Dynamic auto visionless #47

Awesomeplayer165 · 2024-02-19T06:53:43Z

No description provided.

convert local 4 autos race to deadlines

local 4 doesn't work due to an issue with commands

…into leds

…priority, and blacklist

…he dashboard

…onless

Awesomeplayer165

needs revision.

Awesomeplayer165 · 2024-02-29T07:06:03Z

src/main/java/frc/robot/AutoManager.java

+        options.add(new PathPlannerAuto(autoName));
+      } catch (Exception e) {
+        System.out.println("Error loading auto: " + autoName);
+        e.printStackTrace();


never prints out the stack trace. remove?

Awesomeplayer165 · 2024-02-29T07:09:18Z

src/main/java/frc/robot/utils/dynamicauto/ChoreoBuilder.py

+
+# Assuming locations is a list of dictionaries where each dictionary represents a location
+# L,M, and R were change to S1, S2, and S4 with an S3 being added.
+locations = [


add image in comments of referencing letters?

Awesomeplayer165 · 2024-02-29T07:11:03Z

src/main/java/frc/robot/utils/dynamicauto/ChoreoBuilder.py

@@ -0,0 +1,117 @@
+import json
+


Suggested change

# File for constructing trajectories between each node (note and a shooting location).

# Locations each have an `allowed_destinations`, which states where it can possibly go to. Right now, this is set to every destination except itself.

Awesomeplayer165 · 2024-02-29T07:11:46Z

src/main/java/frc/robot/utils/dynamicauto/ChoreoBuilder.py

+    {"name": "C4", "x": 7.68, "y": 2.457, "angle": 0, "allowed_destinations": ["W1", "W2", "W3", "S1", "S2", "S3", "S4", "C1", "C2", "C3",  "C5"]},
+    {"name": "C5", "x": 7.68, "y": 0.787, "angle": 0, "allowed_destinations": ["W1", "W2", "W3", "S1", "S2", "S3", "S4", "C1", "C2", "C3", "C4"]},
+]
+


Suggested change

# obstacles are preset around the corners of the stage for all nodes. this mitigates about 50% of the work that we have to do.

Awesomeplayer165 · 2024-02-29T07:13:07Z

src/main/java/frc/robot/utils/dynamicauto/ChoreoBuilder.py

+    #else:
+    #    midPoint = next((mid for mid in midPoints if mid["name"] == end_name), None)


Suggested change

#else:

# midPoint = next((mid for mid in midPoints if mid["name"] == end_name), None)

# previously used for connecting a node to a node to a node. usually used as note to shootingLocation to note.

#else:

# midPoint = next((mid for mid in midPoints if mid["name"] == end_name), None)

Awesomeplayer165 · 2024-02-29T07:25:20Z

src/main/java/frc/robot/utils/dynamicauto/Note.java

+    this.pose = new Pose2d();
+    this.blacklisted = true;
+    this.priority = -1;
+    this.name = "Uninitialized";
+    this.isThere = false;


Suggested change

this.pose = new Pose2d();

this.blacklisted = true;

this.priority = -1;

this.name = "Uninitialized";

this.isThere = false;

this("Uninitialized");

Awesomeplayer165 · 2024-02-29T07:26:31Z

src/main/java/frc/robot/utils/dynamicauto/RemoveTrajSplits.py

should actually keep this as it could be very helpful.

Awesomeplayer165 · 2024-02-29T07:26:58Z

src/main/java/frc/robot/utils/dynamicauto/ShootingLocation.java

+    this.pose = new Pose2d();
+    this.name = "Uninitialized";


Suggested change

this.pose = new Pose2d();

this.name = "Uninitialized";

this(new Pose2d(), "Uninitialized");

Awesomeplayer165 · 2024-02-29T07:27:19Z

src/main/java/frc/robot/utils/dynamicauto/ShootingLocation.java

+    this.pose = new Pose2d();
+    this.name = "Uninitialized";


concerned about the usage of Uninitialized a lot

Awesomeplayer165 · 2024-02-29T07:27:38Z

src/main/java/frc/robot/utils/dynamicauto/ShootingLocation.java

+    if (DriverStation.getAlliance().isPresent()) {
+      if (DriverStation.getAlliance().get() == Alliance.Red) {
+        return new Pose2d(
+            16.5410515 - this.pose.getX(),


provide explanation for this number?

