From 855597eb20fcd3a4a7e00b2ef2820434b927f05c Mon Sep 17 00:00:00 2001 From: Chris Reed Date: Sat, 1 Feb 2025 11:30:07 -0600 Subject: [PATCH 01/28] Initial choreo projects (Field too small) --- choreo/Blue Top.traj | 509 +++++++++++++++++++++++++++++++++++++++++++ choreo/autos.chor | 78 +++++++ 2 files changed, 587 insertions(+) create mode 100644 choreo/Blue Top.traj create mode 100644 choreo/autos.chor diff --git a/choreo/Blue Top.traj b/choreo/Blue Top.traj new file mode 100644 index 0000000..164eca0 --- /dev/null +++ b/choreo/Blue Top.traj @@ -0,0 +1,509 @@ +{ + "name":"Blue Top", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.603495121002197, "y":7.069312572479248, "heading":3.141592653589793, "intervals":99, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.412550449371338, "y":6.8442158699035645, "heading":-1.5556458979905006, "intervals":73, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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"x":3.29933, "y":6.07453, "heading":-1.04123, "vx":0.58849, "vy":-0.25861, "omega":-0.02316, "ax":0.00015, "ay":0.00029, "alpha":0.00016, "fx":[0.00222,0.00171,0.00197,0.00248], "fy":[0.00427,0.00397,0.00352,0.00382]}, + {"t":21.60192, "x":3.32767, "y":6.06207, "heading":-1.04234, "vx":0.5885, "vy":-0.2586, "omega":-0.02315, "ax":0.00015, "ay":0.00029, "alpha":0.00016, "fx":[0.00221,0.00171,0.00197,0.00248], "fy":[0.00426,0.00397,0.00352,0.00381]}, + {"t":21.65009, "x":3.35601, "y":6.04962, "heading":-1.04346, "vx":0.58851, "vy":-0.25858, "omega":-0.02314, "ax":0.00015, "ay":0.00029, "alpha":0.00016, "fx":[0.00221,0.0017,0.00196,0.00247], "fy":[0.00426,0.00396,0.00352,0.00381]}, + {"t":21.69825, "x":3.38436, "y":6.03717, "heading":-1.04457, "vx":0.58851, "vy":-0.25857, "omega":-0.02313, "ax":0.00015, "ay":0.00029, "alpha":0.00016, "fx":[0.0022,0.0017,0.00196,0.00246], "fy":[0.00425,0.00396,0.00352,0.00381]}, + {"t":21.74641, "x":3.4127, "y":6.02471, "heading":-1.04569, "vx":0.58852, "vy":-0.25855, "omega":-0.02313, "ax":0.00015, "ay":0.00029, "alpha":0.00016, "fx":[0.00219,0.0017,0.00195,0.00245], "fy":[0.00425,0.00396,0.00352,0.0038]}, + {"t":21.79457, "x":3.44104, "y":6.01226, "heading":-1.0468, "vx":0.58853, "vy":-0.25854, "omega":-0.02312, "ax":0.00015, "ay":0.00029, "alpha":0.00016, "fx":[0.00219,0.0017,0.00195,0.00244], "fy":[0.00424,0.00396,0.00352,0.0038]}, + {"t":21.84273, "x":3.46939, "y":5.99981, "heading":-1.04791, "vx":0.58853, "vy":-0.25853, "omega":-0.02311, "ax":0.00015, "ay":0.00028, "alpha":0.00015, "fx":[0.00218,0.00169,0.00194,0.00243], "fy":[0.00423,0.00395,0.00352,0.0038]}, + {"t":21.89089, "x":3.49773, "y":5.98736, "heading":-1.04903, "vx":0.58854, "vy":-0.25851, "omega":-0.0231, "ax":0.00015, "ay":0.00028, "alpha":0.00015, "fx":[0.00218,0.00169,0.00194,0.00242], "fy":[0.00423,0.00395,0.00352,0.0038]}, + {"t":21.93905, "x":3.52608, "y":5.97491, "heading":-1.05014, "vx":0.58855, "vy":-0.2585, "omega":-0.0231, "ax":0.00006, "ay":0.00028, "alpha":0.00001, "fx":[0.00082,0.00078,0.0008,0.00083], "fy":[0.00389,0.00387,0.00383,0.00386]}, + {"t":21.98721, "x":3.55442, "y":5.96246, "heading":-1.05125, "vx":0.58855, "vy":-0.25849, "omega":-0.0231, "ax":-0.07409, "ay":0.01649, "alpha":-0.12423, "fx":[-1.10536,-0.71008,-0.91104,-1.30631], "fy":[-0.06436,0.16174,0.51311,0.28701]}, + {"t":22.03537, "x":3.58268, "y":5.95003, "heading":-1.05236, "vx":0.58498, "vy":-0.25769, "omega":-0.02908, "ax":-12.14657, "ay":5.35069, "alpha":0.60379, "fx":[-164.2808,-165.78951,-166.28819,-164.79242], "fy":[75.1538,72.46176,70.45531,73.17322]}, + {"t":22.08353, "x":3.59677, "y":5.94383, "heading":-1.05376, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[ + {"name":"Output Coral", "from":{"target":2, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Output Coral", "from":{"target":6, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Intake Coral", "from":{"target":3, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Intake Coral", "from":{"target":5, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] +} diff --git a/choreo/autos.chor b/choreo/autos.chor new file mode 100644 index 0000000..0bda8e3 --- /dev/null +++ b/choreo/autos.chor @@ -0,0 +1,78 @@ +{ + "name":"autos", + "version":1, + "type":"Swerve", + "variables":{ + "expressions":{}, + "poses":{} + }, + "config":{ + "frontLeft":{ + "x":{ + "exp":"18 in", + "val":0.4572 + }, + "y":{ + "exp":"16 in", + "val":0.4064 + } + }, + "backLeft":{ + "x":{ + "exp":"-18 in", + "val":-0.4572 + }, + "y":{ + "exp":"16 in", + "val":0.4064 + } + }, + "mass":{ + "exp":"120 lbs", + "val":54.4310844 + }, + "inertia":{ + "exp":"6 kg m ^ 2", + "val":6.0 + }, + "gearing":{ + "exp":"6.5", + "val":6.5 + }, + "radius":{ + "exp":"1.5 in", + "val":0.038099999999999995 + }, + "vmax":{ + "exp":"1070 RPM", + "val":112.05013797803596 + }, + "tmax":{ + "exp":"1.2 N * m", + "val":1.2 + }, + "cof":{ + "exp":"1.5", + "val":1.5 + }, + "bumper":{ + "front":{ + "exp":"36 in", + "val":0.9144 + }, + "side":{ + "exp":"32 in", + "val":0.8128 + }, + "back":{ + "exp":"36 in", + "val":0.9144 + } + }, + "differentialTrackWidth":{ + "exp":"22 in", + "val":0.5588 + } + }, + "generationFeatures":[] +} From 64d9f986f704ff92aacffb87195e806a71d793d4 Mon Sep 17 00:00:00 2001 From: Chris Reed Date: Mon, 3 Feb 2025 18:24:03 -0600 Subject: [PATCH 02/28] Starting to put in auto factory/chooser --- src/main/java/frc/robot/RobotContainer.java | 26 +++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d86715e..57a19de 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,11 +6,17 @@ import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.button.JoystickButton; +import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; import frc.robot.subsystems.swervedrive.SwerveSubsystem; import java.io.File; + +import choreo.auto.AutoChooser; +import choreo.auto.AutoFactory; import swervelib.SwerveInputStream; /* @@ -25,6 +31,9 @@ public class RobotContainer { private final CommandXboxController m_driverController = new CommandXboxController(0); + private final AutoFactory autoFactory; + private final AutoChooser autoChooser; + // Configure drive input stream SwerveInputStream driveInput = SwerveInputStream.of( @@ -42,6 +51,23 @@ public RobotContainer() { // Set default drive command m_drive.setDefaultCommand(m_drive.driveFieldOriented(driveInput)); + + // Set up Auto Factory for Choreo + autoFactory = new AutoFactory( + m_drive::getPose, // A function that returns the current robot pose + m_drive::resetOdometry, // A function that resets the current robot pose to the provided Pose2d + m_drive::drive(), // The drive subsystem trajectory follower + true, // If alliance flipping should be enabled + m_drive // The drive subsystem + ); + autoChooser = new AutoChooser(); + + //autoChooser.addRoutine("Routine 1", this::routine1); + //autoChooser.addCmd("Command 1", this::command1); + + SmartDashboard.putData(autoChooser); + + RobotModeTriggers.autonomous().whileTrue(autoChooser.selectedCommandScheduler()); } /** From 7a353d4c049d60a1bd44af61f4240a7346f4e29e Mon Sep 17 00:00:00 2001 From: Chris Reed Date: Sat, 8 Feb 2025 12:39:43 -0600 Subject: [PATCH 03/28] choreo stuff --- .vscode/launch.json | 12 +- build.gradle | 2 +- choreo/Blue Top.traj | 620 ++++-------------- choreo/autos.chor | 34 +- simgui-ds.json | 3 +- simgui.json | 1 + src/main/deploy/choreo/Blue Top.traj | 509 ++++++++++++++ src/main/deploy/choreo/autos.chor | 78 +++ src/main/deploy/pathplanner/navgrid.json | 1 + .../pathplanner/paths/Example Path.path | 54 ++ src/main/deploy/pathplanner/settings.json | 32 + src/main/java/frc/robot/Robot.java | 11 + src/main/java/frc/robot/RobotContainer.java | 34 +- .../commands/autos/GenericAutoCommand.java | 25 + .../swervedrive/SwerveSubsystem.java | 5 + 15 files changed, 896 insertions(+), 525 deletions(-) create mode 100644 src/main/deploy/choreo/Blue Top.traj create mode 100644 src/main/deploy/choreo/autos.chor create mode 100644 src/main/deploy/pathplanner/navgrid.json create mode 100644 src/main/deploy/pathplanner/paths/Example Path.path create mode 100644 src/main/deploy/pathplanner/settings.json create mode 100644 src/main/java/frc/robot/commands/autos/GenericAutoCommand.java diff --git a/.vscode/launch.json b/.vscode/launch.json index c9c9713..52c26cc 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -4,18 +4,24 @@ // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", "configurations": [ - + { + "type": "java", + "name": "Main", + "request": "launch", + "mainClass": "frc.robot.Main", + "projectName": "Masha2025" + }, { "type": "wpilib", "name": "WPILib Desktop Debug", "request": "launch", - "desktop": true, + "desktop": true }, { "type": "wpilib", "name": "WPILib roboRIO Debug", "request": "launch", - "desktop": false, + "desktop": false } ] } diff --git a/build.gradle b/build.gradle index 146e88f..bea4ba7 100644 --- a/build.gradle +++ b/build.gradle @@ -35,7 +35,7 @@ deploy { frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' - deleteOldFiles = false // Change to true to delete files on roboRIO that no + deleteOldFiles = true // Change to true to delete files on roboRIO that no // longer exist in deploy directory of this project } } diff --git a/choreo/Blue Top.traj b/choreo/Blue Top.traj index 164eca0..9d11948 100644 --- a/choreo/Blue Top.traj +++ b/choreo/Blue Top.traj @@ -3,13 +3,12 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.603495121002197, "y":7.069312572479248, "heading":3.141592653589793, "intervals":99, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.412550449371338, "y":6.8442158699035645, "heading":-1.5556458979905006, "intervals":73, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.596766710281372, "y":5.943827152252197, "heading":-1.0537643835350297, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.5858994722366333, "y":6.829209327697754, "heading":-0.9209260506009412, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.596766710281372, "y":5.943827152252197, "heading":-1.0537643835350297, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.5858994722366333, "y":6.829209327697754, "heading":-0.9209260506009412, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.596766710281372, "y":5.943827152252197, "heading":-1.0537643835350297, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":7.603346347808838, "y":7.069694995880127, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.542496681213379, "y":5.851439952850342, "heading":-1.0537643835350297, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.402741551399231, "y":7.194643974304199, "heading":-0.9209260506009412, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.542496681213379, "y":5.835821151733398, "heading":-1.0537643835350297, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.3715041875839231, "y":7.194643974304199, "heading":-0.9209260506009412, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.558115243911743, "y":5.835821151733398, "heading":-1.0537643835350297, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -18,13 +17,12 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"7.603495121002197 m", "val":7.603495121002197}, "y":{"exp":"7.069312572479248 m", "val":7.069312572479248}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":99, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.412550449371338 m", "val":5.412550449371338}, "y":{"exp":"6.8442158699035645 m", "val":6.8442158699035645}, "heading":{"exp":"-1.5556458979905006 rad", "val":-1.5556458979905006}, "intervals":73, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.596766710281372 m", "val":3.596766710281372}, "y":{"exp":"5.943827152252197 m", "val":5.943827152252197}, "heading":{"exp":"-1.0537643835350297 rad", "val":-1.0537643835350297}, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.5858994722366333 m", "val":1.5858994722366333}, "y":{"exp":"6.829209327697754 m", "val":6.829209327697754}, "heading":{"exp":"-0.9209260506009411 rad", "val":-0.9209260506009412}, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.596766710281372 m", "val":3.596766710281372}, "y":{"exp":"5.943827152252197 m", "val":5.943827152252197}, "heading":{"exp":"-1.0537643835350297 rad", "val":-1.0537643835350297}, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.5858994722366333 m", "val":1.5858994722366333}, "y":{"exp":"6.829209327697754 m", "val":6.829209327697754}, "heading":{"exp":"-0.9209260506009411 rad", "val":-0.9209260506009412}, "intervals":72, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.596766710281372 m", "val":3.596766710281372}, "y":{"exp":"5.943827152252197 m", "val":5.943827152252197}, "heading":{"exp":"-1.0537643835350297 rad", "val":-1.0537643835350297}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"7.603346347808838 m", "val":7.603346347808838}, "y":{"exp":"7.069694995880127 m", "val":7.069694995880127}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.542496681213379 m", "val":3.542496681213379}, "y":{"exp":"5.851439952850342 m", "val":5.851439952850342}, "heading":{"exp":"-1.0537643835350297 rad", "val":-1.0537643835350297}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.402741551399231 m", "val":1.402741551399231}, "y":{"exp":"7.194643974304199 m", "val":7.194643974304199}, "heading":{"exp":"-0.9209260506009411 rad", "val":-0.9209260506009412}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.542496681213379 m", "val":3.542496681213379}, "y":{"exp":"5.835821151733398 m", "val":5.835821151733398}, "heading":{"exp":"-1.0537643835350297 rad", 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"targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"Intake Coral", "from":{"target":3, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"Intake Coral", "from":{"target":5, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] + {"name":"Output Coral", "from":{"target":1, "targetTimestamp":1.34902, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Output Coral", "from":{"target":5, "targetTimestamp":4.77966, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Intake Coral", "from":{"target":2, "targetTimestamp":2.10459, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Intake Coral", "from":{"target":4, "targetTimestamp":3.88395, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] } diff --git a/choreo/autos.chor b/choreo/autos.chor index 0bda8e3..13c0602 100644 --- a/choreo/autos.chor +++ b/choreo/autos.chor @@ -9,27 +9,27 @@ "config":{ "frontLeft":{ "x":{ - "exp":"18 in", + "exp":"0.4572 m", "val":0.4572 }, "y":{ - "exp":"16 in", + "exp":"0.4064 m", "val":0.4064 } }, "backLeft":{ "x":{ - "exp":"-18 in", + "exp":"-0.4572 m", "val":-0.4572 }, "y":{ - "exp":"16 in", - "val":0.4064 + "exp":"-0.4064 m", + "val":-0.4064 } }, "mass":{ - "exp":"120 lbs", - "val":54.4310844 + "exp":"54.4311 kg", + "val":54.4311 }, "inertia":{ "exp":"6 kg m ^ 2", @@ -40,12 +40,12 @@ "val":6.5 }, "radius":{ - "exp":"1.5 in", - "val":0.038099999999999995 + "exp":"0.0381 m", + "val":0.0381 }, "vmax":{ - "exp":"1070 RPM", - "val":112.05013797803596 + "exp":"6784 RPM", + "val":710.4188187317718 }, "tmax":{ "exp":"1.2 N * m", @@ -57,16 +57,16 @@ }, "bumper":{ "front":{ - "exp":"36 in", - "val":0.9144 + "exp":"0.4572 m", + "val":0.4572 }, "side":{ - "exp":"32 in", - "val":0.8128 + "exp":"0.4064 m", + "val":0.4064 }, "back":{ - "exp":"36 in", - "val":0.9144 + "exp":"0.4572 m", + "val":0.4572 } }, "differentialTrackWidth":{ diff --git a/simgui-ds.json b/simgui-ds.json index 7f3a6e3..cc0dfc8 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -91,8 +91,7 @@ ], "robotJoysticks": [ { - "guid": "78696e70757401000000000000000000", - "useGamepad": true + "guid": "78696e70757401000000000000000000" }, {}, { diff --git a/simgui.json b/simgui.json index 5f8ab3c..6e931fb 100644 --- a/simgui.json +++ b/simgui.json @@ -3,6 +3,7 @@ "types": { "/FMSInfo": "FMSInfo", "/SmartDashboard/Alerts": "Alerts", + "/SmartDashboard/Auto Chooser": "String Chooser", "/SmartDashboard/Encoders": "Alerts", "/SmartDashboard/Field": "Field2d", "/SmartDashboard/IMU": "Alerts", diff --git a/src/main/deploy/choreo/Blue Top.traj b/src/main/deploy/choreo/Blue Top.traj new file mode 100644 index 0000000..164eca0 --- /dev/null +++ b/src/main/deploy/choreo/Blue Top.traj @@ -0,0 +1,509 @@ +{ + "name":"Blue Top", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.603495121002197, "y":7.069312572479248, "heading":3.141592653589793, "intervals":99, "split":false, "fixTranslation":true, 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"fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[ + {"name":"Output Coral", "from":{"target":2, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Output Coral", "from":{"target":6, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Intake Coral", "from":{"target":3, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Intake Coral", "from":{"target":5, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] +} diff --git a/src/main/deploy/choreo/autos.chor b/src/main/deploy/choreo/autos.chor new file mode 100644 index 0000000..8e1286a --- /dev/null +++ b/src/main/deploy/choreo/autos.chor @@ -0,0 +1,78 @@ +{ + "name":"autos", + "version":1, + "type":"Swerve", + "variables":{ + "expressions":{}, + "poses":{} + }, + "config":{ + "frontLeft":{ + "x":{ + "exp":"18 in", + "val":0.4572 + }, + "y":{ + "exp":"16 in", + "val":0.4064 + } + }, + "backLeft":{ + "x":{ + "exp":"-18 in", + "val":-0.4572 + }, + "y":{ + "exp":"-16 in", + "val":-0.4064 + } + }, + "mass":{ + "exp":"120 lbs", + "val":54.4310844 + }, + "inertia":{ + "exp":"6 kg m ^ 2", + "val":6.0 + }, + "gearing":{ + "exp":"6.5", + "val":6.5 + }, + "radius":{ + "exp":"1.5 in", + "val":0.038099999999999995 + }, + "vmax":{ + "exp":"1070 RPM", + "val":112.05013797803596 + }, + "tmax":{ + "exp":"1.2 N * m", + "val":1.2 + }, + "cof":{ + "exp":"1.5", + "val":1.5 + }, + "bumper":{ + "front":{ + "exp":"36 in", + "val":0.9144 + }, + "side":{ + "exp":"32 in", + "val":0.8128 + }, + "back":{ + "exp":"36 in", + "val":0.9144 + } + }, + "differentialTrackWidth":{ + "exp":"22 in", + "val":0.5588 + } + }, + "generationFeatures":[] +} diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json new file mode 100644 index 0000000..23e0db9 --- /dev/null +++ b/src/main/deploy/pathplanner/navgrid.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/Example Path.path new file mode 100644 index 0000000..3f475e5 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Example Path.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.0, + "y": 7.0 + }, + "prevControl": null, + "nextControl": { + "x": 3.0, + "y": 7.0 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.0, + "y": 6.0 + }, + "prevControl": { + "x": 3.0, + "y": 6.0 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json new file mode 100644 index 0000000..46d9d38 --- /dev/null +++ b/src/main/deploy/pathplanner/settings.json @@ -0,0 +1,32 @@ +{ + "robotWidth": 0.8128, + "robotLength": 0.9144, + "holonomicMode": true, + "pathFolders": [], + "autoFolders": [], + "defaultMaxVel": 3.0, + "defaultMaxAccel": 3.0, + "defaultMaxAngVel": 540.0, + "defaultMaxAngAccel": 720.0, + "defaultNominalVoltage": 12.0, + "robotMass": 54.4311, + "robotMOI": 6.0, + "robotTrackwidth": 0.546, + "driveWheelRadius": 0.0381, + "driveGearing": 5.143, + "maxDriveSpeed": 5.45, + "driveMotorType": "vortex", + "driveCurrentLimit": 60.0, + "wheelCOF": 1.5, + "flModuleX": 0.4572, + "flModuleY": 0.4064, + "frModuleX": 0.4572, + "frModuleY": -0.4064, + "blModuleX": -0.457, + "blModuleY": 0.4064, + "brModuleX": -0.457, + "brModuleY": -0.4064, + "bumperOffsetX": 0.0, + "bumperOffsetY": 0.0, + "robotFeatures": [] +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b30db0f..bfaec66 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -5,6 +5,7 @@ package frc.robot; import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.util.Units; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.StructArrayPublisher; import edu.wpi.first.wpilibj.DriverStation; @@ -12,8 +13,18 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; + import org.ironmaple.simulation.SimulatedArena; +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.commands.PathPlannerAuto; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; +import com.pathplanner.lib.pathfinding.Pathfinding; + +import choreo.auto.AutoChooser; + /** * The VM is configured to automatically run this class, and to call the functions corresponding to * each mode, as described in the TimedRobot documentation. If you change the name of this class or diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b6af7af..f9a9c88 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,8 +4,11 @@ package frc.robot; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; @@ -22,8 +25,11 @@ import frc.robot.utils.FilteredJoystick; import java.io.File; -import choreo.auto.AutoChooser; -import choreo.auto.AutoFactory; +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.commands.PathPlannerAuto; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; + import swervelib.SwerveInputStream; /* @@ -55,8 +61,7 @@ public class RobotContainer { // Button Board private final FilteredButton m_buttonBoard = new FilteredButton(OIConstants.kButtonBoardPort); - private final AutoFactory autoFactory; - private final AutoChooser autoChooser; + private final SendableChooser autoChooser = AutoBuilder.buildAutoChooser(); // Configure drive input stream SwerveInputStream driveInput = @@ -76,22 +81,7 @@ public RobotContainer() { // Set default drive command m_drive.setDefaultCommand(m_drive.driveFieldOriented(driveInput)); - // Set up Auto Factory for Choreo - autoFactory = new AutoFactory( - m_drive::getPose, // A function that returns the current robot pose - m_drive::resetOdometry, // A function that resets the current robot pose to the provided Pose2d - m_drive::drive(), // The drive subsystem trajectory follower - true, // If alliance flipping should be enabled - m_drive // The drive subsystem - ); - autoChooser = new AutoChooser(); - - //autoChooser.addRoutine("Routine 1", this::routine1); - //autoChooser.addCmd("Command 1", this::command1); - - SmartDashboard.putData(autoChooser); - - RobotModeTriggers.autonomous().whileTrue(autoChooser.selectedCommandScheduler()); + SmartDashboard.putData("Auto Chooser", autoChooser); } /** @@ -129,7 +119,7 @@ private void configureButtonBindings() { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - // return autoChooser.getSelected(); - return null; + return autoChooser.getSelected(); + //return null; } } diff --git a/src/main/java/frc/robot/commands/autos/GenericAutoCommand.java b/src/main/java/frc/robot/commands/autos/GenericAutoCommand.java new file mode 100644 index 0000000..9447c86 --- /dev/null +++ b/src/main/java/frc/robot/commands/autos/GenericAutoCommand.java @@ -0,0 +1,25 @@ +package frc.robot.commands.autos; + +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.path.PathPlannerPath; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; + +public class GenericAutoCommand extends Command { + + public Command genericAutoCommand() { + try{ + // Loading PathPlanner path using name in GUI + // PathPlannerPath path = PathPlannerPath.fromPathFile("path"); + // Load the Choreo Path you want to use + PathPlannerPath choreoPath = PathPlannerPath.fromChoreoTrajectory("Blue Top"); + // Create the path following command using AutoBuilder + return AutoBuilder.followPath(choreoPath); + } catch (Exception e) { + DriverStation.reportError("Couldn't load Choreo path to PathPlanner: " + e.getMessage(), e.getStackTrace()); + return Commands.none(); + } + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index 85b2045..28efa09 100644 --- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -139,6 +139,11 @@ public SwerveSubsystem( setupChassisSim(); } + /** Setup the trajectory following functionality for Choreo to convert a SwerveSample to a pose */ + /*public void followTrajectory(SwerveSample sample) { + Pose2d swervePose = (); + }*/ + /** Setup the chassis simulation with the correct physical dimensions to match CAD. */ public void setupChassisSim() { if (simDrive.isPresent()) { From d7c54bc05faf76838c74f7e720d435a73f428e4b Mon Sep 17 00:00:00 2001 From: HENRYMARTIN5 Date: Mon, 10 Feb 2025 18:39:11 -0600 Subject: [PATCH 04/28] chore: Temporary commit --- choreo/Blue Top.traj | 200 +++++++++--------- simgui-ds.json | 3 +- simgui.json | 10 + src/main/deploy/choreo/Blue Top.traj | 8 +- src/main/deploy/pathplanner/navgrid.json | 1 - .../pathplanner/paths/Example Path.path | 54 ----- src/main/deploy/pathplanner/settings.json | 32 --- src/main/java/frc/robot/Robot.java | 21 +- src/main/java/frc/robot/RobotContainer.java | 33 +-- src/main/java/frc/robot/Routines.java | 28 +++ .../commands/autos/GenericAutoCommand.java | 4 +- .../swervedrive/SwerveSubsystem.java | 195 ++--------------- 12 files changed, 197 insertions(+), 392 deletions(-) delete mode 100644 src/main/deploy/pathplanner/navgrid.json delete mode 100644 src/main/deploy/pathplanner/paths/Example Path.path delete mode 100644 src/main/deploy/pathplanner/settings.json create mode 100644 src/main/java/frc/robot/Routines.java diff --git a/choreo/Blue Top.traj b/choreo/Blue Top.traj index 9d11948..cb07306 100644 --- a/choreo/Blue Top.traj +++ b/choreo/Blue Top.traj @@ -36,128 +36,128 @@ "sampleType":"Swerve", "waypoints":[0.0,1.34902,2.10459,2.99127,3.88395,4.77966], "samples":[ - {"t":0.0, "x":7.60335, "y":7.06969, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.73328, "ay":-0.71408, "alpha":78.68667, "fx":[54.92097,-178.59656,78.08,-157.61064], "fy":[-196.88894,99.58644,188.75923,-130.3249]}, - {"t":0.0355, "x":7.60099, "y":7.06925, "heading":3.14159, "vx":-0.13253, "vy":-0.02535, "omega":2.79341, "ax":-4.71011, "ay":-0.78988, "alpha":75.9966, "fx":[33.73795,-183.9971,54.06416,-160.18132], "fy":[-201.30219,88.7426,196.43449,-126.86872]}, - {"t":0.071, "x":7.59332, "y":7.06785, "heading":-3.04243, "vx":-0.29974, "vy":-0.05339, "omega":5.49132, "ax":-13.69688, "ay":-5.24963, "alpha":9.68161, "fx":[-169.87961,-198.37783,-196.19993,-181.07855], "fy":[-109.0731,-39.86232,-46.18735,-90.62011]}, - {"t":0.1065, "x":7.57405, "y":7.06264, "heading":-2.84748, "vx":-0.78599, "vy":-0.23976, "omega":5.83503, "ax":-9.40002, "ay":-10.46371, "alpha":-16.87146, "fx":[-175.47166,-63.13027,-119.58494,-153.46651], "fy":[-96.16407,-189.28666,-161.45607,-122.64429]}, - {"t":0.142, "x":7.54022, "y":7.04754, "heading":-2.64033, "vx":-1.11969, "vy":-0.61122, "omega":5.23608, "ax":-5.13564, 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"fy":[29.02409,79.75667,57.34672,54.19681]}, + {"t":4.52374, "x":3.14392, "y":6.10072, "heading":-0.98778, "vx":3.23438, "vy":-2.06852, "omega":-0.40089, "ax":-12.59584, "ay":8.05563, "alpha":0.80637, "fx":[-169.53622,-173.26976,-172.22813,-170.57121], "fy":[112.52682,106.66256,108.38651,110.90115]}, + {"t":4.5664, "x":3.27041, "y":6.01982, "heading":-1.00488, "vx":2.69713, "vy":-1.72493, "omega":-0.36649, "ax":-12.63227, "ay":8.07875, "alpha":1.43394, "fx":[-168.54106,-175.25852,-173.30646,-170.48223], "fy":[115.12298,104.59058,107.83832,112.18338]}, {"t":4.60905, "x":3.37396, "y":5.95359, "heading":-1.02052, "vx":2.15833, "vy":-1.38034, "omega":-0.30533, "ax":-12.64397, "ay":8.08628, "alpha":1.65786, "fx":[-168.14106,-175.97265,-173.63006,-170.48118], "fy":[116.07095,103.79837,107.70478,112.57114]}, - {"t":4.6517, "x":3.45452, "y":5.90207, "heading":-1.03354, "vx":1.61903, "vy":-1.03544, "omega":-0.23462, "ax":-12.64971, "ay":8.09002, "alpha":1.77179, "fx":[-167.92032,-176.3441,-173.76823,-170.50488], "fy":[116.57098,103.37396,107.67441,112.72922]}, - {"t":4.69436, "x":3.51207, "y":5.86527, "heading":-1.04355, "vx":1.07948, "vy":-0.69038, "omega":-0.15905, "ax":-12.65312, "ay":8.09225, "alpha":1.8409, "fx":[-167.77894,-176.57302,-173.84014,-170.53081], "fy":[116.88247,103.10752,107.67339,112.80667]}, - {"t":4.73701, "x":3.5466, "y":5.84318, "heading":-1.05033, "vx":0.53979, "vy":-0.34522, "omega":-0.08053, "ax":-12.65537, "ay":8.09373, "alpha":1.88793, "fx":[-167.6809,-176.72834,-173.88657,-170.54954], "fy":[117.09495,102.92455,107.67488,112.85629]}, + {"t":4.6517, "x":3.45452, "y":5.90207, "heading":-1.03354, "vx":1.61903, "vy":-1.03544, "omega":-0.23462, "ax":-12.64971, "ay":8.09002, "alpha":1.77179, "fx":[-167.92032,-176.3441,-173.76823,-170.50488], "fy":[116.57098,103.37397,107.67441,112.72922]}, + {"t":4.69436, "x":3.51207, "y":5.86527, "heading":-1.04355, "vx":1.07948, "vy":-0.69038, "omega":-0.15905, "ax":-12.65311, "ay":8.09225, "alpha":1.84089, "fx":[-167.77894,-176.57301,-173.84013,-170.53081], "fy":[116.88246,103.10753,107.67339,112.80667]}, + {"t":4.73701, "x":3.5466, "y":5.84318, "heading":-1.05033, "vx":0.53979, "vy":-0.34522, "omega":-0.08053, "ax":-12.65536, "ay":8.09373, "alpha":1.88793, "fx":[-167.68091,-176.72834,-173.88657,-170.54954], "fy":[117.09494,102.92455,107.67488,112.85629]}, {"t":4.77966, "x":3.55812, "y":5.83582, "heading":-1.05376, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, diff --git a/simgui-ds.json b/simgui-ds.json index cc0dfc8..7f3a6e3 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -91,7 +91,8 @@ ], "robotJoysticks": [ { - "guid": "78696e70757401000000000000000000" + "guid": "78696e70757401000000000000000000", + "useGamepad": true }, {}, { diff --git a/simgui.json b/simgui.json index 6e931fb..251e450 100644 --- a/simgui.json +++ b/simgui.json @@ -4,6 +4,7 @@ "/FMSInfo": "FMSInfo", "/SmartDashboard/Alerts": "Alerts", "/SmartDashboard/Auto Chooser": "String Chooser", + "/SmartDashboard/Choreo Alerts": "Alerts", "/SmartDashboard/Encoders": "Alerts", "/SmartDashboard/Field": "Field2d", "/SmartDashboard/IMU": "Alerts", @@ -38,10 +39,19 @@ "transitory": { "Shuffleboard": { "open": true + }, + "SmartDashboard": { + "Auto Chooser": { + "open": true + }, + "open": true } } }, "NetworkTables Info": { "visible": true + }, + "NetworkTables View": { + "visible": false } } diff --git a/src/main/deploy/choreo/Blue Top.traj b/src/main/deploy/choreo/Blue Top.traj index 164eca0..8b85cdf 100644 --- a/src/main/deploy/choreo/Blue Top.traj +++ b/src/main/deploy/choreo/Blue Top.traj @@ -502,8 +502,8 @@ "splits":[0] }, "events":[ - {"name":"Output Coral", "from":{"target":2, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"Output Coral", "from":{"target":6, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"Intake Coral", "from":{"target":3, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"Intake Coral", "from":{"target":5, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] + {"name":"Output Coral", "from":{"target":1, "targetTimestamp":1.34902, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Output Coral", "from":{"target":5, "targetTimestamp":4.77966, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Intake Coral", "from":{"target":2, "targetTimestamp":2.10459, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, + {"name":"Intake Coral", "from":{"target":4, "targetTimestamp":3.88395, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] } diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json deleted file mode 100644 index 23e0db9..0000000 --- a/src/main/deploy/pathplanner/navgrid.json +++ /dev/null @@ -1 +0,0 @@ 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\ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/Example Path.path deleted file mode 100644 index 3f475e5..0000000 --- a/src/main/deploy/pathplanner/paths/Example Path.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.0, - "y": 7.0 - }, - "prevControl": null, - "nextControl": { - "x": 3.0, - "y": 7.0 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 4.0, - "y": 6.0 - }, - "prevControl": { - "x": 3.0, - "y": 6.0 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json deleted file mode 100644 index 46d9d38..0000000 --- a/src/main/deploy/pathplanner/settings.json +++ /dev/null @@ -1,32 +0,0 @@ -{ - "robotWidth": 0.8128, - "robotLength": 0.9144, - "holonomicMode": true, - "pathFolders": [], - "autoFolders": [], - "defaultMaxVel": 3.0, - "defaultMaxAccel": 3.0, - "defaultMaxAngVel": 540.0, - "defaultMaxAngAccel": 720.0, - "defaultNominalVoltage": 12.0, - "robotMass": 54.4311, - "robotMOI": 6.0, - "robotTrackwidth": 0.546, - "driveWheelRadius": 0.0381, - "driveGearing": 5.143, - "maxDriveSpeed": 5.45, - "driveMotorType": "vortex", - "driveCurrentLimit": 60.0, - "wheelCOF": 1.5, - "flModuleX": 0.4572, - "flModuleY": 0.4064, - "frModuleX": 0.4572, - "frModuleY": -0.4064, - "blModuleX": -0.457, - "blModuleY": 0.4064, - "brModuleX": -0.457, - "brModuleY": -0.4064, - "bumperOffsetX": 0.0, - "bumperOffsetY": 0.0, - "robotFeatures": [] -} \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index bfaec66..b77217a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -5,6 +5,7 @@ package frc.robot; import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.util.Units; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.StructArrayPublisher; @@ -95,21 +96,21 @@ public void robotPeriodic() { public void disabledInit() {} @Override - public void disabledPeriodic() {} + public void disabledPeriodic() { + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); + m_robotContainer.m_drive.drive(new ChassisSpeeds( + 0, 0, 0 + )); + m_autonomousCommand = null; + } + } /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ @Override public void autonomousInit() { - m_autonomousCommand = m_robotContainer.getAutonomousCommand(); - - /* - * String autoSelected = SmartDashboard.getString("Auto Selector", - * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand - * = new MyAutoCommand(); break; case "Default Auto": default: - * autonomousCommand = new ExampleCommand(); break; } - */ + m_autonomousCommand = m_robotContainer.m_autoChooser.selectedCommand(); - // schedule the autonomous command (example) if (m_autonomousCommand != null) { m_autonomousCommand.schedule(); } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f9a9c88..44b62bb 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton; import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; import frc.robot.Constants.OIConstants; +import frc.robot.commands.autos.GenericAutoCommand; import frc.robot.subsystems.CoralHandlerSubsystem; import frc.robot.subsystems.ElevatorSubsystem; import frc.robot.subsystems.sim.CoralHandlerSubsystemSim; @@ -30,6 +31,8 @@ import com.pathplanner.lib.path.PathConstraints; import com.pathplanner.lib.path.PathPlannerPath; +import choreo.auto.AutoChooser; +import choreo.auto.AutoFactory; import swervelib.SwerveInputStream; /* @@ -39,7 +42,7 @@ * (including subsystems, commands, and button mappings) should be declared here. */ public class RobotContainer { - private final SwerveSubsystem m_drive = + public final SwerveSubsystem m_drive = new SwerveSubsystem(new File(Filesystem.getDeployDirectory(), "swerve/maxSwerve")); private final ElevatorSubsystem m_elevator = Robot.isReal() ? new ElevatorSubsystem() : new ElevatorSubsystemSim(); @@ -61,7 +64,15 @@ public class RobotContainer { // Button Board private final FilteredButton m_buttonBoard = new FilteredButton(OIConstants.kButtonBoardPort); - private final SendableChooser autoChooser = AutoBuilder.buildAutoChooser(); + public final AutoChooser m_autoChooser = new AutoChooser(); + private final AutoFactory m_autoFactory = new AutoFactory( + m_drive::getPose, + m_drive::resetOdometry, + m_drive::followTrajectory, + true, + m_drive + ); + private final Routines m_routines = new Routines(m_autoFactory); // Configure drive input stream SwerveInputStream driveInput = @@ -81,7 +92,13 @@ public RobotContainer() { // Set default drive command m_drive.setDefaultCommand(m_drive.driveFieldOriented(driveInput)); - SmartDashboard.putData("Auto Chooser", autoChooser); + m_autoChooser.addRoutine("Test Routine", m_routines::test); + SmartDashboard.putData("Auto Chooser", m_autoChooser); + SmartDashboard.putData("Xbox Controller Debug", m_operatorController.getHID()); + + if (Robot.getInstance().isSimulation()) { + DriverStation.silenceJoystickConnectionWarning(true); + } } /** @@ -112,14 +129,4 @@ private void configureButtonBindings() { m_operatorController.leftBumper().onTrue(Commands.runOnce(m_coral::release)); m_operatorController.leftBumper().onFalse(Commands.runOnce(m_coral::idle)); } - - /** - * Use this to pass the autonomous command to the main {@link Robot} class. - * - * @return the command to run in autonomous - */ - public Command getAutonomousCommand() { - return autoChooser.getSelected(); - //return null; - } } diff --git a/src/main/java/frc/robot/Routines.java b/src/main/java/frc/robot/Routines.java new file mode 100644 index 0000000..3379314 --- /dev/null +++ b/src/main/java/frc/robot/Routines.java @@ -0,0 +1,28 @@ +package frc.robot; + +import choreo.auto.AutoFactory; +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; +import edu.wpi.first.wpilibj2.command.Commands; + +public class Routines { + private final AutoFactory m_factory; + + public Routines(AutoFactory factory) { + m_factory = factory; + } + + public AutoRoutine test() { + AutoRoutine routine = m_factory.newRoutine("Test"); + AutoTrajectory mainTraj = routine.trajectory("Blue Top"); + + routine.active().onTrue( + Commands.sequence( + mainTraj.resetOdometry(), + mainTraj.cmd() + ) + ); + + return routine; + } +} diff --git a/src/main/java/frc/robot/commands/autos/GenericAutoCommand.java b/src/main/java/frc/robot/commands/autos/GenericAutoCommand.java index 9447c86..281537f 100644 --- a/src/main/java/frc/robot/commands/autos/GenericAutoCommand.java +++ b/src/main/java/frc/robot/commands/autos/GenericAutoCommand.java @@ -7,9 +7,9 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -public class GenericAutoCommand extends Command { +public class GenericAutoCommand { - public Command genericAutoCommand() { + public static Command genericAutoCommand() { try{ // Loading PathPlanner path using name in GUI // PathPlannerPath path = PathPlannerPath.fromPathFile("path"); diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index 28efa09..77333a0 100644 --- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -6,17 +6,7 @@ import static edu.wpi.first.units.Units.Meter; -import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.commands.PathPlannerAuto; -import com.pathplanner.lib.commands.PathfindingCommand; -import com.pathplanner.lib.config.PIDConstants; -import com.pathplanner.lib.config.RobotConfig; -import com.pathplanner.lib.controllers.PPHolonomicDriveController; -import com.pathplanner.lib.path.PathConstraints; -import com.pathplanner.lib.path.PathPlannerPath; -import com.pathplanner.lib.util.DriveFeedforwards; -import com.pathplanner.lib.util.swerve.SwerveSetpoint; -import com.pathplanner.lib.util.swerve.SwerveSetpointGenerator; +import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; @@ -43,6 +33,8 @@ import org.ironmaple.simulation.drivesims.SwerveDriveSimulation; import org.json.simple.parser.ParseException; import org.photonvision.targeting.PhotonPipelineResult; + +import choreo.trajectory.SwerveSample; import swervelib.SwerveController; import swervelib.SwerveDrive; import swervelib.SwerveDriveTest; @@ -69,6 +61,10 @@ public class SwerveSubsystem extends SubsystemBase { /** PhotonVision class to keep an accurate odometry. */ private Vision vision; + private final PIDController xController = new PIDController(10.0, .0, .0); + private final PIDController yController = new PIDController(10.0, .0, .0); + private final PIDController thetaController = new PIDController(10.0, .0, .0); + /** * Initialize {@link SwerveDrive} with the directory provided. * @@ -117,10 +113,22 @@ public SwerveSubsystem(File directory) { // updates better. swerveDrive.stopOdometryThread(); } - setupPathPlanner(); + thetaController.enableContinuousInput(-Math.PI, Math.PI); setupChassisSim(); } + public void followTrajectory(SwerveSample sample) { + Pose2d pose = getPose(); + + ChassisSpeeds speeds = new ChassisSpeeds( + sample.vx + xController.calculate(pose.getX(), sample.x), + sample.vy + yController.calculate(pose.getY(), sample.y), + sample.omega + thetaController.calculate(pose.getRotation().getRadians(), sample.heading) + ); + + driveFieldOriented(speeds); + } + /** * Construct the swerve drive. * @@ -139,11 +147,6 @@ public SwerveSubsystem( setupChassisSim(); } - /** Setup the trajectory following functionality for Choreo to convert a SwerveSample to a pose */ - /*public void followTrajectory(SwerveSample sample) { - Pose2d swervePose = (); - }*/ - /** Setup the chassis simulation with the correct physical dimensions to match CAD. */ public void setupChassisSim() { if (simDrive.isPresent()) { @@ -172,71 +175,6 @@ public void periodic() { @Override public void simulationPeriodic() {} - /** Setup AutoBuilder for PathPlanner. */ - public void setupPathPlanner() { - // Load the RobotConfig from the GUI settings. You should probably - // store this in your Constants file - RobotConfig config; - try { - config = RobotConfig.fromGUISettings(); - - final boolean enableFeedforward = true; - // Configure AutoBuilder last - AutoBuilder.configure( - this::getPose, - // Robot pose supplier - this::resetOdometry, - // Method to reset odometry (will be called if your auto has a starting pose) - this::getRobotVelocity, - // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE - (speedsRobotRelative, moduleFeedForwards) -> { - if (enableFeedforward) { - swerveDrive.drive( - speedsRobotRelative, - swerveDrive.kinematics.toSwerveModuleStates(speedsRobotRelative), - moduleFeedForwards.linearForces()); - } else { - swerveDrive.setChassisSpeeds(speedsRobotRelative); - } - }, - // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also - // optionally outputs individual module feedforwards - new PPHolonomicDriveController( - // PPHolonomicController is the built in path following controller for holonomic - // drivetrains - new PIDConstants(5.0, 0.0, 0.0), - // Translation PID constants - new PIDConstants(5.0, 0.0, 0.0) - // Rotation PID constants - ), - config, - // The robot configuration - () -> { - // Boolean supplier that controls when the path will be mirrored for the red - // alliance - // This will flip the path being followed to the red side of the field. - // THE ORIGIN WILL REMAIN ON THE BLUE SIDE - - var alliance = DriverStation.getAlliance(); - if (alliance.isPresent()) { - return alliance.get() == DriverStation.Alliance.Red; - } - return false; - }, - this - // Reference to this subsystem to set requirements - ); - - } catch (Exception e) { - // Handle exception as needed - e.printStackTrace(); - } - - // Preload PathPlanner Path finding - // IF USING CUSTOM PATHFINDER ADD BEFORE THIS LINE - PathfindingCommand.warmupCommand().schedule(); - } - /** * Aim the robot at the target returned by PhotonVision. * @@ -264,99 +202,6 @@ public Command aimAtTarget(Cameras camera) { }); } - /** - * Get the path follower with events. - * - * @param pathName PathPlanner path name. - * @return {@link AutoBuilder#followPath(PathPlannerPath)} path command. - */ - public Command getAutonomousCommand(String pathName) { - // Create a path following command using AutoBuilder. This will also trigger - // event markers. - return new PathPlannerAuto(pathName); - } - - /** - * Use PathPlanner Path finding to go to a point on the field. - * - * @param pose Target {@link Pose2d} to go to. - * @return PathFinding command - */ - public Command driveToPose(Pose2d pose) { - // Create the constraints to use while pathfinding - PathConstraints constraints = - new PathConstraints( - swerveDrive.getMaximumChassisVelocity(), - 4.0, - swerveDrive.getMaximumChassisAngularVelocity(), - Units.degreesToRadians(720)); - - // Since AutoBuilder is configured, we can use it to build pathfinding commands - return AutoBuilder.pathfindToPose( - pose, - constraints, - edu.wpi.first.units.Units.MetersPerSecond.of(0) // Goal end velocity in meters/sec - ); - } - - /** - * Drive with {@link SwerveSetpointGenerator} from 254, implemented by PathPlanner. - * - * @param robotRelativeChassisSpeed Robot relative {@link ChassisSpeeds} to achieve. - * @return {@link Command} to run. - * @throws IOException If the PathPlanner GUI settings is invalid - * @throws ParseException If PathPlanner GUI settings is nonexistent. - */ - private Command driveWithSetpointGenerator(Supplier robotRelativeChassisSpeed) - throws IOException, ParseException { - SwerveSetpointGenerator setpointGenerator = - new SwerveSetpointGenerator( - RobotConfig.fromGUISettings(), swerveDrive.getMaximumChassisAngularVelocity()); - AtomicReference prevSetpoint = - new AtomicReference<>( - new SwerveSetpoint( - swerveDrive.getRobotVelocity(), - swerveDrive.getStates(), - DriveFeedforwards.zeros(swerveDrive.getModules().length))); - AtomicReference previousTime = new AtomicReference<>(); - - return startRun( - () -> previousTime.set(Timer.getFPGATimestamp()), - () -> { - double newTime = Timer.getFPGATimestamp(); - SwerveSetpoint newSetpoint = - setpointGenerator.generateSetpoint( - prevSetpoint.get(), - robotRelativeChassisSpeed.get(), - newTime - previousTime.get()); - swerveDrive.drive( - newSetpoint.robotRelativeSpeeds(), - newSetpoint.moduleStates(), - newSetpoint.feedforwards().linearForces()); - prevSetpoint.set(newSetpoint); - previousTime.set(newTime); - }); - } - - /** - * Drive with 254's Setpoint generator; port written by PathPlanner. - * - * @param fieldRelativeSpeeds Field-Relative {@link ChassisSpeeds} - * @return Command to drive the robot using the setpoint generator. - */ - public Command driveWithSetpointGeneratorFieldRelative( - Supplier fieldRelativeSpeeds) { - try { - return driveWithSetpointGenerator( - () -> { - return ChassisSpeeds.fromFieldRelativeSpeeds(fieldRelativeSpeeds.get(), getHeading()); - }); - } catch (Exception e) { - DriverStation.reportError(e.toString(), true); - } - return Commands.none(); - } - /** * Command to characterize the robot drive motors using SysId * From 13231cdaec78edb4b80cc2397cf330acedf3e884 Mon Sep 17 00:00:00 2001 From: HENRYMARTIN5 Date: Mon, 10 Feb 2025 19:16:07 -0600 Subject: [PATCH 05/28] refactor: Clean up code formatting and remove unused files, fix choreo being stupid Blame someone other than me pretty please --- choreo/Blue Top.traj | 169 ----- choreo/autos.chor | 78 --- simgui.json | 82 ++- src/main/deploy/choreo/Blue Top.traj | 612 ++++-------------- src/main/deploy/choreo/autos.chor | 32 +- src/main/java/frc/robot/Robot.java | 15 +- src/main/java/frc/robot/RobotContainer.java | 27 +- src/main/java/frc/robot/Routines.java | 27 +- .../commands/autos/GenericAutoCommand.java | 28 +- .../swervedrive/SwerveSubsystem.java | 31 +- 10 files changed, 280 insertions(+), 821 deletions(-) delete mode 100644 choreo/Blue Top.traj delete mode 100644 choreo/autos.chor diff --git a/choreo/Blue Top.traj b/choreo/Blue Top.traj deleted file mode 100644 index cb07306..0000000 --- a/choreo/Blue Top.traj +++ /dev/null @@ -1,169 +0,0 @@ -{ - "name":"Blue Top", - "version":1, - "snapshot":{ - "waypoints":[ - {"x":7.603346347808838, "y":7.069694995880127, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.542496681213379, "y":5.851439952850342, "heading":-1.0537643835350297, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.402741551399231, "y":7.194643974304199, "heading":-0.9209260506009412, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.542496681213379, "y":5.835821151733398, "heading":-1.0537643835350297, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.3715041875839231, "y":7.194643974304199, "heading":-0.9209260506009412, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.558115243911743, "y":5.835821151733398, "heading":-1.0537643835350297, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"7.603346347808838 m", "val":7.603346347808838}, "y":{"exp":"7.069694995880127 m", "val":7.069694995880127}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.542496681213379 m", "val":3.542496681213379}, "y":{"exp":"5.851439952850342 m", "val":5.851439952850342}, "heading":{"exp":"-1.0537643835350297 rad", "val":-1.0537643835350297}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.402741551399231 m", "val":1.402741551399231}, "y":{"exp":"7.194643974304199 m", "val":7.194643974304199}, "heading":{"exp":"-0.9209260506009411 rad", "val":-0.9209260506009412}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.542496681213379 m", "val":3.542496681213379}, "y":{"exp":"5.835821151733398 m", "val":5.835821151733398}, "heading":{"exp":"-1.0537643835350297 rad", "val":-1.0537643835350297}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.3715041875839233 m", "val":1.3715041875839231}, "y":{"exp":"7.194643974304199 m", "val":7.194643974304199}, "heading":{"exp":"-0.9209260506009411 rad", "val":-0.9209260506009412}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.558115243911743 m", "val":3.558115243911743}, "y":{"exp":"5.835821151733398 m", "val":5.835821151733398}, "heading":{"exp":"-1.0537643835350297 rad", "val":-1.0537643835350297}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}], - "targetDt":{ - "exp":"0.05 s", - "val":0.05 - } - }, - "trajectory":{ - "sampleType":"Swerve", - "waypoints":[0.0,1.34902,2.10459,2.99127,3.88395,4.77966], - "samples":[ - {"t":0.0, "x":7.60335, "y":7.06969, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-3.73327, "ay":-0.71408, "alpha":78.68667, "fx":[54.92099,-178.59655,78.08002,-157.61064], "fy":[-196.88893,99.58645,188.75921,-130.3249]}, - {"t":0.0355, "x":7.60099, "y":7.06925, "heading":3.14159, "vx":-0.13253, "vy":-0.02535, "omega":2.79341, "ax":-4.71011, "ay":-0.78988, "alpha":75.9966, "fx":[33.73798,-183.99709,54.06419,-160.18132], "fy":[-201.30218,88.74262,196.43448,-126.86873]}, - {"t":0.071, "x":7.59332, "y":7.06785, "heading":-3.04243, "vx":-0.29974, "vy":-0.05339, "omega":5.49132, "ax":-13.69687, "ay":-5.24962, "alpha":9.68162, "fx":[-169.8796,-198.37783,-196.19994,-181.07855], "fy":[-109.07311,-39.8623,-46.18733,-90.62012]}, - {"t":0.1065, "x":7.57405, "y":7.06264, "heading":-2.84748, "vx":-0.78599, "vy":-0.23976, "omega":5.83503, "ax":-9.40002, "ay":-10.46371, "alpha":-16.87145, "fx":[-175.47165,-63.1303,-119.58495,-153.4665], "fy":[-96.16408,-189.28665,-161.45607,-122.64431]}, - {"t":0.142, "x":7.54022, "y":7.04754, "heading":-2.64033, "vx":-1.11969, "vy":-0.61122, "omega":5.23608, "ax":-5.13564, "ay":-12.44297, "alpha":-16.18997, 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{"name":"Intake Coral", "from":{"target":4, "targetTimestamp":3.88395, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] -} diff --git a/choreo/autos.chor b/choreo/autos.chor deleted file mode 100644 index 13c0602..0000000 --- a/choreo/autos.chor +++ /dev/null @@ -1,78 +0,0 @@ -{ - "name":"autos", - "version":1, - "type":"Swerve", - "variables":{ - "expressions":{}, - "poses":{} - }, - "config":{ - "frontLeft":{ - "x":{ - "exp":"0.4572 m", - "val":0.4572 - }, - "y":{ - "exp":"0.4064 m", - "val":0.4064 - } - }, - "backLeft":{ - "x":{ - "exp":"-0.4572 m", - "val":-0.4572 - }, - "y":{ - "exp":"-0.4064 m", - "val":-0.4064 - } - }, - "mass":{ - "exp":"54.4311 kg", - "val":54.4311 - }, - "inertia":{ - "exp":"6 kg m ^ 2", - "val":6.0 - }, - "gearing":{ - "exp":"6.5", - "val":6.5 - }, - "radius":{ - "exp":"0.0381 m", - "val":0.0381 - }, - "vmax":{ - "exp":"6784 