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
| Set the current error information associated with this sensor. More... | |
| virtual void | SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
| Set the current error information associated with this sensor. More... | |
| virtual void | CloneError (const ErrorBase &rhs) const |
| virtual bool | StatusIsFatal () const |
| Check if the current error code represents a fatal error. More... | |
| void | ClearGlobalErrors () |
| Clear global errors. | |
Public Member Functions inherited from frc::SendableHelper< CommandBase > | |
| SendableHelper (const SendableHelper &rhs)=default | |
| SendableHelper (SendableHelper &&rhs) | |
| SendableHelper & | operator= (const SendableHelper &rhs)=default |
| SendableHelper & | operator= (SendableHelper &&rhs) |
| std::string | GetName () const |
| Gets the name of this Sendable object. More... | |
| void | SetName (const wpi::Twine &name) |
| Sets the name of this Sendable object. More... | |
| void | SetName (const wpi::Twine &subsystem, const wpi::Twine &name) |
| Sets both the subsystem name and device name of this Sendable object. More... | |
| std::string | GetSubsystem () const |
| Gets the subsystem name of this Sendable object. More... | |
| void | SetSubsystem (const wpi::Twine &subsystem) |
| Sets the subsystem name of this Sendable object. More... | |
Additional Inherited Members | |
Static Public Member Functions inherited from frc::ErrorBase | |
| static void | SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) |
| static void | SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) |
| static Error | GetGlobalError () |
| Retrieve the last global error. | |
| static std::vector< Error > | GetGlobalErrors () |
| Retrieve all global errors. | |
Protected Member Functions inherited from frc2::CommandHelper< CommandBase, MecanumControllerCommand > | |
| std::unique_ptr< Command > | TransferOwnership () &&override |
Protected Member Functions inherited from frc::SendableHelper< CommandBase > | |
| void | SetName (const wpi::Twine &moduleType, int channel) |
| Sets the name of the sensor with a channel number. More... | |
| void | SetName (const wpi::Twine &moduleType, int moduleNumber, int channel) |
| Sets the name of the sensor with a module and channel number. More... | |
| void | AddChild (std::shared_ptr< Sendable > child) |
| Add a child component. More... | |
| void | AddChild (void *child) |
| Add a child component. More... | |
Protected Attributes inherited from frc2::CommandBase | |
| wpi::SmallSet< Subsystem *, 4 > | m_requirements |
Protected Attributes inherited from frc2::Command | |
| bool | m_isGrouped = false |
Protected Attributes inherited from frc::ErrorBase | |
| Error | m_error |
A command that uses two PID controllers (PIDController) and a ProfiledPIDController (ProfiledPIDController) to follow a trajectory Trajectory with a mecanum drive.
The command handles trajectory-following, Velocity PID calculations, and feedforwards internally. This is intended to be a more-or-less "complete solution" that can be used by teams without a great deal of controls expertise.
Advanced teams seeking more flexibility (for example, those who wish to use the onboard PID functionality of a "smart" motor controller) may use the secondary constructor that omits the PID and feedforward functionality, returning only the raw wheel speeds from the PID controllers.
The robot angle controller does not follow the angle given by the trajectory but rather goes to the angle given in the final state of the trajectory.
| frc2::MecanumControllerCommand::MecanumControllerCommand | ( | frc::Trajectory | trajectory, |
| std::function< frc::Pose2d()> | pose, | ||
| frc::SimpleMotorFeedforward< units::meters > | feedforward, | ||
| frc::MecanumDriveKinematics | kinematics, | ||
| frc2::PIDController | xController, | ||
| frc2::PIDController | yController, | ||
| frc::ProfiledPIDController< units::radians > | thetaController, | ||
| units::meters_per_second_t | maxWheelVelocity, | ||
| std::function< frc::MecanumDriveWheelSpeeds()> | currentWheelSpeeds, | ||
| frc2::PIDController | frontLeftController, | ||
| frc2::PIDController | rearLeftController, | ||
| frc2::PIDController | frontRightController, | ||
| frc2::PIDController | rearRightController, | ||
| std::function< void(units::volt_t, units::volt_t, units::volt_t, units::volt_t)> | output, | ||
| std::initializer_list< Subsystem * > | requirements | ||
| ) |
Constructs a new MecanumControllerCommand that when executed will follow the provided trajectory.
