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Origin/feature/acceleration limiter #2

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Origin/feature/acceleration limiter #2

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9c086fd
Various acceleration related changes
ActualSkinwalker Nov 8, 2023
7b08090
Started work on Kinematics
ActualSkinwalker Nov 21, 2023
3890d8b
Revert "Started work on Kinematics"
ActualSkinwalker Nov 21, 2023
56126b2
Merge pull request #1 from ActualSkinwalker/origin/feature/accelerati…
ActualSkinwalker Nov 21, 2023
1c74ce8
Addressed comments in PR
ActualSkinwalker Dec 8, 2023
0207096
Updated drive command to use circular deadbands
ActualSkinwalker Dec 12, 2023
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23 changes: 3 additions & 20 deletions src/main/java/frc/robot/commands/DriveCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -94,26 +94,9 @@ public void execute() {
double absoluteNextThetaSpeed = Math.abs(nextThetaSpeed);

// Apply global deadband.
if (
absoluteNextXSpeed < DriveCommand.X_DEADBAND &&
absoluteNextYSpeed < DriveCommand.Y_DEADBAND &&
absoluteNextThetaSpeed < DriveCommand.THETA_DEADBAND
) {

nextXSpeed = 0;
nextYSpeed = 0;
nextThetaSpeed = 0;

} else {

// Enforce maximum change in acceleration.
nextXSpeed = ControlsUtilities.enforceMaximumPositiveDelta(currentXSpeed, nextXSpeed, X_MAX_ACCELERATION);
nextYSpeed = ControlsUtilities.enforceMaximumPositiveDelta(currentYSpeed, nextYSpeed, Y_MAX_ACCELERATION);
nextThetaSpeed = ControlsUtilities.enforceMaximumPositiveDelta(currentThetaSpeed, nextThetaSpeed, THETA_MAX_ACCELERATION);

}


nextXSpeed = absoluteNextXSpeed < DriveCommand.X_DEADBAND ? 0 : ControlsUtilities.enforceMaximumPositiveDelta(currentXSpeed, nextXSpeed, X_MAX_ACCELERATION);
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nextYSpeed = absoluteNextYSpeed < DriveCommand.Y_DEADBAND ? 0 : ControlsUtilities.enforceMaximumPositiveDelta(currentYSpeed, nextYSpeed, Y_MAX_ACCELERATION);
nextThetaSpeed = absoluteNextThetaSpeed < DriveCommand.THETA_DEADBAND ? 0 : ControlsUtilities.enforceMaximumPositiveDelta(currentThetaSpeed, nextThetaSpeed, THETA_MAX_ACCELERATION);

this.speedMultiplier = slowMode.getAsBoolean() ? 0.25 : 1;

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12 changes: 12 additions & 0 deletions src/main/java/frc/robot/util/ControlsUtilities.java
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Expand Up @@ -24,6 +24,18 @@ public static double applyDeadband(double input, double deadband) {
return Math.abs(input) < deadband ? 0 : input;

}

public static double applyCircularDeadband (double xInput, double yInput, double deadband, boolean valueToRetrieve) {

double hypotenuse = Math.sqrt(Math.pow(xInput, 2) + Math.pow(yInput, 2));

if (Math.abs(hypotenuse) < deadband) {
if (valueToRetrieve) return xInput;
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else return yInput;
}

else return 0;
}

/**
* Returns the new value so long as its delta from the old value does not
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