507 lines
20 KiB
C++
507 lines
20 KiB
C++
/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "okapi/api/chassis/controller/chassisControllerIntegrated.hpp"
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#include "okapi/api/chassis/controller/chassisControllerPid.hpp"
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#include "okapi/api/chassis/controller/defaultOdomChassisController.hpp"
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#include "okapi/api/chassis/model/hDriveModel.hpp"
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#include "okapi/api/chassis/model/skidSteerModel.hpp"
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#include "okapi/api/chassis/model/xDriveModel.hpp"
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#include "okapi/api/util/logging.hpp"
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#include "okapi/api/util/mathUtil.hpp"
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#include "okapi/impl/device/motor/motor.hpp"
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#include "okapi/impl/device/motor/motorGroup.hpp"
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#include "okapi/impl/device/rotarysensor/adiEncoder.hpp"
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#include "okapi/impl/device/rotarysensor/integratedEncoder.hpp"
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#include "okapi/impl/device/rotarysensor/rotationSensor.hpp"
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#include "okapi/impl/util/timeUtilFactory.hpp"
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namespace okapi {
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class ChassisControllerBuilder {
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public:
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/**
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* A builder that creates ChassisControllers. Use this to create your ChassisController.
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*
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* @param ilogger The logger this instance will log to.
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*/
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explicit ChassisControllerBuilder(
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const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
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/**
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* Sets the motors using a skid-steer layout.
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*
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* @param ileft The left motor.
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* @param iright The right motor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withMotors(const Motor &ileft, const Motor &iright);
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/**
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* Sets the motors using a skid-steer layout.
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*
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* @param ileft The left motor.
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* @param iright The right motor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withMotors(const MotorGroup &ileft, const MotorGroup &iright);
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/**
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* Sets the motors using a skid-steer layout.
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*
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* @param ileft The left motor.
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* @param iright The right motor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withMotors(const std::shared_ptr<AbstractMotor> &ileft,
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const std::shared_ptr<AbstractMotor> &iright);
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/**
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* Sets the motors using an x-drive layout.
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*
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* @param itopLeft The top left motor.
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* @param itopRight The top right motor.
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* @param ibottomRight The bottom right motor.
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* @param ibottomLeft The bottom left motor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withMotors(const Motor &itopLeft,
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const Motor &itopRight,
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const Motor &ibottomRight,
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const Motor &ibottomLeft);
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/**
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* Sets the motors using an x-drive layout.
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*
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* @param itopLeft The top left motor.
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* @param itopRight The top right motor.
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* @param ibottomRight The bottom right motor.
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* @param ibottomLeft The bottom left motor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withMotors(const MotorGroup &itopLeft,
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const MotorGroup &itopRight,
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const MotorGroup &ibottomRight,
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const MotorGroup &ibottomLeft);
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/**
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* Sets the motors using an x-drive layout.
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*
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* @param itopLeft The top left motor.
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* @param itopRight The top right motor.
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* @param ibottomRight The bottom right motor.
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* @param ibottomLeft The bottom left motor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withMotors(const std::shared_ptr<AbstractMotor> &itopLeft,
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const std::shared_ptr<AbstractMotor> &itopRight,
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const std::shared_ptr<AbstractMotor> &ibottomRight,
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const std::shared_ptr<AbstractMotor> &ibottomLeft);
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/**
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* Sets the motors using an h-drive layout.
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*
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* @param ileft The left motor.
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* @param iright The right motor.
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* @param imiddle The middle motor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &
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withMotors(const Motor &ileft, const Motor &iright, const Motor &imiddle);
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/**
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* Sets the motors using an h-drive layout.
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*
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* @param ileft The left motor.
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* @param iright The right motor.
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* @param imiddle The middle motor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &
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withMotors(const MotorGroup &ileft, const MotorGroup &iright, const MotorGroup &imiddle);
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/**
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* Sets the motors using an h-drive layout.
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*
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* @param ileft The left motor.
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* @param iright The right motor.
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* @param imiddle The middle motor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &
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withMotors(const MotorGroup &ileft, const MotorGroup &iright, const Motor &imiddle);
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/**
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* Sets the motors using an h-drive layout.
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*
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* @param ileft The left motor.
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* @param iright The right motor.
