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

#include <frc2/command/SwerveControllerCommand.h>

Inheritance diagram for frc2::SwerveControllerCommand< NumModules >:

Public Member Functions
	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< frc::Rotation2d()> desiredRotation, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...

	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...

	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< frc::Rotation2d()> desiredRotation, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::span< Subsystem *const > requirements={})
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...

	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc2::PIDController xController, frc2::PIDController yController, frc::ProfiledPIDController< units::radians > thetaController, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::span< Subsystem *const > requirements={})
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...

	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc::HolonomicDriveController controller, std::function< frc::Rotation2d()> desiredRotation, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...

	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc::HolonomicDriveController controller, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...

	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc::HolonomicDriveController controller, std::function< frc::Rotation2d()> desiredRotation, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::span< Subsystem *const > requirements={})
	Constructs a new SwerveControllerCommand that when executed will follow the provided trajectory. More...

	SwerveControllerCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::SwerveDriveKinematics< NumModules > kinematics, frc::HolonomicDriveController controller, std::function< void(std::array< frc::SwerveModuleState, NumModules >)> output, std::span< Subsystem *const > requirements={})
	Constructs a new SwerveControllerCommand 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, SwerveControllerCommand< NumModules > >
	CommandHelper ()=default

CommandPtr	ToPtr () &&override

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

Detailed Description

template<size_t NumModules>
class frc2::SwerveControllerCommand< NumModules >

A command that uses two PID controllers (PIDController) and a profiled PID controller (ProfiledPIDController) to follow a trajectory (Trajectory) with a swerve 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 module states from the position 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

◆ SwerveControllerCommand() [1/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< frc::Rotation2d()>	desiredRotation,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

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

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

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.
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 drivetrain should be facing. This is sampled at each time step.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

◆ SwerveControllerCommand() [2/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

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

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

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.
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.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

◆ SwerveControllerCommand() [3/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< frc::Rotation2d()>	desiredRotation,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::span< Subsystem *const >	requirements = `{}`
	)

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

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

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.
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 drivetrain should be facing. This is sampled at each time step.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

◆ SwerveControllerCommand() [4/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc2::PIDController	xController,
		frc2::PIDController	yController,
		frc::ProfiledPIDController< units::radians >	thetaController,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::span< Subsystem *const >	requirements = `{}`
	)

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

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

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.
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.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

◆ SwerveControllerCommand() [5/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc::HolonomicDriveController	controller,
		std::function< frc::Rotation2d()>	desiredRotation,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

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

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

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.
kinematics	The kinematics for the robot drivetrain.
controller	The HolonomicDriveController for the drivetrain.
desiredRotation	The angle that the drivetrain should be facing. This is sampled at each time step.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

◆ SwerveControllerCommand() [6/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc::HolonomicDriveController	controller,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

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

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

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.
kinematics	The kinematics for the robot drivetrain.
controller	The HolonomicDriveController for the drivetrain.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

◆ SwerveControllerCommand() [7/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc::HolonomicDriveController	controller,
		std::function< frc::Rotation2d()>	desiredRotation,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::span< Subsystem *const >	requirements = `{}`
	)

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

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

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.
kinematics	The kinematics for the robot drivetrain.
controller	The HolonomicDriveController for the robot.
desiredRotation	The angle that the drivetrain should be facing. This is sampled at each time step.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

◆ SwerveControllerCommand() [8/8]

template<size_t NumModules>

frc2::SwerveControllerCommand< NumModules >::SwerveControllerCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::SwerveDriveKinematics< NumModules >	kinematics,
		frc::HolonomicDriveController	controller,
		std::function< void(std::array< frc::SwerveModuleState, NumModules >)>	output,
		std::span< Subsystem *const >	requirements = `{}`
	)

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

This command will not return output voltages but rather raw module states from the position controllers which need to be put into a velocity PID.

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.
kinematics	The kinematics for the robot drivetrain.
controller	The HolonomicDriveController for the drivetrain.
output	The raw output module states from the position controllers.
requirements	The subsystems to require.

Member Function Documentation

◆ End()

template<size_t NumModules>

void frc2::SwerveControllerCommand< NumModules >::End ( bool interrupted )

override

◆ Execute()

template<size_t NumModules>

void frc2::SwerveControllerCommand< NumModules >::Execute

override

◆ Initialize()

template<size_t NumModules>

void frc2::SwerveControllerCommand< NumModules >::Initialize

override

◆ IsFinished()

template<size_t NumModules>

bool frc2::SwerveControllerCommand< NumModules >::IsFinished

override

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

frc2/command/SwerveControllerCommand.h
frc2/command/SwerveControllerCommand.inc

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SwerveControllerCommand() [1/8]

◆ SwerveControllerCommand() [2/8]

◆ SwerveControllerCommand() [3/8]

◆ SwerveControllerCommand() [4/8]

◆ SwerveControllerCommand() [5/8]

◆ SwerveControllerCommand() [6/8]

◆ SwerveControllerCommand() [7/8]

◆ SwerveControllerCommand() [8/8]

Member Function Documentation

◆ End()

◆ Execute()

◆ Initialize()

◆ IsFinished()