Class AntiTipping

java.lang.Object

org.wpilib.math.controller.AntiTipping

public class AntiTipping
extends Object

AntiTipping provides a proportional correction system to prevent the robot from tipping over during operation.

It uses pitch and roll measurements to detect excessive inclination and computes a correction velocity in the opposite direction of the tilt. The resulting correction can be added to the robot’s translational velocity to help stabilize it.

Usage

1. Instantiate with initial configuration parameters.
2. Call calculate(Rotation3d) periodically (e.g. once per control loop).
3. Add the resulting correction to your drive command.

Tuning

All three parameters depend on the robot's center of gravity and drivetrain, so they are best found empirically:

• tippingThreshold: Drive the robot normally, including hard acceleration, braking, and turning, and record the largest pitch/roll magnitude observed. Set the threshold a few degrees above that worst case so normal driving does not trigger a correction, but well below the angle at which the robot actually tips.
• kp: The correction speed is kp * sin(θ), so kp controls how aggressively the robot drives out from under a tilt. Start small and increase until recovery is brisk without overshooting or oscillating.
• maxCorrectionSpeed: Cap the correction at a fraction of the drivetrain's maximum speed so the anti-tip response stays controllable and never overpowers the driver.

Constructor Summary

Constructors

Constructor	Description
AntiTipping(double kp, double tippingThreshold, double maxCorrectionSpeed)	Creates a new AntiTipping instance.

Method Summary

Modifier and Type	Method	Description
ChassisVelocities	calculate(Rotation3d attitude)	Updates tipping detection and computes the proportional correction.
double	getMaxCorrectionSpeed()	Gets the maximum correction velocity.
double	getP()	Gets the Proportional coefficient.
double	getTippingThreshold()	Gets the tipping detection threshold.
void	setMaxCorrectionSpeed(double speed)	Sets the maximum correction velocity.
void	setP(double kp)	Sets the Proportional coefficient.
void	setTippingThreshold(double threshold)	Sets the tipping detection threshold.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AntiTipping

public AntiTipping(double kp,
 double tippingThreshold,
 double maxCorrectionSpeed)

Creates a new AntiTipping instance.

Parameters:

kp - The proportional coefficient in meters per second. The P controller input is the sine of the inclination angle, and the output is in meters per second.

tippingThreshold - Tipping detection threshold in radians.

maxCorrectionSpeed - Maximum correction velocity in meters per second.

Method Details

setP

public void setP(double kp)

Sets the Proportional coefficient.

Parameters:

kp - The proportional coefficient in meters per second.

getP

public double getP()

Gets the Proportional coefficient.

Returns:

The proportional coefficient in meters per second.

setTippingThreshold

public void setTippingThreshold(double threshold)

Sets the tipping detection threshold.

Parameters:

threshold - The tipping threshold in radians.

getTippingThreshold

public double getTippingThreshold()

Gets the tipping detection threshold.

Returns:

The tipping threshold in radians.

setMaxCorrectionSpeed

public void setMaxCorrectionSpeed(double speed)

Sets the maximum correction velocity.

Parameters:

speed - The maximum correction speed in meters per second.

getMaxCorrectionSpeed

public double getMaxCorrectionSpeed()

Gets the maximum correction velocity.

Returns:

The maximum correction speed in meters per second.

calculate

public ChassisVelocities calculate(Rotation3d attitude)

Updates tipping detection and computes the proportional correction.

Parameters:

attitude - Current robot attitude as a Rotation3d.

Returns:

Correction ChassisVelocities to counteract tipping. Returns zeros if below threshold.