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* @param imiddle The middle motor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withMotors(const std::shared_ptr<AbstractMotor> &ileft,
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const std::shared_ptr<AbstractMotor> &iright,
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const std::shared_ptr<AbstractMotor> &imiddle);
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/**
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* Sets the sensors. The default sensors are the motor's integrated encoders.
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*
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* @param ileft The left side sensor.
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* @param iright The right side sensor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withSensors(const ADIEncoder &ileft, const ADIEncoder &iright);
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/**
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* Sets the sensors. The default sensors are the motor's integrated encoders.
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*
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* @param ileft The left side sensor.
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* @param iright The right side sensor.
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* @param imiddle The middle sensor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &
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withSensors(const ADIEncoder &ileft, const ADIEncoder &iright, const ADIEncoder &imiddle);
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/**
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* Sets the sensors. The default sensors are the motor's integrated encoders.
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*
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* @param ileft The left side sensor.
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* @param iright The right side sensor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withSensors(const RotationSensor &ileft, const RotationSensor &iright);
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/**
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* Sets the sensors. The default sensors are the motor's integrated encoders.
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*
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* @param ileft The left side sensor.
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* @param iright The right side sensor.
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* @param imiddle The middle sensor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withSensors(const RotationSensor &ileft,
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const RotationSensor &iright,
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const RotationSensor &imiddle);
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/**
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* Sets the sensors. The default sensors are the motor's integrated encoders.
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*
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* @param ileft The left side sensor.
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* @param iright The right side sensor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withSensors(const IntegratedEncoder &ileft,
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const IntegratedEncoder &iright);
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/**
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* Sets the sensors. The default sensors are the motor's integrated encoders.
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*
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* @param ileft The left side sensor.
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* @param iright The right side sensor.
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* @param imiddle The middle sensor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withSensors(const IntegratedEncoder &ileft,
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const IntegratedEncoder &iright,
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const ADIEncoder &imiddle);
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/**
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* Sets the sensors. The default sensors are the motor's integrated encoders.
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*
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* @param ileft The left side sensor.
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* @param iright The right side sensor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withSensors(const std::shared_ptr<ContinuousRotarySensor> &ileft,
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const std::shared_ptr<ContinuousRotarySensor> &iright);
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/**
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* Sets the sensors. The default sensors are the motor's integrated encoders.
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*
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* @param ileft The left side sensor.
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* @param iright The right side sensor.
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* @param imiddle The middle sensor.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withSensors(const std::shared_ptr<ContinuousRotarySensor> &ileft,
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const std::shared_ptr<ContinuousRotarySensor> &iright,
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const std::shared_ptr<ContinuousRotarySensor> &imiddle);
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/**
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* Sets the PID controller gains, causing the builder to generate a ChassisControllerPID. Uses the
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* turn controller's gains for the angle controller's gains.
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*
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* @param idistanceGains The distance controller's gains.
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* @param iturnGains The turn controller's gains.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withGains(const IterativePosPIDController::Gains &idistanceGains,
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const IterativePosPIDController::Gains &iturnGains);
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/**
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* Sets the PID controller gains, causing the builder to generate a ChassisControllerPID.
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*
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* @param idistanceGains The distance controller's gains.
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* @param iturnGains The turn controller's gains.
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* @param iangleGains The angle controller's gains.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withGains(const IterativePosPIDController::Gains &idistanceGains,
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const IterativePosPIDController::Gains &iturnGains,
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const IterativePosPIDController::Gains &iangleGains);
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/**
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* Sets the odometry information, causing the builder to generate an Odometry variant.
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*
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* @param imode The new default StateMode used to interpret target points and query the Odometry
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* state.
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* @param imoveThreshold The minimum length movement.
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* @param iturnThreshold The minimum angle turn.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withOdometry(const StateMode &imode = StateMode::FRAME_TRANSFORMATION,
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const QLength &imoveThreshold = 0_mm,
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const QAngle &iturnThreshold = 0_deg);
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/**
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* Sets the odometry information, causing the builder to generate an Odometry variant.
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*
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* @param iodomScales The ChassisScales used just for odometry (if they are different than those
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* for the drive).
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* @param imode The new default StateMode used to interpret target points and query the Odometry
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* state.
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* @param imoveThreshold The minimum length movement.
