Robot Core Documentation
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Public Member Functions | |
HolonomicPathFollowerConfig (PIDConstants translationConstants, PIDConstants rotationConstants, double maxModuleSpeed, double driveBaseRadius, ReplanningConfig replanningConfig, double period) | |
HolonomicPathFollowerConfig (PIDConstants translationConstants, PIDConstants rotationConstants, double maxModuleSpeed, double driveBaseRadius, ReplanningConfig replanningConfig) | |
HolonomicPathFollowerConfig (double maxModuleSpeed, double driveBaseRadius, ReplanningConfig replanningConfig, double period) | |
HolonomicPathFollowerConfig (double maxModuleSpeed, double driveBaseRadius, ReplanningConfig replanningConfig) | |
Public Attributes | |
final PIDConstants | translationConstants |
final PIDConstants | rotationConstants |
final double | maxModuleSpeed |
final double | driveBaseRadius |
final ReplanningConfig | replanningConfig |
final double | period |
Configuration for the holonomic path following commands
com.pathplanner.lib.util.HolonomicPathFollowerConfig.HolonomicPathFollowerConfig | ( | PIDConstants | translationConstants, |
PIDConstants | rotationConstants, | ||
double | maxModuleSpeed, | ||
double | driveBaseRadius, | ||
ReplanningConfig | replanningConfig, | ||
double | period ) |
Create a new holonomic path follower config
translationConstants | com.pathplanner.lib.util.PIDConstants used for creating the translation PID controllers |
rotationConstants | com.pathplanner.lib.util.PIDConstants used for creating the rotation PID controller |
maxModuleSpeed | Max speed of an individual drive module in meters/sec |
driveBaseRadius | The radius of the drive base in meters. This is the distance from the center of the robot to the furthest module. |
replanningConfig | Path replanning configuration |
period | Control loop period in seconds (Default = 0.02) |
com.pathplanner.lib.util.HolonomicPathFollowerConfig.HolonomicPathFollowerConfig | ( | PIDConstants | translationConstants, |
PIDConstants | rotationConstants, | ||
double | maxModuleSpeed, | ||
double | driveBaseRadius, | ||
ReplanningConfig | replanningConfig ) |
Create a new holonomic path follower config
translationConstants | com.pathplanner.lib.util.PIDConstants used for creating the translation PID controllers |
rotationConstants | com.pathplanner.lib.util.PIDConstants used for creating the rotation PID controller |
maxModuleSpeed | Max speed of an individual drive module in meters/sec |
driveBaseRadius | The radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2 |
replanningConfig | Path replanning configuration |
com.pathplanner.lib.util.HolonomicPathFollowerConfig.HolonomicPathFollowerConfig | ( | double | maxModuleSpeed, |
double | driveBaseRadius, | ||
ReplanningConfig | replanningConfig, | ||
double | period ) |
Create a new holonomic path follower config
maxModuleSpeed | Max speed of an individual drive module in meters/sec |
driveBaseRadius | The radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2 |
replanningConfig | Path replanning configuration |
period | Control loop period in seconds (Default = 0.02) |
com.pathplanner.lib.util.HolonomicPathFollowerConfig.HolonomicPathFollowerConfig | ( | double | maxModuleSpeed, |
double | driveBaseRadius, | ||
ReplanningConfig | replanningConfig ) |
Create a new holonomic path follower config
maxModuleSpeed | Max speed of an individual drive module in meters/sec |
driveBaseRadius | The radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2 |
replanningConfig | Path replanning configuration |
final double com.pathplanner.lib.util.HolonomicPathFollowerConfig.driveBaseRadius |
Radius of the drive base in meters
final double com.pathplanner.lib.util.HolonomicPathFollowerConfig.maxModuleSpeed |
Max speed of a drive module in m/s
final double com.pathplanner.lib.util.HolonomicPathFollowerConfig.period |
Period of the robot control loop in seconds
final ReplanningConfig com.pathplanner.lib.util.HolonomicPathFollowerConfig.replanningConfig |
Path replanning config
final PIDConstants com.pathplanner.lib.util.HolonomicPathFollowerConfig.rotationConstants |
PIDConstants used for rotation PID controllers
final PIDConstants com.pathplanner.lib.util.HolonomicPathFollowerConfig.translationConstants |
PIDConstants used for translation PID controllers