Package trclib.command

Class CmdPidDrive

java.lang.Object

trclib.command.CmdPidDrive

All Implemented Interfaces:

TrcRobot.RobotCommand

public class CmdPidDrive
extends Object
implements TrcRobot.RobotCommand

This class implements a generic PID control drive command. It is agnostic to the PID controller sensors. The caller provides the PID drive object that has all PID controllers which means the caller controls what sensors are controlling the X, Y and turn PID controllers. For example, the caller can provide a PID drive object that uses the encoders to control the X and Y PID controllers and a gyro for the turn PID controller. The caller can also use the encoders to control the X and Y PID controllers but a camera to control the turn PID controller.

Constructor Summary

Constructors

Constructor	Description
CmdPidDrive(TrcDriveBase driveBase, TrcPidDrive pidDrive)	Constructor: Create an instance of the object.
CmdPidDrive(TrcDriveBase driveBase, TrcPidDrive pidDrive, boolean useSensorOdometry)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	cancel()	This method cancels the command if it is active.
boolean	cmdPeriodic(double elapsedTime)	This method must be called periodically by the caller to drive the command sequence forward.
boolean	isActive()	This method checks if the current RobotCommand is running.
void	start(double delay, double drivePowerLimit, TrcPidController.PidCoefficients tunePidCoeff, TrcPose2D... pathPoints)	This method starts the specified PID drive run.

Methods inherited from class java.lang.Object

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

Constructor Details

CmdPidDrive

public CmdPidDrive(TrcDriveBase driveBase,
 TrcPidDrive pidDrive,
 boolean useSensorOdometry)

Constructor: Create an instance of the object.

Parameters:

driveBase - specifies the drive base object.

pidDrive - specifies the PID drive object to be used for PID controlled drive.

useSensorOdometry - specifies true to use the sensor odometry, false to use drive base odometry.

CmdPidDrive

public CmdPidDrive(TrcDriveBase driveBase,
 TrcPidDrive pidDrive)

Constructor: Create an instance of the object.

Parameters:

driveBase - specifies the drive base object.

pidDrive - specifies the PID drive object to be used for PID controlled drive.

Method Details

start

public void start(double delay,
 double drivePowerLimit,
 TrcPidController.PidCoefficients tunePidCoeff,
 TrcPose2D... pathPoints)

This method starts the specified PID drive run.

Parameters:

delay - specifies delay in seconds before PID drive starts. 0 means no delay.

drivePowerLimit - specifies the power limit to be applied for the PID controlled drive.

tunePidCoeff - specifies PID coefficients for tuning PID controllers, can be null if not in tune mode.

pathPoints - specifies one or more points on the path.

isActive

public boolean isActive()

This method checks if the current RobotCommand is running.

Specified by:

isActive in interface TrcRobot.RobotCommand

Returns:

true if the command is running, false otherwise.

cancel

public void cancel()

This method cancels the command if it is active.

Specified by:

cancel in interface TrcRobot.RobotCommand

cmdPeriodic

public boolean cmdPeriodic(double elapsedTime)

This method must be called periodically by the caller to drive the command sequence forward.

Specified by:

cmdPeriodic in interface TrcRobot.RobotCommand

Parameters:

elapsedTime - specifies the elapsed time in seconds since the start of the robot mode.

Returns:

true if the command sequence is completed, false otherwise.