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* @param iturnThreshold The minimum angle turn.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withOdometry(const ChassisScales &iodomScales,
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const StateMode &imode = StateMode::FRAME_TRANSFORMATION,
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const QLength &imoveThreshold = 0_mm,
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const QAngle &iturnThreshold = 0_deg);
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/**
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* Sets the odometry information, causing the builder to generate an Odometry variant.
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*
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* @param iodometry The odometry object.
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* @param imode The new default StateMode used to interpret target points and query the Odometry
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* state.
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* @param imoveThreshold The minimum length movement.
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* @param iturnThreshold The minimum angle turn.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withOdometry(std::shared_ptr<Odometry> iodometry,
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const StateMode &imode = StateMode::FRAME_TRANSFORMATION,
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const QLength &imoveThreshold = 0_mm,
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const QAngle &iturnThreshold = 0_deg);
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/**
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* Sets the derivative filters. Uses a PassthroughFilter by default.
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*
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* @param idistanceFilter The distance controller's filter.
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* @param iturnFilter The turn controller's filter.
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* @param iangleFilter The angle controller's filter.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withDerivativeFilters(
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std::unique_ptr<Filter> idistanceFilter,
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std::unique_ptr<Filter> iturnFilter = std::make_unique<PassthroughFilter>(),
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std::unique_ptr<Filter> iangleFilter = std::make_unique<PassthroughFilter>());
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/**
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* Sets the chassis dimensions.
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*
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* @param igearset The gearset in the drive motors.
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* @param iscales The ChassisScales for the base.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withDimensions(const AbstractMotor::GearsetRatioPair &igearset,
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const ChassisScales &iscales);
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/**
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* Sets the max velocity. Overrides the max velocity of the gearset.
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*
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* @param imaxVelocity The max velocity.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withMaxVelocity(double imaxVelocity);
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/**
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* Sets the max voltage. The default is `12000`.
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*
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* @param imaxVoltage The max voltage.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withMaxVoltage(double imaxVoltage);
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/**
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* Sets the TimeUtilFactory used when building a ChassisController. This instance will be given
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* to the ChassisController (not to controllers it uses). The default is the static
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* TimeUtilFactory.
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*
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* @param itimeUtilFactory The TimeUtilFactory.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &
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withChassisControllerTimeUtilFactory(const TimeUtilFactory &itimeUtilFactory);
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/**
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* Sets the TimeUtilFactory used when building a ClosedLoopController. This instance will be given
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* to any ClosedLoopController instances. The default is the static TimeUtilFactory.
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*
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* @param itimeUtilFactory The TimeUtilFactory.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &
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withClosedLoopControllerTimeUtilFactory(const TimeUtilFactory &itimeUtilFactory);
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/**
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* Creates a new ConfigurableTimeUtilFactory with the given parameters. Given to any
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* ClosedLoopController instances.
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*
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* @param iatTargetError The minimum error to be considered settled.
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* @param iatTargetDerivative The minimum error derivative to be considered settled.
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* @param iatTargetTime The minimum time within atTargetError to be considered settled.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withClosedLoopControllerTimeUtil(double iatTargetError = 50,
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double iatTargetDerivative = 5,
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const QTime &iatTargetTime = 250_ms);
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/**
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* Sets the TimeUtilFactory used when building an Odometry. The default is the static
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* TimeUtilFactory.
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*
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* @param itimeUtilFactory The TimeUtilFactory.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withOdometryTimeUtilFactory(const TimeUtilFactory &itimeUtilFactory);
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/**
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* Sets the logger used for the ChassisController and ClosedLoopControllers.
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*
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* @param ilogger The logger.
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &withLogger(const std::shared_ptr<Logger> &ilogger);
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/**
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* Parents the internal tasks started by this builder to the current task, meaning they will be
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* deleted once the current task is deleted. The `initialize` and `competition_initialize` tasks
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* are never parented to. This is the default behavior.
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*
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* Read more about this in the [builders and tasks tutorial]
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* (docs/tutorials/concepts/builders-and-tasks.md).
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*
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder &parentedToCurrentTask();
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/**
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* Prevents parenting the internal tasks started by this builder to the current task, meaning they
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* will not be deleted once the current task is deleted. This can cause runaway tasks, but is
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* sometimes the desired behavior (e.x., if you want to use this builder once in `autonomous` and
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* then again in `opcontrol`).
