Package trclib.command

Class CmdPurePursuitDrive

java.lang.Object

trclib.command.CmdPurePursuitDrive

All Implemented Interfaces:

TrcRobot.RobotCommand

public class CmdPurePursuitDrive
extends Object
implements TrcRobot.RobotCommand

This class implements a generic Pure Pursuit Drive command. It allows the caller to specify the drive path by calling start with an array of Waypoint poses.

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	DEF_FOLLOWING_DISTANCE
private static final double	DEF_POS_TOLERANCE
private static final double	DEF_TURN_TOLERANCE
private final TrcEvent	event
private final TrcPurePursuitDrive	purePursuitDrive

Constructor Summary

Constructors

Constructor	Description
CmdPurePursuitDrive(TrcDriveBase driveBase, double followingDistance, double posTolerance, double turnTolerance, TrcPidController.PidCoefficients xPosPidCoeff, TrcPidController.PidCoefficients yPosPidCoeff, TrcPidController.PidCoefficients turnPidCoeff, TrcPidController.PidCoefficients velPidCoeff)	Constructor: Create an instance of the object.
CmdPurePursuitDrive(TrcDriveBase driveBase, TrcPidController.PidCoefficients xPosPidCoeff, TrcPidController.PidCoefficients yPosPidCoeff, TrcPidController.PidCoefficients turnPidCoeff, TrcPidController.PidCoefficients velPidCoeff)	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(boolean incrementalPath, Double maxVel, Double maxAccel, Double maxDecel, TrcPose2D... poses)	This method starts the Pure Pursuit drive with the specified poses in the drive path.
void	start(boolean incrementalPath, TrcPose2D... poses)	This method starts the Pure Pursuit drive with the specified poses in the drive path.
void	start(double timeout, boolean incrementalPath, Double maxVel, Double maxAccel, Double maxDecel, String path, boolean loadFromResources)	This method starts the Pure Pursuit drive with the specified poses read either from the built-in resources or from a file.
void	start(double timeout, boolean incrementalPath, Double maxVel, Double maxAccel, Double maxDecel, TrcPose2D... poses)	This method starts the Pure Pursuit drive with the specified poses in the drive path.
void	start(double timeout, boolean incrementalPath, String path, boolean loadFromResources)	This method starts the Pure Pursuit drive with the specified poses read either from the built-in resources or from a file.
void	start(double timeout, boolean incrementalPath, TrcPose2D... poses)	This method starts the Pure Pursuit drive with the specified poses in the drive path.
void	start(TrcPath path)	This method starts the Pure Pursuit drive with the specified drive path.
void	start(TrcPath path, double timeout)	This method starts the Pure Pursuit drive with the specified drive path.
void	start(TrcPath path, double timeout, Double maxVel, Double maxAccel)	This method starts the Pure Pursuit drive with the specified drive path.
void	start(TrcPath path, Double maxVel, Double maxAccel)	This method starts the Pure Pursuit drive with the specified drive path.

Methods inherited from class java.lang.Object

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

Field Details

DEF_FOLLOWING_DISTANCE

private static final double DEF_FOLLOWING_DISTANCE

See Also:

• Constant Field Values

DEF_POS_TOLERANCE

private static final double DEF_POS_TOLERANCE

See Also:

• Constant Field Values

DEF_TURN_TOLERANCE

private static final double DEF_TURN_TOLERANCE

See Also:

• Constant Field Values

purePursuitDrive

private final TrcPurePursuitDrive purePursuitDrive

event

private final TrcEvent event

Constructor Details

CmdPurePursuitDrive

public CmdPurePursuitDrive(TrcDriveBase driveBase,
 double followingDistance,
 double posTolerance,
 double turnTolerance,
 TrcPidController.PidCoefficients xPosPidCoeff,
 TrcPidController.PidCoefficients yPosPidCoeff,
 TrcPidController.PidCoefficients turnPidCoeff,
 TrcPidController.PidCoefficients velPidCoeff)

Constructor: Create an instance of the object.

Parameters:

driveBase - specifies the drive base object.

followingDistance - specifies the following distance.

posTolerance - specifies the position tolerance

turnTolerance - specifies the turn tolerance.

xPosPidCoeff - specifies the PID coefficients for X position PID controller.

yPosPidCoeff - specifies the PID coefficients for Y position PID controller.

turnPidCoeff - specifies the PID coefficients for turn PID controller.

velPidCoeff - specifies the PID coefficients for velocity PID controller.

CmdPurePursuitDrive

public CmdPurePursuitDrive(TrcDriveBase driveBase,
 TrcPidController.PidCoefficients xPosPidCoeff,
 TrcPidController.PidCoefficients yPosPidCoeff,
 TrcPidController.PidCoefficients turnPidCoeff,
 TrcPidController.PidCoefficients velPidCoeff)

Constructor: Create an instance of the object.

