Follower Changes (pure pain it's 3:20am rn) .·´¯(>▂<)´¯·. #159
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Go to sleep my goat 😴 |
DylanBPY
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May 30, 2026
paradoxical-duck
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May 30, 2026
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All good except minor changes here and there, and also need to switch this over from PDFL to PDS later. It is fine for now 👍
# Conflicts: # TeamCode/src/main/java/followers/constants/BSplineFollowerConstants.java
DylanBPY
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Jun 3, 2026
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PLEASE NOTE: Half of this overview stuff isn't right, just look at file changes and if you have questions message in core team
Path-Centric Control: Replaced field-centric xController and yController with a single lateralController (Cross-Track) and a driveController (Along-Track/Tangent). This eliminates the double-counting of forward error and preserves the (+/-) sign for derivative terms.
Waterfall Power Allocation: Implemented a prioritized motor power budget (1.0 max). The budget is allocated strictly in order of physical importance: Turn → Combined Lateral (Centripetal + Cross-Track) → Forward Drive.
Centripetal Force Scaling (CFS): Dynamically limits target velocity based on the radius of curvature and hardware traction limits (constants.getMaxLateralAccel()).
Combined Lateral Axis: Mathematically combined the centripetal feedforward power and the lateral corrective PID. This ensures that if the robot is trapped inside an arc, the corrective PID inherently relieves the centripetal saturation rather than fighting a 0.0 power floor.
Cascaded Deceleration: Added kA based braking. If the robot's physical velocity exceeds the safe curve velocity, it generates a negative acceleration value to actively pull power and brake into corners.
Read → Calculate → Write: Refactored the entire update() loop into a strict, state-safe pipeline to prevent mid-loop mutation bugs.
Infinite Line Fallback: The follower now gracefully handles overshooting the end of a path by projecting the robot's position onto the final tangent vector.