core/com.acmerobotics.roadrunner.control

Package-level declarations

Types

class HolonomicController(val axialPosGain: Double, val lateralPosGain: Double, val headingGain: Double, val axialVelGain: Double, val lateralVelGain: Double, val headingVelGain: Double) : RobotPosVelController

Proportional position-velocity controller for a holonomic robot.

LQRController

class LQRController : RobotPosVelController

A Linear Quadratic Regulator (LQR) for controlling a system modeled by state-space equations.

LTVUController

class LTVUController : RobotPosVelController

Linear Time-Varying Unicycle controller. This controller is similar to the LQR-based holonomic controller, but the unicycle model is linearized at a range of forward velocities. The feedback gains are scheduled according to the target robot velocity.

MecanumKinematics

data class MecanumKinematics(val trackWidth: <Error class: unknown class>, val lateralMultiplier: <Error class: unknown class> = 1.0) : RobotKinematics<MecanumKinematics.MecanumWheelIncrements<*>, WheelVelocities<*>>

MotorFeedforward

data class MotorFeedforward(val kS: Double, val kV: Double, val kA: Double)

RamseteController

class RamseteController @JvmOverloads constructor(val trackWidth: Double, val zeta: Double = 0.7, val bBar: Double = 2.0) : RobotPosVelController

RobotKinematics

interface RobotKinematics<in WI : WheelIncrements<*>, out WV : WheelVelocities<*>>

Represents the kinematics of a robot drive train, providing methods for inverse kinematics and velocity constraints based on wheel speeds.

RobotPosVelController

interface RobotPosVelController

Abstract controller for computing the velocity and acceleration commands for a robot.

SwerveKinematics

data class SwerveKinematics(val modules: <Error class: unknown class><<Error class: unknown class>>) : RobotKinematics<SwerveKinematics.SwerveWheelIncrements<*>, SwerveKinematics.SwerveWheelVelocities<*>>

SwerveModuleIncrements

data class SwerveModuleIncrements<Param : DualParameter>(val wheelDelta: DualNum<Param>, val angle: Double)

SwerveModuleState

data class SwerveModuleState<Param : DualParameter>(val velocity: DualNum<Param>, val angle: DualNum<Param>)

TankKinematics

data class TankKinematics(val trackWidth: <Error class: unknown class>) : RobotKinematics<TankKinematics.TankWheelIncrements<*>, TankKinematics.TankWheelVelocities<*>>

WheelIncrements

interface WheelIncrements<Param : DualParameter>

WheelVelConstraint

class WheelVelConstraint(val kinematics: RobotKinematics<*, *>, val maxWheelVel: Double) : VelConstraint

WheelVelocities

interface WheelVelocities<Param : DualParameter>

Represents the velocities of the individual drive wheels.