A field-relative position controller utilizing Profiled PID loops for 3-axis robot alignment. More...

#include <valkyrie/WorldAlign.h>

Inheritance diagram for valor::WorldAlign:

Public Types
using	TranslationalPIDF_t = valor::PIDF<units::meter, units::meters_per_second>
using	RotationalPIDF_t = valor::PIDF<units::radian, units::radians_per_second>

Public Member Functions
	WorldAlign ()
	Constructs a WorldAlign object.
void	SetPID (TranslationalPIDF_t x, TranslationalPIDF_t y, RotationalPIDF_t rot)
	A convenience method to set the PID gains for all three controllers at once.
TranslationalPIDF_t	GetXPID () const
	Gets the PID gains for the X-axis controller.
TranslationalPIDF_t	GetYPID () const
	Gets the PID gains for the Y-axis controller.
RotationalPIDF_t	GetRotationalPID () const
	Gets the PID gains for the rotation controller.
void	ResetControllers (frc::Pose2d, frc::ChassisSpeeds)
	Resets all controllers with the current robot state. This synchronizes the controller's internal state with the actual robot position and velocity.
void	SetGoal (frc::Pose2d goal, frc::ChassisSpeeds state)
	Sets the desired goal state for the alignment controllers.
void	SetPositionTolerance (units::meter_t xTol, units::meter_t yTol, units::radian_t rotTol)
void	SetVelocityTolerance (units::meters_per_second_t xTol, units::meters_per_second_t yTol, units::radians_per_second_t rotTol)
std::pair< frc::Pose2d, frc::ChassisSpeeds >	GetGoal () const
	Gets the current goal.
std::pair< frc::Pose2d, frc::ChassisSpeeds >	GetSetpoint () const
frc::ChassisSpeeds	Calculate (frc::Pose2d pose, frc::ChassisSpeeds currentSpeeds)
	Calculates the required chassis speeds to reach the last set goal. This is an overload that uses the currently stored goal state.
constexpr bool	AtGoal () const
constexpr bool	AtSetpoint () const
ProfiledPIDController< units::meter, units::meters_per_second > &	GetXController ()
ProfiledPIDController< units::meter, units::meters_per_second > &	GetYController ()
ProfiledPIDController< units::radian, units::radians_per_second > &	GetRotationalController ()
void	LoggablePeriodic () override
	Periodic callback for logging updates.
Public Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable (std::shared_ptr< nt::NetworkTable > table)
	Construct a Loggable that uses an existing NetworkTable.
	Loggable ()=default
	Default construct an uninitialized Loggable.
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
bool	WriteLog (std::string_view field, bool data)
double	WriteLog (std::string_view field, double data)
void	WriteLog (std::string_view field, const std::vector< double > &data)
template<typename U> requires units::traits::is_unit_t_v<U>
U	WriteLog (std::string_view field, U data)
void	WriteLog (std::string_view field, std::string_view data)
template<typename E> requires std::is_enum_v<E>
void	WriteLog (std::string_view field, E data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const T &data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const std::vector< T > &data)
bool	ReadLog (std::string_view field, bool defaultValue)
double	ReadLog (std::string_view field, double defaultValue)
template<typename U> requires units::traits::is_unit_t_v<U>
U	ReadLog (std::string_view field, U defaultValue)

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static constexpr Loggable &	GetRoot ()
Protected Member Functions inherited from valor::Loggable
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.

Detailed Description

A field-relative position controller utilizing Profiled PID loops for 3-axis robot alignment.

WorldAlign provides a high-level interface for driving a robot to a specific target pose (X, Y, and Rotation) within the world coordinate frame. It encapsulates three independent frc::ProfiledPIDController instances, allowing for smooth, trapezoidal motion-profiled movement towards a goal.