PID control and feedforward are handled internally. Outputs are scaled from -12 to 12 as a voltage output to the motor.
Note: The controllers will not set the outputVolts to zero upon completion of the path this is left to the user, since it is not appropriate for paths with nonstationary endstates.
Note 2: The rotation controller will calculate the rotation based on the final pose in the trajectory, not the poses at each time step.
| trajectory | The trajectory to follow. |
| pose | A function that supplies the robot pose, provided by the odometry class. |
| feedforward | The feedforward to use for the drivetrain. |
| kinematics | The kinematics for the robot drivetrain. |
| xController | The Trajectory Tracker PID controller for the robot's x position. |
| yController | The Trajectory Tracker PID controller for the robot's y position. |
| thetaController | The Trajectory Tracker PID controller for angle for the robot. |
| maxWheelVelocity | The maximum velocity of a drivetrain wheel. |
| frontLeftController | The front left wheel velocity PID. |
| rearLeftController | The rear left wheel velocity PID. |
| frontRightController | The front right wheel velocity PID. |
| rearRightController | The rear right wheel velocity PID. |
| currentWheelSpeeds | A MecanumDriveWheelSpeeds object containing the current wheel speeds. |
| output | The output of the velocity PIDs. |
| requirements | The subsystems to require. |
| frc2::MecanumControllerCommand::MecanumControllerCommand | ( | frc::Trajectory | trajectory, |
| std::function< frc::Pose2d()> | pose, | ||
| frc::SimpleMotorFeedforward< units::meters > | feedforward, | ||
| frc::MecanumDriveKinematics | kinematics, | ||
| frc2::PIDController | xController, | ||
| frc2::PIDController | yController, | ||
| frc::ProfiledPIDController< units::radians > | thetaController, | ||
| units::meters_per_second_t | maxWheelVelocity, | ||
| std::function< frc::MecanumDriveWheelSpeeds()> | currentWheelSpeeds, | ||
| frc2::PIDController | frontLeftController, | ||
| frc2::PIDController | rearLeftController, | ||
| frc2::PIDController | frontRightController, | ||
| frc2::PIDController | rearRightController, | ||
| std::function< void(units::volt_t, units::volt_t, units::volt_t, units::volt_t)> | output, | ||
| wpi::ArrayRef< Subsystem * > | requirements = {} |
||
| ) |
Constructs a new MecanumControllerCommand that when executed will follow the provided trajectory.
PID control and feedforward are handled internally. Outputs are scaled from -12 to 12 as a voltage output to the motor.
Note: The controllers will not set the outputVolts to zero upon completion of the path this is left to the user, since it is not appropriate for paths with nonstationary endstates.
Note 2: The rotation controller will calculate the rotation based on the final pose in the trajectory, not the poses at each time step.
