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Add Ramsete Controller and Everything Needed to Run it

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This commit is contained in:
Keenan D. Buckley
2020-02-13 00:28:55 -07:00
parent 3a40b44ff6
commit b466afe548
3 changed files with 104 additions and 3 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+50 -2
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@@ -7,13 +7,26 @@
package frc4388.robot;
import java.util.List;
import java.util.function.BiConsumer;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
@@ -146,14 +159,49 @@ public class RobotContainer {
m_robotDrive.setDriveTrainNeutralMode(mode);
}
public void resetOdometry() {
m_robotDrive.resetGyroAngles();
m_robotDrive.setOdometry(new Pose2d());
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// no auto
return new InstantCommand();
var wheelSpeeds = new ChassisSpeeds();
// Create config for trajectory
TrajectoryConfig config = new TrajectoryConfig( DriveConstants.kMaxSpeedMetersPerSecond,
DriveConstants.kMaxAccelerationMetersPerSecondSquared)
// Add kinematics to ensure max speed is actually obeyed
.setKinematics(DriveConstants.kDriveKinematics);
Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
// Start at the origin facing the +X direction
new Pose2d(0, 0, new Rotation2d(0)),
// Pass through these two interior waypoints, making an 's' curve path
List.of(
new Translation2d(1, 1),
new Translation2d(2, -1)
),
// End 3 meters straight ahead of where we started, facing forward
new Pose2d(3, 0, new Rotation2d(0)),
// Pass config
config);
RamseteCommand ramseteCommand = new RamseteCommand(
exampleTrajectory,
m_robotDrive::getPose,
new RamseteController(),
DriveConstants.kDriveKinematics,
m_robotDrive::tankDriveVelocity,
m_robotDrive);
// Run path following command, then stop at the end.
return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
}
/**