Lyssia-Seiden · 2024-02-29T07:28:18Z

src/main/java/frc/robot/AutoManager.java

+
+    for (String autoName : autoNames) {
+      try {
+        options.add(new PathPlannerAuto(autoName));


should this also handle selecting dynamic autos?

Lyssia-Seiden · 2024-02-29T07:34:19Z

src/main/java/frc/robot/utils/dynamicauto/ChoreoBuilder.py

+        "trackWidth": 0.5778496879611685,
+        "bumperLength": 0.8762995267982555,
+        "bumperWidth": 0.8762995267982555,
+        "wheelRadius": 0.050799972568014815


check these numbers

Lyssia-Seiden · 2024-02-29T07:34:29Z

src/main/java/frc/robot/utils/dynamicauto/ChoreoBuilder.py

+
+# Write the data to a JSON file
+# C:\\Users\\Robotics\\Desktop\\Crescendo\\src\\main\\java\\frc\\robot\\utils\\dynamicauto\\data.chor
+with open('C:\\Users\\stoopi_poopy\\Crescendo\\src\\main\\java\\frc\\robot\\utils\\dynamicauto\\data.chor', 'w') as f:


dont hardcode this

Lyssia-Seiden · 2024-02-29T07:35:17Z

src/main/java/frc/robot/utils/dynamicauto/DynamicAuto.java

+    new Note(new Pose2d(7.538, 5.7, Rotation2d.fromRadians(Math.PI)), false, 0, "C2", true), // c2
+    new Note(new Pose2d(7.538, 4.1, Rotation2d.fromRadians(Math.PI)), false, 1, "C3", true), // c3
+    new Note(new Pose2d(7.538, 2.5, Rotation2d.fromRadians(Math.PI)), false, 2, "C4", true), // c4
+    new Note(new Pose2d(7.538, 0.7, Rotation2d.fromRadians(Math.PI)), false, 0, "C5", true) // c5


might want to figure out a way to share these between py and java

Lyssia-Seiden · 2024-02-29T07:36:03Z

src/main/java/frc/robot/utils/dynamicauto/ChoreoBuilder.py

+    {"name": "Amp Side", "x": 0.71, "y": 6.72, "angle": 1.04, "allowed_destinations": ["W1", "W2", "W3", "C1", "C2", "C3", "C4", "C5"]},
+    {"name": "Center", "x": 1.35, "y": 5.56, "angle": 0, "allowed_destinations": ["W1", "W2", "W3", "C1", "C2", "C3", "C4", "C5"]},
+    {"name": "Stage Side", "x": 0.71, "y": 4.36, "angle": -1.04, "allowed_destinations": ["W1", "W2", "W3", "C1", "C2", "C3", "C4", "C5"]},
+    {"name": "W1", "x": 2.3, "y": 6.757, "angle": 0.39, "allowed_destinations": [ "W2", "W3", "S1", "S2", "S3", "S4", "C1", "C2", "C3", "C4", "C5"]},


consider making the wing notes aligned to the speaker so you can shoot directly from them

Lyssia-Seiden · 2024-02-29T07:37:53Z

src/main/java/frc/robot/utils/dynamicauto/DynamicAuto.java

+    note.setPriority(priority.getAsInt());
+  }
+
+  public static Command DynamicToNote(Supplier<Pose2d> curPose) {


lowerCamelCase

Lyssia-Seiden · 2024-02-29T07:38:33Z

src/main/java/frc/robot/utils/dynamicauto/DynamicAuto.java

+      Supplier<Pose2d> curPose, ShootingLocation[] shootingLocations) {
+
+    ShootingLocation closestLocation = new ShootingLocation("shooting shooting");
+    double shortestDistance = 9999999;


use Double.MAX_VALUE instead of 99999999

Lyssia-Seiden · 2024-02-29T07:39:06Z

src/main/java/frc/robot/utils/dynamicauto/DynamicAuto.java

+
+  public static Note getAbsoluteClosestNote(Supplier<Pose2d> curPose) {
+    Note closestNote = new Note();
+    double shortestDistance = 99999999;


