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

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 field-relative x, y, and angular velocity.

The holonomic drive controller takes in one PID controller for each direction, field-relative x and y, 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 ( PIDController xController, PIDController yController, ProfiledPIDController< units::radian > thetaController )

inlineconstexpr

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 & )

constexprdefault

HolonomicDriveController() [3/3]

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

constexprdefault

Member Function Documentation

AtReference()

bool frc::HolonomicDriveController::AtReference ( ) const

inlineconstexpr

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 )

inlineconstexpr

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 )

inlineconstexpr

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 ( )

inlineconstexpr

Returns the rotation ProfiledPIDController.

getThetaController()

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

inlineconstexpr

Returns the rotation ProfiledPIDController.

Deprecated

Use GetThetaController() instead.

GetXController()

PIDController & frc::HolonomicDriveController::GetXController ( )

inlineconstexpr

Returns the X PIDController.

getXController()

PIDController & frc::HolonomicDriveController::getXController ( )

inlineconstexpr

Returns the X PIDController.

Deprecated

Use GetXController() instead.

GetYController()

PIDController & frc::HolonomicDriveController::GetYController ( )

inlineconstexpr

Returns the Y PIDController.

getYController()

PIDController & frc::HolonomicDriveController::getYController ( )

inlineconstexpr

Returns the Y PIDController.

Deprecated

Use GetYController() instead.

operator=() [1/2]

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

constexprdefault

operator=() [2/2]

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

constexprdefault

SetEnabled()

void frc::HolonomicDriveController::SetEnabled ( bool enabled )

inlineconstexpr

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 )

inlineconstexpr

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