ramsete.hpp File Reference

RAMSETE / Pure Pursuit trajectory follower public API. More...

#include <functional>
#include <vector>
#include "LightLib/drive/trajectory.hpp"

Go to the source code of this file.

Classes
struct	light::PathEvent
	Mid-path action fired once when the trajectory passes its resolved time. More...
struct	light::RamseteConfig
	RAMSETE controller and chassis-geometry config. More...
struct	light::DriveFF
	Per-wheel feedforward + simple velocity-loop gains. More...

Namespaces
namespace	light
	Initialize once via init(); poll getPose/setPose from any task.

Enumerations
enum class	light::Follower { light::RAMSETE , light::PURE_PURSUIT }
	Path-following controller selector. More...

Functions
void	light::ramsete_configure (RamseteConfig rc, DriveFF ff, TrajConstraints defaultCons)
	Configure the RAMSETE follower.
bool	light::followTrajectory (const Trajectory &traj, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Follow a pre-generated Trajectory.
bool	light::followTrajectory (const std::vector< Waypoint > &wps, const TrajConstraints &cons, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Generate and follow a trajectory from waypoints.
bool	light::followTrajectory (const std::vector< Waypoint > &wps, const TrajConstraints &cons, std::vector< PathEvent > events, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Generate-and-follow variant with mid-path event triggers.
bool	light::followTrajectory (const std::vector< Waypoint > &wps, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Generate and follow a trajectory from waypoints, using the default TrajConstraints registered via ramsete_configure().
bool	light::followTrajectory (const std::vector< Waypoint > &wps, std::vector< PathEvent > events, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Same as above, with mid-path events.
bool	light::runJerryioPath (const char *csv, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Run a waypoint CSV (path.jerryio.com export or hand-written).
bool	light::runJerryioPath (const char *csv, std::vector< PathEvent > events, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Variant with mid-path event triggers.
bool	light::runJerryioPathFromSD (const char *filePath, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Read the CSV from the V5 SD card (e.g.
bool	light::runJerryioPathFromSD (const char *filePath, std::vector< PathEvent > events, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	SD-card variant with mid-path event triggers.
Characterization routines
Each is meant to be run as its own selectable auton.
void	light::characterize_kV_kA_kS (float maxVoltage=10.0f, float rampVps=0.25f)
	Identify kV / kA / kS by ramping voltage and recording velocity.
float	light::characterize_track_width (int rotations=10)
	Identify the effective track width by spinning in place.
float	light::characterize_a_lat_max ()
	Identify the maximum sustainable lateral acceleration.
void	light::characterize_friction (float maxVoltage=10.0f, float stepV=0.5f)
	Friction-FF auto-ID for non-trajectory PIDs.

Detailed Description

RAMSETE / Pure Pursuit trajectory follower public API.

The follower owns the motor groups exclusively for the duration of the motion and pauses EZ-Template's drive PID task.

Definition in file ramsete.hpp.