com.pathplanner.lib.util.HolonomicPathFollowerConfig Class Reference

Public Member Functions
	HolonomicPathFollowerConfig (PIDConstants translationConstants, PIDConstants rotationConstants, double maxModuleSpeed, double driveBaseRadius, ReplanningConfig replanningConfig, double period)
	HolonomicPathFollowerConfig (PIDConstants translationConstants, PIDConstants rotationConstants, double maxModuleSpeed, double driveBaseRadius, ReplanningConfig replanningConfig)
	HolonomicPathFollowerConfig (double maxModuleSpeed, double driveBaseRadius, ReplanningConfig replanningConfig, double period)
	HolonomicPathFollowerConfig (double maxModuleSpeed, double driveBaseRadius, ReplanningConfig replanningConfig)

Public Attributes
final PIDConstants	translationConstants
final PIDConstants	rotationConstants
final double	maxModuleSpeed
final double	driveBaseRadius
final ReplanningConfig	replanningConfig
final double	period

Detailed Description

Configuration for the holonomic path following commands

Constructor & Destructor Documentation

HolonomicPathFollowerConfig() [1/4]

com.pathplanner.lib.util.HolonomicPathFollowerConfig.HolonomicPathFollowerConfig	(	PIDConstants	translationConstants,
		PIDConstants	rotationConstants,
		double	maxModuleSpeed,
		double	driveBaseRadius,
		ReplanningConfig	replanningConfig,
		double	period )

Create a new holonomic path follower config

Parameters

translationConstants	com.pathplanner.lib.util.PIDConstants used for creating the translation PID controllers
rotationConstants	com.pathplanner.lib.util.PIDConstants used for creating the rotation PID controller
maxModuleSpeed	Max speed of an individual drive module in meters/sec
driveBaseRadius	The radius of the drive base in meters. This is the distance from the center of the robot to the furthest module.
replanningConfig	Path replanning configuration
period	Control loop period in seconds (Default = 0.02)

HolonomicPathFollowerConfig() [2/4]

com.pathplanner.lib.util.HolonomicPathFollowerConfig.HolonomicPathFollowerConfig	(	PIDConstants	translationConstants,
		PIDConstants	rotationConstants,
		double	maxModuleSpeed,
		double	driveBaseRadius,
		ReplanningConfig	replanningConfig )

Create a new holonomic path follower config

Parameters

translationConstants	com.pathplanner.lib.util.PIDConstants used for creating the translation PID controllers
rotationConstants	com.pathplanner.lib.util.PIDConstants used for creating the rotation PID controller
maxModuleSpeed	Max speed of an individual drive module in meters/sec
driveBaseRadius	The radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2
replanningConfig	Path replanning configuration

HolonomicPathFollowerConfig() [3/4]

com.pathplanner.lib.util.HolonomicPathFollowerConfig.HolonomicPathFollowerConfig	(	double	maxModuleSpeed,
		double	driveBaseRadius,
		ReplanningConfig	replanningConfig,
		double	period )

Create a new holonomic path follower config

Parameters

maxModuleSpeed	Max speed of an individual drive module in meters/sec
driveBaseRadius	The radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2
replanningConfig	Path replanning configuration
period	Control loop period in seconds (Default = 0.02)

HolonomicPathFollowerConfig() [4/4]

com.pathplanner.lib.util.HolonomicPathFollowerConfig.HolonomicPathFollowerConfig	(	double	maxModuleSpeed,
		double	driveBaseRadius,
		ReplanningConfig	replanningConfig )

Create a new holonomic path follower config

Parameters

maxModuleSpeed	Max speed of an individual drive module in meters/sec
driveBaseRadius	The radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2
replanningConfig	Path replanning configuration

Member Data Documentation

driveBaseRadius

final double com.pathplanner.lib.util.HolonomicPathFollowerConfig.driveBaseRadius

Radius of the drive base in meters

maxModuleSpeed

final double com.pathplanner.lib.util.HolonomicPathFollowerConfig.maxModuleSpeed

Max speed of a drive module in m/s

period

final double com.pathplanner.lib.util.HolonomicPathFollowerConfig.period

Period of the robot control loop in seconds

replanningConfig

final ReplanningConfig com.pathplanner.lib.util.HolonomicPathFollowerConfig.replanningConfig

Path replanning config

rotationConstants

final PIDConstants com.pathplanner.lib.util.HolonomicPathFollowerConfig.rotationConstants

PIDConstants used for rotation PID controllers

translationConstants

final PIDConstants com.pathplanner.lib.util.HolonomicPathFollowerConfig.translationConstants

PIDConstants used for translation PID controllers

---

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

• D:/SDASVN/2024/RaspberryPi/VSCode/Source/com/pathplanner/lib/util/HolonomicPathFollowerConfig.java