HolonomicController
class HolonomicController(val axialGains: PosVelGain, val lateralGains: PosVelGain, val headingGains: PosVelGain) : RobotPosVelController
Proportional position-velocity controller for a holonomic robot. This is essentially a P controller on the robot's position and a P controller on its velocity.
Constructors
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constructor(axialPosGain: Double, lateralPosGain: Double, headingGain: Double, axialVelGain: Double, lateralVelGain: Double, headingVelGain: Double)
Proportional position-velocity controller for a holonomic robot. This is essentially a P controller on the robot's position and a P controller on its velocity.
Properties
Functions
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open override fun compute(targetPose: Pose2dDual<Time>, actualPose: Pose2d, actualVelActual: PoseVelocity2d): PoseVelocity2dDual<Time>
Computes the velocity and acceleration command. The frame Target is the reference robot, and the frame Actual is the measured, physical robot.