Package edu.wpi.first.wpilibj2.command

Class RamseteCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
edu.wpi.first.wpilibj2.command.RamseteCommand
All Implemented Interfaces:
Sendable
public class RamseteCommand
extends Command
A command that uses a RAMSETE controller (RamseteController) to follow a trajectory 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

  • Constructor Details

    • RamseteCommand

      public RamseteCommand​(Trajectory trajectory, Supplier<Pose2d> pose, RamseteController controller, SimpleMotorFeedforward feedforward, DifferentialDriveKinematics kinematics, Supplier<DifferentialDriveWheelSpeeds> wheelSpeeds, PIDController leftController, PIDController rightController, BiConsumer<Double,​Double> outputVolts, 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 - The feedforward to use 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.
      outputVolts - A function that consumes the computed left and right outputs (in volts) for the robot drive.
      requirements - The subsystems to require.

    • RamseteCommand

      public RamseteCommand​(Trajectory trajectory, Supplier<Pose2d> pose, RamseteController follower, DifferentialDriveKinematics kinematics, BiConsumer<Double,​Double> outputMetersPerSecond, 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.
      follower - The RAMSETE follower used to follow the trajectory.
      kinematics - The kinematics for the robot drivetrain.
      outputMetersPerSecond - A function that consumes the computed left and right wheel speeds.
      requirements - The subsystems to require.

  • Method Details

    • initialize

      public void initialize()
      Description copied from class: Command
      The initial subroutine of a command. Called once when the command is initially scheduled.
      Overrides:
      initialize in class Command

    • execute

      public void execute()
      Description copied from class: Command
      The main body of a command. Called repeatedly while the command is scheduled.
      Overrides:
      execute in class Command

    • end

      public void end​(boolean interrupted)
      Description copied from class: Command
      The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

      Do not schedule commands here that share requirements with this command. Use Command.andThen(Command...) instead.

      Overrides:
      end in class Command
      Parameters:
      interrupted - whether the command was interrupted/canceled

    • isFinished

      public boolean isFinished()
      Description copied from class: Command
      Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.
      Overrides:
      isFinished in class Command
      Returns:
      whether the command has finished.

    • initSendable

      public void initSendable​(SendableBuilder builder)
      Description copied from interface: Sendable
      Initializes this Sendable object.
      Specified by:
      initSendable in interface Sendable
      Overrides:
      initSendable in class Command
      Parameters:
      builder - sendable builder