com.arcrobotics.ftclib.command.commands

Class RamseteCommand

java.lang.Object

com.arcrobotics.ftclib.command.commands.RamseteCommand

All Implemented Interfaces:

Command

public class RamseteCommand
extends java.lang.Object
implements 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.

Constructor Summary

Constructors

Constructor and Description
RamseteCommand(Trajectory trajectory, java.util.function.Supplier<Pose2d> pose, RamseteController follower, DifferentialDriveKinematics kinematics, java.util.function.BiConsumer<java.lang.Double,java.lang.Double> outputMetersPerSecond) Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.
RamseteCommand(Trajectory trajectory, java.util.function.Supplier<Pose2d> pose, RamseteController controller, SimpleMotorFeedforward feedforward, DifferentialDriveKinematics kinematics, java.util.function.Supplier<DifferentialDriveWheelSpeeds> wheelSpeeds, PIDController leftController, PIDController rightController, java.util.function.BiConsumer<java.lang.Double,java.lang.Double> outputVolts) Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.

Method Summary

Modifier and Type	Method and Description
void	end() The action to take when the command ends.
void	execute() The main body of a command.
void	initialize() The initial subroutine of a command.
boolean	isFinished() Whether the command has finished.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

RamseteCommand

public RamseteCommand(Trajectory trajectory,
                      java.util.function.Supplier<Pose2d> pose,
                      RamseteController controller,
                      SimpleMotorFeedforward feedforward,
                      DifferentialDriveKinematics kinematics,
                      java.util.function.Supplier<DifferentialDriveWheelSpeeds> wheelSpeeds,
                      PIDController leftController,
                      PIDController rightController,
                      java.util.function.BiConsumer<java.lang.Double,java.lang.Double> outputVolts)

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.

RamseteCommand

public RamseteCommand(Trajectory trajectory,
                      java.util.function.Supplier<Pose2d> pose,
                      RamseteController follower,
                      DifferentialDriveKinematics kinematics,
                      java.util.function.BiConsumer<java.lang.Double,java.lang.Double> outputMetersPerSecond)

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.

Method Detail

initialize

public void initialize()

Description copied from interface: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

Specified by:

initialize in interface Command

execute

public void execute()

Description copied from interface: Command

The main body of a command. Called repeatedly while the command is scheduled.

Specified by:

execute in interface Command

end

public void end()

Description copied from interface: Command

The action to take when the command ends.

Specified by:

end in interface Command

isFinished

public boolean isFinished()

Description copied from interface: Command

Whether the command has finished. Once a command finishes, the scheduler will call its end() method.

Specified by:

isFinished in interface Command

Returns:

whether the command has finished.