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[examples] Make swerve examples multiply desired module speeds by cosine of heading error #5758

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merged 8 commits into from
Oct 13, 2023
Merged

[examples] Make swerve examples multiply desired module speeds by cosine of heading error #5758

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4b8b6de
Make swerve examples multiply desired module speeds by cosine of head…
ori-coval Oct 11, 2023
d0ddc08
proper java implementation, c++ implementation
ori-coval Oct 12, 2023
b9b94b3
added comments
ori-coval Oct 12, 2023
a8daf6b
put encoderRotation in a veriable, fixed c++ cos()
ori-coval Oct 12, 2023
5ad0172
fixed c++ state + formated
ori-coval Oct 12, 2023
e9a17cf
Run wpiformat
calcmogul Oct 13, 2023
8f0a2f8
Elaborate on comments
calcmogul Oct 13, 2023
b2a312f
Remove redundant parentheses
calcmogul Oct 13, 2023
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11 changes: 9 additions & 2 deletions wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
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Expand Up @@ -48,15 +48,22 @@

void SwerveModule::SetDesiredState(
const frc::SwerveModuleState& referenceState) {
frc::Rotation2d encoderRotation{
units::radian_t{m_turningEncoder.GetDistance()}};

// Optimize the reference state to avoid spinning further than 90 degrees
const auto state = frc::SwerveModuleState::Optimize(
referenceState, units::radian_t{m_turningEncoder.GetDistance()});
auto state = frc::SwerveModuleState::Optimize(

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 'frc::SwerveModuleState::Optimize': function does not take 1 arguments
referenceState, units::radian_t{encoderRotation});

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 '<function-style-cast>': cannot convert from 'initializer list' to 'units::angle::radian_t'
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// Adjust speed using the cosine of angle error for smoother and more precise
// control
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state.speed *= (state.angle - encoderRotation).Cos();

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 'state': cannot be used before it is initialized

// Calculate the drive output from the drive PID controller.
const auto driveOutput = m_drivePIDController.Calculate(
m_driveEncoder.GetRate(), state.speed.value());

const auto driveFeedforward = m_driveFeedforward.Calculate(state.speed);

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 'driveFeedforward': const object must be initialized

// Calculate the turning motor output from the turning PID controller.
const auto turnOutput = m_turningPIDController.Calculate(
Expand All @@ -66,6 +73,6 @@
m_turningPIDController.GetSetpoint().velocity);

// Set the motor outputs.
m_driveMotor.SetVoltage(units::volt_t{driveOutput} + driveFeedforward);

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 'void frc::MotorController::SetVoltage(units::voltage::volt_t)': cannot convert argument 1 from 'int' to 'units::voltage::volt_t'
m_turningMotor.SetVoltage(units::volt_t{turnOutput} + turnFeedforward);
}
11 changes: 9 additions & 2 deletions ...ibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
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Expand Up @@ -55,9 +55,16 @@

void SwerveModule::SetDesiredState(
const frc::SwerveModuleState& referenceState) {
frc::Rotation2d encoderRotation{
units::radian_t{m_turningEncoder.GetDistance()}};

// Optimize the reference state to avoid spinning further than 90 degrees
const auto state = frc::SwerveModuleState::Optimize(
referenceState, units::radian_t{m_turningEncoder.GetDistance()});
auto state = frc::SwerveModuleState::Optimize(

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referenceState, units::radian_t{encoderRotation});

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// Adjust speed using the cosine of angle error for smoother and more precise
// control
state.speed *= (state.angle - encoderRotation).Cos();

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// Calculate the drive output from the drive PID controller.
const auto driveOutput = m_drivePIDController.Calculate(
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11 changes: 9 additions & 2 deletions wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
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Expand Up @@ -48,9 +48,16 @@ frc::SwerveModulePosition SwerveModule::GetPosition() const {

void SwerveModule::SetDesiredState(
const frc::SwerveModuleState& referenceState) {
frc::Rotation2d encoderRotation{
units::radian_t{m_turningEncoder.GetDistance()}};

// Optimize the reference state to avoid spinning further than 90 degrees
const auto state = frc::SwerveModuleState::Optimize(
referenceState, units::radian_t{m_turningEncoder.GetDistance()});
auto state = frc::SwerveModuleState::Optimize(
referenceState, units::radian_t{encoderRotation});

// Adjust speed using the cosine of angle error for smoother and more precise
// control
state.speed *= (state.angle - encoderRotation).Cos();

// Calculate the drive output from the drive PID controller.
const auto driveOutput = m_drivePIDController.Calculate(
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8 changes: 7 additions & 1 deletion wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
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Expand Up @@ -109,9 +109,15 @@ public SwerveModulePosition getPosition() {
* @param desiredState Desired state with speed and angle.
*/
public void setDesiredState(SwerveModuleState desiredState) {
var encoderRotation = new Rotation2d(m_turningEncoder.getDistance());

// Optimize the reference state to avoid spinning further than 90 degrees
SwerveModuleState state =
SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
SwerveModuleState.optimize(desiredState, encoderRotation);

// Adjust speed using the cosine of angle error for smoother and more precise control
state.speedMetersPerSecond *=
(state.angle.minus(encoderRotation)).getCos();

// Calculate the drive output from the drive PID controller.
final double driveOutput =
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8 changes: 7 additions & 1 deletion .../java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
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Expand Up @@ -105,9 +105,15 @@ public SwerveModulePosition getPosition() {
* @param desiredState Desired state with speed and angle.
*/
public void setDesiredState(SwerveModuleState desiredState) {
var encoderRotation = new Rotation2d(m_turningEncoder.getDistance());

// Optimize the reference state to avoid spinning further than 90 degrees
SwerveModuleState state =
SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
SwerveModuleState.optimize(desiredState, encoderRotation);

// Adjust speed using the cosine of angle error for smoother and more precise control
state.speedMetersPerSecond *=
(state.angle.minus(encoderRotation)).getCos();

// Calculate the drive output from the drive PID controller.
final double driveOutput =
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8 changes: 7 additions & 1 deletion ...s/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
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Original file line number Diff line number Diff line change
Expand Up @@ -109,9 +109,15 @@ public SwerveModulePosition getPosition() {
* @param desiredState Desired state with speed and angle.
*/
public void setDesiredState(SwerveModuleState desiredState) {
var encoderRotation = new Rotation2d(m_turningEncoder.getDistance());

// Optimize the reference state to avoid spinning further than 90 degrees
SwerveModuleState state =
SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
SwerveModuleState.optimize(desiredState, encoderRotation);

// Adjust speed using the cosine of angle error for smoother and more precise control
state.speedMetersPerSecond *=
(state.angle.minus(encoderRotation)).getCos();

// Calculate the drive output from the drive PID controller.
final double driveOutput =
Expand Down
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