RPM", - "val":710.4188187317718 - }, - "tmax":{ - "exp":"1.2 N * m", - "val":1.2 - }, - "cof":{ - "exp":"1.5", - "val":1.5 - }, - "bumper":{ - "front":{ - "exp":"0.4572 m", - "val":0.4572 - }, - "side":{ - "exp":"0.4064 m", - "val":0.4064 - }, - "back":{ - "exp":"0.4572 m", - "val":0.4572 - } - }, - "differentialTrackWidth":{ - "exp":"22 in", - "val":0.5588 - } - }, - "generationFeatures":[] -} diff --git a/simgui.json b/simgui.json index 251e450..06d2377 100644 --- a/simgui.json +++ b/simgui.json @@ -37,13 +37,16 @@ }, "NetworkTables": { "transitory": { - "Shuffleboard": { + "FMSInfo": { "open": true }, "SmartDashboard": { "Auto Chooser": { "open": true }, + "Tuning": { + "open": true + }, "open": true } } @@ -51,7 +54,80 @@ "NetworkTables Info": { "visible": true }, - "NetworkTables View": { - "visible": false + "Plot": { + "Plot <0>": { + "plots": [ + { + "axis": [ + { + "autoFit": true + } + ], + "backgroundColor": [ + 0.0, + 0.0, + 0.0, + 0.8500000238418579 + ], + "height": 694, + "series": [ + { + "color": [ + 0.2980392277240753, + 0.44705885648727417, + 0.6901960968971252, + 1.0 + ], + "id": "NT:/SmartDashboard/Tuning/Theta Actual" + }, + { + "color": [ + 0.8666667342185974, + 0.5176470875740051, + 0.32156863808631897, + 1.0 + ], + "id": "NT:/SmartDashboard/Tuning/Theta Target" + }, + { + "color": [ + 0.3333333432674408, + 0.658823549747467, + 0.4078431725502014, + 1.0 + ], + "id": "NT:/SmartDashboard/Tuning/X Actual" + }, + { + "color": [ + 0.7686275243759155, + 0.30588236451148987, + 0.32156863808631897, + 1.0 + ], + "id": "NT:/SmartDashboard/Tuning/X Target" + }, + { + "color": [ + 0.5058823823928833, + 0.44705885648727417, + 0.7019608020782471, + 1.0 + ], + "id": "NT:/SmartDashboard/Tuning/Y Actual" + }, + { + "color": [ + 0.5764706134796143, + 0.4705882668495178, + 0.3764706254005432, + 1.0 + ], + "id": "NT:/SmartDashboard/Tuning/Y Target" + } + ] + } + ] + } } } diff --git a/src/main/deploy/choreo/Blue Top.traj b/src/main/deploy/choreo/Blue Top.traj index 8b85cdf..cb07306 100644 --- a/src/main/deploy/choreo/Blue Top.traj +++ b/src/main/deploy/choreo/Blue Top.traj @@ 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"omega":-0.0002, "ax":-0.12075, "ay":-0.19068, "alpha":0.00027, "fx":[-1.64297,-1.64331,-1.64379,-1.64249], "fy":[-2.59416,-2.59543,-2.5947,-2.59489]}, + {"t":4.22517, "x":2.10319, "y":6.76616, "heading":-0.98773, "vx":3.50539, "vy":-2.24053, "omega":-0.00019, "ax":-0.0083, "ay":-0.01299, "alpha":0.0, "fx":[-0.11299,-0.11299,-0.11299,-0.11299], "fy":[-0.17675,-0.17675,-0.17675,-0.17675]}, + {"t":4.26783, "x":2.2527, "y":6.67058, "heading":-0.98773, "vx":3.50503, "vy":-2.24108, "omega":-0.00019, "ax":-0.00057, "ay":-0.00089, "alpha":0.0, "fx":[-0.00772,-0.00772,-0.00772,-0.00772], "fy":[-0.01207,-0.01207,-0.01207,-0.01207]}, + {"t":4.31048, "x":2.4022, "y":6.57499, "heading":-0.98774, "vx":3.50501, "vy":-2.24112, "omega":-0.00019, "ax":-0.00004, "ay":-0.00006, "alpha":0.0, "fx":[-0.00053,-0.00053,-0.00053,-0.00053], "fy":[-0.00083,-0.00083,-0.00083,-0.00083]}, + {"t":4.35313, "x":2.5517, "y":6.4794, "heading":-0.98775, "vx":3.50501, "vy":-2.24112, "omega":-0.00019, "ax":-0.00001, "ay":-0.00001, "alpha":0.0, "fx":[-0.00009,-0.00009,-0.00009,-0.00009], "fy":[-0.00015,-0.00015,-0.00015,-0.00015]}, + {"t":4.39579, "x":2.70119, "y":6.38381, "heading":-0.98776, "vx":3.50501, "vy":-2.24112, "omega":-0.00019, "ax":-0.00006, "ay":-0.0001, "alpha":0.0, "fx":[-0.00087,-0.00087,-0.00087,-0.00087], "fy":[-0.00135,-0.00135,-0.00135,-0.00135]}, + {"t":4.43844, "x":2.85069, "y":6.28822, "heading":-0.98777, "vx":3.50501, "vy":-2.24113, "omega":-0.00019, "ax":-0.00158, "ay":-0.00104, "alpha":-0.0003, "fx":[-0.02169,-0.02132,-0.02078,-0.02223], "fy":[-0.01481,-0.01339,-0.0142,-0.014]}, + {"t":4.48109, "x":3.00019, "y":6.19263, "heading":-0.98778, "vx":3.50494, "vy":-2.24117, "omega":-0.00021, "ax":-6.3433, "ay":4.04776, "alpha":-9.39395, "fx":[-97.24824,-77.05223,-66.10422,-104.8682], "fy":[29.02409,79.75667,57.34672,54.19681]}, + {"t":4.52374, "x":3.14392, "y":6.10072, "heading":-0.98778, "vx":3.23438, "vy":-2.06852, "omega":-0.40089, "ax":-12.59584, "ay":8.05563, "alpha":0.80637, "fx":[-169.53622,-173.26976,-172.22813,-170.57121], "fy":[112.52682,106.66256,108.38651,110.90115]}, + {"t":4.5664, "x":3.27041, "y":6.01982, "heading":-1.00488, "vx":2.69713, "vy":-1.72493, "omega":-0.36649, "ax":-12.63227, "ay":8.07875, "alpha":1.43394, "fx":[-168.54106,-175.25852,-173.30646,-170.48223], "fy":[115.12298,104.59058,107.83832,112.18338]}, + {"t":4.60905, "x":3.37396, "y":5.95359, "heading":-1.02052, "vx":2.15833, "vy":-1.38034, "omega":-0.30533, "ax":-12.64397, "ay":8.08628, "alpha":1.65786, "fx":[-168.14106,-175.97265,-173.63006,-170.48118], "fy":[116.07095,103.79837,107.70478,112.57114]}, + {"t":4.6517, "x":3.45452, "y":5.90207, "heading":-1.03354, "vx":1.61903, "vy":-1.03544, "omega":-0.23462, "ax":-12.64971, "ay":8.09002, "alpha":1.77179, "fx":[-167.92032,-176.3441,-173.76823,-170.50488], "fy":[116.57098,103.37397,107.67441,112.72922]}, + {"t":4.69436, "x":3.51207, "y":5.86527, "heading":-1.04355, "vx":1.07948, "vy":-0.69038, "omega":-0.15905, "ax":-12.65311, "ay":8.09225, "alpha":1.84089, "fx":[-167.77894,-176.57301,-173.84013,-170.53081], "fy":[116.88246,103.10753,107.67339,112.80667]}, + {"t":4.73701, "x":3.5466, "y":5.84318, "heading":-1.05033, "vx":0.53979, "vy":-0.34522, "omega":-0.08053, "ax":-12.65536, "ay":8.09373, "alpha":1.88793, "fx":[-167.68091,-176.72834,-173.88657,-170.54954], "fy":[117.09494,102.92455,107.67488,112.85629]}, + {"t":4.77966, "x":3.55812, "y":5.83582, "heading":-1.05376, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[ diff --git a/src/main/deploy/choreo/autos.chor b/src/main/deploy/choreo/autos.chor index 8e1286a..13c0602 100644 --- a/src/main/deploy/choreo/autos.chor +++ b/src/main/deploy/choreo/autos.chor @@ -9,27 +9,27 @@ "config":{ "frontLeft":{ "x":{ - "exp":"18 in", + "exp":"0.4572 m", "val":0.4572 }, "y":{ - "exp":"16 in", + "exp":"0.4064 m", "val":0.4064 } }, "backLeft":{ "x":{ - "exp":"-18 in", + "exp":"-0.4572 m", "val":-0.4572 }, "y":{ - "exp":"-16 in", + "exp":"-0.4064 m", "val":-0.4064 } }, "mass":{ - "exp":"120 lbs", - "val":54.4310844 + "exp":"54.4311 kg", + "val":54.4311 }, "inertia":{ "exp":"6 kg m ^ 2", @@ -40,12 +40,12 @@ "val":6.5 }, "radius":{ - "exp":"1.5 in", - "val":0.038099999999999995 + "exp":"0.0381 m", + "val":0.0381 }, "vmax":{ - "exp":"1070 RPM", - "val":112.05013797803596 + "exp":"6784 RPM", + "val":710.4188187317718 }, "tmax":{ "exp":"1.2 N * m", @@ -57,16 +57,16 @@ }, "bumper":{ "front":{ - "exp":"36 in", - "val":0.9144 + "exp":"0.4572 m", + "val":0.4572 }, "side":{ - "exp":"32 in", - "val":0.8128 + "exp":"0.4064 m", + "val":0.4064 }, "back":{ - "exp":"36 in", - "val":0.9144 + "exp":"0.4572 m", + "val":0.4572 } }, "differentialTrackWidth":{ diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b77217a..1da7904 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -6,7 +6,6 @@ import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.util.Units; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.StructArrayPublisher; import edu.wpi.first.wpilibj.DriverStation; @@ -14,18 +13,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; -import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; - import org.ironmaple.simulation.SimulatedArena; -import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.commands.PathPlannerAuto; -import com.pathplanner.lib.path.PathConstraints; -import com.pathplanner.lib.path.PathPlannerPath; -import com.pathplanner.lib.pathfinding.Pathfinding; - -import choreo.auto.AutoChooser; - /** * The VM is configured to automatically run this class, and to call the functions corresponding to * each mode, as described in the TimedRobot documentation. If you change the name of this class or @@ -99,9 +88,7 @@ public void disabledInit() {} public void disabledPeriodic() { if (m_autonomousCommand != null) { m_autonomousCommand.cancel(); - m_robotContainer.m_drive.drive(new ChassisSpeeds( - 0, 0, 0 - )); + m_robotContainer.m_drive.drive(new ChassisSpeeds(0, 0, 0)); m_autonomousCommand = null; } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 44b62bb..b40761c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,19 +4,16 @@ package frc.robot; -import edu.wpi.first.math.util.Units; +import choreo.auto.AutoChooser; +import choreo.auto.AutoFactory; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; -import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; import frc.robot.Constants.OIConstants; -import frc.robot.commands.autos.GenericAutoCommand; import frc.robot.subsystems.CoralHandlerSubsystem; import frc.robot.subsystems.ElevatorSubsystem; import frc.robot.subsystems.sim.CoralHandlerSubsystemSim; @@ -25,14 +22,6 @@ import frc.robot.utils.FilteredButton; import frc.robot.utils.FilteredJoystick; import java.io.File; - -import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.commands.PathPlannerAuto; -import com.pathplanner.lib.path.PathConstraints; -import com.pathplanner.lib.path.PathPlannerPath; - -import choreo.auto.AutoChooser; -import choreo.auto.AutoFactory; import swervelib.SwerveInputStream; /* @@ -65,13 +54,9 @@ public class RobotContainer { private final FilteredButton m_buttonBoard = new FilteredButton(OIConstants.kButtonBoardPort); public final AutoChooser m_autoChooser = new AutoChooser(); - private final AutoFactory m_autoFactory = new AutoFactory( - m_drive::getPose, - m_drive::resetOdometry, - m_drive::followTrajectory, - true, - m_drive - ); + private final AutoFactory m_autoFactory = + new AutoFactory( + m_drive::getPose, m_drive::resetOdometry, m_drive::followTrajectory, true, m_drive); private final Routines m_routines = new Routines(m_autoFactory); // Configure drive input stream @@ -97,7 +82,7 @@ public RobotContainer() { SmartDashboard.putData("Xbox Controller Debug", m_operatorController.getHID()); if (Robot.getInstance().isSimulation()) { - DriverStation.silenceJoystickConnectionWarning(true); + DriverStation.silenceJoystickConnectionWarning(true); } } diff --git a/src/main/java/frc/robot/Routines.java b/src/main/java/frc/robot/Routines.java index 3379314..ee2e591 100644 --- a/src/main/java/frc/robot/Routines.java +++ b/src/main/java/frc/robot/Routines.java @@ -6,23 +6,18 @@ import edu.wpi.first.wpilibj2.command.Commands; public class Routines { - private final AutoFactory m_factory; + private final AutoFactory m_factory; - public Routines(AutoFactory factory) { - m_factory = factory; - } + public Routines(AutoFactory factory) { + m_factory = factory; + } - public AutoRoutine test() { - AutoRoutine routine = m_factory.newRoutine("Test"); - AutoTrajectory mainTraj = routine.trajectory("Blue Top"); - - routine.active().onTrue( - Commands.sequence( - mainTraj.resetOdometry(), - mainTraj.cmd() - ) - ); + public AutoRoutine test() { + AutoRoutine routine = m_factory.newRoutine("Test"); + AutoTrajectory mainTraj = routine.trajectory("Blue Top"); - return routine; - } + routine.active().onTrue(Commands.sequence(mainTraj.resetOdometry(), mainTraj.cmd())); + + return routine; + } } diff --git a/src/main/java/frc/robot/commands/autos/GenericAutoCommand.java b/src/main/java/frc/robot/commands/autos/GenericAutoCommand.java index 281537f..32953dc 100644 --- a/src/main/java/frc/robot/commands/autos/GenericAutoCommand.java +++ b/src/main/java/frc/robot/commands/autos/GenericAutoCommand.java @@ -2,24 +2,24 @@ import com.pathplanner.lib.auto.AutoBuilder; import com.pathplanner.lib.path.PathPlannerPath; - import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; public class GenericAutoCommand { - public static Command genericAutoCommand() { - try{ - // Loading PathPlanner path using name in GUI - // PathPlannerPath path = PathPlannerPath.fromPathFile("path"); - // Load the Choreo Path you want to use - PathPlannerPath choreoPath = PathPlannerPath.fromChoreoTrajectory("Blue Top"); - // Create the path following command using AutoBuilder - return AutoBuilder.followPath(choreoPath); - } catch (Exception e) { - DriverStation.reportError("Couldn't load Choreo path to PathPlanner: " + e.getMessage(), e.getStackTrace()); - return Commands.none(); - } + public static Command genericAutoCommand() { + try { + // Loading PathPlanner path using name in GUI + // PathPlannerPath path = PathPlannerPath.fromPathFile("path"); + // Load the Choreo Path you want to use + PathPlannerPath choreoPath = PathPlannerPath.fromChoreoTrajectory("Blue Top"); + // Create the path following command using AutoBuilder + return AutoBuilder.followPath(choreoPath); + } catch (Exception e) { + DriverStation.reportError( + "Couldn't load Choreo path to PathPlanner: " + e.getMessage(), e.getStackTrace()); + return Commands.none(); } -} \ No newline at end of file + } +} diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index 77333a0..abee13d 100644 --- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -6,6 +6,7 @@ import static edu.wpi.first.units.Units.Meter; +import choreo.trajectory.SwerveSample; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.geometry.Pose2d; @@ -14,27 +15,21 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.trajectory.Trajectory; -import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config; import frc.robot.Constants; import frc.robot.subsystems.swervedrive.Vision.Cameras; import java.io.File; -import java.io.IOException; import java.util.Arrays; import java.util.Optional; -import java.util.concurrent.atomic.AtomicReference; import java.util.function.DoubleSupplier; import java.util.function.Supplier; import org.ironmaple.simulation.drivesims.SwerveDriveSimulation; -import org.json.simple.parser.ParseException; import org.photonvision.targeting.PhotonPipelineResult; - -import choreo.trajectory.SwerveSample; import swervelib.SwerveController; import swervelib.SwerveDrive; import swervelib.SwerveDriveTest; @@ -61,8 +56,8 @@ public class SwerveSubsystem extends SubsystemBase { /** PhotonVision class to keep an accurate odometry. */ private Vision vision; - private final PIDController xController = new PIDController(10.0, .0, .0); - private final PIDController yController = new PIDController(10.0, .0, .0); + private final PIDController xController = new PIDController(0.05, .01, .0); + private final PIDController yController = new PIDController(0.05, .01, .0); private final PIDController thetaController = new PIDController(10.0, .0, .0); /** @@ -120,11 +115,19 @@ public SwerveSubsystem(File directory) { public void followTrajectory(SwerveSample sample) { Pose2d pose = getPose(); - ChassisSpeeds speeds = new ChassisSpeeds( - sample.vx + xController.calculate(pose.getX(), sample.x), - sample.vy + yController.calculate(pose.getY(), sample.y), - sample.omega + thetaController.calculate(pose.getRotation().getRadians(), sample.heading) - ); + SmartDashboard.putNumber("Tuning/X Target", sample.x); + SmartDashboard.putNumber("Tuning/Y Target", sample.y); + SmartDashboard.putNumber("Tuning/Theta Target", sample.heading); + SmartDashboard.putNumber("Tuning/X Actual", pose.getX()); + SmartDashboard.putNumber("Tuning/Y Actual", pose.getY()); + SmartDashboard.putNumber("Tuning/Theta Actual", pose.getRotation().getRadians()); + + ChassisSpeeds speeds = + new ChassisSpeeds( + sample.vx + xController.calculate(pose.getX(), sample.x), + sample.vy + yController.calculate(pose.getY(), sample.y), + sample.omega + + thetaController.calculate(pose.getRotation().getRadians(), sample.heading)); driveFieldOriented(speeds); } From 676e86bbbc1088334e8ff44502b7070206529412 Mon Sep 17 00:00:00 2001 From: HENRYMARTIN5 Date: Mon, 10 Feb 2025 19:34:26 -0600 Subject: [PATCH 06/28] fix: Update PID controller parameters and adjust coordinates in autos.chor --- src/main/deploy/choreo/Blue Top.traj | 202 ++++++------------ src/main/deploy/choreo/autos.chor | 16 +- .../swervedrive/SwerveSubsystem.java | 6 +- 3 files changed, 72 insertions(+), 152 deletions(-) diff --git a/src/main/deploy/choreo/Blue Top.traj b/src/main/deploy/choreo/Blue Top.traj index cb07306..e00debe 100644 --- a/src/main/deploy/choreo/Blue Top.traj +++ b/src/main/deploy/choreo/Blue Top.traj @@ -3,12 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.603346347808838, "y":7.069694995880127, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.542496681213379, "y":5.851439952850342, "heading":-1.0537643835350297, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.402741551399231, "y":7.194643974304199, "heading":-0.9209260506009412, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.542496681213379, "y":5.835821151733398, "heading":-1.0537643835350297, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.3715041875839231, "y":7.194643974304199, "heading":-0.9209260506009412, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.558115243911743, "y":5.835821151733398, "heading":-1.0537643835350297, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":1.5408804416656494, "y":6.979273319244385, "heading":0.0, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":8.77400016784668, "y":6.979273319244385, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,12 +13,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"7.603346347808838 m", "val":7.603346347808838}, "y":{"exp":"7.069694995880127 m", "val":7.069694995880127}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.542496681213379 m", "val":3.542496681213379}, "y":{"exp":"5.851439952850342 m", "val":5.851439952850342}, "heading":{"exp":"-1.0537643835350297 rad", 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"fy":[-0.73384,-0.39066,-0.79978,-0.32472]}, + {"t":1.19787, "x":5.5539, "y":6.92228, "heading":1.44068, "vx":4.05228, "vy":-0.08612, "omega":0.24667, "ax":-0.03729, "ay":-0.04207, "alpha":0.12472, "fx":[-0.79551,-0.21928,-0.27848,-0.73632], "fy":[-0.76482,-0.38009,-0.83249,-0.31242]}, + {"t":1.23918, "x":5.72125, "y":6.91868, "heading":1.45087, "vx":4.05074, "vy":-0.08786, "omega":0.25182, "ax":-0.04198, "ay":-0.04204, "alpha":0.13859, "fx":[-0.88928,-0.25335,-0.31401,-0.82864], "fy":[-0.78915,-0.35512,-0.85849,-0.28579]}, + {"t":1.28048, "x":5.88853, "y":6.91502, "heading":1.46127, "vx":4.04901, "vy":-0.08959, "omega":0.25755, "ax":-0.04754, "ay":-0.04045, "alpha":0.15493, "fx":[-0.99979,-0.29396,-0.35591,-0.93785], "fy":[-0.79672,-0.30414,-0.86754,-0.23333]}, + {"t":1.32179, "x":6.05574, "y":6.91128, "heading":1.47191, "vx":4.04704, "vy":-0.09126, "omega":0.26395, "ax":-0.05398, "ay":-0.03565, "alpha":0.17395, "fx":[-1.12784,-0.34134,-0.40415,-1.06504], "fy":[-0.76577,-0.20434,-0.83759,-0.13254]}, + {"t":1.36309, "x":6.22286, "y":6.90748, "heading":1.48281, "vx":4.04481, "vy":-0.09274, "omega":0.27113, "ax":-0.06106, "ay":-0.02415, "alpha":0.19512, "fx":[-1.26854,-0.3932,-0.45592,-1.20583], "fy":[-0.6483,-0.00893,-0.72,0.06276]}, + {"t":1.4044, "x":6.38988, "y":6.90363, "heading":1.49401, "vx":4.04229, "vy":-0.09373, "omega":0.27919, "ax":-0.06767, "ay":0.00159, "alpha":0.21591, "fx":[-1.40115,-0.44053,-0.50113,-1.34056], "fy":[-0.33756,0.38074,-0.40682,0.44998]}, + {"t":1.44571, "x":6.5568, "y":6.89976, "heading":1.50554, "vx":4.0395, "vy":-0.09367, "omega":0.28811, "ax":-0.07102, "ay":0.05729, "alpha":0.22929, "fx":[-1.47205,-0.46072,-0.51543,-1.41731], "fy":[0.39226,1.16683,0.32976,1.22928]}, + {"t":1.48701, "x":6.72359, "y":6.89594, "heading":1.51744, "vx":4.03656, "vy":-0.0913, "omega":0.29758, "ax":-0.06679, "ay":0.17018, "alpha":0.22332, "fx":[-1.39695,-0.42087,-0.46449,-1.35326], "fy":[1.93281,2.69882,1.8831,2.7485]}, + {"t":1.52832, "x":6.89027, "y":6.89231, "heading":1.52974, "vx":4.0338, "vy":-0.08427, "omega":0.30681, "ax":-0.05629, "ay":0.36328, "alpha":0.1964, "fx":[-1.19118,-0.34073,-0.3703,-1.16148], "fy":[4.6015,5.28537,4.56795,5.31889]}, + {"t":1.56962, "x":7.05684, "y":6.88914, "heading":1.54241, "vx":4.03148, "vy":-0.06927, "omega":0.31492, "ax":-0.06286, "ay":0.59663, "alpha":0.19789, "fx":[-1.27998,-0.43102,-0.45172,-1.25904], "fy":[7.76922,8.46843,7.74603,8.49158]}, + {"t":1.61093, "x":7.22331, "y":6.88679, "heading":1.55542, "vx":4.02888, "vy":-0.04462, "omega":0.32309, "ax":-0.12199, "ay":0.76543, "alpha":0.31178, "fx":[-2.32261,-0.99787,-1.01602,-2.30373], "fy":[9.85668,10.975,9.8377,10.99383]}, + {"t":1.65224, "x":7.38962, "y":6.8856, "heading":1.56876, "vx":4.02384, "vy":-0.01301, "omega":0.33597, "ax":-0.23799, "ay":0.82808, "alpha":0.55307, "fx":[-4.40194,-2.07642,-2.0828,-4.39304], "fy":[10.26037,12.27663,10.25935,12.27692]}, + {"t":1.69354, "x":7.55563, "y":6.88577, "heading":1.58264, "vx":4.01401, "vy":0.0212, "omega":0.35882, "ax":-0.44709, "ay":0.84804, "alpha":1.00987, "fx":[-8.18549,-3.98662,-3.95078,-8.21267], "fy":[9.66685,13.41524,9.72878,13.34908]}, + {"t":1.73485, "x":7.72105, "y":6.88737, "heading":1.59746, "vx":3.99554, "vy":0.05623, "omega":0.40053, "ax":-1.17614, "ay":1.13538, "alpha":2.68017, "fx":[-21.5522,-10.49841,-10.31096,-21.65723], "fy":[10.35271,20.58546,10.74509,20.11647]}, + {"t":1.77615, "x":7.88509, "y":6.89066, "heading":1.61401, "vx":3.94696, "vy":0.10313, "omega":0.51124, "ax":-3.5596, "ay":2.18505, "alpha":8.09148, "fx":[-65.50026,-31.93613,-32.10716,-64.20947], "fy":[13.01508,47.44414,15.80414,42.67144]}, + {"t":1.81746, "x":8.04508, "y":6.89678, "heading":1.63512, "vx":3.79993, "vy":0.19338, "omega":0.84546, "ax":-7.05668, "ay":3.15311, "alpha":15.4425, "fx":[-127.14276,-64.65231,-72.69506,-119.61263], "fy":[4.78402,88.4052,13.69621,64.74202]}, + {"t":1.85877, "x":8.19602, "y":6.90746, "heading":1.67005, "vx":3.50845, "vy":0.32362, "omega":1.48333, "ax":-9.75361, "ay":3.80036, "alpha":19.78379, "fx":[-167.65565,-89.02152,-119.46303,-154.75973], "fy":[-6.38207,127.46009,8.75786,77.02211]}, + {"t":1.90007, "x":8.33262, "y":6.92407, "heading":1.73132, "vx":3.10557, "vy":0.4806, "omega":2.30052, "ax":-11.21239, "ay":3.2584, "alpha":20.39, "fx":[-181.07538,-109.47215,-148.06387,-171.69117], "fy":[-21.54797,134.89674,-6.06955,70.0793]}, + {"t":1.94138, "x":8.45133, "y":6.9467, "heading":1.82634, "vx":2.64243, "vy":0.61519, "omega":3.14274, "ax":-11.95154, "ay":-1.13241, "alpha":19.39397, "fx":[-171.56306,-154.08024,-139.73105,-185.16085], "fy":[-69.3062,74.53159,-84.91982,18.05597]}, + {"t":1.98268, "x":8.55028, "y":6.97115, "heading":1.95615, "vx":2.14876, "vy":0.56842, "omega":3.94383, "ax":-10.89859, "ay":-6.20708, "alpha":16.56966, "fx":[-143.82303,-169.60615,-99.04123,-180.75201], "fy":[-120.85483,-23.50026,-144.93824,-48.56489]}, + {"t":2.02399, "x":8.62974, "y":6.98933, "heading":2.11906, "vx":1.69858, "vy":0.31203, "omega":4.62825, "ax":-9.67261, "ay":-8.60572, "alpha":16.37915, "fx":[-120.18847,-166.02209,-69.1474,-171.13274], "fy":[-149.5143,-64.71819,-169.13556,-85.0505]}, + {"t":2.06529, "x":8.69165, "y":6.99488, "heading":2.31023, "vx":1.29905, "vy":-0.04344, "omega":5.30481, "ax":-10.78006, "ay":-6.11522, "alpha":22.88019, "fx":[-127.81148,-183.65414,-91.07616,-184.2289], "fy":[-145.13889,25.13954,-151.19371,-61.66523]}, + {"t":2.1066, "x":8.73612, "y":6.98787, "heading":2.52935, "vx":0.85377, "vy":-0.29603, "omega":6.2499, "ax":-12.74526, "ay":6.02355, "alpha":-13.08974, "fx":[-156.793,-194.68897,-190.94019,-151.31641], "fy":[121.86574,26.51052,55.70454,123.7879]}, + {"t":2.14791, "x":8.76051, "y":6.98078, "heading":2.78751, "vx":0.32731, "vy":-0.04723, "omega":5.70921, "ax":-3.97874, "ay":0.83288, "alpha":-68.90553, "fx":[-131.38535,-21.94341,-193.79746,130.55886], "fy":[156.46811,-202.97237,-64.83915,156.67782]}, + {"t":2.18921, "x":8.77063, "y":6.97954, "heading":3.02333, "vx":0.16297, "vy":-0.01282, "omega":2.86301, "ax":-3.94538, "ay":0.31042, "alpha":-69.31229, "fx":[-155.93752,34.4285,-178.61049,85.36788], "fy":[132.33822,-201.48548,-99.65215,185.69604]}, + {"t":2.23052, "x":8.774, "y":6.97927, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, - "events":[ - {"name":"Output Coral", "from":{"target":1, "targetTimestamp":1.34902, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"Output Coral", "from":{"target":5, "targetTimestamp":4.77966, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"Intake Coral", "from":{"target":2, "targetTimestamp":2.10459, "offset":{"exp":"0 s", "val":0.0}}, "event":null}, - {"name":"Intake Coral", "from":{"target":4, "targetTimestamp":3.88395, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] + "events":[] } diff --git a/src/main/deploy/choreo/autos.chor b/src/main/deploy/choreo/autos.chor index 13c0602..df98898 100644 --- a/src/main/deploy/choreo/autos.chor +++ b/src/main/deploy/choreo/autos.chor @@ -9,22 +9,22 @@ "config":{ "frontLeft":{ "x":{ - "exp":"0.4572 m", - "val":0.4572 - }, - "y":{ "exp":"0.4064 m", "val":0.4064 + }, + "y":{ + "exp":"0.3556 m", + "val":0.3556 } }, "backLeft":{ "x":{ - "exp":"-0.4572 m", - "val":-0.4572 - }, - "y":{ "exp":"-0.4064 m", "val":-0.4064 + }, + "y":{ + "exp":"-0.3556 m", + "val":-0.3556 } }, "mass":{ diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index abee13d..f5e75a8 100644 --- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -56,9 +56,9 @@ public class SwerveSubsystem extends SubsystemBase { /** PhotonVision class to keep an accurate odometry. */ private Vision vision; - private final PIDController xController = new PIDController(0.05, .01, .0); - private final PIDController yController = new PIDController(0.05, .01, .0); - private final PIDController thetaController = new PIDController(10.0, .0, .0); + private final PIDController xController = new PIDController(.00005, .0, .0); + private final PIDController yController = new PIDController(.00005, .0, .0); + private final PIDController thetaController = new PIDController(.00005, .0, .0); /** * Initialize {@link SwerveDrive} with the directory provided. From 8adb1814af1db87d91b700a7f3287cd9f1c9143b Mon Sep 17 00:00:00 2001 From: HENRYMARTIN5 Date: Sat, 15 Feb 2025 11:32:18 -0600 Subject: [PATCH 07/28] Creating autonomous routines and a Choreo Position Library to use across routines - Chris Reed --- simgui.json | 10 +- .../choreo/Blue Coral Station to Reef.traj | 28 +++ .../Blue Processor To Coral Station.traj | 192 ++++++++++++++++++ src/main/deploy/choreo/Position Library.traj | 49 +++++ .../choreo/{Blue Top.traj => Test.traj} | 0 src/main/java/frc/robot/RobotContainer.java | 1 + src/main/java/frc/robot/Routines.java | 14 +- 7 files changed, 292 insertions(+), 2 deletions(-) create mode 100644 src/main/deploy/choreo/Blue Coral Station to Reef.traj create mode 100644 src/main/deploy/choreo/Blue Processor To Coral Station.traj create mode 100644 src/main/deploy/choreo/Position Library.traj rename src/main/deploy/choreo/{Blue Top.traj => Test.traj} (100%) diff --git a/simgui.json b/simgui.json index facd847..7c77892 100644 --- a/simgui.json +++ b/simgui.json @@ -3,6 +3,8 @@ "types": { "/FMSInfo": "FMSInfo", "/SmartDashboard/Alerts": "Alerts", + "/SmartDashboard/Auto Chooser": "String Chooser", + "/SmartDashboard/Choreo Alerts": "Alerts", "/SmartDashboard/Encoders": "Alerts", "/SmartDashboard/Field": "Field2d", "/SmartDashboard/IMU": "Alerts", @@ -52,6 +54,9 @@ "NetworkTables Info": { "visible": true }, + "NetworkTables View": { + "visible": false + }, "Plot": { "Plot <0>": { "plots": [ @@ -125,7 +130,10 @@ } ] } - ] + ], + "window": { + "visible": false + } } } } diff --git a/src/main/deploy/choreo/Blue Coral Station to Reef.traj b/src/main/deploy/choreo/Blue Coral Station to Reef.traj new file mode 100644 index 0000000..fd1d51f --- /dev/null +++ b/src/main/deploy/choreo/Blue Coral Station to Reef.traj @@ -0,0 +1,28 @@ +{ + "name":"Blue Coral Station to Reef", + "version":1, + "snapshot":{ + "waypoints":[], + "constraints":[], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"1.65 m", "val":1.65}, "y":{"exp":"7.4 m", "val":7.4}, "heading":{"exp":"306 deg", "val":5.340707511102648}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":null, + "waypoints":[], + "samples":[], + "splits":[] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/Blue Processor To Coral Station.traj b/src/main/deploy/choreo/Blue Processor To Coral Station.traj new file mode 100644 index 0000000..0b61754 --- /dev/null +++ b/src/main/deploy/choreo/Blue Processor To Coral Station.traj @@ -0,0 +1,192 @@ +{ + "name":"Blue Processor To Coral Station", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":8.1, "y":6.75, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":11.0, "y":6.75, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":11.5, "y":6.75, "heading":1.5707963267948966, "intervals":9, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":11.535192489624023, "y":7.5, "heading":1.5707963267948966, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":9.83946132659912, "y":6.739170074462891, "heading":3.141592653589793, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.0, "y":6.739170074462891, "heading":3.141592653589793, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.3307135105133057, "y":6.89677095413208, "heading":5.340707511102648, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.65, "y":7.4, "heading":5.340707511102648, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, + {"from":0, "to":1, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, + {"from":4, "to":5, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}], + 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"fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.5 m", "val":5.5}, "y":{"exp":"2.6 m", "val":2.6}, "heading":{"exp":"120 deg", "val":2.0943951023931953}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":null, + "waypoints":[], + "samples":[], + "splits":[] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/Blue Top.traj b/src/main/deploy/choreo/Test.traj similarity index 100% rename from src/main/deploy/choreo/Blue Top.traj rename to src/main/deploy/choreo/Test.traj diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 0d01377..9ad0774 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -78,6 +78,7 @@ public RobotContainer() { m_drive.setDefaultCommand(m_drive.driveFieldOriented(driveInput)); m_autoChooser.addRoutine("Test Routine", m_routines::test); + m_autoChooser.addRoutine("Blue Processor Routine", m_routines::blueProcessor); SmartDashboard.putData("Auto Chooser", m_autoChooser); SmartDashboard.putData("Xbox Controller Debug", m_operatorController.getHID()); diff --git a/src/main/java/frc/robot/Routines.java b/src/main/java/frc/robot/Routines.java index ee2e591..b8fdd0a 100644 --- a/src/main/java/frc/robot/Routines.java +++ b/src/main/java/frc/robot/Routines.java @@ -14,7 +14,19 @@ public Routines(AutoFactory factory) { public AutoRoutine test() { AutoRoutine routine = m_factory.newRoutine("Test"); - AutoTrajectory mainTraj = routine.trajectory("Blue Top"); + AutoTrajectory mainTraj = routine.trajectory("Test"); + + routine.active().onTrue(Commands.sequence(mainTraj.resetOdometry(), mainTraj.cmd())); + + return routine; + } + + /** + * Routine to drive to the processor, drop off the algae, and drive back to the coral station. + */ + public AutoRoutine blueProcessor() { + AutoRoutine routine = m_factory.newRoutine("Blue Processor"); + AutoTrajectory mainTraj = routine.trajectory("Blue Processor To Coral Station"); routine.active().onTrue(Commands.sequence(mainTraj.resetOdometry(), mainTraj.cmd())); From 7d65924816d7c457144257d12fa2c7362c022bed Mon Sep 17 00:00:00 2001 From: HENRYMARTIN5 Date: Sat, 15 Feb 2025 11:48:36 -0600 Subject: [PATCH 08/28] Adding individual routines to test accuracy (Simulator not getting to final point, stopping early) - Chris Reed --- .../choreo/Blue Coral Station To Reef K.traj | 57 ++++++ .../choreo/Blue Coral Station to Reef.traj | 28 --- .../Blue Processor To Coral Station.traj | 192 ------------------ .../deploy/choreo/Blue To Coral Station.traj | 92 +++++++++ src/main/deploy/choreo/Blue To Processor.traj | 133 ++++++++++++ src/main/java/frc/robot/RobotContainer.java | 2 + src/main/java/frc/robot/Routines.java | 28 ++- 7 files changed, 310 insertions(+), 222 deletions(-) create mode 100644 src/main/deploy/choreo/Blue Coral Station To Reef K.traj delete mode 100644 src/main/deploy/choreo/Blue Coral Station to Reef.traj delete mode 100644 src/main/deploy/choreo/Blue Processor To Coral Station.traj create mode 100644 src/main/deploy/choreo/Blue To Coral Station.traj create mode 100644 src/main/deploy/choreo/Blue To Processor.traj diff --git a/src/main/deploy/choreo/Blue Coral Station To Reef K.traj b/src/main/deploy/choreo/Blue Coral Station To Reef K.traj new file mode 100644 index 0000000..bdefd11 --- /dev/null +++ b/src/main/deploy/choreo/Blue Coral Station To Reef K.traj @@ -0,0 +1,57 @@ +{ + "name":"Blue Coral Station To Reef K", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":1.65, "y":7.4, "heading":5.340707511102648, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.8, "y":5.6, "heading":5.235987755982989, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"1.65 m", "val":1.65}, "y":{"exp":"7.4 m", "val":7.4}, "heading":{"exp":"306 deg", "val":5.340707511102648}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.8 m", "val":3.8}, "y":{"exp":"5.6 m", "val":5.6}, "heading":{"exp":"300 deg", "val":5.235987755982989}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "sampleType":"Swerve", + "waypoints":[0.0,0.9527], + "samples":[ + {"t":0.0, "x":1.65, "y":7.4, "heading":-0.94248, "vx":0.0, "vy":0.0, "omega":0.0, "ax":11.52011, "ay":-9.64518, "alpha":-1.42525, "fx":[152.77079,160.84901,159.31438,154.11822], 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"fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}], - "targetDt":{ - "exp":"0.05 s", - "val":0.05 - } - }, - "trajectory":{ - "sampleType":null, - "waypoints":[], - "samples":[], - "splits":[] - }, - "events":[] -} diff --git a/src/main/deploy/choreo/Blue Processor To Coral Station.traj b/src/main/deploy/choreo/Blue Processor To Coral Station.traj deleted file mode 100644 index 0b61754..0000000 --- a/src/main/deploy/choreo/Blue Processor To Coral Station.traj +++ /dev/null @@ -1,192 +0,0 @@ -{ - "name":"Blue Processor To Coral Station", - "version":1, - "snapshot":{ - 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"fy":[-12.49623,-23.62615,-23.09989,-12.98589]}, + {"t":1.91294, "x":10.75065, "y":7.21153, "heading":3.09991, "vx":-3.36385, "vy":-2.37605, "omega":0.08331, "ax":0.02398, "ay":-0.11234, "alpha":-0.0845, "fx":[0.17928,0.47336,0.16451,0.48814], "fy":[-1.34582,-1.71169,-1.69877,-1.35873]}, + {"t":1.94123, "x":10.65549, "y":7.14426, "heading":3.10227, "vx":-3.36317, "vy":-2.37923, "omega":0.08091, "ax":-0.05386, "ay":0.07785, "alpha":0.00349, "fx":[-0.72689,-0.73906,-0.72632,-0.73963], "fy":[1.05181,1.06687,1.06637,1.0523]}, + {"t":1.96952, "x":10.56033, "y":7.07699, "heading":3.10456, "vx":-3.3647, "vy":-2.37703, "omega":0.08101, "ax":-0.34625, "ay":0.5262, "alpha":0.04073, "fx":[-4.64044,-4.78284,-4.63382,-4.78947], "fy":[7.07274,7.24808,7.24282,7.07801]}, + {"t":1.9978, "x":10.465, "y":7.00995, "heading":3.10685, "vx":-3.37449, "vy":-2.36214, "omega":0.08217, "ax":-1.69002, "ay":2.82903, "alpha":0.39791, "fx":[-22.31643,-23.67635,-22.18868,-23.80813], "fy":[37.68654,39.30591,39.31921,37.6756]}, + {"t":2.02609, "x":10.36887, "y":6.94426, "heading":3.10918, "vx":-3.4223, "vy":-2.28211, "omega":0.09342, "ax":-3.99893, "ay":9.27163, "alpha":2.92083, "fx":[-49.35156,-59.09871,-45.0586,-64.15745], "fy":[123.51052,129.0146,132.2151,119.92504]}, + {"t":2.05438, "x":10.27045, "y":6.88341, "heading":3.11182, "vx":-3.53543, "vy":-2.01982, "omega":0.17605, "ax":-4.21836, "ay":12.7712, "alpha":4.34457, "fx":[-47.55061,-65.50934,-39.08403,-77.46611], "fy":[174.81852,174.02578,180.89375,165.41259]}, + {"t":2.08267, "x":10.16875, "y":6.83138, "heading":3.1168, "vx":-3.65476, "vy":-1.65853, "omega":0.29896, "ax":-4.97655, "ay":13.48052, "alpha":1.21514, "fx":[-65.3251,-69.97538,-61.93325,-73.64547], "fy":[184.03866,182.97276,185.69554,181.05248]}, + {"t":2.11096, "x":10.06336, "y":6.78986, "heading":3.12526, "vx":-3.79555, "vy":-1.27717, "omega":0.33333, "ax":-5.63385, "ay":13.52858, "alpha":-3.15385, "fx":[-81.69387,-70.79767,-92.56509,-61.60008], "fy":[182.80458,186.36636,176.89389,190.31088]}, + {"t":2.13925, "x":9.95374, "y":6.75914, "heading":3.13469, "vx":-3.95493, "vy":-0.89446, "omega":0.24411, "ax":-5.97527, "ay":13.33031, "alpha":-8.49383, "fx":[-93.00226,-64.09396,-124.89637,-43.2477], "fy":[179.68867,190.34411,158.14559,197.40507]}, + {"t":2.16754, "x":9.83946, "y":6.73917, "heading":3.14159, "vx":-4.12397, "vy":-0.51735, "omega":0.00383, "ax":-0.89008, "ay":14.74127, "alpha":-0.096, "fx":[-12.47801,-11.74424,-12.53303,-11.69266], "fy":[200.5827,200.60937,200.56253,200.62914]}, + {"t":2.20733, "x":9.67469, "y":6.73025, "heading":-3.14144, "vx":-4.15938, "vy":0.06911, "omega":0.00001, "ax":0.01756, "ay":0.95245, "alpha":-0.00019, "fx":[0.2386,0.2393,0.2386,0.2393], "fy":[12.96113,12.96034,12.96034,12.96113]}, + {"t":2.24711, "x":9.50923, "y":6.73376, "heading":-3.14144, "vx":-4.15868, "vy":0.107, "omega":0.0, "ax":-0.01735, "ay":-0.79133, "alpha":0.0, "fx":[-0.23608,-0.23608,-0.23608,-0.23608], "fy":[-10.76824,-10.76824,-10.76824,-10.76824]}, + {"t":2.28689, "x":9.34377, "y":6.73739, "heading":-3.14144, "vx":-4.15937, "vy":0.07552, "omega":0.0, "ax":-0.00709, "ay":-0.44235, "alpha":0.0, "fx":[-0.0965,-0.0965,-0.0965,-0.0965], "fy":[-6.01939,-6.01939,-6.01939,-6.01939]}, + {"t":2.32667, "x":9.17829, "y":6.74004, "heading":-3.14144, "vx":-4.15965, "vy":0.05792, "omega":0.0, "ax":-0.0033, "ay":-0.26033, "alpha":0.0, "fx":[-0.0449,-0.0449,-0.0449,-0.0449], "fy":[-3.54251,-3.54251,-3.54251,-3.54251]}, + {"t":2.36646, "x":9.01281, "y":6.74214, "heading":-3.14144, "vx":-4.15978, "vy":0.04756, "omega":0.0, "ax":-0.00178, "ay":-0.16729, "alpha":0.0, "fx":[-0.02417,-0.02417,-0.02417,-0.02417], "fy":[-2.27651,-2.27651,-2.27651,-2.27651]}, + {"t":2.40624, "x":8.84731, "y":6.7439, "heading":-3.14144, "vx":-4.15985, "vy":0.04091, "omega":0.0, "ax":0.02231, "ay":-0.14773, "alpha":-0.00004, "fx":[0.30347,0.30362,0.30347,0.30362], "fy":[-2.01021,-2.01037,-2.01037,-2.01021]}, + {"t":2.44602, "x":8.68184, "y":6.74541, "heading":-3.14144, "vx":-4.15896, "vy":0.03503, "omega":0.0, "ax":14.50307, "ay":-0.16306, "alpha":-0.02376, "fx":[197.35266,197.35629,197.35081,197.35814], "fy":[-2.13442,-2.30336,-2.30507,-2.13284]}, + {"t":2.48581, "x":8.52786, "y":6.74668, "heading":-3.14144, "vx":-3.58198, "vy":0.02854, "omega":-0.00095, "ax":14.95712, "ay":-0.12922, "alpha":0.00115, "fx":[203.5331,203.53313,203.53317,203.53305], "fy":[-1.76259,-1.75419,-1.75413,-1.76265]}, + {"t":2.52559, "x":8.39719, "y":6.74771, "heading":-3.14148, "vx":-2.98694, "vy":0.0234, "omega":-0.0009, "ax":14.99694, "ay":-0.12309, "alpha":0.00342, "fx":[204.07492,204.07505,204.07513,204.07485], "fy":[-1.68754,-1.66252,-1.66234,-1.68773]}, + {"t":2.56537, "x":8.29023, "y":6.74854, "heading":-3.14151, "vx":-2.39031, "vy":0.01851, "omega":-0.00077, "ax":15.0118, "ay":-0.11943, "alpha":0.00428, "fx":[204.27706,204.27725,204.27731,204.277], "fy":[-1.64084,-1.60949,-1.60927,-1.64106]}, + {"t":2.60516, "x":8.20702, "y":6.74918, "heading":-3.14154, "vx":-1.79309, "vy":0.01376, "omega":-0.0006, "ax":15.01956, "ay":-0.11689, "alpha":0.00474, "fx":[204.38271,204.38293,204.38298,204.38266], "fy":[-1.60801,-1.57332,-1.57309,-1.60826]}, + {"t":2.64494, "x":8.14757, "y":6.74964, "heading":-3.14157, "vx":-1.19556, "vy":0.0091, "omega":-0.00041, "ax":15.02433, "ay":-0.11508, "alpha":0.00502, "fx":[204.44763,204.44787,204.44791,204.44758], "fy":[-1.5844,-1.54764,-1.5474,-1.58465]}, + {"t":2.68472, "x":8.11189, "y":6.74991, "heading":-3.14158, "vx":-0.59785, "vy":0.00453, "omega":-0.00021, "ax":15.02756, "ay":-0.11378, "alpha":0.00521, "fx":[204.49156,204.49181,204.49185,204.49152], "fy":[-1.56733,-1.52917,-1.52892,-1.56759]}, + {"t":2.72451, "x":8.1, "y":6.75, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[ + {"name":"Coral Pick Up", "from":{"target":null, "targetTimestamp":null, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"wait", "data":{"waitTime":{"exp":"1 s", "val":1.0}}}}, + {"name":"Algae Drop Off Processor", "from":{"target":3, "targetTimestamp":1.48859, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"wait", "data":{"waitTime":{"exp":"1 s", "val":1.0}}}}] +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9ad0774..f80d464 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -79,6 +79,8 @@ public RobotContainer() { m_autoChooser.addRoutine("Test Routine", m_routines::test); m_autoChooser.addRoutine("Blue Processor Routine", m_routines::blueProcessor); + m_autoChooser.addRoutine("Blue Coral Station Routine", m_routines::blueCoralStation); + m_autoChooser.addRoutine("Blue Reef K Routine", m_routines::blueCoralToReefK); SmartDashboard.putData("Auto Chooser", m_autoChooser); SmartDashboard.putData("Xbox Controller Debug", m_operatorController.getHID()); diff --git a/src/main/java/frc/robot/Routines.java b/src/main/java/frc/robot/Routines.java index b8fdd0a..76afe7b 100644 --- a/src/main/java/frc/robot/Routines.java +++ b/src/main/java/frc/robot/Routines.java @@ -22,11 +22,35 @@ public AutoRoutine test() { } /** - * Routine to drive to the processor, drop off the algae, and drive back to the coral station. + * Routine to drive to the Processor, drop off the Algae, and drive back to the starting point. */ public AutoRoutine blueProcessor() { AutoRoutine routine = m_factory.newRoutine("Blue Processor"); - AutoTrajectory mainTraj = routine.trajectory("Blue Processor To Coral Station"); + AutoTrajectory mainTraj = routine.trajectory("Blue To Processor"); + + routine.active().onTrue(Commands.sequence(mainTraj.resetOdometry(), mainTraj.cmd())); + + return routine; + } + + /** + * Routine to drive to the Coral Station. + */ + public AutoRoutine blueCoralStation() { + AutoRoutine routine = m_factory.newRoutine("Blue Coral Station"); + AutoTrajectory mainTraj = routine.trajectory("Blue To Coral Station"); + + routine.active().onTrue(Commands.sequence(mainTraj.resetOdometry(), mainTraj.cmd())); + + return routine; + } + + /** + * Routine to drive to the Coral Station. + */ + public AutoRoutine blueCoralToReefK() { + AutoRoutine routine = m_factory.newRoutine("Blue Coral Station To Reef K"); + AutoTrajectory mainTraj = routine.trajectory("Blue Coral Station To Reef K"); routine.active().onTrue(Commands.sequence(mainTraj.resetOdometry(), mainTraj.cmd())); From 29405d95bde55a128b223e7bb5664dc33c42d0d7 Mon Sep 17 00:00:00 2001 From: HENRYMARTIN5 Date: Sat, 15 Feb 2025 12:21:42 -0600 Subject: [PATCH 09/28] Routine using multiple trajectories - Chris Reed --- src/main/java/frc/robot/RobotContainer.java | 1 + src/main/java/frc/robot/Routines.java | 14 ++++++++++++++ 2 files changed, 15 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f80d464..6f2be88 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -81,6 +81,7 @@ public RobotContainer() { m_autoChooser.addRoutine("Blue Processor Routine", m_routines::blueProcessor); m_autoChooser.addRoutine("Blue Coral Station Routine", m_routines::blueCoralStation); m_autoChooser.addRoutine("Blue Reef K Routine", m_routines::blueCoralToReefK); + m_autoChooser.addRoutine("Blue Test Full Routine", m_routines::blueTestFull); SmartDashboard.putData("Auto Chooser", m_autoChooser); SmartDashboard.putData("Xbox Controller Debug", m_operatorController.getHID()); diff --git a/src/main/java/frc/robot/Routines.java b/src/main/java/frc/robot/Routines.java index 76afe7b..2605aca 100644 --- a/src/main/java/frc/robot/Routines.java +++ b/src/main/java/frc/robot/Routines.java @@ -56,4 +56,18 @@ public AutoRoutine blueCoralToReefK() { return routine; } + + /** + * Routine to drive to the Coral Station. + */ + public AutoRoutine blueTestFull() { + AutoRoutine routine = m_factory.newRoutine("Blue Test Full"); + AutoTrajectory processorTraj = routine.trajectory("Blue To Processor"); + AutoTrajectory coralStationTraj = routine.trajectory("Blue To Coral Station"); + AutoTrajectory reefKTraj = routine.trajectory("Blue Coral Station To Reef K"); + + routine.active().onTrue(Commands.sequence(processorTraj.resetOdometry(), processorTraj.cmd(), coralStationTraj.cmd(), reefKTraj.cmd())); + + return routine; + } } From 694a880cc257b78b0e6a0afe808f08657c9aa7dc Mon Sep 17 00:00:00 2001 From: HENRYMARTIN5 Date: Sat, 15 Feb 2025 12:50:03 -0600 Subject: [PATCH 10/28] In progress --- .../deploy/choreo/Blue To Coral Station.traj | 139 ++++++++++-------- src/main/deploy/choreo/New Path.traj | 131 +++++++++++++++++ 2 files changed, 211 insertions(+), 59 deletions(-) create mode 100644 src/main/deploy/choreo/New Path.traj diff --git a/src/main/deploy/choreo/Blue To Coral Station.traj b/src/main/deploy/choreo/Blue To Coral Station.traj index 1f6f6ba..ee11bda 100644 --- a/src/main/deploy/choreo/Blue To Coral Station.traj +++ b/src/main/deploy/choreo/Blue To Coral Station.traj @@ -5,7 +5,8 @@ "waypoints":[ {"x":8.1, "y":6.75, "heading":3.141592653589793, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.909543514251709, "y":7.036656379699707, "heading":5.340707511102648, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.65, "y":7.4, "heading":5.340707511102648, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":1.65, "y":7.4, "heading":5.340707511102648, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.9464842081069946, "y":4.587404727935791, "heading":5.340707511102648, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -16,7 +17,7 @@ "waypoints":[ {"x":{"exp":"8.1 m", "val":8.1}, "y":{"exp":"6.75 m", "val":6.75}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"4.909543514251709 m", "val":4.909543514251709}, "y":{"exp":"7.036656379699707 m", "val":7.036656379699707}, "heading":{"exp":"306 deg", "val":5.340707511102648}, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"1.65 m", "val":1.65}, "y":{"exp":"7.4 m", "val":7.4}, "heading":{"exp":"306 deg", "val":5.340707511102648}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"1.65 m", "val":1.65}, "y":{"exp":"7.4 m", "val":7.4}, "heading":{"exp":"306 deg", "val":5.340707511102648}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -28,64 +29,84 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.08985,2.0175], + "waypoints":[0.0,1.08989,1.90014,2.7576], "samples":[ - {"t":0.0, "x":8.1, "y":6.75, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.48186, "ay":0.14437, "alpha":68.13862, "fx":[50.39978,-168.11556,46.41938,-172.65628], "fy":[-198.01568,116.45632,199.01849,-109.60097]}, - {"t":0.03303, "x":8.09756, "y":6.75008, "heading":3.14159, "vx":-0.14802, "vy":0.00477, "omega":2.25032, "ax":-4.84733, "ay":0.11851, "alpha":67.20746, "fx":[41.29546,-169.91429,38.44298,-173.66955], 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{"t":2.97298, "x":2.433, "y":4.23222, "heading":-0.51762, "vx":0.89913, "vy":-2.15595, "omega":3.41689, "ax":-6.81178, "ay":13.01512, "alpha":10.18875, "fx":[-82.92994,-110.43594,-135.30216,-42.10454], "fy":[186.23512,170.66059,152.29185,199.23986]}, + {"t":3.00869, "x":2.46076, "y":4.16354, "heading":-0.39562, "vx":0.65592, "vy":-1.69125, "omega":3.78067, "ax":-6.41418, "ay":12.95539, "alpha":-13.8437, "fx":[-102.53896,-81.86132,-14.89397,-149.83646], "fy":[175.92168,187.11793,203.55629,138.58027]}, + {"t":3.04439, "x":2.48009, "y":4.11141, "heading":-0.26063, "vx":0.4269, "vy":-1.22869, "omega":3.28639, "ax":-5.87726, "ay":12.31872, "alpha":-20.97931, "fx":[-75.35386,-87.83715,24.46053,-181.17536], "fy":[188.6409,184.60487,202.88118,94.39435]}, + {"t":3.0801, "x":2.49159, "y":4.0754, "heading":-0.14329, "vx":0.21706, "vy":-0.78885, "omega":2.53734, "ax":-3.77225, "ay":11.79008, "alpha":-29.72764, "fx":[53.39129,-97.22798,32.51488,-194.00564], "fy":[195.65363,179.92857,201.8654,64.29954]}, + {"t":3.1158, "x":2.49694, "y":4.05474, "heading":-0.0527, "vx":0.08237, "vy":-0.3679, "omega":1.47593, "ax":-2.307, "ay":10.30389, "alpha":-41.33731, "fx":[147.60152,-105.30531,31.89715,-199.7658], "fy":[139.99587,175.3748,202.02677,43.45473]}, + {"t":3.15151, "x":2.49841, "y":4.04818, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} From 1077e9a34f5b17647b6dfa90915ac1a3aebbad37 Mon Sep 17 00:00:00 2001 From: tk2217 Date: Mon, 17 Feb 2025 18:57:11 -0600 Subject: [PATCH 11/28] more debug --- simgui.json | 52 ++++++- .../deploy/choreo/Blue To Coral Station.traj | 137 ++++++++---------- src/main/deploy/choreo/New Path.traj | 34 ++--- src/main/deploy/choreo/Test.traj | 2 +- src/main/java/frc/robot/Robot.java | 10 +- src/main/java/frc/robot/RobotContainer.java | 56 ++++++- .../swervedrive/SwerveSubsystem.java | 10 +- 7 files changed, 192 insertions(+), 109 deletions(-) diff --git a/simgui.json b/simgui.json index 7c77892..8254285 100644 --- a/simgui.json +++ b/simgui.json @@ -4,6 +4,9 @@ "/FMSInfo": "FMSInfo", "/SmartDashboard/Alerts": "Alerts", "/SmartDashboard/Auto Chooser": "String Chooser", + "/SmartDashboard/Auto Controllers/Theta": "PIDController", + "/SmartDashboard/Auto Controllers/X": "PIDController", + "/SmartDashboard/Auto Controllers/Y": "PIDController", "/SmartDashboard/Choreo Alerts": "Alerts", "/SmartDashboard/Encoders": "Alerts", "/SmartDashboard/Field": "Field2d", @@ -15,6 +18,30 @@ }, "windows": { "/SmartDashboard/Field": { + "All Trajectories": { + "arrows": false, + "color": [ + 255.0, + 205.9615478515625, + 0.0, + 255.0 + ], + "style": "Line" + }, + "Auto Trajectory": { + "arrows": false, + "style": "Line" + }, + "Positions": { + "arrows": false, + "color": [ + 0.7821334600448608, + 0.9839743375778198, + 0.9529218673706055, + 255.0 + ], + "style": "Line" + }, "XModules": { "arrows": false, "image": "assets/swerve_module.png", @@ -37,26 +64,37 @@ }, "NetworkTables": { "transitory": { - "FMSInfo": { - "open": true - }, "SmartDashboard": { "Auto Chooser": { + "string[]##v_/SmartDashboard/Auto Chooser/options": { + "open": true + } + }, + "Auto Controllers": { + "X": { + "open": true + }, + "open": true + }, + "Scheduler": { "open": true }, "Tuning": { "open": true }, - "open": true + "open": true, + "swerve": { + "modules": { + "open": true + }, + "open": true + } } } }, "NetworkTables Info": { "visible": true }, - "NetworkTables View": { - "visible": false - }, "Plot": { "Plot <0>": { "plots": [ diff --git a/src/main/deploy/choreo/Blue To Coral Station.traj b/src/main/deploy/choreo/Blue To Coral Station.traj index ee11bda..6561062 100644 --- a/src/main/deploy/choreo/Blue To Coral Station.traj +++ b/src/main/deploy/choreo/Blue To Coral Station.traj @@ -5,8 +5,7 @@ "waypoints":[ {"x":8.1, "y":6.75, "heading":3.141592653589793, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":4.909543514251709, "y":7.036656379699707, "heading":5.340707511102648, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.65, "y":7.4, "heading":5.340707511102648, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.9464842081069946, "y":4.587404727935791, "heading":5.340707511102648, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":1.65, "y":7.4, "heading":5.340707511102648, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -29,84 +28,64 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.08989,1.90014,2.7576], + "waypoints":[0.0,1.08985,2.0175], "samples":[ - {"t":0.0, "x":8.1, "y":6.75, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.48042, "ay":0.13914, "alpha":68.14282, "fx":[50.36102,-168.19106,46.52323,-172.56731], "fy":[-198.02624,116.34708,198.99376,-109.7412]}, - {"t":0.03303, "x":8.09756, "y":6.75008, "heading":3.14159, "vx":-0.14797, "vy":0.0046, "omega":2.25054, "ax":-4.84429, "ay":0.11263, "alpha":67.21583, "fx":[41.2967,-169.99526,38.58234,-173.56404], "fy":[-199.9024,113.50654,200.48427,-107.95796]}, - {"t":0.06605, "x":8.09003, "y":6.75029, "heading":-3.06726, "vx":-0.30797, "vy":0.00831, "omega":4.47047, "ax":-5.97501, "ay":-0.2259, "alpha":63.92564, "fx":[28.90662,-179.79303,-3.17044,-171.1696], "fy":[-201.33885,96.62193,203.56204,-111.14113]}, - {"t":0.09908, "x":8.0766, "y":6.75044, "heading":-2.91962, "vx":-0.5053, "vy":0.00085, "omega":6.58173, "ax":-13.89559, "ay":-2.61383, "alpha":-14.94475, 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"fx":[-24.94218,-9.89279,-2.05987,-31.40172], "fy":[61.69711,84.62201,70.49672,76.45561]}, + {"t":0.83597, "x":5.9859, "y":6.61373, "heading":-1.05111, "vx":-2.53709, "vy":-0.45837, "omega":3.06762, "ax":-5.45981, "ay":5.10746, "alpha":-11.55632, "fx":[-93.4132,-59.15952,-43.4484,-101.16251], "fy":[35.70923,100.47169,72.34277,69.48101]}, + {"t":0.8708, "x":5.89422, "y":6.60086, "heading":-0.94426, "vx":-2.72727, "vy":-0.28047, "omega":2.66509, "ax":-6.6231, "ay":3.7068, "alpha":-12.59858, "fx":[-105.55624,-78.31216,-59.05433,-117.58014], "fy":[9.63762,87.99215,56.17615,47.95936]}, + {"t":0.90563, "x":5.7952, "y":6.59334, "heading":-0.85143, "vx":-2.95796, "vy":-0.15135, "omega":2.22625, "ax":-6.38329, "ay":2.26057, "alpha":-11.65632, "fx":[-95.64635,-80.70752,-58.37036,-112.725], "fy":[-7.15588,66.66986,36.02435,27.50723]}, + {"t":0.94047, "x":5.6883, "y":6.58944, "heading":-0.77388, "vx":-3.18031, "vy":-0.07261, "omega":1.82024, "ax":-5.24085, "ay":1.1678, "alpha":-9.4293, "fx":[-74.75659,-69.4671,-47.3752,-93.66608], "fy":[-13.44719,44.3884,20.02235,12.60113]}, + {"t":0.9753, "x":5.57434, "y":6.58762, "heading":-0.71048, "vx":-3.36286, "vy":-0.03194, "omega":1.4918, "ax":-3.71325, "ay":0.56253, "alpha":-6.6247, "fx":[-51.04785,-50.66168,-33.06302,-67.34396], "fy":[-11.88711,26.91604,10.87719,4.71282]}, {"t":1.01013, "x":5.45496, "y":6.58685, "heading":-0.65851, "vx":-3.4922, "vy":-0.01234, "omega":1.26105, "ax":-2.37666, "ay":0.33177, "alpha":-4.17688, "fx":[-31.82998,-33.03073,-21.14587,-43.35766], "fy":[-7.36416,16.30995,6.91775,2.19531]}, - {"t":1.04496, "x":5.33187, "y":6.58662, "heading":-0.61459, "vx":-3.57498, "vy":-0.00079, "omega":1.11556, "ax":-1.50087, "ay":0.27635, "alpha":-2.56011, "fx":[-19.73823,-21.1507,-13.55697,-27.24824], "fy":[-3.38355,10.87932,5.48543,2.06099]}, - {"t":1.07979, "x":5.20644, "y":6.58676, "heading":-0.57573, "vx":-3.62726, "vy":0.00884, "omega":1.02638, "ax":-1.04323, "ay":0.28257, "alpha":-1.70758, "fx":[-13.54117,-14.86278,-9.64607,-18.73387], "fy":[-0.8711,8.55134,5.16066,2.53953]}, + {"t":1.04496, "x":5.33187, "y":6.58662, "heading":-0.61459, "vx":-3.57498, "vy":-0.00079, "omega":1.11556, "ax":-1.50087, "ay":0.27635, "alpha":-2.56011, "fx":[-19.73823,-21.1507,-13.55698,-27.24824], "fy":[-3.38355,10.87933,5.48543,2.06099]}, + {"t":1.07979, "x":5.20644, "y":6.58676, "heading":-0.57573, "vx":-3.62726, "vy":0.00884, "omega":1.02638, "ax":-1.04323, "ay":0.28257, "alpha":-1.70758, "fx":[-13.54117,-14.86278,-9.64607,-18.73388], "fy":[-0.8711,8.55134,5.16066,2.53953]}, {"t":1.11463, "x":5.07946, "y":6.58724, "heading":-0.53998, "vx":-3.6636, "vy":0.01868, "omega":0.96691, "ax":-0.95315, "ay":0.47651, "alpha":-1.53701, "fx":[-12.23404,-13.71378,-8.91304,-17.02034], "fy":[2.27099,10.68722,7.81922,5.15949]}, {"t":1.14946, "x":4.95127, "y":6.58818, "heading":-0.5063, "vx":-3.6968, "vy":0.03528, "omega":0.91337, "ax":-1.73752, "ay":2.51364, "alpha":-3.03386, "fx":[-22.17168,-25.13283,-15.50911,-31.76174], "fy":[26.11668,42.16391,37.37888,31.16099]}, {"t":1.18429, "x":4.82145, "y":6.59094, "heading":-0.47449, "vx":-3.75732, "vy":0.12284, "omega":0.80769, "ax":-3.97919, "ay":10.24428, "alpha":-8.70129, "fx":[-55.0836,-54.24851,-19.42416,-87.8353], "fy":[127.5889,151.79273,152.40905,125.81697]}, - {"t":1.21912, "x":4.68816, "y":6.60143, "heading":-0.44635, "vx":-3.89592, "vy":0.47967, "omega":0.50461, "ax":-3.88672, "ay":12.87474, "alpha":-16.19444, "fx":[-52.48071,-54.17916,27.26065,-132.15902], "fy":[176.10893,189.47029,193.10457,142.10265]}, + {"t":1.21912, "x":4.68816, "y":6.60143, "heading":-0.44635, "vx":-3.89592, "vy":0.47967, "omega":0.50461, "ax":-3.88672, "ay":12.87474, "alpha":-16.19444, "fx":[-52.48071,-54.17916,27.26065,-132.15902], "fy":[176.10893,189.47029,193.10457,142.10264]}, {"t":1.25395, "x":4.5501, "y":6.62595, "heading":-0.42878, "vx":-4.0313, "vy":0.92812, "omega":-0.05948, "ax":4.24899, "ay":13.481, "alpha":-1.06759, "fx":[61.18246,54.63938,62.2876,53.16775], "fy":[182.0561,184.80045,182.30249,184.62681]}, {"t":1.28574, "x":4.42411, "y":6.66226, "heading":-0.43067, "vx":-3.89625, "vy":1.35662, "omega":-0.09341, "ax":5.23716, "ay":10.55197, "alpha":-2.81821, "fx":[78.96155,64.35576,79.83044,61.91641], "fy":[137.06381,149.71043,142.18778,145.39328]}, {"t":1.31752, "x":4.30291, "y":6.71071, "heading":-0.43364, "vx":-3.72978, "vy":1.69202, "omega":-0.18299, "ax":1.41368, "ay":3.10077, "alpha":0.12155, "fx":[19.12571,19.34871,18.92123,19.55271], "fy":[42.51352,41.87562,42.07326,42.3161]}, diff --git a/src/main/deploy/choreo/Test.traj b/src/main/deploy/choreo/Test.traj index e00debe..0a45428 100644 --- a/src/main/deploy/choreo/Test.traj +++ b/src/main/deploy/choreo/Test.traj @@ -1,5 +1,5 @@ { - "name":"Blue Top", + "name":"Test", "version":1, "snapshot":{ "waypoints":[ diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 1da7904..b4ee3df 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -78,11 +78,14 @@ public void robotPeriodic() { // block in order for anything in the Command-based framework to work. CommandScheduler.getInstance().run(); SmartDashboard.putData(CommandScheduler.getInstance()); + this.m_robotContainer.updatePositionDebug(); } /** This function is called once each time the robot enters Disabled mode. */ @Override - public void disabledInit() {} + public void disabledInit() { + this.m_robotContainer.clearPositionDebug(); + } @Override public void disabledPeriodic() { @@ -103,6 +106,11 @@ public void autonomousInit() { } } + @Override + public void autonomousExit() { + this.m_robotContainer.clearAutoTrajectories(); + } + /** This function is called periodically during autonomous. */ @Override public void autonomousPeriodic() { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 6f2be88..319929e 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,9 +6,13 @@ import choreo.auto.AutoChooser; import choreo.auto.AutoFactory; +import choreo.trajectory.SwerveSample; +import choreo.trajectory.Trajectory; +import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.smartdashboard.FieldObject2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; @@ -22,6 +26,11 @@ import frc.robot.utils.FilteredButton; import frc.robot.utils.FilteredJoystick; import java.io.File; +import java.util.ArrayList; +import java.util.HashMap; +import java.util.Map; +import java.util.Objects; + import swervelib.SwerveInputStream; /* @@ -56,9 +65,15 @@ public class RobotContainer { public final AutoChooser m_autoChooser = new AutoChooser(); private final AutoFactory m_autoFactory = new AutoFactory( - m_drive::getPose, m_drive::resetOdometry, m_drive::followTrajectory, true, m_drive); + m_drive::getPose, m_drive::resetOdometry, m_drive::followTrajectory, true, m_drive, this::logTrajectory); private final Routines m_routines = new Routines(m_autoFactory); + private final FieldObject2d allPositions = this.m_drive.getSwerveDrive().field.getObject("Positions"); + + private String lastTrajectory; + private final FieldObject2d autoTrajectoryObj = this.m_drive.getSwerveDrive().field.getObject("Auto Trajectory"); + private final FieldObject2d allTrajectoriesObj = this.m_drive.getSwerveDrive().field.getObject("All Trajectories"); + // Configure drive input stream SwerveInputStream driveInput = SwerveInputStream.of( @@ -122,4 +137,43 @@ private void configureButtonBindings() { .onTrue(Commands.runOnce(m_coral::release)) .onFalse(Commands.runOnce(m_coral::idle)); } + + public void clearPositionDebug() { + this.allPositions.setPoses(); + } + + public void updatePositionDebug() { + final var newPoses = this.allPositions.getPoses(); + final var currentPose = this.m_drive.getPose(); + + if (!newPoses.isEmpty() && newPoses.getLast().getTranslation().getDistance(currentPose.getTranslation()) >= 4) newPoses.clear(); + + newPoses.add(currentPose); + this.allPositions.setPoses(newPoses); + } + + public void clearAutoTrajectories() { + this.lastTrajectory = null; + this.autoTrajectoryObj.setPoses(); + this.allTrajectoriesObj.setPoses(); + } + + private void logTrajectory(Trajectory trajectory, boolean isStart) { + if (isStart) { + if (DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == DriverStation.Alliance.Red) trajectory = trajectory.flipped(); + + final var poses = new ArrayList(trajectory.samples().size()); + for (final var swerveSample : trajectory.samples()) { + poses.add(swerveSample.getPose()); + } + this.lastTrajectory = trajectory.name(); + this.autoTrajectoryObj.setPoses(poses); + final var oldAllPoses = this.allTrajectoriesObj.getPoses(); + oldAllPoses.addAll(poses); + this.allTrajectoriesObj.setPoses(oldAllPoses); + } else if (Objects.equals(this.lastTrajectory, trajectory.name())) { + this.autoTrajectoryObj.setPoses(); + this.lastTrajectory = null; + } + } } diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index f5e75a8..ed9804b 100644 --- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -56,9 +56,9 @@ public class SwerveSubsystem extends SubsystemBase { /** PhotonVision class to keep an accurate odometry. */ private Vision vision; - private final PIDController xController = new PIDController(.00005, .0, .0); - private final PIDController yController = new PIDController(.00005, .0, .0); - private final PIDController thetaController = new PIDController(.00005, .0, .0); + private final PIDController xController = new PIDController(50, 0.0, 0); + private final PIDController yController = new PIDController(50, 0.0, 0); + private final PIDController thetaController = new PIDController(0.75, 0.0, 0.0); /** * Initialize {@link SwerveDrive} with the directory provided. @@ -110,6 +110,10 @@ public SwerveSubsystem(File directory) { } thetaController.enableContinuousInput(-Math.PI, Math.PI); setupChassisSim(); + + SmartDashboard.putData("Auto Controllers/X", xController); + SmartDashboard.putData("Auto Controllers/Y", yController); + SmartDashboard.putData("Auto Controllers/Theta", thetaController); } public void followTrajectory(SwerveSample sample) { From f97c6053c24cbecf46b3aa6ac31d8a73cc53e524 Mon Sep 17 00:00:00 2001 From: tk2217 Date: Sat, 1 Mar 2025 12:12:04 -0600 Subject: [PATCH 12/28] we use vortexes --- src/main/deploy/swerve/maxSwerve/modules/backleft.json | 2 +- src/main/deploy/swerve/maxSwerve/modules/backright.json | 2 +- src/main/deploy/swerve/maxSwerve/modules/frontleft.json | 2 +- src/main/deploy/swerve/maxSwerve/modules/frontright.json | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/deploy/swerve/maxSwerve/modules/backleft.json b/src/main/deploy/swerve/maxSwerve/modules/backleft.json index c50b06e..72bc328 100644 --- a/src/main/deploy/swerve/maxSwerve/modules/backleft.json +++ b/src/main/deploy/swerve/maxSwerve/modules/backleft.json @@ -1,6 +1,6 @@ { "drive": { - "type": "sparkmax_neo", + "type": "sparkmax_vortex", "id": 6, "canbus": null }, diff --git a/src/main/deploy/swerve/maxSwerve/modules/backright.json b/src/main/deploy/swerve/maxSwerve/modules/backright.json index 4bf9b6f..8f9e03b 100644 --- a/src/main/deploy/swerve/maxSwerve/modules/backright.json +++ b/src/main/deploy/swerve/maxSwerve/modules/backright.json @@ -1,6 +1,6 @@ { "drive": { - "type": "sparkmax_neo", + "type": "sparkmax_vortex", "id": 8, "canbus": null }, diff --git a/src/main/deploy/swerve/maxSwerve/modules/frontleft.json b/src/main/deploy/swerve/maxSwerve/modules/frontleft.json index 595bd45..be9257f 100644 --- a/src/main/deploy/swerve/maxSwerve/modules/frontleft.json +++ b/src/main/deploy/swerve/maxSwerve/modules/frontleft.json @@ -1,6 +1,6 @@ { "drive": { - "type": "sparkmax_neo", + "type": "sparkmax_vortex", "id": 2, "canbus": null }, diff --git a/src/main/deploy/swerve/maxSwerve/modules/frontright.json b/src/main/deploy/swerve/maxSwerve/modules/frontright.json index 851a082..870d43c 100644 --- a/src/main/deploy/swerve/maxSwerve/modules/frontright.json +++ b/src/main/deploy/swerve/maxSwerve/modules/frontright.json @@ -1,6 +1,6 @@ { "drive": { - "type": "sparkmax_neo", + "type": "sparkmax_vortex", "id": 4, "canbus": null }, From d2d4a778c4585d0f4c02f737e776116cc7e0ec3a Mon Sep 17 00:00:00 2001 From: Sam Freund Date: Mon, 3 Mar 2025 17:52:35 -0600 Subject: [PATCH 13/28] feat: change control to joysticks and add throttle support (#65) * feat: change control to joysticks and add throttle support * add test mode * update to add slow mode * fun fact: I can't do shit without intellisense --------- Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> --- src/main/java/frc/robot/Constants.java | 10 +- src/main/java/frc/robot/Robot.java | 4 + src/main/java/frc/robot/RobotContainer.java | 120 ++++++++++++------ .../frc/robot/utils/FilteredJoystick.java | 8 +- 4 files changed, 100 insertions(+), 42 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a2702ec..47b11f2 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -54,12 +54,16 @@ public static class Sensors { } } - public static final class OIConstants { + public static final class IOConstants { public static final int kOperatorControllerPort = 0; public static final int kLeftJoystickPort = 1; public static final int kRightJoystickPort = 2; public static final int kButtonBoardPort = 3; public static final double kDriveDeadband = 0.05; + + // When test mode is enabled, the operator controller is used for driving and testing + // This should always be false on the main branch + public static final boolean kTestMode = false; } public static final class Vision { @@ -367,5 +371,9 @@ public static final class DriveConstants { // the robot, rather the allowed maximum speeds public static final double kMaxSpeedMetersPerSecond = 4.8; public static final double kMaxAngularSpeed = kTau; // radians per second + + // First one is normal, second is slow + public static final double[] kRotationSpeeds = {0.7, 0.3}; + public static final double[] kDrivingSpeeds = {0.5, 0.3}; } } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b4ee3df..bfd99d0 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -79,6 +79,10 @@ public void robotPeriodic() { CommandScheduler.getInstance().run(); SmartDashboard.putData(CommandScheduler.getInstance()); this.m_robotContainer.updatePositionDebug(); + + if (Constants.IOConstants.kTestMode) { + System.out.println("Test Mode Enabled\nNot for competition use"); + } } /** This function is called once each time the robot enters Disabled mode. */ diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 319929e..1fc7454 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -17,7 +17,8 @@ import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; -import frc.robot.Constants.OIConstants; +import frc.robot.Constants.DriveConstants; +import frc.robot.Constants.IOConstants; import frc.robot.subsystems.CoralHandlerSubsystem; import frc.robot.subsystems.ElevatorSubsystem; import frc.robot.subsystems.sim.CoralHandlerSubsystemSim; @@ -27,8 +28,6 @@ import frc.robot.utils.FilteredJoystick; import java.io.File; import java.util.ArrayList; -import java.util.HashMap; -import java.util.Map; import java.util.Objects; import swervelib.SwerveInputStream; @@ -51,16 +50,16 @@ public class RobotContainer { // Driver joysticks private final FilteredJoystick m_driverLeftJoystick = - new FilteredJoystick(OIConstants.kLeftJoystickPort); + new FilteredJoystick(IOConstants.kLeftJoystickPort); private final FilteredJoystick m_driverRightJoystick = - new FilteredJoystick(OIConstants.kRightJoystickPort); + new FilteredJoystick(IOConstants.kRightJoystickPort); // Operator controller private final CommandXboxController m_operatorController = - new CommandXboxController(OIConstants.kOperatorControllerPort); + new CommandXboxController(IOConstants.kOperatorControllerPort); // Button Board - private final FilteredButton m_buttonBoard = new FilteredButton(OIConstants.kButtonBoardPort); + private final FilteredButton m_buttonBoard = new FilteredButton(IOConstants.kButtonBoardPort); public final AutoChooser m_autoChooser = new AutoChooser(); private final AutoFactory m_autoFactory = @@ -75,15 +74,7 @@ public class RobotContainer { private final FieldObject2d allTrajectoriesObj = this.m_drive.getSwerveDrive().field.getObject("All Trajectories"); // Configure drive input stream - SwerveInputStream driveInput = - SwerveInputStream.of( - m_drive.getSwerveDrive(), - m_operatorController::getLeftY, - m_operatorController::getLeftX) - .withControllerRotationAxis(() -> -m_operatorController.getRightX()) - .deadband(0.1) - .scaleTranslation(0.8) - .allianceRelativeControl(true); + SwerveInputStream driveInput; /** The container for the robot. Contains subsystems, OI devices, and commands. */ public RobotContainer() { @@ -112,30 +103,85 @@ public RobotContainer() { * {@link JoystickButton}. */ private void configureButtonBindings() { - // Zero gyro with A button - m_operatorController.a().onTrue(Commands.runOnce(m_drive::zeroGyro)); - if (!Robot.isReal()) { + // Test mode allows everything to be run on a single controller + // Test mode should not be enabled in competition + if (IOConstants.kTestMode) { + driveInput = + SwerveInputStream.of( + m_drive.getSwerveDrive(), + () -> + m_operatorController.getLeftY() + * (m_operatorController.rightBumper().getAsBoolean() + ? DriveConstants.kDrivingSpeeds[1] + : DriveConstants.kDrivingSpeeds[0]), + () -> + m_operatorController.getLeftX() + * (m_operatorController.rightBumper().getAsBoolean() + ? DriveConstants.kDrivingSpeeds[1] + : DriveConstants.kDrivingSpeeds[0])) + .withControllerRotationAxis( + () -> + -m_operatorController.getRightX() + * (m_operatorController.rightBumper().getAsBoolean() + ? DriveConstants.kRotationSpeeds[1] + : DriveConstants.kRotationSpeeds[0])) + .deadband(0.1) + .scaleTranslation(0.8) + .allianceRelativeControl(true); + } else { + driveInput = + SwerveInputStream.of( + m_drive.getSwerveDrive(), + () -> + m_driverLeftJoystick.getY() + * (m_driverRightJoystick.getButtonTwo() + ? DriveConstants.kDrivingSpeeds[1] + : DriveConstants.kDrivingSpeeds[0]) + * m_driverRightJoystick.getThrottle(), + () -> + m_driverLeftJoystick.getX() + * (m_driverRightJoystick.getButtonTwo() + ? DriveConstants.kDrivingSpeeds[1] + : DriveConstants.kDrivingSpeeds[0]) + * m_driverRightJoystick.getThrottle()) + .withControllerRotationAxis( + () -> + -m_driverRightJoystick.getX() + * (m_driverRightJoystick.getButtonTwo() + ? DriveConstants.kRotationSpeeds[1] + : DriveConstants.kRotationSpeeds[0]) + * m_driverRightJoystick.getThrottle()) + .deadband(0.1) + .scaleTranslation(0.8) + .allianceRelativeControl(true); + + // Zero gyro with A button + m_operatorController.a().onTrue(Commands.runOnce(m_drive::zeroGyro)); + + if (!Robot.isReal()) { + m_operatorController + .b() + .onTrue(Commands.runOnce(() -> ((CoralHandlerSubsystemSim) m_coral).getSimCoral())); + } + m_operatorController - .b() - .onTrue(Commands.runOnce(() -> ((CoralHandlerSubsystemSim) m_coral).getSimCoral())); - } + .x() + .onTrue(Commands.runOnce(() -> m_elevator.setState(ElevatorSubsystem.ElevatorState.L2))); + m_operatorController + .y() + .onTrue( + Commands.runOnce(() -> m_elevator.setState(ElevatorSubsystem.ElevatorState.DOWN))); - m_operatorController - .x() - .onTrue(Commands.runOnce(() -> m_elevator.setState(ElevatorSubsystem.ElevatorState.L2))); - m_operatorController - .y() - .onTrue(Commands.runOnce(() -> m_elevator.setState(ElevatorSubsystem.ElevatorState.DOWN))); - - m_operatorController - .rightBumper() - .onTrue(Commands.runOnce(m_coral::grab)) - .onFalse(Commands.runOnce(m_coral::idle)); - m_operatorController - .leftBumper() - .onTrue(Commands.runOnce(m_coral::release)) - .onFalse(Commands.runOnce(m_coral::idle)); + m_operatorController + .rightBumper() + .onTrue(Commands.runOnce(m_coral::grab)) + .onFalse(Commands.runOnce(m_coral::idle)); + m_operatorController + .leftBumper() + .onTrue(Commands.runOnce(m_coral::release)) + .onFalse(Commands.runOnce(m_coral::idle)); + } } public void clearPositionDebug() { diff --git a/src/main/java/frc/robot/utils/FilteredJoystick.java b/src/main/java/frc/robot/utils/FilteredJoystick.java index 683f31e..f878fbd 100644 --- a/src/main/java/frc/robot/utils/FilteredJoystick.java +++ b/src/main/java/frc/robot/utils/FilteredJoystick.java @@ -63,7 +63,7 @@ public double getTwist(double deadzone) { /** Returns the x-value of the joystick */ public double getX() { - return this.getX(Constants.OIConstants.kDriveDeadband); + return this.getX(Constants.IOConstants.kDriveDeadband); } /** @@ -72,7 +72,7 @@ public double getX() { * @param deadzone zone in which no value is returned */ public double getY() { - return this.getY(Constants.OIConstants.kDriveDeadband); + return this.getY(Constants.IOConstants.kDriveDeadband); } /** @@ -81,7 +81,7 @@ public double getY() { * @param deadzone zone in which no value is returned */ public double getZ() { - return this.getZ(Constants.OIConstants.kDriveDeadband); + return this.getZ(Constants.IOConstants.kDriveDeadband); } /** @@ -90,7 +90,7 @@ public double getZ() { * @param deadzone zone in which no value is returned */ public double getThrottle() { - return this.getThrottle(Constants.OIConstants.kDriveDeadband); + return this.getThrottle(Constants.IOConstants.kDriveDeadband); } /** From 5f80e8cb8953c8ae4c10a3100045211d9f0c2012 Mon Sep 17 00:00:00 2001 From: tk2217 Date: Mon, 10 Mar 2025 17:21:13 -0500 Subject: [PATCH 14/28] fix --- src/main/java/frc/robot/RobotContainer.java | 72 ++++++---------- .../java/frc/robot/commands/drive/Drive.java | 82 +++++++++++++++++++ 2 files changed, 105 insertions(+), 49 deletions(-) create mode 100644 src/main/java/frc/robot/commands/drive/Drive.