frc2::MecanumControllerCommand Class Reference

A command that uses two PID controllers (PIDController) and a profiled PID controller (ProfiledPIDController) to follow a trajectory (Trajectory) with a mecanum drive. More...

#include <frc2/command/MecanumControllerCommand.h>

Inheritance diagram for frc2::MecanumControllerCommand:

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, std::function< frc::Rotation2d()> desiredRotation, 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, 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, std::function< frc::Rotation2d()> desiredRotation, 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::span< Subsystem *const > 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, std::span< Subsystem *const > 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, std::function< frc::Rotation2d()> desiredRotation, 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, 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, std::function< frc::Rotation2d()> desiredRotation, 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::span< Subsystem *const > 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::span< Subsystem *const > requirements={})
	Constructs a new MecanumControllerCommand that when executed will follow the provided trajectory. More...
void	Initialize () override
void	Execute () override
void	End (bool interrupted) override
bool	IsFinished () override
Public Member Functions inherited from frc2::CommandHelper< CommandBase, MecanumControllerCommand >
	CommandHelper ()=default
CommandPtr	ToPtr () &&override

Additional Inherited Members
Protected Member Functions inherited from frc2::CommandHelper< CommandBase, MecanumControllerCommand >
std::unique_ptr< Command >	TransferOwnership () &&override

Detailed Description

A command that uses two PID controllers (PIDController) and a profiled PID controller (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.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

MecanumControllerCommand() [1/8]

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,
		std::function< frc::Rotation2d()>	desiredRotation,
		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.

Parameters

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.
desiredRotation	The angle that the robot should be facing. This is sampled at each time step.
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.

MecanumControllerCommand() [2/8]

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 final rotation of the robot will be set to the rotation of the final pose in the trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior is desired, the other constructor with a supplier for rotation should be used.

Parameters

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.

MecanumControllerCommand() [3/8]

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,
		std::function< frc::Rotation2d()>	desiredRotation,
		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::span< Subsystem *const >	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.

Parameters

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.
desiredRotation	The angle that the robot should be facing. This is sampled at each time step.
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.

MecanumControllerCommand() [4/8]

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::span< Subsystem *const >	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 final rotation of the robot will be set to the rotation of the final pose in the trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior is desired, the other constructor with a supplier for rotation should be used.

Parameters

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.

MecanumControllerCommand() [5/8]

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,
		std::function< frc::Rotation2d()>	desiredRotation,
		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 nonstationary end-states.

Parameters

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.
desiredRotation	The angle that the robot should be facing. This is sampled at each time step.
maxWheelVelocity	The maximum velocity of a drivetrain wheel.
output	The output of the position PIDs.
requirements	The subsystems to require.

MecanumControllerCommand() [6/8]

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 nonstationary end-states.

Note 2: The final rotation of the robot will be set to the rotation of the final pose in the trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior is desired, the other constructor with a supplier for rotation should be used.

Parameters

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.

MecanumControllerCommand() [7/8]

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,
		std::function< frc::Rotation2d()>	desiredRotation,
		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::span< Subsystem *const >	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 nonstationary end-states.

Parameters

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.
desiredRotation	The angle that the robot should be facing. This is sampled at every time step.
maxWheelVelocity	The maximum velocity of a drivetrain wheel.
output	The output of the position PIDs.
requirements	The subsystems to require.

MecanumControllerCommand() [8/8]

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::span< Subsystem *const >	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 nonstationary end-states.

Note2: The final rotation of the robot will be set to the rotation of the final pose in the trajectory. The robot will not follow the rotations from the poses at each timestep. If alternate rotation behavior is desired, the other constructor with a supplier for rotation should be used.

Parameters

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.

Member Function Documentation

End()

void frc2::MecanumControllerCommand::End ( bool  interrupted )

override

Execute()

void frc2::MecanumControllerCommand::Execute ( )

override

Initialize()

void frc2::MecanumControllerCommand::Initialize ( )

override

IsFinished()

bool frc2::MecanumControllerCommand::IsFinished ( )

override

---

The documentation for this class was generated from the following file:

• frc2/command/MecanumControllerCommand.h