Package io.github.frc5024.purepursuit

Class PurePursuitController

java.lang.Object

io.github.frc5024.purepursuit.PurePursuitController

public class PurePursuitController
extends java.lang.Object

A pure pursuit controller implementation

Constructor Summary

Constructors

Constructor	Description
PurePursuitController(Path path, double lookaheadDistance, double lookaheadGain, double drivebaseWidth, double kMaxOutput)	Create a PurePursuit Controller
PurePursuitController(Path path, double lookaheadDistance, double lookaheadGain, double drivebaseWidth, double kMaxOutput, boolean followReverse)	Create a PurePursuit Controller

Method Summary

Modifier and Type	Method	Description
Translation2d	calculateHolonomic(Pose2d robotPose)	Calculate outputs for a holonomic drivebase
DifferentialDriveWheelSpeeds	calculateTank(Pose2d robotPose)	Calculate ou tputs for a tank drivebase
void	configLookahead(double lookaheadDistance)	Set the lookahead distance
void	configLookahead(double lookaheadDistance, double lookaheadGain)	Set the lookahead distance and gain
void	reset()	Reset the controller

Methods inherited from class java.lang.Object

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

Constructor Detail

PurePursuitController

public PurePursuitController(Path path,
                             double lookaheadDistance,
                             double lookaheadGain,
                             double drivebaseWidth,
                             double kMaxOutput)

Create a PurePursuit Controller

Parameters:

path - Path to follow

lookaheadDistance - How far to look ahead in meters

lookaheadGain - Gain on lookahead (0.1 is usually a good val)

drivebaseWidth - Drivebase width in meters

kMaxOutput - Maximum output percent

PurePursuitController

public PurePursuitController(Path path,
                             double lookaheadDistance,
                             double lookaheadGain,
                             double drivebaseWidth,
                             double kMaxOutput,
                             boolean followReverse)

Create a PurePursuit Controller

Parameters:

path - Path to follow

lookaheadDistance - How far to look ahead in meters

lookaheadGain - Gain on lookahead (0.1 is usually a good val)

drivebaseWidth - Drivebase width in meters

kMaxOutput - Maximum output percent

followReverse - Should the path be followed with the back of the chassis?

Method Detail

reset

public void reset()

Reset the controller

configLookahead

public void configLookahead(double lookaheadDistance)

Set the lookahead distance

Parameters:

lookaheadDistance - How far to look ahead in meters

configLookahead

public void configLookahead(double lookaheadDistance,
                            double lookaheadGain)

Set the lookahead distance and gain

Parameters:

lookaheadDistance - How far to look ahead in meters

lookaheadGain - Gain on lookahead (0.1 is usually a good val)

calculateTank

public DifferentialDriveWheelSpeeds calculateTank(Pose2d robotPose)

Calculate ou tputs for a tank drivebase

Parameters:

robotPose - Robot's pose

Returns:

Output velocity percentages

calculateHolonomic

public Translation2d calculateHolonomic(Pose2d robotPose)

Calculate outputs for a holonomic drivebase

Parameters:

robotPose - Robot's pose

Returns:

Vector facing in the desired direction of travel, with magnitude matching the desired speed