This class is designed to handle:

Field-Relative Control: All calculations and setpoints are handled in the world frame.
Motion Profiling: Uses velocity and acceleration constraints to ensure robot movements stay within physical limits.
Rotation Wrapping: Supports continuous input for the rotational axis to determine the shortest path between angles (e.g., -180 to 180 degrees).
Telemetry: Inherits from valor::Loggable to facilitate real-time monitoring of setpoints and controller states

Note: This controller expects field-relative frc::ChassisSpeeds and frc::Pose2d as inputs and returns field-relative frc::ChassisSpeeds as outputs

Constructor & Destructor Documentation

◆ WorldAlign()

valor::WorldAlign::WorldAlign ( )

Constructs a WorldAlign object.

This controller uses three independent ProfiledPIDControllers to align the robot to a target pose in the world coordinate frame (field-relative).

Parameters

xPIDF	PIDF gains for the X-axis controller.
yPIDF	PIDF gains for the Y-axis controller.
rotationalPIDF	PIDF gains for the rotation controller.

Member Function Documentation

◆ Calculate()

frc::ChassisSpeeds valor::WorldAlign::Calculate	(	frc::Pose2d	pose,
		frc::ChassisSpeeds	currentSpeeds )

Calculates the required chassis speeds to reach the last set goal. This is an overload that uses the currently stored goal state.

Parameters

pose	The current pose of the robot in the world frame.
currentSpeeds	The current chassis speeds of the robot (must be field-relative).

Returns: The calculated field-relative chassis speeds.

◆ GetGoal()

std::pair< frc::Pose2d, frc::ChassisSpeeds > valor::WorldAlign::GetGoal ( ) const

Gets the current goal.

Returns: A pair containing the goal pose and the goal state vector, both in the world frame.

◆ GetRotationalPID()

RotationalPIDF_t valor::WorldAlign::GetRotationalPID ( ) const

inline

Gets the PID gains for the rotation controller.

Returns: The current PIDF values for rotation.

◆ GetXPID()

TranslationalPIDF_t valor::WorldAlign::GetXPID ( ) const

inline

Gets the PID gains for the X-axis controller.

Returns: The current PIDF values for the X-axis.

◆ GetYPID()

TranslationalPIDF_t valor::WorldAlign::GetYPID ( ) const

inline

Gets the PID gains for the Y-axis controller.

Returns: The current PIDF values for the Y-axis.

◆ LoggablePeriodic()

void valor::WorldAlign::LoggablePeriodic ( )

overridevirtual

Periodic callback for logging updates.

If a derived class needs to perform periodic updates to published values, override this method. It is intended to be called by the logging framework; this base class provides an empty implementation.

Reimplemented from valor::Loggable.

◆ ResetControllers()

void valor::WorldAlign::ResetControllers	(	frc::Pose2d	,
		frc::ChassisSpeeds	)

Resets all controllers with the current robot state. This synchronizes the controller's internal state with the actual robot position and velocity.

Parameters

pose	The current pose of the robot in the world frame.
velocity	The current chassis speeds of the robot (must be field-relative).

◆ SetGoal()

void valor::WorldAlign::SetGoal	(	frc::Pose2d	goal,
		frc::ChassisSpeeds	state )

Sets the desired goal state for the alignment controllers.

Parameters

goal	The target pose (position and rotation) in the world frame.
state	The target state vector (final position and velocity) for each axis.

◆ SetPID()

void valor::WorldAlign::SetPID	(	TranslationalPIDF_t	x,
		TranslationalPIDF_t	y,
		RotationalPIDF_t	rot )

A convenience method to set the PID gains for all three controllers at once.

Parameters

x	The PIDF values for the X-axis controller.
y	The PIDF values for the Y-axis controller.
rot	The PIDF values for the rotation controller.

The documentation for this class was generated from the following file:

src/main/include/valkyrie/WorldAlign.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WorldAlign()

Member Function Documentation

◆ Calculate()

◆ GetGoal()

◆ GetRotationalPID()

◆ GetXPID()

◆ GetYPID()

◆ LoggablePeriodic()

◆ ResetControllers()

◆ SetGoal()

◆ SetPID()