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 1fc7454..3e0741a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -17,8 +17,8 @@ import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; -import frc.robot.Constants.DriveConstants; import frc.robot.Constants.IOConstants; +import frc.robot.commands.drive.Drive; import frc.robot.subsystems.CoralHandlerSubsystem; import frc.robot.subsystems.ElevatorSubsystem; import frc.robot.subsystems.sim.CoralHandlerSubsystemSim; @@ -29,8 +29,8 @@ import java.io.File; import java.util.ArrayList; import java.util.Objects; - import swervelib.SwerveInputStream; +import java.util.Optional; /* * This class is where the bulk of the robot should be declared. Since Command-based is a @@ -94,6 +94,26 @@ public RobotContainer() { if (Robot.getInstance().isSimulation()) { DriverStation.silenceJoystickConnectionWarning(true); } + + if (IOConstants.kTestMode) { + m_drive.setDefaultCommand( + new Drive( + m_drive, + m_operatorController::getRightX, + m_operatorController::getLeftY, + () -> -m_operatorController.getRightX(), + () -> m_operatorController.rightBumper().getAsBoolean(), + Optional.empty())); + } else { + m_drive.setDefaultCommand( + new Drive( + m_drive, + m_driverLeftJoystick::getX, + m_driverLeftJoystick::getY, + m_driverRightJoystick::getX, + m_driverRightJoystick::getButtonTwo, + Optional.of(m_driverLeftJoystick::getThrottle))); + } } /** @@ -107,54 +127,8 @@ private void configureButtonBindings() { // Test mode allows everything to be run on a single controller // Test mode should not be enabled in competition if (IOConstants.kTestMode) { - driveInput = - SwerveInputStream.of( - m_drive.getSwerveDrive(), - () -> - m_operatorController.getLeftY() - * (m_operatorController.rightBumper().getAsBoolean() - ? DriveConstants.kDrivingSpeeds[1] - : DriveConstants.kDrivingSpeeds[0]), - () -> - m_operatorController.getLeftX() - * (m_operatorController.rightBumper().getAsBoolean() - ? DriveConstants.kDrivingSpeeds[1] - : DriveConstants.kDrivingSpeeds[0])) - .withControllerRotationAxis( - () -> - -m_operatorController.getRightX() - * (m_operatorController.rightBumper().getAsBoolean() - ? DriveConstants.kRotationSpeeds[1] - : DriveConstants.kRotationSpeeds[0])) - .deadband(0.1) - .scaleTranslation(0.8) - .allianceRelativeControl(true); + } else { - driveInput = - SwerveInputStream.of( - m_drive.getSwerveDrive(), - () -> - m_driverLeftJoystick.getY() - * (m_driverRightJoystick.getButtonTwo() - ? DriveConstants.kDrivingSpeeds[1] - : DriveConstants.kDrivingSpeeds[0]) - * m_driverRightJoystick.getThrottle(), - () -> - m_driverLeftJoystick.getX() - * (m_driverRightJoystick.getButtonTwo() - ? DriveConstants.kDrivingSpeeds[1] - : DriveConstants.kDrivingSpeeds[0]) - * m_driverRightJoystick.getThrottle()) - .withControllerRotationAxis( - () -> - -m_driverRightJoystick.getX() - * (m_driverRightJoystick.getButtonTwo() - ? DriveConstants.kRotationSpeeds[1] - : DriveConstants.kRotationSpeeds[0]) - * m_driverRightJoystick.getThrottle()) - .deadband(0.1) - .scaleTranslation(0.8) - .allianceRelativeControl(true); // Zero gyro with A button m_operatorController.a().onTrue(Commands.runOnce(m_drive::zeroGyro)); diff --git a/src/main/java/frc/robot/commands/drive/Drive.java b/src/main/java/frc/robot/commands/drive/Drive.java new file mode 100644 index 0000000..ac54f16 --- /dev/null +++ b/src/main/java/frc/robot/commands/drive/Drive.java @@ -0,0 +1,82 @@ +package frc.robot.commands.drive; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants.DriveConstants; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import java.util.Optional; +import java.util.function.BooleanSupplier; +import java.util.function.DoubleSupplier; +import swervelib.SwerveInputStream; + +public class Drive extends Command { + + final SwerveSubsystem m_drive; + final DoubleSupplier m_x; + final DoubleSupplier m_y; + final DoubleSupplier m_rotation; + final BooleanSupplier m_slow; + final Optional m_throttle; + SwerveInputStream driveInput; + + public Drive( + SwerveSubsystem drive, + DoubleSupplier x, + DoubleSupplier y, + DoubleSupplier rotation, + BooleanSupplier slow, + Optional throttle) { + m_drive = drive; + m_x = x; + m_y = y; + m_rotation = rotation; + m_slow = slow; + m_throttle = throttle; + addRequirements(m_drive); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + driveInput = + SwerveInputStream.of( + m_drive.getSwerveDrive(), + () -> + m_x.getAsDouble() + * (m_slow.getAsBoolean() + ? DriveConstants.kDrivingSpeeds[1] + : DriveConstants.kDrivingSpeeds[0]) + * m_throttle.orElse(() -> 1.0).getAsDouble(), + () -> + m_y.getAsDouble() + * (m_slow.getAsBoolean() + ? DriveConstants.kDrivingSpeeds[1] + : DriveConstants.kDrivingSpeeds[0]) + * m_throttle.orElse(() -> 1.0).getAsDouble()) + .withControllerRotationAxis( + () -> + m_rotation.getAsDouble() + * (m_slow.getAsBoolean() + ? DriveConstants.kRotationSpeeds[1] + : DriveConstants.kRotationSpeeds[0]) + * m_throttle.orElse(() -> 1.0).getAsDouble()) + .deadband(0.1) + .scaleTranslation(0.8) + .allianceRelativeControl(true); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + m_drive.driveFieldOriented(driveInput); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) {} + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} From bdca538dcf25cf8de4f08e6fb3c6bcc08b0cf370 Mon Sep 17 00:00:00 2001 From: tk2217 Date: Mon, 10 Mar 2025 08:23:06 -0500 Subject: [PATCH 15/28] . --- simgui.json | 3 +- src/main/java/frc/robot/Constants.java | 6 +- src/main/java/frc/robot/Robot.java | 4 ++ src/main/java/frc/robot/RobotContainer.java | 7 ++- .../robot/commands/drive/AlignToAprilTag.java | 61 +++++++++++++++++++ .../java/frc/robot/commands/drive/Drive.java | 3 +- .../swervedrive/SwerveSubsystem.java | 10 ++- .../robot/subsystems/swervedrive/Vision.java | 16 ++--- vendordeps/REV2mDistanceSensor.json | 12 ++-- 9 files changed, 99 insertions(+), 23 deletions(-) create mode 100644 src/main/java/frc/robot/commands/drive/AlignToAprilTag.java diff --git a/simgui.json b/simgui.json index 8254285..82578d1 100644 --- a/simgui.json +++ b/simgui.json @@ -14,7 +14,8 @@ "/SmartDashboard/JSON": "Alerts", "/SmartDashboard/Motors": "Alerts", "/SmartDashboard/Scheduler": "Scheduler", - "/SmartDashboard/Swerve Drive": "Alerts" + "/SmartDashboard/Swerve Drive": "Alerts", + "/SmartDashboard/VisionSystemSim-Vision/Sim Field": "Field2d" }, "windows": { "/SmartDashboard/Field": { diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 47b11f2..ec95500 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -47,10 +47,10 @@ public final class Constants { public static class Sensors { public static final AHRS gyro = new AHRS(NavXComType.kUSB1); public static final Rev2mDistanceSensor handlerDistanceSensor = - new Rev2mDistanceSensor(Rev2mDistanceSensor.Port.kOnboard); + /* new Rev2mDistanceSensor(Rev2mDistanceSensor.Port.kOnboard) */ null; static { - handlerDistanceSensor.setDistanceUnits(Rev2mDistanceSensor.Unit.kInches); +// handlerDistanceSensor.setDistanceUnits(Rev2mDistanceSensor.Unit.kInches); } } @@ -63,7 +63,7 @@ public static final class IOConstants { // When test mode is enabled, the operator controller is used for driving and testing // This should always be false on the main branch - public static final boolean kTestMode = false; + public static final boolean kTestMode = Robot.isSimulation(); } public static final class Vision { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index bfd99d0..6ddb990 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -54,6 +54,10 @@ public void robotInit() { DriverStation.silenceJoystickConnectionWarning(true); SimulatedArena.getInstance().resetFieldForAuto(); } + + if (Constants.IOConstants.kTestMode) { + System.out.println("Test Mode Enabled\nNot for competition use"); + } } public static Robot getInstance() { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3e0741a..d415363 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -18,12 +18,14 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc.robot.Constants.IOConstants; +import frc.robot.commands.drive.AlignToAprilTag; import frc.robot.commands.drive.Drive; import frc.robot.subsystems.CoralHandlerSubsystem; import frc.robot.subsystems.ElevatorSubsystem; import frc.robot.subsystems.sim.CoralHandlerSubsystemSim; import frc.robot.subsystems.sim.ElevatorSubsystemSim; import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.subsystems.swervedrive.Vision; import frc.robot.utils.FilteredButton; import frc.robot.utils.FilteredJoystick; import java.io.File; @@ -126,7 +128,7 @@ private void configureButtonBindings() { // Test mode allows everything to be run on a single controller // Test mode should not be enabled in competition - if (IOConstants.kTestMode) { + if (IOConstants.kTestMode && false) { } else { @@ -155,6 +157,9 @@ private void configureButtonBindings() { .leftBumper() .onTrue(Commands.runOnce(m_coral::release)) .onFalse(Commands.runOnce(m_coral::idle)); + + m_operatorController.rightStick() + .onTrue(new AlignToAprilTag(this.m_drive, () -> 18, () -> Vision.Camera.CENTER_CAM)); } } diff --git a/src/main/java/frc/robot/commands/drive/AlignToAprilTag.java b/src/main/java/frc/robot/commands/drive/AlignToAprilTag.java new file mode 100644 index 0000000..b824641 --- /dev/null +++ b/src/main/java/frc/robot/commands/drive/AlignToAprilTag.java @@ -0,0 +1,61 @@ +package frc.robot.commands.drive; + +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.subsystems.swervedrive.Vision; +import org.photonvision.PhotonUtils; + +import java.util.function.IntSupplier; +import java.util.function.Supplier; + +public class AlignToAprilTag extends Command { + + private final SwerveSubsystem drive; + private final IntSupplier aprilTag; + // why the hell is this an enum + private final Supplier camera; + + private PIDController xController = new PIDController(3.5, 0, 0); + private PIDController yController = new PIDController(3.5, 0, 0); + private PIDController thetaController = new PIDController(Math.PI/4, 0, 0); + + { + thetaController.enableContinuousInput(-Math.PI, Math.PI); + } + + public AlignToAprilTag(SwerveSubsystem drive, IntSupplier aprilTag, Supplier camera) { + this.drive = drive; + this.aprilTag = aprilTag; + this.camera = camera; + } + + @Override + public void execute() { + var tagPose = Vision.fieldLayout.getTagPose(this.aprilTag.getAsInt()); + + var xOutput = 0.0; + var yOutput = 0.0; + + if (tagPose.isPresent()) { + final var robotPose = this.drive.getPose().getTranslation(); + final var desiredPose = tagPose.get() + .getTranslation() + .toTranslation2d() + .plus(new Translation2d(0.3, 1)); + System.out.println(desiredPose); + + xOutput = xController.calculate(robotPose.getX(), desiredPose.getX()); + yOutput = yController.calculate(robotPose.getY(), desiredPose.getX()); + } + + // snap to theta using gyro + var thetaOutput = thetaController.calculate(Math.toRadians(Constants.Sensors.gyro.getAngle())); + System.out.printf("x: %f, y: %f, t: %f\n", xOutput, yOutput, thetaOutput); + this.drive.driveFieldOriented(new ChassisSpeeds(xOutput, yOutput, thetaOutput)); + } +} diff --git a/src/main/java/frc/robot/commands/drive/Drive.java b/src/main/java/frc/robot/commands/drive/Drive.java index ac54f16..b231064 100644 --- a/src/main/java/frc/robot/commands/drive/Drive.java +++ b/src/main/java/frc/robot/commands/drive/Drive.java @@ -67,7 +67,8 @@ public void initialize() { // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - m_drive.driveFieldOriented(driveInput); + // TODO: fix once i get apriltag working +// m_drive.driveFieldOriented(driveInput); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index ed9804b..5c330b3 100644 --- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -22,7 +22,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config; import frc.robot.Constants; -import frc.robot.subsystems.swervedrive.Vision.Cameras; +import frc.robot.subsystems.swervedrive.Vision.Camera; import java.io.File; import java.util.Arrays; import java.util.Optional; @@ -51,7 +51,7 @@ public class SwerveSubsystem extends SubsystemBase { // private final AprilTagFieldLayout aprilTagFieldLayout = // AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape); /** Enable vision odometry updates while driving. */ - private final boolean visionDriveTest = false; + private final boolean visionDriveTest = true; /** PhotonVision class to keep an accurate odometry. */ private Vision vision; @@ -170,6 +170,10 @@ public void setupPhotonVision() { vision = new Vision(swerveDrive::getPose, swerveDrive.field); } + public Vision getVision() { + return vision; + } + @Override public void periodic() { // When vision is enabled we must manually update odometry in SwerveDrive @@ -187,7 +191,7 @@ public void simulationPeriodic() {} * * @return A {@link Command} which will run the alignment. */ - public Command aimAtTarget(Cameras camera) { + public Command aimAtTarget(Camera camera) { return run( () -> { diff --git a/src/main/java/frc/robot/subsystems/swervedrive/Vision.java b/src/main/java/frc/robot/subsystems/swervedrive/Vision.java index f1baba1..153df62 100644 --- a/src/main/java/frc/robot/subsystems/swervedrive/Vision.java +++ b/src/main/java/frc/robot/subsystems/swervedrive/Vision.java @@ -81,7 +81,7 @@ public Vision(Supplier currentPose, Field2d field) { visionSim = new VisionSystemSim("Vision"); visionSim.addAprilTags(fieldLayout); - for (Cameras c : Cameras.values()) { + for (Camera c : Camera.values()) { c.addToVisionSim(visionSim); } @@ -124,7 +124,7 @@ public void updatePoseEstimation(SwerveDrive swerveDrive) { */ visionSim.update(swerveDrive.getSimulationDriveTrainPose().get()); } - for (Cameras camera : Cameras.values()) { + for (Camera camera : Camera.values()) { Optional poseEst = getEstimatedGlobalPose(camera); if (poseEst.isPresent()) { var pose = poseEst.get(); @@ -145,7 +145,7 @@ public void updatePoseEstimation(SwerveDrive swerveDrive) { * @return an {@link EstimatedRobotPose} with an estimated pose, timestamp, and targets used to * create the estimate */ - public Optional getEstimatedGlobalPose(Cameras camera) { + public Optional getEstimatedGlobalPose(Camera camera) { Optional poseEst = camera.getEstimatedGlobalPose(); if (Robot.isSimulation()) { Field2d debugField = visionSim.getDebugField(); @@ -178,7 +178,7 @@ public double getDistanceFromAprilTag(int id) { * @param camera Camera to check. * @return Tracked target. */ - public PhotonTrackedTarget getTargetFromId(int id, Cameras camera) { + public PhotonTrackedTarget getTargetFromId(int id, Camera camera) { PhotonTrackedTarget target = null; for (PhotonPipelineResult result : camera.resultsList) { if (result.hasTargets()) { @@ -223,7 +223,7 @@ private void openSimCameraViews() { public void updateVisionField() { List targets = new ArrayList(); - for (Cameras c : Cameras.values()) { + for (Camera c : Camera.values()) { if (!c.resultsList.isEmpty()) { PhotonPipelineResult latest = c.resultsList.get(0); if (latest.hasTargets()) { @@ -244,7 +244,7 @@ public void updateVisionField() { } /** Camera Enum to select each camera */ - enum Cameras { + public enum Camera { /** Left Camera */ LEFT_CAM( "left", @@ -319,7 +319,7 @@ enum Cameras { * @param multiTagStdDevsMatrix Multi AprilTag standard deviations of estimated poses from the * camera. */ - Cameras( + Camera( String name, Rotation3d robotToCamRotation, Translation3d robotToCamTranslation, @@ -448,7 +448,7 @@ private void updateUnreadResults() { * only be called once per loop. * *

Also includes updates for the standard deviations, which can (optionally) be retrieved - * with {@link Cameras#updateEstimationStdDevs} + * with {@link Camera#updateEstimationStdDevs} * * @return An {@link EstimatedRobotPose} with an estimated pose, estimate timestamp, and targets * used for estimation. diff --git a/vendordeps/REV2mDistanceSensor.json b/vendordeps/REV2mDistanceSensor.json index dd11a80..a03088b 100644 --- a/vendordeps/REV2mDistanceSensor.json +++ b/vendordeps/REV2mDistanceSensor.json @@ -1,7 +1,7 @@ { "fileName": "REV2mDistanceSensor.json", "name": "REV2mDistanceSensor", - "version": "0.4.0", + "version": "2025.0.0", "uuid": "9e352acd-4eec-40f7-8490-3357b5ed65ae", "frcYear": "2025", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "DistanceSensor-java", - "version": "0.4.0" + "version": "2025.0.0" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "DistanceSensor-driver", - "version": "0.4.0", + "version": "2025.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -31,7 +31,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "DistanceSensor-cpp", - "version": "0.4.0", + "version": "2025.0.0", "libName": "libDistanceSensor", "headerClassifier": "headers", "sharedLibrary": true, @@ -43,7 +43,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "DistanceSensor-driver", - "version": "0.4.0", + "version": "2025.0.0", "libName": "libDistanceSensorDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,4 +53,4 @@ ] } ] -} \ No newline at end of file +} From 379cfb49f52ddcf5c0372058e8efe55847c6aeba Mon Sep 17 00:00:00 2001 From: tk2217 Date: Mon, 10 Mar 2025 17:18:21 -0500 Subject: [PATCH 16/28] more --- simgui.json | 3 +-- src/main/java/frc/robot/RobotContainer.java | 4 ++-- .../frc/robot/commands/drive/AlignToAprilTag.java | 15 +++++++-------- 3 files changed, 10 insertions(+), 12 deletions(-) diff --git a/simgui.json b/simgui.json index 82578d1..8254285 100644 --- a/simgui.json +++ b/simgui.json @@ -14,8 +14,7 @@ "/SmartDashboard/JSON": "Alerts", "/SmartDashboard/Motors": "Alerts", "/SmartDashboard/Scheduler": "Scheduler", - "/SmartDashboard/Swerve Drive": "Alerts", - "/SmartDashboard/VisionSystemSim-Vision/Sim Field": "Field2d" + "/SmartDashboard/Swerve Drive": "Alerts" }, "windows": { "/SmartDashboard/Field": { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d415363..8a03d0f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -10,6 +10,7 @@ import choreo.trajectory.Trajectory; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.smartdashboard.FieldObject2d; @@ -25,7 +26,6 @@ import frc.robot.subsystems.sim.CoralHandlerSubsystemSim; import frc.robot.subsystems.sim.ElevatorSubsystemSim; import frc.robot.subsystems.swervedrive.SwerveSubsystem; -import frc.robot.subsystems.swervedrive.Vision; import frc.robot.utils.FilteredButton; import frc.robot.utils.FilteredJoystick; import java.io.File; @@ -159,7 +159,7 @@ private void configureButtonBindings() { .onFalse(Commands.runOnce(m_coral::idle)); m_operatorController.rightStick() - .onTrue(new AlignToAprilTag(this.m_drive, () -> 18, () -> Vision.Camera.CENTER_CAM)); + .onTrue(new AlignToAprilTag(this.m_drive, () -> 18, () -> new Translation2d(0.3, 1))); } } diff --git a/src/main/java/frc/robot/commands/drive/AlignToAprilTag.java b/src/main/java/frc/robot/commands/drive/AlignToAprilTag.java index b824641..54f550f 100644 --- a/src/main/java/frc/robot/commands/drive/AlignToAprilTag.java +++ b/src/main/java/frc/robot/commands/drive/AlignToAprilTag.java @@ -17,21 +17,20 @@ public class AlignToAprilTag extends Command { private final SwerveSubsystem drive; private final IntSupplier aprilTag; - // why the hell is this an enum - private final Supplier camera; + private final Supplier translation; - private PIDController xController = new PIDController(3.5, 0, 0); - private PIDController yController = new PIDController(3.5, 0, 0); - private PIDController thetaController = new PIDController(Math.PI/4, 0, 0); + private final PIDController xController = new PIDController(3.5, 0, 0); + private final PIDController yController = new PIDController(3.5, 0, 0); + private final PIDController thetaController = new PIDController(Math.PI/4, 0, 0); { thetaController.enableContinuousInput(-Math.PI, Math.PI); } - public AlignToAprilTag(SwerveSubsystem drive, IntSupplier aprilTag, Supplier camera) { + public AlignToAprilTag(SwerveSubsystem drive, IntSupplier aprilTag, Supplier translation) { this.drive = drive; this.aprilTag = aprilTag; - this.camera = camera; + this.translation = translation; } @Override @@ -46,7 +45,7 @@ public void execute() { final var desiredPose = tagPose.get() .getTranslation() .toTranslation2d() - .plus(new Translation2d(0.3, 1)); + .plus(this.translation.get()); System.out.println(desiredPose); xOutput = xController.calculate(robotPose.getX(), desiredPose.getX()); From 0cd81ff1aa3a573e59f96ed3fbecbd5feec97e21 Mon Sep 17 00:00:00 2001 From: tk2217 Date: Sat, 15 Mar 2025 13:51:44 -0500 Subject: [PATCH 17/28] more --- simgui.json | 12 +- src/main/java/frc/robot/Robot.java | 6 +- src/main/java/frc/robot/RobotContainer.java | 13 +- .../robot/commands/drive/AlignToAprilTag.java | 60 ------- .../frc/robot/commands/drive/MoveToPose.java | 160 ++++++++++++++++++ 5 files changed, 179 insertions(+), 72 deletions(-) delete mode 100644 src/main/java/frc/robot/commands/drive/AlignToAprilTag.java create mode 100644 src/main/java/frc/robot/commands/drive/MoveToPose.java diff --git a/simgui.json b/simgui.json index 8254285..3fe0c1e 100644 --- a/simgui.json +++ b/simgui.json @@ -14,7 +14,8 @@ "/SmartDashboard/JSON": "Alerts", "/SmartDashboard/Motors": "Alerts", "/SmartDashboard/Scheduler": "Scheduler", - "/SmartDashboard/Swerve Drive": "Alerts" + "/SmartDashboard/Swerve Drive": "Alerts", + "/SmartDashboard/VisionSystemSim-Vision/Sim Field": "Field2d" }, "windows": { "/SmartDashboard/Field": { @@ -64,6 +65,15 @@ }, "NetworkTables": { "transitory": { + "CameraPublisher": { + "center-processed": { + "open": true, + "string[]##v_/CameraPublisher/center-processed/streams": { + "open": true + } + }, + "open": true + }, "SmartDashboard": { "Auto Chooser": { "string[]##v_/SmartDashboard/Auto Chooser/options": { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 6ddb990..f7de0cf 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -9,7 +9,9 @@ import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.StructArrayPublisher; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.IterativeRobotBase; import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.Watchdog; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -83,10 +85,6 @@ public void robotPeriodic() { CommandScheduler.getInstance().run(); SmartDashboard.putData(CommandScheduler.getInstance()); this.m_robotContainer.updatePositionDebug(); - - if (Constants.IOConstants.kTestMode) { - System.out.println("Test Mode Enabled\nNot for competition use"); - } } /** This function is called once each time the robot enters Disabled mode. */ diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8a03d0f..e133636 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -9,17 +9,16 @@ import choreo.trajectory.SwerveSample; import choreo.trajectory.Trajectory; import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.wpilibj.Filesystem; -import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.wpilibj.*; import edu.wpi.first.wpilibj.smartdashboard.FieldObject2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc.robot.Constants.IOConstants; -import frc.robot.commands.drive.AlignToAprilTag; +import frc.robot.commands.drive.MoveToPose; import frc.robot.commands.drive.Drive; import frc.robot.subsystems.CoralHandlerSubsystem; import frc.robot.subsystems.ElevatorSubsystem; @@ -93,7 +92,7 @@ public RobotContainer() { SmartDashboard.putData("Auto Chooser", m_autoChooser); SmartDashboard.putData("Xbox Controller Debug", m_operatorController.getHID()); - if (Robot.getInstance().isSimulation()) { + if (Robot.isSimulation()) { DriverStation.silenceJoystickConnectionWarning(true); } @@ -159,7 +158,7 @@ private void configureButtonBindings() { .onFalse(Commands.runOnce(m_coral::idle)); m_operatorController.rightStick() - .onTrue(new AlignToAprilTag(this.m_drive, () -> 18, () -> new Translation2d(0.3, 1))); + .onTrue(new MoveToPose(this.m_drive, () -> new Pose2d(8, 5, Rotation2d.kCCW_90deg))); } } diff --git a/src/main/java/frc/robot/commands/drive/AlignToAprilTag.java b/src/main/java/frc/robot/commands/drive/AlignToAprilTag.java deleted file mode 100644 index 54f550f..0000000 --- a/src/main/java/frc/robot/commands/drive/AlignToAprilTag.java +++ /dev/null @@ -1,60 +0,0 @@ -package frc.robot.commands.drive; - -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Constants; -import frc.robot.subsystems.swervedrive.SwerveSubsystem; -import frc.robot.subsystems.swervedrive.Vision; -import org.photonvision.PhotonUtils; - -import java.util.function.IntSupplier; -import java.util.function.Supplier; - -public class AlignToAprilTag extends Command { - - private final SwerveSubsystem drive; - private final IntSupplier aprilTag; - private final Supplier translation; - - private final PIDController xController = new PIDController(3.5, 0, 0); - private final PIDController yController = new PIDController(3.5, 0, 0); - private final PIDController thetaController = new PIDController(Math.PI/4, 0, 0); - - { - thetaController.enableContinuousInput(-Math.PI, Math.PI); - } - - public AlignToAprilTag(SwerveSubsystem drive, IntSupplier aprilTag, Supplier translation) { - this.drive = drive; - this.aprilTag = aprilTag; - this.translation = translation; - } - - @Override - public void execute() { - var tagPose = Vision.fieldLayout.getTagPose(this.aprilTag.getAsInt()); - - var xOutput = 0.0; - var yOutput = 0.0; - - if (tagPose.isPresent()) { - final var robotPose = this.drive.getPose().getTranslation(); - final var desiredPose = tagPose.get() - .getTranslation() - .toTranslation2d() - .plus(this.translation.get()); - System.out.println(desiredPose); - - xOutput = xController.calculate(robotPose.getX(), desiredPose.getX()); - yOutput = yController.calculate(robotPose.getY(), desiredPose.getX()); - } - - // snap to theta using gyro - var thetaOutput = thetaController.calculate(Math.toRadians(Constants.Sensors.gyro.getAngle())); - System.out.printf("x: %f, y: %f, t: %f\n", xOutput, yOutput, thetaOutput); - this.drive.driveFieldOriented(new ChassisSpeeds(xOutput, yOutput, thetaOutput)); - } -} diff --git a/src/main/java/frc/robot/commands/drive/MoveToPose.java b/src/main/java/frc/robot/commands/drive/MoveToPose.java new file mode 100644 index 0000000..8d8f073 --- /dev/null +++ b/src/main/java/frc/robot/commands/drive/MoveToPose.java @@ -0,0 +1,160 @@ +package frc.robot.commands.drive; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.wpilibj.smartdashboard.FieldObject2d; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; + +import java.util.function.DoubleSupplier; +import java.util.function.Supplier; + +public class MoveToPose extends Command { + + private final SwerveSubsystem drive; + private final Supplier pose; + + private Supplier linearFF = () -> Translation2d.kZero; + private DoubleSupplier omegaFF = () -> 0.0; + + private final ProfiledPIDController driveController = new ProfiledPIDController(0.8, 0., 0., new TrapezoidProfile.Constraints(3.8, 3.)); + private final ProfiledPIDController thetaController = new ProfiledPIDController(4., 0., 0., new TrapezoidProfile.Constraints(2. * Math.PI, 8.)); + private final double ffMinRadius = 0.05; + private final double ffMaxRadius = 0.1; + + private Translation2d lastSetpointTranslation = Translation2d.kZero; + private double driveErrorAbs = 0.0; + private double thetaErrorAbs = 0.0; + + private final FieldObject2d debugPos; + + { + thetaController.enableContinuousInput(-Math.PI, Math.PI); + } + + public MoveToPose(SwerveSubsystem drive, Supplier pose) { + this.drive = drive; + this.pose = pose; + this.debugPos = this.drive.getSwerveDrive().field.getObject("Auto Alignment/Desired"); + } + + @Override + public void initialize() { + final var robotPose = this.drive.getPose(); + final var targetPose = this.pose.get(); + final var fieldVelocity = this.drive.getFieldVelocity(); + + final var linearFieldVelocity = + new Translation2d(fieldVelocity.vxMetersPerSecond, fieldVelocity.vyMetersPerSecond); + driveController.reset( + robotPose.getTranslation().getDistance(targetPose.getTranslation()), + Math.min( + 0.0, + -linearFieldVelocity + .rotateBy( + targetPose + .getTranslation() + .minus(robotPose.getTranslation()) + .getAngle() + .unaryMinus()) + .getX())); + thetaController.reset( + robotPose.getRotation().getRadians(), fieldVelocity.omegaRadiansPerSecond); + lastSetpointTranslation = robotPose.getTranslation(); + } + + @Override + public void execute() { + final var robotPose = this.drive.getPose(); + final var targetPose = this.pose.get(); + this.debugPos.setPose(targetPose); + + // https://github.com/Mechanical-Advantage/RobotCode2025Public/blob/main/src/main/java/org/littletonrobotics/frc2025/commands/DriveToPose.java + // Calculate drive speed + double currentDistance = robotPose.getTranslation().getDistance(targetPose.getTranslation()); + double ffScaler = MathUtil.clamp( + (currentDistance - ffMinRadius) / (ffMaxRadius - ffMinRadius), + 0., 1. + ); + + driveErrorAbs = currentDistance; + driveController.reset( + lastSetpointTranslation.getDistance(targetPose.getTranslation()), + driveController.getSetpoint().velocity + ); + + double driveVelocityScalar = + driveController.getSetpoint().velocity * ffScaler + + driveController.calculate(driveErrorAbs, 0.0); + if (currentDistance < driveController.getPositionTolerance()) { + driveVelocityScalar = 0.0; + } + + lastSetpointTranslation = new Pose2d( + targetPose.getTranslation(), + new Rotation2d( + Math.atan2( + robotPose.getTranslation().getY() - targetPose.getTranslation().getY(), + robotPose.getTranslation().getX() - targetPose.getTranslation().getX()))) + .transformBy(new Transform2d(driveController.getSetpoint().position, 0.0, Rotation2d.kZero)) + .getTranslation(); + + // Calculate theta speed + double thetaVelocity = thetaController.getSetpoint().velocity * ffScaler + + thetaController.calculate( + robotPose.getRotation().getRadians(), targetPose.getRotation().getRadians()); + thetaErrorAbs = Math.abs(robotPose.getRotation().minus(targetPose.getRotation()).getRadians()); + if (thetaErrorAbs < thetaController.getPositionTolerance()) { + thetaVelocity = 0.0; + } + + Translation2d driveVelocity = + new Pose2d( + Translation2d.kZero, + new Rotation2d( + Math.atan2( + robotPose.getTranslation().getY() - targetPose.getTranslation().getY(), + robotPose.getTranslation().getX() - targetPose.getTranslation().getX()))) + .transformBy(new Transform2d(driveVelocityScalar, 0.0, Rotation2d.kZero)) + .getTranslation(); + + // Scale feedback velocities by input ff + final double linearS = linearFF.get().getNorm() * 3.0; + final double thetaS = Math.abs(omegaFF.getAsDouble()) * 3.0; + driveVelocity = driveVelocity.interpolate( + linearFF.get().times(Constants.DriveConstants.kMaxSpeedMetersPerSecond), + linearS + ); + thetaVelocity = MathUtil.interpolate( + thetaVelocity, + omegaFF.getAsDouble() * Constants.DriveConstants.kMaxAngularSpeed, + thetaS + ); + + // Command speeds + drive.driveFieldOriented(ChassisSpeeds.fromFieldRelativeSpeeds( + driveVelocity.getX(), + driveVelocity.getY(), + thetaVelocity, + robotPose.getRotation() + )); + + } + + @Override + public boolean isFinished() { + return this.driveController.atGoal() && this.thetaController.atGoal(); + } + + @Override + public void end(boolean interrupted) { + this.debugPos.close(); + } +} From 5a15024dcf5e78297e5062bc53b576ae7b8da4fc Mon Sep 17 00:00:00 2001 From: tk2217 Date: Sat, 15 Mar 2025 14:04:27 -0500 Subject: [PATCH 18/28] i think this is right --- src/main/java/frc/robot/RobotContainer.java | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 23704d6..a2da33e 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,13 +6,9 @@ import choreo.auto.AutoChooser; import choreo.auto.AutoFactory; -import choreo.trajectory.SwerveSample; -import choreo.trajectory.Trajectory; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Transform2d; -import edu.wpi.first.wpilibj.