feat(drivetrain): smooth arcade drive inputs with asymmetric acceleration limiter#2
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IamCoder18 wants to merge 8 commits into
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feat(drivetrain): smooth arcade drive inputs with asymmetric acceleration limiter#2IamCoder18 wants to merge 8 commits into
IamCoder18 wants to merge 8 commits into
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IamCoder18
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Draft while I fix failing build and we verify on the robot, especially since we may want to tune the values further. |
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Smooth driver control by limiting the rate of change of forward and turn inputs via SlewRateLimiter filters (0.5 and 0.3 respectively).
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Checks pass; ready to test! |
IamCoder18
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Replaces SlewRateLimiter with a custom AccelerationLimiter (frc.robot.util) that operates on magnitude, snaps on deceleration, and applies a power curve on remaining distance for acceleration. Drive: maxRate=44, exponent=3 (~0.6 instant, ~0.85 in 0.5s). Turn: maxRate=40, exponent=4 (~0.5 instant, ~0.75 in 0.5s). Also fixes the arcadeDrive(xSpeed, zRotation) axis binding: previously getLeftX (turn) was passed as xSpeed and getLeftY (forward) as zRotation, so pushing forward made the robot turn. Wires Drivetrain.resetAccelerationLimiters() via .beforeStarting(...) on the default command so enable cycles don't leak limiter state.
- Clamp drive/turn outputs to +/- kDriveMaxPower/kTurnMaxPower - Fix Math.clamp min/max argument order - Tune acceleration limiter rates, curve exponents, and max power - Switch arcade drive turn axis to right stick X
Math.clamp was added in Java 21 but this project targets Java 17 (build.gradle:9-10).
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Very close to be ready to merge. Some testing has been done on the robot. We just need to deploy the latest code and verify it works, and we're good to merge! |
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Context
Smooth driver control by limiting the rate of change of joystick inputs to arcade drive.
Initial attempt with WPILib's
SlewRateLimiter(PR predecessor) didn't work well because it's symmetric. It limits both acceleration and deceleration, which makes the robot unsafe to stop quickly and is unsafe.Issue
Closes #1
Implementation
dt > 200 msand snaps to current input.Tuning
Constants are in
DrivetrainConstantsand can be easily modified by both drivers and programmers.