pathplanner::PPHolonomicDriveController Class Reference

Inheritance diagram for pathplanner::PPHolonomicDriveController:

Public Member Functions
	PPHolonomicDriveController (PIDConstants translationConstants, PIDConstants rotationConstants, units::second_t period=0.02_s)
constexpr void	setEnabled (bool enabled)
void	reset (const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds) override
units::meter_t	getPositionalError () override
frc::ChassisSpeeds	calculateRobotRelativeSpeeds (const frc::Pose2d &currentPose, const PathPlannerTrajectoryState &referenceState) override
bool	isHolonomic () override
virtual frc::ChassisSpeeds	calculateRobotRelativeSpeeds (const frc::Pose2d &currentPose, const PathPlannerTrajectoryState &targetState)=0
virtual void	reset (const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds)=0
virtual units::meter_t	getPositionalError ()=0
virtual bool	isHolonomic ()=0

Static Public Member Functions
static void	setRotationTargetOverride (std::function< std::optional< frc::Rotation2d >()> rotationTargetOverride)
static void	overrideXFeedback (std::function< units::meters_per_second_t()> xFeedbackOverride)
static void	clearXFeedbackOverride ()
static void	overrideYFeedback (std::function< units::meters_per_second_t()> yFeedbackOverride)
static void	clearYFeedbackOverride ()
static void	overrideXYFeedback (std::function< units::meters_per_second_t()> xFeedbackOverride, std::function< units::meters_per_second_t()> yFeedbackOverride)
static void	clearXYFeedbackOverride ()
static void	overrideRotationFeedback (std::function< units::radians_per_second_t()> rotationFeedbackOverride)
static void	clearRotationFeedbackOverride ()
static void	clearFeedbackOverrides ()

Constructor & Destructor Documentation

PPHolonomicDriveController()

PPHolonomicDriveController::PPHolonomicDriveController	(	PIDConstants	translationConstants,
		PIDConstants	rotationConstants,
		units::second_t	period = 0.02_s
	)

Constructs a PPHolonomicDriveController

Parameters

translationConstants	PID constants for the translation PID controllers
rotationConstants	PID constants for the rotation controller
period	Period of the control loop in seconds

Member Function Documentation

calculateRobotRelativeSpeeds()

frc::ChassisSpeeds PPHolonomicDriveController::calculateRobotRelativeSpeeds ( const frc::Pose2d &  currentPose, const PathPlannerTrajectoryState &  referenceState  )

overridevirtual

Calculates the next output of the holonomic drive controller

Parameters

currentPose	The current pose
referenceState	The desired trajectory state

Returns

The next output of the holonomic drive controller (robot relative)

Implements pathplanner::PathFollowingController.

clearFeedbackOverrides()

static void pathplanner::PPHolonomicDriveController::clearFeedbackOverrides ( )

inlinestatic

Clear all feedback overrides and return to purely using path following error for feedback

clearRotationFeedbackOverride()

static void pathplanner::PPHolonomicDriveController::clearRotationFeedbackOverride ( )

inlinestatic

Stop overriding the rotation feedback, and return to calculating it based on path following error.

clearXFeedbackOverride()

static void pathplanner::PPHolonomicDriveController::clearXFeedbackOverride ( )

inlinestatic

Stop overriding the X axis feedback, and return to calculating it based on path following error.

clearXYFeedbackOverride()

static void pathplanner::PPHolonomicDriveController::clearXYFeedbackOverride ( )

inlinestatic

Stop overriding the X and Y axis feedback, and return to calculating them based on path following error.

clearYFeedbackOverride()

static void pathplanner::PPHolonomicDriveController::clearYFeedbackOverride ( )

inlinestatic

Stop overriding the Y axis feedback, and return to calculating it based on path following error.

getPositionalError()

units::meter_t pathplanner::PPHolonomicDriveController::getPositionalError ( )

inlineoverridevirtual

Get the last positional error of the controller

Returns

Positional error, in meters

Implements pathplanner::PathFollowingController.

isHolonomic()

bool pathplanner::PPHolonomicDriveController::isHolonomic ( )

inlineoverridevirtual

Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.

Returns

True if this controller is for a holonomic drive train

Implements pathplanner::PathFollowingController.

overrideRotationFeedback()

static void pathplanner::PPHolonomicDriveController::overrideRotationFeedback ( std::function< units::radians_per_second_t()>  rotationFeedbackOverride )

inlinestatic

Begin overriding the rotation feedback.

Parameters

rotationFeedbackOverride

Function that returns the desired rotation feedback in radians/sec

overrideXFeedback()

static void pathplanner::PPHolonomicDriveController::overrideXFeedback ( std::function< units::meters_per_second_t()>  xFeedbackOverride )

inlinestatic

Begin overriding the X axis feedback.

Parameters

xFeedbackOverride

Function that returns the desired FIELD-RELATIVE X feedback in meters/sec

overrideXYFeedback()

static void pathplanner::PPHolonomicDriveController::overrideXYFeedback ( std::function< units::meters_per_second_t()>  xFeedbackOverride, std::function< units::meters_per_second_t()>  yFeedbackOverride  )

inlinestatic

Begin overriding the X and Y axis feedback.

Parameters

xFeedbackOverride	Function that returns the desired FIELD-RELATIVE X feedback in meters/sec
yFeedbackOverride	Function that returns the desired FIELD-RELATIVE Y feedback in meters/sec

overrideYFeedback()

static void pathplanner::PPHolonomicDriveController::overrideYFeedback ( std::function< units::meters_per_second_t()>  yFeedbackOverride )

inlinestatic

Begin overriding the Y axis feedback.

Parameters

yFeedbackOverride

Function that returns the desired FIELD-RELATIVE Y feedback in meters/sec

reset()

void pathplanner::PPHolonomicDriveController::reset ( const frc::Pose2d &  currentPose, const frc::ChassisSpeeds &  currentSpeeds  )

inlineoverridevirtual

Resets the controller based on the current state of the robot

Parameters

currentPose	Current robot pose
currentSpeeds	Current robot relative chassis speeds

Implements pathplanner::PathFollowingController.

setEnabled()

constexpr void pathplanner::PPHolonomicDriveController::setEnabled ( bool  enabled )

inlineconstexpr

Enables and disables the controller for troubleshooting. When calculate() is called on a disabled controller, only feedforward values are returned.

Parameters

enabled

If the controller is enabled or not

setRotationTargetOverride()

static void pathplanner::PPHolonomicDriveController::setRotationTargetOverride ( std::function< std::optional< frc::Rotation2d >()>  rotationTargetOverride )

inlinestatic

Set a supplier that will be used to override the rotation target when path following.

This function should return an empty optional to use the rotation targets in the path

Parameters

rotationTargetOverride

Supplier to override rotation targets

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

• src/main/native/include/pathplanner/lib/controllers/PPHolonomicDriveController.h
• src/main/native/cpp/pathplanner/lib/controllers/PPHolonomicDriveController.cpp