Lyssia-Seiden · 2024-02-29T07:40:17Z

src/main/java/frc/robot/utils/dynamicauto/SwapHeadings.py

+    """
+    Things to Change for each path
+    1. Clear Trajectory array
+    2. Reverse headings for each waypoint


why do we need this

sorry was my internal thoughts.. we can remove

Awesomeplayer165 and others added 30 commits February 8, 2024 16:13

add AutoChooser class

5358b26

Add PathPlanner's AutoChooser

4c98980

abstract chooser to autoManager, add NamedCommand

b0d3ce8

convert local 4 autos race to deadlines

added static auto choreo path

c49d46b

added teleop command bindings

c440621

added rumble on pickup

638ee32

added flywheel idle

7a8ba88

Merge branch 'main' into teleop-bindings

942316c

added ledsubsystem

ff81c2c

added leds to indicate when piece picked up

69efb46

add custom auto chooser

0ecc5c0

local 4 doesn't work due to an issue with commands

added trap sequence leds

1d09aca

removed extraneous controller binding

50f91f4

added second led strip to ledioreal

1e48015

Merge branch 'leds' into bring-up

aba6890

added lediosim

4c5f5af

Merge branch 'main' into leds

5de852b

run spotless

62bbb88

added sim ledio

bd3b373

Merge branch 'leds' of https://github.com/HighlanderRobotics/Crescendo …

77729e9

…into leds

updated ledioreal to reflect wiring changes

105d1e2

run spotless

1d82fd6

merged leds into bring-up

5f0836d

response to pr feedback

adb521c

merge with ci format

1bf40d9

added dynamicAuto folder, and can determine closest note by distane, …

82f22bc

…priority, and blacklist

put talons on canivore

87759b3

removed automatic logging of virtual target bc of loop times

43de399

robot can determine the closest shooting location based on its pose

17f36d5

added swerve offsets and put cancoders and gyro on canivore

4cca5e2

Awesomeplayer165 added 3 commits February 18, 2024 22:36

remove new path from traj folder from created py script

d8cb5f0

remove uno and dos debug artifact files

75fb24e

removed segment .1.traj ending files (140/280)

d9e07df

Awesomeplayer165 linked an issue Feb 19, 2024 that may be closed by this pull request

Auto: Dynamic Pickup #13

Open

Lewis-Seiden and others added 20 commits February 19, 2024 20:48

Merge branch 'leds' into bring-up

a9e677a

adjust climb leds

3e7f6ae

redid indexing logic

55eab86

updated makePath method to create a path between notes

11cc1e1

put correct folder path for removing traj splits

933067b

added getAbsoluteClosestNote and blacklist/whitelist on bumpers

3cf7075

added more path creators and added c4/5 to s1/2

f664e4f

blacklist protection for makeNoteToNote

94d1c9a

added uninitalized saftey and dynamic auto demo

65f907a

added a test command

a9cfeb9

added more uninitialized protection and updateWhitelist

413b354

added a way to change the priorities of a note during runtime withe t…

2031a40

…he dashboard

empty commit

935f7f6

Merge remote-tracking branch 'origin/bring-up' into dynamic-auto-visi…

aa83bae

…onless

implemented dynamic auto in sim with notes existing or not

5124a32

fixed dynamic path generating

8eb6f1d

added a way to flip notes for red alliance

7aa0084

edited choreo paths so robot doesn't run over notes

d866a42

added getting alliance spicific pose for notes and shooting location

b82eeee

add more trajectory logging

1a8c77d

Awesomeplayer165 marked this pull request as ready for review February 26, 2024 08:58

Awesomeplayer165 added 2 commits February 28, 2024 22:10

remove generated trajectory and data.chor files

e9c92d9

remove other pre-generated trajectories

4d0b37b

Awesomeplayer165 mentioned this pull request Feb 29, 2024

add trajectory files from dynamic-auto-visionless #53

Open

Awesomeplayer165 commented Feb 29, 2024

View reviewed changes

Lyssia-Seiden reviewed Feb 29, 2024

View reviewed changes



	# File for constructing trajectories between each node (note and a shooting location).
	# Locations each have an `allowed_destinations`, which states where it can possibly go to. Right now, this is set to every destination except itself.



	# obstacles are preset around the corners of the stage for all nodes. this mitigates about 50% of the work that we have to do.

		#else:
		# midPoint = next((mid for mid in midPoints if mid["name"] == end_name), None)

	this.pose = new Pose2d();
	this.name = "Uninitialized";
	this(new Pose2d(), "Uninitialized");

Dynamic auto visionless #47

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Dynamic auto visionless #47

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Awesomeplayer165 commented Feb 19, 2024

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