Add TrapezoidController for velocity on a trapezoidal graph #120
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riftEmber
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| private double maxVelocity; | ||
| private double accelerationEnd; | ||
| private double decelerationStart; | ||
| private double decelerationEnd; |
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Should just be a max acceleration...
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Why do none of these have getters or setters?
riftEmber
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| private double maxVelocity; | ||
| private double accelerationEnd; | ||
| private double decelerationStart; | ||
| private double decelerationEnd; |
| } else if (input >= decelerationStart && input < decelerationEnd) { | ||
| return maxVelocity - (maxVelocity - endSpeed) | ||
| * (input - decelerationStart) | ||
| / (decelerationEnd - decelerationStart); |
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Did you not fix this yet? If this isn't fixed today, we're not adding it before competition
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I don't know how to fix it |
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I have commented on what needs to be fixed. This needs to be done today, don't close it. Things that this needs to take in as parameters: A way to get current distance (input) |
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| private double maxAcceleration; | ||
| private double maxDeceleration; | ||
| private double time; | ||
| private boolean isTrapezoidal; |
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There should be a section for fields that are constants, and fields that are updated. The getters and setters for updated fields should be synchronized
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| @Override | ||
| public void onEnable() { | ||
| double highestVelocity = Math.sqrt(2 * maxAcceleration * getSetpoint() / 2); |
| return (maxVelocity - endVelocity) * (time / (2 * decelerationStart)); | ||
| } | ||
| } | ||
| } |
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So my idea for the algorithm:
On enable, First check if it is trapezoidal by seeing if the intersection of the start and end acceleration lines is above the travel speed (be careful because both the start and end acceleration could theoretically be positive or negative). If it is trapezoidal, look at the start speed, end speed, and travel speed. You can figure out when you should stop the initial acceleration (positive or negative) by looking at start speed, travel speed and max acceleration. You can figure out how long from the end of the whole run to start the end acceleration the same way. You can use both of these times, plus the travel speeds and initial/end speeds to figure out the area (distance) in the initial and end acceleration periods. Then all you have to do is figure out how long the travel period has to be. Actually you might not need the initial check for trapezoidal, because if the distances combined are greater than the total travel distance then you know you have to do something different. Also you have to be careful because it is possible for the start and end speed to be too far apart to work in a particular distance. You would need to extend this to work for very short movements where you don't reach the travel speed
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J-J-Chen
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amikhalev
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Closes #109