I have been able to use Path Planner to create a path, configure the autobuilder for Ramsete, and then get access that auto, but I can’t figure out where to input the PID constants. I see that the Holonomic constructor allows me to use them, should I be using that?
Only use the holonomic controller if you have a holonomic drivetrain. Ramsete does not use any PID constants. Previous versions did in order to convert the chassis speeds to motor voltage within the command and output that directly, but this has been removed because it makes the command much simpler. The command only outputs ChassisSpeeds now.
Thanks! As a final question, will my robot be able to drive properly/correct it’s positioning without any PID constants?
The PID constants were just for a velocity PID for each side of the drive train. The Ramsete controller has its own form of feedback for maintaining accuracy independent of this. This will still correct for errors while path following regardless of how you actually output speeds to the drive train. Having velocity PID for your drive motors could make the controller’s job easier, but its not required.
Wonderful, thank you so much!
I tried to use path planner’s Ramsete controller without the PID controllers and feed forward and the path accuracy was not optimal. Do you have any suggestions? I also tried to use a feed forward and the encoder’s PID controller, but the robot’s autonomous’ would be very inaccurate and inconsistent.
Link to repo: Lambert Robotics / 2024_frc_season · GitLab