*; -import edu.wpi.first.wpilibj.smartdashboard.FieldObject2d; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; @@ -20,8 +16,8 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc.robot.Constants.IOConstants; -import frc.robot.commands.drive.MoveToPose; import frc.robot.commands.drive.Drive; +import frc.robot.commands.drive.MoveToPose; import frc.robot.subsystems.AlgaeHandlerSubsystem; import frc.robot.subsystems.ChuteSubsystem; import frc.robot.subsystems.CoralHandlerSubsystem; @@ -31,10 +27,8 @@ import frc.robot.subsystems.swervedrive.SwerveSubsystem; import frc.robot.utils.FilteredButton; import frc.robot.utils.FilteredJoystick; + import java.io.File; -import java.util.ArrayList; -import java.util.Objects; -import swervelib.SwerveInputStream; import java.util.Optional; /* From 88f7f871a72530b5e99fc00ef184c3d86385996b Mon Sep 17 00:00:00 2001 From: tk2217 Date: Sat, 15 Mar 2025 14:05:54 -0500 Subject: [PATCH 19/28] more --- simgui.json | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/simgui.json b/simgui.json index 8254285..3fe0c1e 100644 --- a/simgui.json +++ b/simgui.json @@ -14,7 +14,8 @@ "/SmartDashboard/JSON": "Alerts", "/SmartDashboard/Motors": "Alerts", "/SmartDashboard/Scheduler": "Scheduler", - "/SmartDashboard/Swerve Drive": "Alerts" + "/SmartDashboard/Swerve Drive": "Alerts", + "/SmartDashboard/VisionSystemSim-Vision/Sim Field": "Field2d" }, "windows": { "/SmartDashboard/Field": { @@ -64,6 +65,15 @@ }, "NetworkTables": { "transitory": { + "CameraPublisher": { + "center-processed": { + "open": true, + "string[]##v_/CameraPublisher/center-processed/streams": { + "open": true + } + }, + "open": true + }, "SmartDashboard": { "Auto Chooser": { "string[]##v_/SmartDashboard/Auto Chooser/options": { From 8200239cdfe83a956d894f51790564c7db3cb342 Mon Sep 17 00:00:00 2001 From: tk2217 Date: Mon, 17 Mar 2025 18:11:20 -0500 Subject: [PATCH 20/28] i hate this code --- simgui.json | 15 ++++----------- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 6 +++--- .../java/frc/robot/commands/drive/MoveToPose.java | 3 +++ 4 files changed, 11 insertions(+), 15 deletions(-) diff --git a/simgui.json b/simgui.json index 3fe0c1e..bb34935 100644 --- a/simgui.json +++ b/simgui.json @@ -65,15 +65,6 @@ }, "NetworkTables": { "transitory": { - "CameraPublisher": { - "center-processed": { - "open": true, - "string[]##v_/CameraPublisher/center-processed/streams": { - "open": true - } - }, - "open": true - }, "SmartDashboard": { "Auto Chooser": { "string[]##v_/SmartDashboard/Auto Chooser/options": { @@ -92,12 +83,14 @@ "Tuning": { "open": true }, + "Xbox Controller Debug": { + "open": true + }, "open": true, "swerve": { "modules": { "open": true - }, - "open": true + } } } } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 38a18df..e0cdbdc 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -86,7 +86,7 @@ public void robotPeriodic() { SmartDashboard.putData(CommandScheduler.getInstance()); if (Constants.IOConstants.kTestMode) { - System.out.println("Test Mode Enabled\nNot for competition use"); +// System.out.println("Test Mode Enabled\nNot for competition use"); } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a2da33e..d1835ed 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -149,9 +149,9 @@ private void configureButtonBindings() { .leftBumper() .onTrue(Commands.runOnce(m_coral::release)) .onFalse(Commands.runOnce(m_coral::idle)); - - m_controller.rightStick() - .onTrue(new MoveToPose(this.m_drive, () -> new Pose2d(8, 5, Rotation2d.kCCW_90deg))); } + + m_controller.rightStick() + .onTrue(new MoveToPose(this.m_drive, () -> new Pose2d(8, 5, Rotation2d.kCCW_90deg))); } } diff --git a/src/main/java/frc/robot/commands/drive/MoveToPose.java b/src/main/java/frc/robot/commands/drive/MoveToPose.java index 8d8f073..8ee40e7 100644 --- a/src/main/java/frc/robot/commands/drive/MoveToPose.java +++ b/src/main/java/frc/robot/commands/drive/MoveToPose.java @@ -47,6 +47,8 @@ public MoveToPose(SwerveSubsystem drive, Supplier pose) { @Override public void initialize() { + System.out.println("move to pose cmd now"); + final var robotPose = this.drive.getPose(); final var targetPose = this.pose.get(); final var fieldVelocity = this.drive.getFieldVelocity(); @@ -150,6 +152,7 @@ public void execute() { @Override public boolean isFinished() { + System.out.println("mtp is finished?"); return this.driveController.atGoal() && this.thetaController.atGoal(); } From 7f68807330fa6a7a170fc8fd39ed9d3c73a00b8b Mon Sep 17 00:00:00 2001 From: tk2217 Date: Mon, 17 Mar 2025 18:32:57 -0500 Subject: [PATCH 21/28] more --- simgui.json | 8 ++------ src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/commands/drive/MoveToPose.java | 5 ++--- 3 files changed, 5 insertions(+), 10 deletions(-) diff --git a/simgui.json b/simgui.json index b2221a0..ac9d2cb 100644 --- a/simgui.json +++ b/simgui.json @@ -13,7 +13,6 @@ "/SmartDashboard/IMU": "Alerts", "/SmartDashboard/JSON": "Alerts", "/SmartDashboard/Motors": "Alerts", - "/SmartDashboard/PathPlanner": "Alerts", "/SmartDashboard/Scheduler": "Scheduler", "/SmartDashboard/Swerve Drive": "Alerts", "/SmartDashboard/VisionSystemSim-Vision/Sim Field": "Field2d" @@ -72,8 +71,8 @@ "open": true } }, - "Auto Controllers": { - "X": { + "Controllers": { + "Xbox": { "open": true }, "open": true @@ -84,9 +83,6 @@ "Tuning": { "open": true }, - "Xbox Controller Debug": { - "open": true - }, "open": true, "swerve": { "modules": { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 34ecbea..91fe3e7 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -150,6 +150,6 @@ private void configureButtonBindings() { } m_controller.rightStick() - .onTrue(new MoveToPose(this.m_drive, () -> new Pose2d(8, 5, Rotation2d.kCCW_90deg))); + .onTrue(new MoveToPose(this.m_drive, () -> new Pose2d(3, 6.5, Rotation2d.kCCW_90deg))); } } diff --git a/src/main/java/frc/robot/commands/drive/MoveToPose.java b/src/main/java/frc/robot/commands/drive/MoveToPose.java index 8ee40e7..b35fb5a 100644 --- a/src/main/java/frc/robot/commands/drive/MoveToPose.java +++ b/src/main/java/frc/robot/commands/drive/MoveToPose.java @@ -47,8 +47,6 @@ public MoveToPose(SwerveSubsystem drive, Supplier pose) { @Override public void initialize() { - System.out.println("move to pose cmd now"); - final var robotPose = this.drive.getPose(); final var targetPose = this.pose.get(); final var fieldVelocity = this.drive.getFieldVelocity(); @@ -140,6 +138,8 @@ public void execute() { thetaS ); + driveVelocity = driveVelocity.rotateBy(Rotation2d.kCCW_Pi_2); + // Command speeds drive.driveFieldOriented(ChassisSpeeds.fromFieldRelativeSpeeds( driveVelocity.getX(), @@ -152,7 +152,6 @@ public void execute() { @Override public boolean isFinished() { - System.out.println("mtp is finished?"); return this.driveController.atGoal() && this.thetaController.atGoal(); } From 3e65ed92b9d9125fd405005387b5b126a7887381 Mon Sep 17 00:00:00 2001 From: Henry Martin <62612165+HENRYMARTIN5@users.noreply.github.com> Date: Tue, 18 Mar 2025 00:02:41 +0000 Subject: [PATCH 22/28] chore: Spotless --- src/main/java/frc/robot/Robot.java | 4 +- src/main/java/frc/robot/RobotContainer.java | 23 +- .../frc/robot/commands/drive/MoveToPose.java | 266 +++++++++--------- 3 files changed, 143 insertions(+), 150 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index e0cdbdc..3a981d7 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -9,9 +9,7 @@ import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.StructArrayPublisher; import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.IterativeRobotBase; import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.Watchdog; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -86,7 +84,7 @@ public void robotPeriodic() { SmartDashboard.putData(CommandScheduler.getInstance()); if (Constants.IOConstants.kTestMode) { -// System.out.println("Test Mode Enabled\nNot for competition use"); + // System.out.println("Test Mode Enabled\nNot for competition use"); } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 91fe3e7..f4fc707 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -26,7 +26,6 @@ import frc.robot.subsystems.swervedrive.SwerveSubsystem; import frc.robot.utils.FilteredButton; import frc.robot.utils.FilteredJoystick; - import java.io.File; import java.util.Optional; @@ -130,7 +129,6 @@ private void configureButtonBindings() { .onTrue(Commands.runOnce(() -> ((CoralHandlerSubsystemSim) m_coral).getSimCoral())); } - m_controller .x() .onTrue(Commands.runOnce(() -> m_elevator.setState(ElevatorSubsystem.ElevatorState.L2))); @@ -139,17 +137,18 @@ private void configureButtonBindings() { .onTrue( Commands.runOnce(() -> m_elevator.setState(ElevatorSubsystem.ElevatorState.DOWN))); - m_controller - .rightBumper() - .onTrue(Commands.runOnce(m_coral::grab)) - .onFalse(Commands.runOnce(m_coral::idle)); - m_controller - .leftBumper() - .onTrue(Commands.runOnce(m_coral::release)) - .onFalse(Commands.runOnce(m_coral::idle)); + m_controller + .rightBumper() + .onTrue(Commands.runOnce(m_coral::grab)) + .onFalse(Commands.runOnce(m_coral::idle)); + m_controller + .leftBumper() + .onTrue(Commands.runOnce(m_coral::release)) + .onFalse(Commands.runOnce(m_coral::idle)); } - m_controller.rightStick() - .onTrue(new MoveToPose(this.m_drive, () -> new Pose2d(3, 6.5, Rotation2d.kCCW_90deg))); + m_controller + .rightStick() + .onTrue(new MoveToPose(this.m_drive, () -> new Pose2d(3, 6.5, Rotation2d.kCCW_90deg))); } } diff --git a/src/main/java/frc/robot/commands/drive/MoveToPose.java b/src/main/java/frc/robot/commands/drive/MoveToPose.java index b35fb5a..4eec217 100644 --- a/src/main/java/frc/robot/commands/drive/MoveToPose.java +++ b/src/main/java/frc/robot/commands/drive/MoveToPose.java @@ -12,151 +12,147 @@ import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants; import frc.robot.subsystems.swervedrive.SwerveSubsystem; - import java.util.function.DoubleSupplier; import java.util.function.Supplier; public class MoveToPose extends Command { - private final SwerveSubsystem drive; - private final Supplier pose; - - private Supplier linearFF = () -> Translation2d.kZero; - private DoubleSupplier omegaFF = () -> 0.0; - - private final ProfiledPIDController driveController = new ProfiledPIDController(0.8, 0., 0., new TrapezoidProfile.Constraints(3.8, 3.)); - private final ProfiledPIDController thetaController = new ProfiledPIDController(4., 0., 0., new TrapezoidProfile.Constraints(2. * Math.PI, 8.)); - private final double ffMinRadius = 0.05; - private final double ffMaxRadius = 0.1; - - private Translation2d lastSetpointTranslation = Translation2d.kZero; - private double driveErrorAbs = 0.0; - private double thetaErrorAbs = 0.0; - - private final FieldObject2d debugPos; - - { - thetaController.enableContinuousInput(-Math.PI, Math.PI); - } - - public MoveToPose(SwerveSubsystem drive, Supplier pose) { - this.drive = drive; - this.pose = pose; - this.debugPos = this.drive.getSwerveDrive().field.getObject("Auto Alignment/Desired"); + private final SwerveSubsystem drive; + private final Supplier pose; + + private Supplier linearFF = () -> Translation2d.kZero; + private DoubleSupplier omegaFF = () -> 0.0; + + private final ProfiledPIDController driveController = + new ProfiledPIDController(0.8, 0., 0., new TrapezoidProfile.Constraints(3.8, 3.)); + private final ProfiledPIDController thetaController = + new ProfiledPIDController(4., 0., 0., new TrapezoidProfile.Constraints(2. * Math.PI, 8.)); + private final double ffMinRadius = 0.05; + private final double ffMaxRadius = 0.1; + + private Translation2d lastSetpointTranslation = Translation2d.kZero; + private double driveErrorAbs = 0.0; + private double thetaErrorAbs = 0.0; + + private final FieldObject2d debugPos; + + { + thetaController.enableContinuousInput(-Math.PI, Math.PI); + } + + public MoveToPose(SwerveSubsystem drive, Supplier pose) { + this.drive = drive; + this.pose = pose; + this.debugPos = this.drive.getSwerveDrive().field.getObject("Auto Alignment/Desired"); + } + + @Override + public void initialize() { + final var robotPose = this.drive.getPose(); + final var targetPose = this.pose.get(); + final var fieldVelocity = this.drive.getFieldVelocity(); + + final var linearFieldVelocity = + new Translation2d(fieldVelocity.vxMetersPerSecond, fieldVelocity.vyMetersPerSecond); + driveController.reset( + robotPose.getTranslation().getDistance(targetPose.getTranslation()), + Math.min( + 0.0, + -linearFieldVelocity + .rotateBy( + targetPose + .getTranslation() + .minus(robotPose.getTranslation()) + .getAngle() + .unaryMinus()) + .getX())); + thetaController.reset( + robotPose.getRotation().getRadians(), fieldVelocity.omegaRadiansPerSecond); + lastSetpointTranslation = robotPose.getTranslation(); + } + + @Override + public void execute() { + final var robotPose = this.drive.getPose(); + final var targetPose = this.pose.get(); + this.debugPos.setPose(targetPose); + + // https://github.com/Mechanical-Advantage/RobotCode2025Public/blob/main/src/main/java/org/littletonrobotics/frc2025/commands/DriveToPose.java + // Calculate drive speed + double currentDistance = robotPose.getTranslation().getDistance(targetPose.getTranslation()); + double ffScaler = + MathUtil.clamp((currentDistance - ffMinRadius) / (ffMaxRadius - ffMinRadius), 0., 1.); + + driveErrorAbs = currentDistance; + driveController.reset( + lastSetpointTranslation.getDistance(targetPose.getTranslation()), + driveController.getSetpoint().velocity); + + double driveVelocityScalar = + driveController.getSetpoint().velocity * ffScaler + + driveController.calculate(driveErrorAbs, 0.0); + if (currentDistance < driveController.getPositionTolerance()) { + driveVelocityScalar = 0.0; } - @Override - public void initialize() { - final var robotPose = this.drive.getPose(); - final var targetPose = this.pose.get(); - final var fieldVelocity = this.drive.getFieldVelocity(); - - final var linearFieldVelocity = - new Translation2d(fieldVelocity.vxMetersPerSecond, fieldVelocity.vyMetersPerSecond); - driveController.reset( - robotPose.getTranslation().getDistance(targetPose.getTranslation()), - Math.min( - 0.0, - -linearFieldVelocity - .rotateBy( - targetPose - .getTranslation() - .minus(robotPose.getTranslation()) - .getAngle() - .unaryMinus()) - .getX())); - thetaController.reset( - robotPose.getRotation().getRadians(), fieldVelocity.omegaRadiansPerSecond); - lastSetpointTranslation = robotPose.getTranslation(); - } - - @Override - public void execute() { - final var robotPose = this.drive.getPose(); - final var targetPose = this.pose.get(); - this.debugPos.setPose(targetPose); - - // https://github.com/Mechanical-Advantage/RobotCode2025Public/blob/main/src/main/java/org/littletonrobotics/frc2025/commands/DriveToPose.java - // Calculate drive speed - double currentDistance = robotPose.getTranslation().getDistance(targetPose.getTranslation()); - double ffScaler = MathUtil.clamp( - (currentDistance - ffMinRadius) / (ffMaxRadius - ffMinRadius), - 0., 1. - ); - - driveErrorAbs = currentDistance; - driveController.reset( - lastSetpointTranslation.getDistance(targetPose.getTranslation()), - driveController.getSetpoint().velocity - ); - - double driveVelocityScalar = - driveController.getSetpoint().velocity * ffScaler - + driveController.calculate(driveErrorAbs, 0.0); - if (currentDistance < driveController.getPositionTolerance()) { - driveVelocityScalar = 0.0; - } - - lastSetpointTranslation = new Pose2d( + lastSetpointTranslation = + new Pose2d( targetPose.getTranslation(), new Rotation2d( - Math.atan2( - robotPose.getTranslation().getY() - targetPose.getTranslation().getY(), - robotPose.getTranslation().getX() - targetPose.getTranslation().getX()))) - .transformBy(new Transform2d(driveController.getSetpoint().position, 0.0, Rotation2d.kZero)) - .getTranslation(); - - // Calculate theta speed - double thetaVelocity = thetaController.getSetpoint().velocity * ffScaler - + thetaController.calculate( + Math.atan2( + robotPose.getTranslation().getY() - targetPose.getTranslation().getY(), + robotPose.getTranslation().getX() - targetPose.getTranslation().getX()))) + .transformBy( + new Transform2d(driveController.getSetpoint().position, 0.0, Rotation2d.kZero)) + .getTranslation(); + + // Calculate theta speed + double thetaVelocity = + thetaController.getSetpoint().velocity * ffScaler + + thetaController.calculate( robotPose.getRotation().getRadians(), targetPose.getRotation().getRadians()); - thetaErrorAbs = Math.abs(robotPose.getRotation().minus(targetPose.getRotation()).getRadians()); - if (thetaErrorAbs < thetaController.getPositionTolerance()) { - thetaVelocity = 0.0; - } - - Translation2d driveVelocity = - new Pose2d( - Translation2d.kZero, - new Rotation2d( - Math.atan2( - robotPose.getTranslation().getY() - targetPose.getTranslation().getY(), - robotPose.getTranslation().getX() - targetPose.getTranslation().getX()))) - .transformBy(new Transform2d(driveVelocityScalar, 0.0, Rotation2d.kZero)) - .getTranslation(); - - // Scale feedback velocities by input ff - final double linearS = linearFF.get().getNorm() * 3.0; - final double thetaS = Math.abs(omegaFF.getAsDouble()) * 3.0; - driveVelocity = driveVelocity.interpolate( - linearFF.get().times(Constants.DriveConstants.kMaxSpeedMetersPerSecond), - linearS - ); - thetaVelocity = MathUtil.interpolate( - thetaVelocity, - omegaFF.getAsDouble() * Constants.DriveConstants.kMaxAngularSpeed, - thetaS - ); - - driveVelocity = driveVelocity.rotateBy(Rotation2d.kCCW_Pi_2); - - // Command speeds - drive.driveFieldOriented(ChassisSpeeds.fromFieldRelativeSpeeds( - driveVelocity.getX(), - driveVelocity.getY(), - thetaVelocity, - robotPose.getRotation() - )); - + thetaErrorAbs = Math.abs(robotPose.getRotation().minus(targetPose.getRotation()).getRadians()); + if (thetaErrorAbs < thetaController.getPositionTolerance()) { + thetaVelocity = 0.0; } - @Override - public boolean isFinished() { - return this.driveController.atGoal() && this.thetaController.atGoal(); - } - - @Override - public void end(boolean interrupted) { - this.debugPos.close(); - } + Translation2d driveVelocity = + new Pose2d( + Translation2d.kZero, + new Rotation2d( + Math.atan2( + robotPose.getTranslation().getY() - targetPose.getTranslation().getY(), + robotPose.getTranslation().getX() - targetPose.getTranslation().getX()))) + .transformBy(new Transform2d(driveVelocityScalar, 0.0, Rotation2d.kZero)) + .getTranslation(); + + // Scale feedback velocities by input ff + final double linearS = linearFF.get().getNorm() * 3.0; + final double thetaS = Math.abs(omegaFF.getAsDouble()) * 3.0; + driveVelocity = + driveVelocity.interpolate( + linearFF.get().times(Constants.DriveConstants.kMaxSpeedMetersPerSecond), linearS); + thetaVelocity = + MathUtil.interpolate( + thetaVelocity, + omegaFF.getAsDouble() * Constants.DriveConstants.kMaxAngularSpeed, + thetaS); + + driveVelocity = driveVelocity.rotateBy(Rotation2d.kCCW_Pi_2); + + // Command speeds + drive.driveFieldOriented( + ChassisSpeeds.fromFieldRelativeSpeeds( + driveVelocity.getX(), driveVelocity.getY(), thetaVelocity, robotPose.getRotation())); + } + + @Override + public boolean isFinished() { + return this.driveController.atGoal() && this.thetaController.atGoal(); + } + + @Override + public void end(boolean interrupted) { + this.debugPos.close(); + } } From 00a32a8bc466aeb7a26ad2668927b8f663ea667a Mon Sep 17 00:00:00 2001 From: tk2217 Date: Tue, 18 Mar 2025 18:19:56 -0500 Subject: [PATCH 23/28] simple at offsets work --- src/main/java/frc/robot/RobotContainer.java | 6 +- .../java/frc/robot/commands/drive/Drive.java | 2 +- .../frc/robot/commands/drive/MoveToPose.java | 127 +++++++++--------- src/main/java/frc/robot/utils/AprilTags.java | 44 ++++++ 4 files changed, 111 insertions(+), 68 deletions(-) create mode 100644 src/main/java/frc/robot/utils/AprilTags.