A command that uses a RAMSETE controller to follow a trajectory with a differential drive. More...

#include <frc2/command/RamseteCommand.h>

Inheritance diagram for frc2::RamseteCommand:

Public Member Functions
	RamseteCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::RamseteController controller, frc::SimpleMotorFeedforward< units::meters > feedforward, frc::DifferentialDriveKinematics kinematics, std::function< frc::DifferentialDriveWheelSpeeds()> wheelSpeeds, frc2::PIDController leftController, frc2::PIDController rightController, std::function< void(units::volt_t, units::volt_t)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new RamseteCommand that, when executed, will follow the provided trajectory. More...

	RamseteCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::RamseteController controller, frc::SimpleMotorFeedforward< units::meters > feedforward, frc::DifferentialDriveKinematics kinematics, std::function< frc::DifferentialDriveWheelSpeeds()> wheelSpeeds, frc2::PIDController leftController, frc2::PIDController rightController, std::function< void(units::volt_t, units::volt_t)> output, std::span< Subsystem *const > requirements={})
	Constructs a new RamseteCommand that, when executed, will follow the provided trajectory. More...

	RamseteCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::RamseteController controller, frc::DifferentialDriveKinematics kinematics, std::function< void(units::meters_per_second_t, units::meters_per_second_t)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new RamseteCommand that, when executed, will follow the provided trajectory. More...

	RamseteCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::RamseteController controller, frc::DifferentialDriveKinematics kinematics, std::function< void(units::meters_per_second_t, units::meters_per_second_t)> output, std::span< Subsystem *const > requirements={})
	Constructs a new RamseteCommand that, when executed, will follow the provided trajectory. More...

void	Initialize () override

void	Execute () override

void	End (bool interrupted) override

bool	IsFinished () override

void	InitSendable (wpi::SendableBuilder &builder) override

Public Member Functions inherited from frc2::CommandHelper< CommandBase, RamseteCommand >
	CommandHelper ()=default

CommandPtr	ToPtr () &&override

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

Detailed Description

A command that uses a RAMSETE controller to follow a trajectory with a differential drive.

The command handles trajectory-following, 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 RAMSETE controller.

This class is provided by the NewCommands VendorDep

See also: RamseteController; Trajectory

Constructor & Destructor Documentation

◆ RamseteCommand() [1/4]

frc2::RamseteCommand::RamseteCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::RamseteController	controller,
		frc::SimpleMotorFeedforward< units::meters >	feedforward,
		frc::DifferentialDriveKinematics	kinematics,
		std::function< frc::DifferentialDriveWheelSpeeds()>	wheelSpeeds,
		frc2::PIDController	leftController,
		frc2::PIDController	rightController,
		std::function< void(units::volt_t, units::volt_t)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.

PID control and feedforward are handled internally, and outputs are scaled -12 to 12 representing units of volts.

Note: The controller 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 - use one of the odometry classes to provide this.
controller	The RAMSETE controller used to follow the trajectory.
feedforward	A component for calculating the feedforward for the drive.
kinematics	The kinematics for the robot drivetrain.
wheelSpeeds	A function that supplies the speeds of the left and right sides of the robot drive.
leftController	The PIDController for the left side of the robot drive.
rightController	The PIDController for the right side of the robot drive.
output	A function that consumes the computed left and right outputs (in volts) for the robot drive.
requirements	The subsystems to require.

◆ RamseteCommand() [2/4]

frc2::RamseteCommand::RamseteCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::RamseteController	controller,
		frc::SimpleMotorFeedforward< units::meters >	feedforward,
		frc::DifferentialDriveKinematics	kinematics,
		std::function< frc::DifferentialDriveWheelSpeeds()>	wheelSpeeds,
		frc2::PIDController	leftController,
		frc2::PIDController	rightController,
		std::function< void(units::volt_t, units::volt_t)>	output,
		std::span< Subsystem *const >	requirements = `{}`
	)

Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.

PID control and feedforward are handled internally, and outputs are scaled -12 to 12 representing units of volts.

Note: The controller 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 - use one of the odometry classes to provide this.
controller	The RAMSETE controller used to follow the trajectory.
feedforward	A component for calculating the feedforward for the drive.
kinematics	The kinematics for the robot drivetrain.
wheelSpeeds	A function that supplies the speeds of the left and right sides of the robot drive.
leftController	The PIDController for the left side of the robot drive.
rightController	The PIDController for the right side of the robot drive.
output	A function that consumes the computed left and right outputs (in volts) for the robot drive.
requirements	The subsystems to require.

◆ RamseteCommand() [3/4]

frc2::RamseteCommand::RamseteCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::RamseteController	controller,
		frc::DifferentialDriveKinematics	kinematics,
		std::function< void(units::meters_per_second_t, units::meters_per_second_t)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.

Performs no PID control and calculates no feedforwards; outputs are the raw wheel speeds from the RAMSETE controller, and will need to be converted into a usable form by the user.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose - use one of the odometry classes to provide this.
controller	The RAMSETE controller used to follow the trajectory.
kinematics	The kinematics for the robot drivetrain.
output	A function that consumes the computed left and right wheel speeds.
requirements	The subsystems to require.

◆ RamseteCommand() [4/4]

frc2::RamseteCommand::RamseteCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::RamseteController	controller,
		frc::DifferentialDriveKinematics	kinematics,
		std::function< void(units::meters_per_second_t, units::meters_per_second_t)>	output,
		std::span< Subsystem *const >	requirements = `{}`
	)

Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.

Performs no PID control and calculates no feedforwards; outputs are the raw wheel speeds from the RAMSETE controller, and will need to be converted into a usable form by the user.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose - use one of the odometry classes to provide this.
controller	The RAMSETE controller used to follow the trajectory.
kinematics	The kinematics for the robot drivetrain.
output	A function that consumes the computed left and right wheel speeds.
requirements	The subsystems to require.

Member Function Documentation

◆ End()

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

override

◆ Execute()

void frc2::RamseteCommand::Execute ( )

override

◆ Initialize()

void frc2::RamseteCommand::Initialize ( )

override

◆ InitSendable()

void frc2::RamseteCommand::InitSendable ( wpi::SendableBuilder & builder )

override

◆ IsFinished()

bool frc2::RamseteCommand::IsFinished ( )

override

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

frc2/command/RamseteCommand.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RamseteCommand() [1/4]

◆ RamseteCommand() [2/4]

◆ RamseteCommand() [3/4]

◆ RamseteCommand() [4/4]

Member Function Documentation

◆ End()

◆ Execute()

◆ Initialize()

◆ InitSendable()

◆ IsFinished()