Parameters:

driveBase - specifies the drive base object.

xPosPidCoeff - specifies the PID coefficients for X position PID controller.

yPosPidCoeff - specifies the PID coefficients for Y position PID controller.

turnPidCoeff - specifies the PID coefficients for turn PID controller.

velPidCoeff - specifies the PID coefficients for velocity PID controller.

Method Details

start

public void start(TrcPath path,
 double timeout,
 Double maxVel,
 Double maxAccel)

This method starts the Pure Pursuit drive with the specified drive path.

Parameters:

path - specifies the drive path with waypoints.

timeout - specifies the maximum time allowed for this operation.

maxVel - specifies the maximum velocity if applying trapezoid velocity profile, null if not.

maxAccel - specifies the maximum acceleration if applying trapezoid velocity profile, null if not.

start

public void start(TrcPath path,
 Double maxVel,
 Double maxAccel)

This method starts the Pure Pursuit drive with the specified drive path.

Parameters:

path - specifies the drive path with waypoints.

maxVel - specifies the maximum velocity if applying trapezoid velocity profile, null if not.

maxAccel - specifies the maximum acceleration if applying trapezoid velocity profile, null if not.

start

public void start(TrcPath path,
 double timeout)

This method starts the Pure Pursuit drive with the specified drive path.

Parameters:

path - specifies the drive path with waypoints.

timeout - specifies the maximum time allowed for this operation.

start

public void start(TrcPath path)

This method starts the Pure Pursuit drive with the specified drive path.

Parameters:

path - specifies the drive path with waypoints.

start

public void start(double timeout,
 boolean incrementalPath,
 Double maxVel,
 Double maxAccel,
 Double maxDecel,
 TrcPose2D... poses)

This method starts the Pure Pursuit drive with the specified poses in the drive path.

Parameters:

timeout - specifies the maximum time allowed for this operation.

incrementalPath - specifies true if appending point is relative to the previous point in the path, false if appending point is in the same reference frame as startingPose.

maxVel - specifies the maximum velocity if applying trapezoid velocity profile, null if not.

maxAccel - specifies the maximum acceleration if applying trapezoid velocity profile, null if not.

poses - specifies an array of waypoint poses in the drive path.

start

public void start(double timeout,
 boolean incrementalPath,
 Double maxVel,
 Double maxAccel,
 Double maxDecel,
 String path,
 boolean loadFromResources)

This method starts the Pure Pursuit drive with the specified poses read either from the built-in resources or from a file.

Parameters:

timeout - specifies the maximum time allowed for this operation.

incrementalPath - specifies true if appending point is relative to the previous point in the path, false if appending point is in the same reference frame as startingPose.

maxVel - specifies the maximum velocity if applying trapezoid velocity profile, null if not.

maxAccel - specifies the maximum acceleration if applying trapezoid velocity profile, null if not.

maxDecel - specifies the maximum deceleration if applying trapezoid velocity profile, null if not.

path - specifies the file system path or resource name.

loadFromResources - specifies true if the data is from attached resources, false if from file system.

start

public void start(double timeout,
 boolean incrementalPath,
 String path,
 boolean loadFromResources)

This method starts the Pure Pursuit drive with the specified poses read either from the built-in resources or from a file.

Parameters:

timeout - specifies the maximum time allowed for this operation.

incrementalPath - specifies true if appending point is relative to the previous point in the path, false if appending point is in the same reference frame as startingPose.

path - specifies the file system path or resource name.

loadFromResources - specifies true if the data is from attached resources, false if from file system.

start

public void start(boolean incrementalPath,
 Double maxVel,
 Double maxAccel,
 Double maxDecel,
 TrcPose2D... poses)

This method starts the Pure Pursuit drive with the specified poses in the drive path.

Parameters:

incrementalPath - specifies true if appending point is relative to the previous point in the path, false if appending point is in the same reference frame as startingPose.

maxVel - specifies the maximum velocity if applying trapezoid velocity profile, null if not.

maxAccel - specifies the maximum acceleration if applying trapezoid velocity profile, null if not.

maxDecel - specifies the maximum deceleration if applying trapezoid velocity profile, null if not.

poses - specifies an array of waypoint poses in the drive path.

start

public void start(double timeout,
 boolean incrementalPath,
 TrcPose2D... poses)

This method starts the Pure Pursuit drive with the specified poses in the drive path.

Parameters:

timeout - specifies the maximum time allowed for this operation.

incrementalPath - specifies true if appending point is relative to the previous point in the path, false if appending point is in the same reference frame as startingPose.

poses - specifies an array of waypoint poses in the drive path.

start

public void start(boolean incrementalPath,
 TrcPose2D... poses)

This method starts the Pure Pursuit drive with the specified poses in the drive path.

Parameters:

incrementalPath - specifies true if appending point is relative to the previous point in the path, false if appending point is in the same reference frame as startingPose.

poses - specifies an array of waypoint poses in the drive 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.