Remove slew rate limiting from throttle map

lasarobotics · Dec 20, 2023 · b5f4a1e · b5f4a1e
1 parent 9df0d71
commit b5f4a1e
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Showing 2 changed files with 2 additions and 13 deletions.
diff --git a/src/main/java/org/lasarobotics/drive/ThrottleMap.java b/src/main/java/org/lasarobotics/drive/ThrottleMap.java
@@ -9,33 +9,24 @@
 import org.apache.commons.math3.analysis.polynomials.PolynomialSplineFunction;
 
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.filter.SlewRateLimiter;
 
 /** Throttle map */
 public class ThrottleMap {
   private final double MIN_DEADBAND = 0.001;
   private final double MAX_DEADBAND = 0.2;
-  private final double MIN_ACCELERATION_TIME = 0.1;
-  private final double MAX_ACCELERATION_TIME = 10.0;
 
   private double m_deadband = 0.0;
 
   private HashMap<Double, Double> m_throttleInputMap = new HashMap<Double, Double>();
-  private SlewRateLimiter m_throttleSlewLimiter;
 
   /**
    * Create an instance of ThrottleMap
    * @param throttleInputCurve Spline function characterising throttle input curve
    * @param deadband Deadband for controller input [+0.001, +0.2]
-   * @param accelerationTime Number of seconds to take to get to max velocity [+0.1, +10.0]
    * @param maxLinearSpeed maximum linear speed of robot (m/s)
    */
-  public ThrottleMap(PolynomialSplineFunction throttleInputCurve,
-    double deadband, double accelerationTime, double maxLinearSpeed) {
+  public ThrottleMap(PolynomialSplineFunction throttleInputCurve, double deadband, double maxLinearSpeed) {
     this.m_deadband = MathUtil.clamp(deadband, MIN_DEADBAND, MAX_DEADBAND);
-    this.m_throttleSlewLimiter = new SlewRateLimiter(
-      maxLinearSpeed / MathUtil.clamp(accelerationTime, MIN_ACCELERATION_TIME, MAX_ACCELERATION_TIME)
-    );
 
     // Fill throttle input hashmap
     for (int i = 0; i <= 1000; i++) {
@@ -58,6 +49,6 @@ public double throttleLookup(double throttleLookup) {
     throttleLookup = Math.copySign(Math.floor(Math.abs(throttleLookup) * 1000) / 1000, throttleLookup) + 0.0;
     throttleLookup = MathUtil.clamp(throttleLookup, -1.0, +1.0);
 
-    return m_throttleSlewLimiter.calculate(m_throttleInputMap.get(throttleLookup));
+    return m_throttleInputMap.get(throttleLookup);
   }
 }
diff --git a/src/test/java/org/lasarobotics/drive/ThrottleMapTest.java b/src/test/java/org/lasarobotics/drive/ThrottleMapTest.java
@@ -21,7 +21,6 @@
 public class ThrottleMapTest {
   private final double DELTA = 1e-5;
   private final double CONTROLLER_DEADBAND = 0.10;
-  private final double ACCELERATION_TIME = 0.1;
   private final double[] DRIVE_THROTTLE_INPUT_CURVE_X = { 0.0, 0.100, 0.200, 0.300, 0.400, 0.500, 0.600, 0.700, 0.800, 0.900, 1.000 };
   private final double[] DRIVE_THROTTLE_INPUT_CURVE_Y = { 0.0, 0.200, 0.400, 0.600, 0.800, 1.000, 1.200, 1.400, 1.600, 1.800, 2.000 };
   private final SplineInterpolator SPLINE_INTERPOLATOR = new SplineInterpolator();
@@ -34,7 +33,6 @@ public void setup() {
     m_throttleMap = new ThrottleMap(
       DRIVE_THROTTLE_INPUT_CURVE,
       CONTROLLER_DEADBAND,
-      ACCELERATION_TIME,
       DRIVE_THROTTLE_INPUT_CURVE_Y[DRIVE_THROTTLE_INPUT_CURVE_Y.length - 1]
     );
   }