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Traction Control #192

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Traction Control #192

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23 changes: 22 additions & 1 deletion zebROS_ws/src/talon_swerve_drive_controller/src/swerve_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
#include <controller_interface/multi_interface_controller.h>
#include <geometry_msgs/TwistStamped.h>
#include <nav_msgs/Odometry.h>
#include <optional>
#include <periodic_interval_counter/periodic_interval_counter.h>
#include <sensor_msgs/Imu.h>
#include <realtime_tools/realtime_buffer.h>
Expand Down Expand Up @@ -173,9 +174,18 @@ bool init(hardware_interface::RobotHW *hw,
}
if (!controller_nh.getParam("stopping_ff", stopping_ff_))
{
ROS_ERROR("Could not read stoping_ff in talon swerve drive controller");
ROS_ERROR("Could not read stopping_ff in talon swerve drive controller");
return false;
}
double traction_dummy;
if (controller_nh.getParam("traction_gain_percent", traction_dummy))
{
traction_gain_percent_ = traction_dummy;
}
else {
ROS_WARN("Could not read traction_gain_percent in talon swerve drive controller");
traction_gain_percent_ = std::nullopt;
}

XmlRpc::XmlRpcValue wheel_coords;

Expand Down Expand Up @@ -1004,6 +1014,17 @@ bool percentOutDriveModeService(std_srvs::SetBool::Request &req, std_srvs::SetBo
}
}

float get_limited_velocity(const ros::Time &time, size_t index)
{
double goal_vel = speeds_angles_[index][0];
if (!traction_gain_percent_) { return goal_vel; }

double current_vel = latency_compensation_state_->getLatencyCompensatedValue(speed_names_[index], time);
if (fabs(goal_vel) <= fabs(current_vel)) { return goal_vel; }
return fmin(goal_vel, current_vel * (1.0 + *traction_gain_percent_));
}

std::optional<double> traction_gain_percent_; // percent 0-100, amount of increase that should be allowed

std::string name_; // Controller name, for debugging

Expand Down