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*
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* Read more about this in the [builders and tasks tutorial]
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* (docs/tutorials/concepts/builders-and-tasks.md).
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*
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* @return An ongoing builder.
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*/
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ChassisControllerBuilder ¬ParentedToCurrentTask();
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/**
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* Builds the ChassisController. Throws a std::runtime_exception if no motors were set or if no
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* dimensions were set.
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*
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* @return A fully built ChassisController.
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*/
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std::shared_ptr<ChassisController> build();
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/**
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* Builds the OdomChassisController. Throws a std::runtime_exception if no motors were set, if no
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* dimensions were set, or if no odometry information was passed.
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*
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* @return A fully built OdomChassisController.
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*/
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std::shared_ptr<OdomChassisController> buildOdometry();
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private:
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std::shared_ptr<Logger> logger;
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struct SkidSteerMotors {
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std::shared_ptr<AbstractMotor> left;
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std::shared_ptr<AbstractMotor> right;
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};
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struct XDriveMotors {
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std::shared_ptr<AbstractMotor> topLeft;
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std::shared_ptr<AbstractMotor> topRight;
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std::shared_ptr<AbstractMotor> bottomRight;
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std::shared_ptr<AbstractMotor> bottomLeft;
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};
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struct HDriveMotors {
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std::shared_ptr<AbstractMotor> left;
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std::shared_ptr<AbstractMotor> right;
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std::shared_ptr<AbstractMotor> middle;
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};
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enum class DriveMode { SkidSteer, XDrive, HDrive };
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bool hasMotors{false}; // Used to verify motors were passed
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DriveMode driveMode{DriveMode::SkidSteer};
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SkidSteerMotors skidSteerMotors;
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XDriveMotors xDriveMotors;
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HDriveMotors hDriveMotors;
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bool sensorsSetByUser{false}; // Used so motors don't overwrite sensors set manually
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std::shared_ptr<ContinuousRotarySensor> leftSensor{nullptr};
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std::shared_ptr<ContinuousRotarySensor> rightSensor{nullptr};
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std::shared_ptr<ContinuousRotarySensor> middleSensor{nullptr};
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bool hasGains{false}; // Whether gains were passed, no gains means CCI
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IterativePosPIDController::Gains distanceGains;
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std::unique_ptr<Filter> distanceFilter = std::make_unique<PassthroughFilter>();
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IterativePosPIDController::Gains angleGains;
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std::unique_ptr<Filter> angleFilter = std::make_unique<PassthroughFilter>();
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IterativePosPIDController::Gains turnGains;
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std::unique_ptr<Filter> turnFilter = std::make_unique<PassthroughFilter>();
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TimeUtilFactory chassisControllerTimeUtilFactory = TimeUtilFactory();
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TimeUtilFactory closedLoopControllerTimeUtilFactory = TimeUtilFactory();
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TimeUtilFactory odometryTimeUtilFactory = TimeUtilFactory();
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AbstractMotor::GearsetRatioPair gearset{AbstractMotor::gearset::invalid, 1.0};
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ChassisScales driveScales{{1, 1}, imev5GreenTPR};
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bool differentOdomScales{false};
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ChassisScales odomScales{{1, 1}, imev5GreenTPR};
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std::shared_ptr<Logger> controllerLogger = Logger::getDefaultLogger();
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bool hasOdom{false}; // Whether odometry was passed
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std::shared_ptr<Odometry> odometry;
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StateMode stateMode;
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QLength moveThreshold;
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QAngle turnThreshold;
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bool maxVelSetByUser{false}; // Used so motors don't overwrite maxVelocity
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double maxVelocity{600};
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double maxVoltage{12000};
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bool isParentedToCurrentTask{true};
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std::shared_ptr<ChassisControllerPID> buildCCPID();
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std::shared_ptr<ChassisControllerIntegrated> buildCCI();
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std::shared_ptr<DefaultOdomChassisController>
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buildDOCC(std::shared_ptr<ChassisController> chassisController);
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std::shared_ptr<ChassisModel> makeChassisModel();
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std::shared_ptr<SkidSteerModel> makeSkidSteerModel();
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std::shared_ptr<XDriveModel> makeXDriveModel();
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std::shared_ptr<HDriveModel> makeHDriveModel();
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};
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} // namespace okapi
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