frc::HolonomicDriveController Class Reference

This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain (i.e. More...

#include <frc/controller/HolonomicDriveController.h>

Public Member Functions
	HolonomicDriveController (frc2::PIDController xController, frc2::PIDController yController, ProfiledPIDController< units::radian > thetaController)
	Constructs a holonomic drive controller. More...
	HolonomicDriveController (const HolonomicDriveController &)=default
HolonomicDriveController &	operator= (const HolonomicDriveController &)=default
	HolonomicDriveController (HolonomicDriveController &&)=default
HolonomicDriveController &	operator= (HolonomicDriveController &&)=default
bool	AtReference () const
	Returns true if the pose error is within tolerance of the reference. More...
void	SetTolerance (const Pose2d &tolerance)
	Sets the pose error which is considered tolerable for use with AtReference(). More...
ChassisSpeeds	Calculate (const Pose2d &currentPose, const Pose2d &trajectoryPose, units::meters_per_second_t desiredLinearVelocity, const Rotation2d &desiredHeading)
	Returns the next output of the holonomic drive controller. More...
ChassisSpeeds	Calculate (const Pose2d &currentPose, const Trajectory::State &desiredState, const Rotation2d &desiredHeading)
	Returns the next output of the holonomic drive controller. More...
void	SetEnabled (bool enabled)
	Enables and disables the controller for troubleshooting purposes. More...
ProfiledPIDController< units::radian > &	getThetaController ()
	Returns the rotation ProfiledPIDController. More...
PIDController &	getXController ()
	Returns the X PIDController. More...
PIDController &	getYController ()
	Returns the Y PIDController. More...

Detailed Description

This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain (i.e.

swerve or mecanum). Holonomic trajectory following is a much simpler problem to solve compared to skid-steer style drivetrains because it is possible to individually control forward, sideways, and angular velocity.

The holonomic drive controller takes in one PID controller for each direction, forward and sideways, and one profiled PID controller for the angular direction. Because the heading dynamics are decoupled from translations, users can specify a custom heading that the drivetrain should point toward. This heading reference is profiled for smoothness.

Constructor & Destructor Documentation

HolonomicDriveController() [1/3]

frc::HolonomicDriveController::HolonomicDriveController	(	frc2::PIDController	xController,
		frc2::PIDController	yController,
		ProfiledPIDController< units::radian >	thetaController
	)

Constructs a holonomic drive controller.

Parameters

xController	A PID Controller to respond to error in the field-relative x direction.
yController	A PID Controller to respond to error in the field-relative y direction.
thetaController	A profiled PID controller to respond to error in angle.

HolonomicDriveController() [2/3]

frc::HolonomicDriveController::HolonomicDriveController ( const HolonomicDriveController &  )

default

HolonomicDriveController() [3/3]

frc::HolonomicDriveController::HolonomicDriveController ( HolonomicDriveController &&  )

default

Member Function Documentation

AtReference()

bool frc::HolonomicDriveController::AtReference

(

)

const

Returns true if the pose error is within tolerance of the reference.

Calculate() [1/2]

ChassisSpeeds frc::HolonomicDriveController::Calculate	(	const Pose2d &	currentPose,
		const Pose2d &	trajectoryPose,
		units::meters_per_second_t	desiredLinearVelocity,
		const Rotation2d &	desiredHeading
	)

Returns the next output of the holonomic drive controller.

Parameters

currentPose	The current pose, as measured by odometry or pose estimator.
trajectoryPose	The desired trajectory pose, as sampled for the current timestep.
desiredLinearVelocity	The desired linear velocity.
desiredHeading	The desired heading.

Returns

The next output of the holonomic drive controller.

Calculate() [2/2]

ChassisSpeeds frc::HolonomicDriveController::Calculate	(	const Pose2d &	currentPose,
		const Trajectory::State &	desiredState,
		const Rotation2d &	desiredHeading
	)

Returns the next output of the holonomic drive controller.

Parameters

currentPose	The current pose, as measured by odometry or pose estimator.
desiredState	The desired trajectory pose, as sampled for the current timestep.
desiredHeading	The desired heading.

Returns

The next output of the holonomic drive controller.

getThetaController()

ProfiledPIDController< units::radian > & frc::HolonomicDriveController::getThetaController

(

)

Returns the rotation ProfiledPIDController.

getXController()

PIDController & frc::HolonomicDriveController::getXController

(

)

Returns the X PIDController.

getYController()

PIDController & frc::HolonomicDriveController::getYController

(

)

Returns the Y PIDController.

operator=() [1/2]

HolonomicDriveController & frc::HolonomicDriveController::operator= ( const HolonomicDriveController &  )

default

operator=() [2/2]

HolonomicDriveController & frc::HolonomicDriveController::operator= ( HolonomicDriveController &&  )

default

SetEnabled()

void frc::HolonomicDriveController::SetEnabled

(

bool

enabled

)

Enables and disables the controller for troubleshooting purposes.

When Calculate() is called on a disabled controller, only feedforward values are returned.

Parameters

enabled

If the controller is enabled or not.

SetTolerance()

void frc::HolonomicDriveController::SetTolerance

(

const Pose2d &

tolerance

)

Sets the pose error which is considered tolerable for use with AtReference().

Parameters

tolerance

Pose error which is tolerable.

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

• frc/controller/HolonomicDriveController.h