Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix oscillating velocity for differential drive #1052

Merged
merged 2 commits into from
Feb 6, 2025
Merged

Fix oscillating velocity for differential drive #1052

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
3dbee70
Module acceleration should always be positive when calculating path t…
icros-personal Feb 6, 2025
6d2a646
Fix cpp implementation
icros-personal Feb 6, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions lib/trajectory/trajectory.dart
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -219,7 +219,7 @@ class PathPlannerTrajectory {
var accelStates =
robotConfig.kinematics.toSwerveModuleStates(chassisAccel);
for (int m = 0; m < numModules; m++) {
num moduleAcceleration = accelStates[m].speedMetersPerSecond;
num moduleAcceleration = accelStates[m].speedMetersPerSecond.abs();

// Calculate the module velocity at the current state
// vf^2 = v0^2 + 2ad
Expand Down Expand Up @@ -371,7 +371,7 @@ class PathPlannerTrajectory {

// Use the robot accelerations to calculate how each module should decelerate
for (int m = 0; m < numModules; m++) {
num moduleAcceleration = accelStates[m].speedMetersPerSecond;
num moduleAcceleration = accelStates[m].speedMetersPerSecond.abs();

// Calculate the module velocity at the current state
// vf^2 = v0^2 + 2ad
Expand Down
4 changes: 2 additions & 2 deletions pathplannerlib-python/pathplannerlib/trajectory.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -564,7 +564,7 @@ def _forwardAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
state.pose.rotation())
accelStates = config.toSwerveModuleStates(chassisAccel)
for m in range(config.numModules):
moduleAcceleration = accelStates[m].speed
moduleAcceleration = abs(accelStates[m].speed)

# Calculate the module velocity at the current state
# vf^2 = v0^2 + 2ad
Expand Down Expand Up @@ -669,7 +669,7 @@ def _reverseAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
state.pose.rotation())
accelStates = config.toSwerveModuleStates(chassisAccel)
for m in range(config.numModules):
moduleAcceleration = accelStates[m].speed
moduleAcceleration = abs(accelStates[m].speed)

# Calculate the module velocity at the current state
# vf^2 = v0^2 + 2ad
Expand Down
4 changes: 2 additions & 2 deletions pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -382,7 +382,7 @@ private static void forwardAccelPass(
accelVec.getX(), accelVec.getY(), angularAccel, state.pose.getRotation());
var accelStates = config.toSwerveModuleStates(chassisAccel);
for (int m = 0; m < config.numModules; m++) {
double moduleAcceleration = accelStates[m].speedMetersPerSecond;
double moduleAcceleration = Math.abs(accelStates[m].speedMetersPerSecond);

// Calculate the module velocity at the current state
// vf^2 = v0^2 + 2ad
Expand Down Expand Up @@ -527,7 +527,7 @@ private static void reverseAccelPass(
state.pose.getRotation());
var accelStates = config.toSwerveModuleStates(chassisAccel);
for (int m = 0; m < config.numModules; m++) {
double moduleAcceleration = accelStates[m].speedMetersPerSecond;
double moduleAcceleration = Math.abs(accelStates[m].speedMetersPerSecond);

// Calculate the module velocity at the current state
// vf^2 = v0^2 + 2ad
Expand Down
4 changes: 2 additions & 2 deletions pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -420,7 +420,7 @@ void PathPlannerTrajectory::forwardAccelPass(
auto accelStates = config.toSwerveModuleStates(chassisAccel);
for (size_t m = 0; m < config.numModules; m++) {
units::meters_per_second_squared_t moduleAcceleration {
accelStates[m].speed() };
units::math::abs(accelStates[m].speed)() };

// Calculate the module velocity at the current state
// vf^2 = v0^2 + 2ad
Expand Down Expand Up @@ -580,7 +580,7 @@ void PathPlannerTrajectory::reverseAccelPass(
auto accelStates = config.toSwerveModuleStates(chassisAccel);
for (size_t m = 0; m < config.numModules; m++) {
units::meters_per_second_squared_t moduleAcceleration {
accelStates[m].speed() };
units::math::abs(accelStates[m].speed)() };

// Calculate the module velocity at the current state
// vf^2 = v0^2 + 2ad
Expand Down