HolonomicDriveController

class wpimath.controller.HolonomicDriveController(xController: wpimath._controls._controls.controller.PIDController, yController: wpimath._controls._controls.controller.PIDController, thetaController: wpimath._controls._controls.controller.ProfiledPIDControllerRadians)

Bases: pybind11_object

This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain (i.e. swerve or mecanum). Holonomic trajectory following is a much simpler problem to solve compared to skid-steer style drivetrains because it is possible to individually control field-relative x, y, and angular velocity.

The holonomic drive controller takes in one PID controller for each direction, field-relative x and y, and one profiled PID controller for the angular direction. Because the heading dynamics are decoupled from translations, users can specify a custom heading that the drivetrain should point toward. This heading reference is profiled for smoothness.

Constructs a holonomic drive controller.

Parameters:

  • xController – A PID Controller to respond to error in the field-relative x direction.

  • yController – A PID Controller to respond to error in the field-relative y direction.

  • thetaController – A profiled PID controller to respond to error in angle.

atReference() → bool

Returns true if the pose error is within tolerance of the reference.

calculate(*args, **kwargs)

Overloaded function.

  1. calculate(self: wpimath._controls._controls.controller.HolonomicDriveController, currentPose: wpimath.geometry._geometry.Pose2d, trajectoryPose: wpimath.geometry._geometry.Pose2d, desiredLinearVelocity: wpimath.units.meters_per_second, desiredHeading: wpimath.geometry._geometry.Rotation2d) -> wpimath.kinematics._kinematics.ChassisSpeeds

Returns the next output of the holonomic drive controller.

Parameters:

  • currentPose – The current pose, as measured by odometry or pose estimator.

  • trajectoryPose – The desired trajectory pose, as sampled for the current timestep.

  • desiredLinearVelocity – The desired linear velocity.

  • desiredHeading – The desired heading.

Returns:

The next output of the holonomic drive controller.

  1. calculate(self: wpimath._controls._controls.controller.HolonomicDriveController, currentPose: wpimath.geometry._geometry.Pose2d, desiredState: wpimath._controls._controls.trajectory.Trajectory.State, desiredHeading: wpimath.geometry._geometry.Rotation2d) -> wpimath.kinematics._kinematics.ChassisSpeeds

Returns the next output of the holonomic drive controller.

Parameters:

  • currentPose – The current pose, as measured by odometry or pose estimator.

  • desiredState – The desired trajectory pose, as sampled for the current timestep.

  • desiredHeading – The desired heading.

Returns:

The next output of the holonomic drive controller.

getThetaController() → wpimath._controls._controls.controller.ProfiledPIDControllerRadians

Returns the rotation ProfiledPIDController

getXController() → wpimath._controls._controls.controller.PIDController

Returns the X PIDController

getYController() → wpimath._controls._controls.controller.PIDController

Returns the Y PIDController

setEnabled(enabled: bool) → None

Enables and disables the controller for troubleshooting purposes. When Calculate() is called on a disabled controller, only feedforward values are returned.

Parameters:

enabled – If the controller is enabled or not.

setTolerance(tolerance: wpimath.geometry._geometry.Pose2d) → None

Sets the pose error which is considered tolerable for use with AtReference().

Parameters:

tolerance – Pose error which is tolerable.