Package com.pathplanner.lib.util.swerve

Class SwerveSetpointGenerator

java.lang.Object
com.pathplanner.lib.util.swerve.SwerveSetpointGenerator
public class SwerveSetpointGenerator extends Object
Swerve setpoint generator based on a version created by FRC team 254.

Takes a prior setpoint, a desired setpoint, and outputs a new setpoint that respects all the kinematic constraints on module rotation and wheel velocity/torque, as well as preventing any forces acting on a module's wheel from exceeding the force of friction.

  • Constructor Details

    • SwerveSetpointGenerator

      public SwerveSetpointGenerator(RobotConfig config, double maxSteerVelocityRadsPerSec)
      Create a new swerve setpoint generator
      Parameters:
      config - The robot configuration
      maxSteerVelocityRadsPerSec - The maximum rotation velocity of a swerve module, in radians per second

    • SwerveSetpointGenerator

      public SwerveSetpointGenerator(RobotConfig config, AngularVelocity maxSteerVelocity)
      Create a new swerve setpoint generator
      Parameters:
      config - The robot configuration
      maxSteerVelocity - The maximum rotation velocity of a swerve module

  • Method Details

    • generateSetpoint

      public SwerveSetpoint generateSetpoint(SwerveSetpoint prevSetpoint, ChassisSpeeds desiredStateRobotRelative, double dt, double inputVoltage)
      Generate a new setpoint with explicit battery voltage. Note: Do not discretize ChassisSpeeds passed into or returned from this method. This method will discretize the speeds for you.
      Parameters:
      prevSetpoint - The previous setpoint motion. Normally, you'd pass in the previous iteration setpoint instead of the actual measured/estimated kinematic state.
      desiredStateRobotRelative - The desired state of motion, such as from the driver sticks or a path following algorithm.
      dt - The loop time.
      inputVoltage - The input voltage of the drive motor controllers, in volts. This can also be a static nominal voltage if you do not want the setpoint generator to react to changes in input voltage. If the given voltage is NaN, it will be assumed to be 12v. The input voltage will be clamped to a minimum of the robot controller's brownout voltage.
      Returns:
      A Setpoint object that satisfies all the kinematic/friction limits while converging to desiredState quickly.

    • generateSetpoint

      public SwerveSetpoint generateSetpoint(SwerveSetpoint prevSetpoint, ChassisSpeeds desiredStateRobotRelative, Time dt, Voltage inputVoltage)
      Generate a new setpoint with explicit battery voltage. Note: Do not discretize ChassisSpeeds passed into or returned from this method. This method will discretize the speeds for you.
      Parameters:
      prevSetpoint - The previous setpoint motion. Normally, you'd pass in the previous iteration setpoint instead of the actual measured/estimated kinematic state.
      desiredStateRobotRelative - The desired state of motion, such as from the driver sticks or a path following algorithm.
      dt - The loop time.
      inputVoltage - The input voltage of the drive motor controllers, in volts. This can also be a static nominal voltage if you do not want the setpoint generator to react to changes in input voltage. If the given voltage is NaN, it will be assumed to be 12v. The input voltage will be clamped to a minimum of the robot controller's brownout voltage.
      Returns:
      A Setpoint object that satisfies all the kinematic/friction limits while converging to desiredState quickly.

    • generateSetpoint

      public SwerveSetpoint generateSetpoint(SwerveSetpoint prevSetpoint, ChassisSpeeds desiredStateRobotRelative, double dt)
      Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from this method. This method will discretize the speeds for you.

      Note: This method will automatically use the current robot controller input voltage.

      Parameters:
      prevSetpoint - The previous setpoint motion. Normally, you'd pass in the previous iteration setpoint instead of the actual measured/estimated kinematic state.
      desiredStateRobotRelative - The desired state of motion, such as from the driver sticks or a path following algorithm.
      dt - The loop time.
      Returns:
      A Setpoint object that satisfies all the kinematic/friction limits while converging to desiredState quickly.

    • generateSetpoint

      public SwerveSetpoint generateSetpoint(SwerveSetpoint prevSetpoint, ChassisSpeeds desiredStateRobotRelative, Time dt)
      Generate a new setpoint. Note: Do not discretize ChassisSpeeds passed into or returned from this method. This method will discretize the speeds for you.

      Note: This method will automatically use the current robot controller input voltage.

      Parameters:
      prevSetpoint - The previous setpoint motion. Normally, you'd pass in the previous iteration setpoint instead of the actual measured/estimated kinematic state.
      desiredStateRobotRelative - The desired state of motion, such as from the driver sticks or a path following algorithm.
      dt - The loop time.
      Returns:
      A Setpoint object that satisfies all the kinematic/friction limits while converging to desiredState quickly.