| trajectory | The trajectory to follow. |
| pose | A function that supplies the robot pose, provided by the odometry class. |
| feedforward | The feedforward to use for the drivetrain. |
| kinematics | The kinematics for the robot drivetrain. |
| xController | The Trajectory Tracker PID controller for the robot's x position. |
| yController | The Trajectory Tracker PID controller for the robot's y position. |
| thetaController | The Trajectory Tracker PID controller for angle for the robot. |
| maxWheelVelocity | The maximum velocity of a drivetrain wheel. |
| frontLeftController | The front left wheel velocity PID. |
| rearLeftController | The rear left wheel velocity PID. |
| frontRightController | The front right wheel velocity PID. |
| rearRightController | The rear right wheel velocity PID. |
| currentWheelSpeeds | A MecanumDriveWheelSpeeds object containing the current wheel speeds. |
| output | The output of the velocity PIDs. |
| requirements | The subsystems to require. |
| frc2::MecanumControllerCommand::MecanumControllerCommand | ( | frc::Trajectory | trajectory, |
| std::function< frc::Pose2d()> | pose, | ||
| frc::MecanumDriveKinematics | kinematics, | ||
| frc2::PIDController | xController, | ||
| frc2::PIDController | yController, | ||
| frc::ProfiledPIDController< units::radians > | thetaController, | ||
| units::meters_per_second_t | maxWheelVelocity, | ||
| std::function< void(units::meters_per_second_t, units::meters_per_second_t, units::meters_per_second_t, units::meters_per_second_t)> | output, | ||
| std::initializer_list< Subsystem * > | requirements | ||
| ) |
Constructs a new MecanumControllerCommand that when executed will follow the provided trajectory.
The user should implement a velocity PID on the desired output wheel velocities.
Note: The controllers will not set the outputVolts to zero upon completion of the path - this is left to the user, since it is not appropriate for paths with non-stationary end-states.
Note2: The rotation controller will calculate the rotation based on the final pose in the trajectory, not the poses at each time step.
| trajectory | The trajectory to follow. |
| pose | A function that supplies the robot pose - use one of the odometry classes to provide this. |
| kinematics | The kinematics for the robot drivetrain. |
| xController | The Trajectory Tracker PID controller for the robot's x position. |
| yController | The Trajectory Tracker PID controller for the robot's y position. |
| thetaController | The Trajectory Tracker PID controller for angle for the robot. |
| maxWheelVelocity | The maximum velocity of a drivetrain wheel. |
| output | The output of the position PIDs. |
| requirements | The subsystems to require. |
| frc2::MecanumControllerCommand::MecanumControllerCommand | ( | frc::Trajectory | trajectory, |
| std::function< frc::Pose2d()> | pose, | ||
| frc::MecanumDriveKinematics | kinematics, | ||
| frc2::PIDController | xController, | ||
| frc2::PIDController | yController, | ||
| frc::ProfiledPIDController< units::radians > | thetaController, | ||
| units::meters_per_second_t | maxWheelVelocity, | ||
| std::function< void(units::meters_per_second_t, units::meters_per_second_t, units::meters_per_second_t, units::meters_per_second_t)> | output, | ||
| wpi::ArrayRef< Subsystem * > | requirements = {} |
||
| ) |
Constructs a new MecanumControllerCommand that when executed will follow the provided trajectory.
The user should implement a velocity PID on the desired output wheel velocities.
Note: The controllers will not set the outputVolts to zero upon completion of the path - this is left to the user, since it is not appropriate for paths with non-stationary end-states.
Note2: The rotation controller will calculate the rotation based on the final pose in the trajectory, not the poses at each time step.
| trajectory | The trajectory to follow. |
| pose | A function that supplies the robot pose - use one of the odometry classes to provide this. |
| kinematics | The kinematics for the robot drivetrain. |
| xController | The Trajectory Tracker PID controller for the robot's x position. |
| yController | The Trajectory Tracker PID controller for the robot's y position. |
| thetaController | The Trajectory Tracker PID controller for angle for the robot. |
| maxWheelVelocity | The maximum velocity of a drivetrain wheel. |
| output | The output of the position PIDs. |
| requirements | The subsystems to require. |
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overridevirtual |
The action to take when the command ends.
Called when either the command finishes normally, or when it interrupted/canceled.
| interrupted | whether the command was interrupted/canceled |
Reimplemented from frc2::Command.
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overridevirtual |
The main body of a command.
Called repeatedly while the command is scheduled.
Reimplemented from frc2::Command.
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overridevirtual |
The initial subroutine of a command.
Called once when the command is initially scheduled.
Reimplemented from frc2::Command.
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overridevirtual |
Whether the command has finished.
Once a command finishes, the scheduler will call its end() method and un-schedule it.
Reimplemented from frc2::Command.