RamseteController Class Reference

#include <RamseteController.h>

Public Member Functions
	RamseteController ()
ChassisSpeeds	calculate (Pose2D currentPose, Pose2D desiredPose, double desiredLinearVelocity, double desiredAngularVelocity)

Detailed Description

The RamseteController class is used to implement the Ramsete control algorithm for path following, used by the Chassis to autonomously follow a certain path.

Constructor & Destructor Documentation

RamseteController()

RamseteController::RamseteController

(

)

Creates a new RamseteController with the default control parameters

Member Function Documentation

calculate()

ChassisSpeeds RamseteController::calculate	(	Pose2D	currentPose,
		Pose2D	desiredPose,
		double	desiredLinearVelocity,
		double	desiredAngularVelocity
	)

Calculates the optimal speeds to move the Chassis from its current position to a new position and acheive a certain velocity.

Parameters

currentPose	The Chassis's current position
desiredPose	The desired position to move the Chassis to
desiredLinearVelocity	The desired linear velocity of the Chassis, in RPM
desiredAngularVelocity	The desired angular velocity of the Chassis, in radians per second

Returns

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The documentation for this class was generated from the following files:

• core/util/algorithms/RamseteController.h
• core/util/algorithms/RamseteController.cpp