Package edu.wpi.first.wpilibj2.command

Class RamseteCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.RamseteCommand

All Implemented Interfaces:

Sendable, Command

public class RamseteCommand
extends CommandBase

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.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

m_requirements

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	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 edu.wpi.first.wpilibj2.command.CommandBase

addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Command

alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, hasRequirement, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout

Constructor Details

RamseteCommand

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

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.

requirements - The subsystems to require.

RamseteCommand

public RamseteCommand(Trajectory trajectory, Supplier<Pose2d> pose, RamseteController follower, DifferentialDriveKinematics kinematics, BiConsumer<Double,Double> outputMetersPerSecond, Subsystem... requirements)

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.

requirements - The subsystems to require.

Method Details

initialize

public void initialize()

Description copied from interface: Command

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

execute

public void execute()

Description copied from interface: Command

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

end

public void end(boolean interrupted)

Description copied from interface: Command

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Do not schedule commands here that share requirements with this command. Use Command.andThen(Command...) instead.

Parameters:

interrupted - whether the command was interrupted/canceled

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 and un-schedule it.

Returns:

whether the command has finished.