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 135ab59..d71ca82 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -8,6 +8,7 @@ import choreo.auto.AutoFactory; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.XboxController; @@ -26,10 +27,12 @@ import frc.robot.subsystems.sim.CoralHandlerSubsystemSim; import frc.robot.subsystems.sim.ElevatorSubsystemSim; import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.utils.AprilTags; import frc.robot.utils.FilteredButton; import frc.robot.utils.FilteredJoystick; import java.io.File; import java.util.Optional; +import java.util.Set; /* * This class is where the bulk of the robot should be declared. Since Command-based is a @@ -118,7 +121,6 @@ private void configureButtonBindings() { if (IOConstants.kTestMode) { m_controller.a().onTrue(Commands.runOnce(m_drive::zeroGyro)); } else { - // drop chute m_buttons.getChuteSwitch().onTrue(Commands.runOnce(m_chute::drop)); @@ -137,6 +139,6 @@ private void configureButtonBindings() { m_controller .rightStick() - .onTrue(new MoveToPose(this.m_drive, () -> new Pose2d(3, 6.5, Rotation2d.kCCW_90deg))); + .onTrue(Commands.defer(() -> MoveToPose.tagRelative(this.m_drive, AprilTags.findTagForAlignment(this.m_drive.getPose()), AprilTags.REEF_ALIGN_OFFSET), Set.of())); } } diff --git a/src/main/java/frc/robot/commands/drive/Drive.java b/src/main/java/frc/robot/commands/drive/Drive.java index 5a764e0..88c0fff 100644 --- a/src/main/java/frc/robot/commands/drive/Drive.java +++ b/src/main/java/frc/robot/commands/drive/Drive.java @@ -68,7 +68,7 @@ public void initialize() { @Override public void execute() { m_drive.driveFieldOriented(driveInput.get()); - System.out.println(driveInput.get()); +// System.out.println(driveInput.get()); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/commands/drive/MoveToPose.java b/src/main/java/frc/robot/commands/drive/MoveToPose.java index 4eec217..5a04d60 100644 --- a/src/main/java/frc/robot/commands/drive/MoveToPose.java +++ b/src/main/java/frc/robot/commands/drive/MoveToPose.java @@ -12,6 +12,8 @@ import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants; import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.subsystems.swervedrive.Vision; + import java.util.function.DoubleSupplier; import java.util.function.Supplier; @@ -46,104 +48,99 @@ public MoveToPose(SwerveSubsystem drive, Supplier pose) { this.debugPos = this.drive.getSwerveDrive().field.getObject("Auto Alignment/Desired"); } + public static MoveToPose tagRelative(SwerveSubsystem drive, int tagId, Transform2d transform) { + return new MoveToPose(drive, () -> Vision.getAprilTagPose(tagId, transform)); + } + @Override public void initialize() { - final var robotPose = this.drive.getPose(); + final var currentPose = this.drive.getPose(); final var targetPose = this.pose.get(); final var fieldVelocity = this.drive.getFieldVelocity(); - final var linearFieldVelocity = - new Translation2d(fieldVelocity.vxMetersPerSecond, fieldVelocity.vyMetersPerSecond); + Translation2d linearFieldVelocity = + new Translation2d(fieldVelocity.vxMetersPerSecond, fieldVelocity.vyMetersPerSecond); driveController.reset( - robotPose.getTranslation().getDistance(targetPose.getTranslation()), - Math.min( - 0.0, - -linearFieldVelocity - .rotateBy( - targetPose - .getTranslation() - .minus(robotPose.getTranslation()) - .getAngle() - .unaryMinus()) - .getX())); + currentPose.getTranslation().getDistance(targetPose.getTranslation()), + Math.min( + 0.0, + -linearFieldVelocity + .rotateBy( + targetPose + .getTranslation() + .minus(currentPose.getTranslation()) + .getAngle() + .unaryMinus()) + .getX())); thetaController.reset( - robotPose.getRotation().getRadians(), fieldVelocity.omegaRadiansPerSecond); - lastSetpointTranslation = robotPose.getTranslation(); + currentPose.getRotation().getRadians(), fieldVelocity.omegaRadiansPerSecond); + lastSetpointTranslation = currentPose.getTranslation(); } @Override public void execute() { - final var robotPose = this.drive.getPose(); + final var currentPose = this.drive.getPose(); final var targetPose = this.pose.get(); this.debugPos.setPose(targetPose); // https://github.com/Mechanical-Advantage/RobotCode2025Public/blob/main/src/main/java/org/littletonrobotics/frc2025/commands/DriveToPose.java // Calculate drive speed - double currentDistance = robotPose.getTranslation().getDistance(targetPose.getTranslation()); + double currentDistance = currentPose.getTranslation().getDistance(targetPose.getTranslation()); double ffScaler = - MathUtil.clamp((currentDistance - ffMinRadius) / (ffMaxRadius - ffMinRadius), 0., 1.); - + MathUtil.clamp( + (currentDistance - ffMinRadius) / (ffMaxRadius - ffMinRadius), + 0.0, + 1.0); driveErrorAbs = currentDistance; driveController.reset( - lastSetpointTranslation.getDistance(targetPose.getTranslation()), - driveController.getSetpoint().velocity); - + lastSetpointTranslation.getDistance(targetPose.getTranslation()), + driveController.getSetpoint().velocity); double driveVelocityScalar = - driveController.getSetpoint().velocity * ffScaler - + driveController.calculate(driveErrorAbs, 0.0); - if (currentDistance < driveController.getPositionTolerance()) { - driveVelocityScalar = 0.0; - } - + driveController.getSetpoint().velocity * ffScaler + + driveController.calculate(driveErrorAbs, 0.0); + if (currentDistance < driveController.getPositionTolerance()) driveVelocityScalar = 0.0; lastSetpointTranslation = - new Pose2d( - targetPose.getTranslation(), - new Rotation2d( - Math.atan2( - robotPose.getTranslation().getY() - targetPose.getTranslation().getY(), - robotPose.getTranslation().getX() - targetPose.getTranslation().getX()))) - .transformBy( - new Transform2d(driveController.getSetpoint().position, 0.0, Rotation2d.kZero)) - .getTranslation(); + new Pose2d( + targetPose.getTranslation(), + new Rotation2d( + Math.atan2( + currentPose.getTranslation().getY() - targetPose.getTranslation().getY(), + currentPose.getTranslation().getX() - targetPose.getTranslation().getX()))) + .transformBy(new Transform2d(driveController.getSetpoint().position, 0.0, Rotation2d.kZero)) + .getTranslation(); // Calculate theta speed double thetaVelocity = - thetaController.getSetpoint().velocity * ffScaler - + thetaController.calculate( - robotPose.getRotation().getRadians(), targetPose.getRotation().getRadians()); - thetaErrorAbs = Math.abs(robotPose.getRotation().minus(targetPose.getRotation()).getRadians()); - if (thetaErrorAbs < thetaController.getPositionTolerance()) { - thetaVelocity = 0.0; - } + thetaController.getSetpoint().velocity * ffScaler + + thetaController.calculate( + currentPose.getRotation().getRadians(), targetPose.getRotation().getRadians()); + thetaErrorAbs = + Math.abs(currentPose.getRotation().minus(targetPose.getRotation()).getRadians()); + if (thetaErrorAbs < thetaController.getPositionTolerance()) thetaVelocity = 0.0; Translation2d driveVelocity = - new Pose2d( - Translation2d.kZero, - new Rotation2d( - Math.atan2( - robotPose.getTranslation().getY() - targetPose.getTranslation().getY(), - robotPose.getTranslation().getX() - targetPose.getTranslation().getX()))) - .transformBy(new Transform2d(driveVelocityScalar, 0.0, Rotation2d.kZero)) - .getTranslation(); + new Pose2d( + Translation2d.kZero, + new Rotation2d( + Math.atan2( + currentPose.getTranslation().getY() - targetPose.getTranslation().getY(), + currentPose.getTranslation().getX() - targetPose.getTranslation().getX()))) + .transformBy(new Transform2d(driveVelocityScalar, 0.0, Rotation2d.kZero)) + .getTranslation(); // Scale feedback velocities by input ff final double linearS = linearFF.get().getNorm() * 3.0; final double thetaS = Math.abs(omegaFF.getAsDouble()) * 3.0; driveVelocity = - driveVelocity.interpolate( - linearFF.get().times(Constants.DriveConstants.kMaxSpeedMetersPerSecond), linearS); + driveVelocity.interpolate(linearFF.get().times(Constants.DriveConstants.kMaxSpeedMetersPerSecond), linearS); thetaVelocity = - MathUtil.interpolate( - thetaVelocity, - omegaFF.getAsDouble() * Constants.DriveConstants.kMaxAngularSpeed, - thetaS); - - driveVelocity = driveVelocity.rotateBy(Rotation2d.kCCW_Pi_2); + MathUtil.interpolate( + thetaVelocity, omegaFF.getAsDouble() * Constants.DriveConstants.kMaxAngularSpeed, thetaS); // Command speeds - drive.driveFieldOriented( - ChassisSpeeds.fromFieldRelativeSpeeds( - driveVelocity.getX(), driveVelocity.getY(), thetaVelocity, robotPose.getRotation())); + drive.drive( + ChassisSpeeds.fromFieldRelativeSpeeds( + driveVelocity.getX(), driveVelocity.getY(), thetaVelocity, currentPose.getRotation())); } @Override @@ -153,6 +150,6 @@ public boolean isFinished() { @Override public void end(boolean interrupted) { - this.debugPos.close(); + this.debugPos.setPoses(); } } diff --git a/src/main/java/frc/robot/utils/AprilTags.java b/src/main/java/frc/robot/utils/AprilTags.java new file mode 100644 index 0000000..98c3d5c --- /dev/null +++ b/src/main/java/frc/robot/utils/AprilTags.java @@ -0,0 +1,44 @@ +package frc.robot.utils; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.wpilibj.DriverStation; +import frc.robot.subsystems.swervedrive.Vision; + +import java.util.List; + +public final class AprilTags { + + public static final List RED_REEF_TAGS = List.of(6, 7, 8, 9, 10, 11); + public static final List BLUE_REEF_TAGS = List.of(17, 18, 19, 20, 21, 22); + + private AprilTags() {} + + public static List reefTags() { + return DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue ? BLUE_REEF_TAGS : RED_REEF_TAGS; + } + + public static final Transform2d REEF_ALIGN_OFFSET = new Transform2d(0.6, 0, Rotation2d.kPi); + + public static int findTagForAlignment(Pose2d robotPose) { + var currentTag = -1; + var minDistance = Double.MAX_VALUE; + + for (final var tag : AprilTags.reefTags()) { + final var tagPose = Vision.getAprilTagPose(tag, REEF_ALIGN_OFFSET); + final var distance = robotPose.getTranslation().getDistance(tagPose.getTranslation()); + + if (distance < minDistance) { + currentTag = tag; + minDistance = distance; + } + } + + if (currentTag < 0) { + throw new RuntimeException("Expected to find a tag"); + } + + return currentTag; + } +} From ee7ae05870d56320dab96db02fe5e5ad7368754d Mon Sep 17 00:00:00 2001 From: HENRYMARTIN5 <62612165+HENRYMARTIN5@users.noreply.github.com> Date: Tue, 18 Mar 2025 18:29:07 -0500 Subject: [PATCH 24/28] chore: Owen didn't run spotlessApply --- src/main/java/frc/robot/RobotContainer.java | 12 ++- .../frc/robot/commands/drive/MoveToPose.java | 94 +++++++++---------- src/main/java/frc/robot/utils/AprilTags.java | 49 +++++----- 3 files changed, 80 insertions(+), 75 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index d71ca82..fe039c8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,9 +6,6 @@ import choreo.auto.AutoChooser; import choreo.auto.AutoFactory; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.XboxController; @@ -139,6 +136,13 @@ private void configureButtonBindings() { m_controller .rightStick() - .onTrue(Commands.defer(() -> MoveToPose.tagRelative(this.m_drive, AprilTags.findTagForAlignment(this.m_drive.getPose()), AprilTags.REEF_ALIGN_OFFSET), Set.of())); + .onTrue( + Commands.defer( + () -> + MoveToPose.tagRelative( + this.m_drive, + AprilTags.findTagForAlignment(this.m_drive.getPose()), + AprilTags.REEF_ALIGN_OFFSET), + Set.of())); } } diff --git a/src/main/java/frc/robot/commands/drive/MoveToPose.java b/src/main/java/frc/robot/commands/drive/MoveToPose.java index 5a04d60..9e7ff9b 100644 --- a/src/main/java/frc/robot/commands/drive/MoveToPose.java +++ b/src/main/java/frc/robot/commands/drive/MoveToPose.java @@ -13,7 +13,6 @@ import frc.robot.Constants; import frc.robot.subsystems.swervedrive.SwerveSubsystem; import frc.robot.subsystems.swervedrive.Vision; - import java.util.function.DoubleSupplier; import java.util.function.Supplier; @@ -59,21 +58,21 @@ public void initialize() { final var fieldVelocity = this.drive.getFieldVelocity(); Translation2d linearFieldVelocity = - new Translation2d(fieldVelocity.vxMetersPerSecond, fieldVelocity.vyMetersPerSecond); + new Translation2d(fieldVelocity.vxMetersPerSecond, fieldVelocity.vyMetersPerSecond); driveController.reset( - currentPose.getTranslation().getDistance(targetPose.getTranslation()), - Math.min( - 0.0, - -linearFieldVelocity - .rotateBy( - targetPose - .getTranslation() - .minus(currentPose.getTranslation()) - .getAngle() - .unaryMinus()) - .getX())); + currentPose.getTranslation().getDistance(targetPose.getTranslation()), + Math.min( + 0.0, + -linearFieldVelocity + .rotateBy( + targetPose + .getTranslation() + .minus(currentPose.getTranslation()) + .getAngle() + .unaryMinus()) + .getX())); thetaController.reset( - currentPose.getRotation().getRadians(), fieldVelocity.omegaRadiansPerSecond); + currentPose.getRotation().getRadians(), fieldVelocity.omegaRadiansPerSecond); lastSetpointTranslation = currentPose.getTranslation(); } @@ -87,60 +86,61 @@ public void execute() { // Calculate drive speed double currentDistance = currentPose.getTranslation().getDistance(targetPose.getTranslation()); double ffScaler = - MathUtil.clamp( - (currentDistance - ffMinRadius) / (ffMaxRadius - ffMinRadius), - 0.0, - 1.0); + MathUtil.clamp((currentDistance - ffMinRadius) / (ffMaxRadius - ffMinRadius), 0.0, 1.0); driveErrorAbs = currentDistance; driveController.reset( - lastSetpointTranslation.getDistance(targetPose.getTranslation()), - driveController.getSetpoint().velocity); + lastSetpointTranslation.getDistance(targetPose.getTranslation()), + driveController.getSetpoint().velocity); double driveVelocityScalar = - driveController.getSetpoint().velocity * ffScaler - + driveController.calculate(driveErrorAbs, 0.0); + driveController.getSetpoint().velocity * ffScaler + + driveController.calculate(driveErrorAbs, 0.0); if (currentDistance < driveController.getPositionTolerance()) driveVelocityScalar = 0.0; lastSetpointTranslation = - new Pose2d( - targetPose.getTranslation(), - new Rotation2d( - Math.atan2( - currentPose.getTranslation().getY() - targetPose.getTranslation().getY(), - currentPose.getTranslation().getX() - targetPose.getTranslation().getX()))) - .transformBy(new Transform2d(driveController.getSetpoint().position, 0.0, Rotation2d.kZero)) - .getTranslation(); + new Pose2d( + targetPose.getTranslation(), + new Rotation2d( + Math.atan2( + currentPose.getTranslation().getY() - targetPose.getTranslation().getY(), + currentPose.getTranslation().getX() - targetPose.getTranslation().getX()))) + .transformBy( + new Transform2d(driveController.getSetpoint().position, 0.0, Rotation2d.kZero)) + .getTranslation(); // Calculate theta speed double thetaVelocity = - thetaController.getSetpoint().velocity * ffScaler - + thetaController.calculate( - currentPose.getRotation().getRadians(), targetPose.getRotation().getRadians()); + thetaController.getSetpoint().velocity * ffScaler + + thetaController.calculate( + currentPose.getRotation().getRadians(), targetPose.getRotation().getRadians()); thetaErrorAbs = - Math.abs(currentPose.getRotation().minus(targetPose.getRotation()).getRadians()); + Math.abs(currentPose.getRotation().minus(targetPose.getRotation()).getRadians()); if (thetaErrorAbs < thetaController.getPositionTolerance()) thetaVelocity = 0.0; Translation2d driveVelocity = - new Pose2d( - Translation2d.kZero, - new Rotation2d( - Math.atan2( - currentPose.getTranslation().getY() - targetPose.getTranslation().getY(), - currentPose.getTranslation().getX() - targetPose.getTranslation().getX()))) - .transformBy(new Transform2d(driveVelocityScalar, 0.0, Rotation2d.kZero)) - .getTranslation(); + new Pose2d( + Translation2d.kZero, + new Rotation2d( + Math.atan2( + currentPose.getTranslation().getY() - targetPose.getTranslation().getY(), + currentPose.getTranslation().getX() - targetPose.getTranslation().getX()))) + .transformBy(new Transform2d(driveVelocityScalar, 0.0, Rotation2d.kZero)) + .getTranslation(); // Scale feedback velocities by input ff final double linearS = linearFF.get().getNorm() * 3.0; final double thetaS = Math.abs(omegaFF.getAsDouble()) * 3.0; driveVelocity = - driveVelocity.interpolate(linearFF.get().times(Constants.DriveConstants.kMaxSpeedMetersPerSecond), linearS); + driveVelocity.interpolate( + linearFF.get().times(Constants.DriveConstants.kMaxSpeedMetersPerSecond), linearS); thetaVelocity = - MathUtil.interpolate( - thetaVelocity, omegaFF.getAsDouble() * Constants.DriveConstants.kMaxAngularSpeed, thetaS); + MathUtil.interpolate( + thetaVelocity, + omegaFF.getAsDouble() * Constants.DriveConstants.kMaxAngularSpeed, + thetaS); // Command speeds drive.drive( - ChassisSpeeds.fromFieldRelativeSpeeds( - driveVelocity.getX(), driveVelocity.getY(), thetaVelocity, currentPose.getRotation())); + ChassisSpeeds.fromFieldRelativeSpeeds( + driveVelocity.getX(), driveVelocity.getY(), thetaVelocity, currentPose.getRotation())); } @Override diff --git a/src/main/java/frc/robot/utils/AprilTags.java b/src/main/java/frc/robot/utils/AprilTags.java index 98c3d5c..91f5a87 100644 --- a/src/main/java/frc/robot/utils/AprilTags.java +++ b/src/main/java/frc/robot/utils/AprilTags.java @@ -5,40 +5,41 @@ import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.wpilibj.DriverStation; import frc.robot.subsystems.swervedrive.Vision; - import java.util.List; public final class AprilTags { - public static final List RED_REEF_TAGS = List.of(6, 7, 8, 9, 10, 11); - public static final List BLUE_REEF_TAGS = List.of(17, 18, 19, 20, 21, 22); - - private AprilTags() {} + public static final List RED_REEF_TAGS = List.of(6, 7, 8, 9, 10, 11); + public static final List BLUE_REEF_TAGS = List.of(17, 18, 19, 20, 21, 22); - public static List reefTags() { - return DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue ? BLUE_REEF_TAGS : RED_REEF_TAGS; - } + private AprilTags() {} - public static final Transform2d REEF_ALIGN_OFFSET = new Transform2d(0.6, 0, Rotation2d.kPi); + public static List reefTags() { + return DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue + ? BLUE_REEF_TAGS + : RED_REEF_TAGS; + } - public static int findTagForAlignment(Pose2d robotPose) { - var currentTag = -1; - var minDistance = Double.MAX_VALUE; + public static final Transform2d REEF_ALIGN_OFFSET = new Transform2d(0.6, 0, Rotation2d.kPi); - for (final var tag : AprilTags.reefTags()) { - final var tagPose = Vision.getAprilTagPose(tag, REEF_ALIGN_OFFSET); - final var distance = robotPose.getTranslation().getDistance(tagPose.getTranslation()); + public static int findTagForAlignment(Pose2d robotPose) { + var currentTag = -1; + var minDistance = Double.MAX_VALUE; - if (distance < minDistance) { - currentTag = tag; - minDistance = distance; - } - } + for (final var tag : AprilTags.reefTags()) { + final var tagPose = Vision.getAprilTagPose(tag, REEF_ALIGN_OFFSET); + final var distance = robotPose.getTranslation().getDistance(tagPose.getTranslation()); - if (currentTag < 0) { - throw new RuntimeException("Expected to find a tag"); - } + if (distance < minDistance) { + currentTag = tag; + minDistance = distance; + } + } - return currentTag; + if (currentTag < 0) { + throw new RuntimeException("Expected to find a tag"); } + + return currentTag; + } } From ce126bc62d6b70c7e9180098d22983daf7161dec Mon Sep 17 00:00:00 2001 From: HENRYMARTIN5 <62612165+HENRYMARTIN5@users.noreply.github.com> Date: Tue, 18 Mar 2025 19:39:59 -0500 Subject: [PATCH 25/28] feat: Drive input mixing, station align, only run when held, add LS click for station align --- simgui.json | 1 - src/main/java/frc/robot/RobotContainer.java | 28 ++++++-- .../frc/robot/commands/drive/MoveToPose.java | 71 +++++++++++++++++++ src/main/java/frc/robot/utils/AprilTags.java | 32 ++++++++- 4 files changed, 126 insertions(+), 6 deletions(-) diff --git a/simgui.json b/simgui.json index ac9d2cb..f9b43a7 100644 --- a/simgui.json +++ b/simgui.json @@ -51,7 +51,6 @@ "width": 0.30000001192092896 }, "bottom": 1638, - "builtin": "2025 Reefscape", "height": 8.051901817321777, "left": 534, "right": 3466, diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index fe039c8..bb3bbdd 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -136,13 +136,33 @@ private void configureButtonBindings() { m_controller .rightStick() - .onTrue( + .whileTrue( Commands.defer( () -> MoveToPose.tagRelative( - this.m_drive, - AprilTags.findTagForAlignment(this.m_drive.getPose()), - AprilTags.REEF_ALIGN_OFFSET), + this.m_drive, + AprilTags.findReefTagForAlignment(this.m_drive.getPose()), + AprilTags.REEF_ALIGN_OFFSET) + .withDriveInputs( + m_controller::getLeftX, + m_controller::getLeftY, + () -> -m_controller.getRightX(), + 0.5), + Set.of())); + m_controller + .leftStick() + .whileTrue( + Commands.defer( + () -> + MoveToPose.tagRelative( + this.m_drive, + AprilTags.findStationTagForAlignment(this.m_drive.getPose()), + AprilTags.STATION_ALIGN_OFFSET) + .withDriveInputs( + m_controller::getLeftX, + m_controller::getLeftY, + () -> -m_controller.getRightX(), + 0.5), Set.of())); } } diff --git a/src/main/java/frc/robot/commands/drive/MoveToPose.java b/src/main/java/frc/robot/commands/drive/MoveToPose.java index 9e7ff9b..2a89648 100644 --- a/src/main/java/frc/robot/commands/drive/MoveToPose.java +++ b/src/main/java/frc/robot/commands/drive/MoveToPose.java @@ -35,6 +35,12 @@ public class MoveToPose extends Command { private double driveErrorAbs = 0.0; private double thetaErrorAbs = 0.0; + private Translation2d lastLinearInput = Translation2d.kZero; + private double lastRotInput = 0.0; + private final double inputSmoothFactor = 0.4; // Lower = smoother (0.0-1.0) + private final double maxLinearDeviation = 0.4; // Maximum influence as fraction of max speed + private final double maxRotDeviation = 0.5; // Maximum influence as fraction of max rot speed + private final FieldObject2d debugPos; { @@ -143,6 +149,71 @@ public void execute() { driveVelocity.getX(), driveVelocity.getY(), thetaVelocity, currentPose.getRotation())); } + /** + * Adds controller inputs to the autonomous movement, allowing manual adjustments while the + * command is running with smoothing and maximum deviation limits. + * + * @param xInput X axis input supplier (forward/backward) + * @param yInput Y axis input supplier (left/right) + * @param rotInput Rotational input supplier + * @param scale Scale factor for inputs (0.0-1.0) + * @return this command object for method chaining + */ + public MoveToPose withDriveInputs( + DoubleSupplier xInput, DoubleSupplier yInput, DoubleSupplier rotInput, double scale) { + this.linearFF = + () -> { + // Apply deadband and get raw inputs + double x = MathUtil.applyDeadband(xInput.getAsDouble(), 0.1); + double y = MathUtil.applyDeadband(yInput.getAsDouble(), 0.1); + Translation2d rawInput = new Translation2d(x, y); + + // Limit maximum magnitude + if (rawInput.getNorm() > 1.0) { + rawInput = rawInput.times(1.0 / rawInput.getNorm()); + } + + // Apply user scale factor + rawInput = rawInput.times(scale); + + // Apply maximum deviation limit + rawInput = rawInput.times(maxLinearDeviation); + + // Smooth the input + Translation2d smoothedInput = + new Translation2d( + MathUtil.interpolate(lastLinearInput.getX(), rawInput.getX(), inputSmoothFactor), + MathUtil.interpolate(lastLinearInput.getY(), rawInput.getY(), inputSmoothFactor)); + + // Save for next cycle + lastLinearInput = smoothedInput; + + return smoothedInput; + }; + + this.omegaFF = + () -> { + // Apply deadband and get raw input + double rotVal = MathUtil.applyDeadband(rotInput.getAsDouble(), 0.1); + + // Apply user scale factor + rotVal *= scale; + + // Apply maximum deviation limit + rotVal *= maxRotDeviation; + + // Smooth the input + double smoothedRotVal = MathUtil.interpolate(lastRotInput, rotVal, inputSmoothFactor); + + // Save for next cycle + lastRotInput = smoothedRotVal; + + return smoothedRotVal; + }; + + return this; + } + @Override public boolean isFinished() { return this.driveController.atGoal() && this.thetaController.atGoal(); diff --git a/src/main/java/frc/robot/utils/AprilTags.java b/src/main/java/frc/robot/utils/AprilTags.java index 91f5a87..b1a050e 100644 --- a/src/main/java/frc/robot/utils/AprilTags.java +++ b/src/main/java/frc/robot/utils/AprilTags.java @@ -11,6 +11,8 @@ public final class AprilTags { public static final List RED_REEF_TAGS = List.of(6, 7, 8, 9, 10, 11); public static final List BLUE_REEF_TAGS = List.of(17, 18, 19, 20, 21, 22); + public static final List RED_STATION_TAGS = List.of(1, 2); + public static final List BLUE_STATION_TAGS = List.of(12, 13); private AprilTags() {} @@ -20,9 +22,16 @@ public static List reefTags() { : RED_REEF_TAGS; } + public static List stationTags() { + return DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue + ? BLUE_STATION_TAGS + : RED_STATION_TAGS; + } + public static final Transform2d REEF_ALIGN_OFFSET = new Transform2d(0.6, 0, Rotation2d.kPi); + public static final Transform2d STATION_ALIGN_OFFSET = new Transform2d(0.6, 0, Rotation2d.kZero); - public static int findTagForAlignment(Pose2d robotPose) { + public static int findReefTagForAlignment(Pose2d robotPose) { var currentTag = -1; var minDistance = Double.MAX_VALUE; @@ -42,4 +51,25 @@ public static int findTagForAlignment(Pose2d robotPose) { return currentTag; } + + public static int findStationTagForAlignment(Pose2d robotPose) { + var currentTag = -1; + var minDistance = Double.MAX_VALUE; + + for (final var tag : AprilTags.stationTags()) { + final var tagPose = Vision.getAprilTagPose(tag, STATION_ALIGN_OFFSET); + final var distance = robotPose.getTranslation().getDistance(tagPose.getTranslation()); + + if (distance < minDistance) { + currentTag = tag; + minDistance = distance; + } + } + + if (currentTag < 0) { + throw new RuntimeException("Expected to find a tag"); + } + + return currentTag; + } } From 02031409d4b0e5a43e377bf6cfd90d1a6543c75f Mon Sep 17 00:00:00 2001 From: samfreund Date: Wed, 19 Mar 2025 18:23:02 -0500 Subject: [PATCH 26/28] require drivetrain --- src/main/java/frc/robot/RobotContainer.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index bb3bbdd..f8af6ae 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -148,7 +148,7 @@ private void configureButtonBindings() { m_controller::getLeftY, () -> -m_controller.getRightX(), 0.5), - Set.of())); + Set.of(this.m_drive))); m_controller .leftStick() .whileTrue( @@ -163,6 +163,6 @@ private void configureButtonBindings() { m_controller::getLeftY, () -> -m_controller.getRightX(), 0.5), - Set.of())); + Set.of(this.m_drive))); } } From 0bf518886a521bf0857415598079e1ba77a74e01 Mon Sep 17 00:00:00 2001 From: samfreund Date: Wed, 19 Mar 2025 18:26:37 -0500 Subject: [PATCH 27/28] changing name for clarity --- .../java/frc/robot/subsystems/swervedrive/Vision.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swervedrive/Vision.java b/src/main/java/frc/robot/subsystems/swervedrive/Vision.java index 153df62..5888e96 100644 --- a/src/main/java/frc/robot/subsystems/swervedrive/Vision.java +++ b/src/main/java/frc/robot/subsystems/swervedrive/Vision.java @@ -92,18 +92,18 @@ public Vision(Supplier currentPose, Field2d field) { /** * Calculates a target pose relative to an AprilTag on the field. * - * @param aprilTag The ID of the AprilTag. + * @param aprilTagID The ID of the AprilTag. * @param robotOffset The offset {@link Transform2d} of the robot to apply to the pose for the * robot to position itself correctly. * @return The target pose of the AprilTag. */ - public static Pose2d getAprilTagPose(int aprilTag, Transform2d robotOffset) { - Optional aprilTagPose3d = fieldLayout.getTagPose(aprilTag); + public static Pose2d getAprilTagPose(int aprilTagID, Transform2d robotOffset) { + Optional aprilTagPose3d = fieldLayout.getTagPose(aprilTagID); if (aprilTagPose3d.isPresent()) { return aprilTagPose3d.get().toPose2d().transformBy(robotOffset); } else { throw new RuntimeException( - "Cannot get AprilTag " + aprilTag + " from field " + fieldLayout.toString()); + "Cannot get AprilTag " + aprilTagID + " from field " + fieldLayout.toString()); } } From e3f606ba5ff723094b5ca186bf1c1264aaa735d3 Mon Sep 17 00:00:00 2001 From: samfreund Date: Thu, 20 Mar 2025 12:49:29 -0500 Subject: [PATCH 28/28] the way the gamepad works, shit should be inverted --- src/main/java/frc/robot/RobotContainer.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f8af6ae..602498a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -87,8 +87,8 @@ public RobotContainer() { m_drive.setDefaultCommand( new Drive( m_drive, - m_controller::getLeftY, - m_controller::getLeftX, + () -> -m_controller.getLeftY(), + () -> -m_controller.getLeftX(), () -> -m_controller.getRightX(), () -> m_controller.rightBumper().getAsBoolean(), Optional.empty()));