From 639aa9e98aa1acf843b21ad7b6088755d00486b9 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Fri, 2 May 2025 20:31:34 -0400 Subject: [PATCH 001/135] initial stages --- .../src/main/java/frc/robot/Constants.java | 6 +- .../src/main/java/frc/robot/Robot.java | 3 - .../main/java/frc/robot/RobotContainer.java | 579 +-------------- .../main/java/frc/robot/binding/Binder.java | 13 + .../java/frc/robot/binding/DriveBindings.java | 38 + .../frc/robot/binding/OperatorBindings.java | 9 + .../java/frc/robot/binding/RobotBindings.java | 9 + .../frc/robot/commands/AlgaeEjectCommand.java | 27 - .../robot/commands/AlgaeIntakeCommand.java | 78 --- .../commands/AlgaeIntakeManualCommand.java | 27 - .../frc/robot/commands/AlgaeScoreCommand.java | 84 --- .../frc/robot/commands/ClimbReadyCommand.java | 38 - .../frc/robot/commands/ClimberCommand.java | 45 -- .../frc/robot/commands/CoralEjectCommand.java | 39 -- .../robot/commands/CoralIntakeCommand.java | 45 -- .../frc/robot/commands/CoralL1Command.java | 39 -- .../frc/robot/commands/CoralScoreCommand.java | 55 -- .../robot/commands/DriveToPointCommand.java | 158 ----- .../commands/ElevatorDefaultCommand.java | 41 -- .../commands/ElevatorToPointCommand.java | 29 - .../java/frc/robot/commands/ElevatorZero.java | 47 -- .../robot/commands/ManualElevatorCommand.java | 26 - .../robot/commands/ManualPivotCommand.java | 26 - .../java/frc/robot/commands/OpenFunnel.java | 35 - .../robot/commands/PitClimbSetupCommand.java | 22 - .../frc/robot/commands/ProcessorCommand.java | 23 - .../java/frc/robot/commands/StowCommand.java | 38 - .../frc/robot/commands/TeleopCommand.java | 104 --- .../frc/robot/subsystems/AlgaeRollers.java | 179 ++--- .../java/frc/robot/subsystems/Climber.java | 237 ++++--- .../subsystems/CommandSwerveDrivetrain.java | 631 +++++++++-------- .../frc/robot/subsystems/CoralRollers.java | 368 +++++----- .../java/frc/robot/subsystems/Elevator.java | 658 ++++++++++-------- .../robot/subsystems/PassiveSubsystem.java | 77 ++ .../main/java/frc/robot/subsystems/Pivot.java | 323 +++++---- .../robot/superstructure/EnterableState.java | 18 + .../robot/superstructure/Superstructure.java | 55 ++ .../robot/superstructure/states/Aligned.java | 18 + .../superstructure/states/HeadingReset.java | 16 + .../robot/superstructure/states/Stowed.java | 20 + .../superstructure/states/TeleopDrive.java | 25 + .../java/frc/robot/utils/AutonomousUtil.java | 166 +---- .../src/main/java/frc/robot/utils/Shape.java | 140 ++-- 43 files changed, 1731 insertions(+), 2883 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/binding/Binder.java create mode 100644 ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java create mode 100644 ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java create mode 100644 ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/AlgaeEjectCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/AlgaeIntakeCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/AlgaeIntakeManualCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/AlgaeScoreCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/ClimbReadyCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/ClimberCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/CoralEjectCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/CoralIntakeCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/CoralL1Command.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/CoralScoreCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/DriveToPointCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/ElevatorDefaultCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/ElevatorToPointCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/ElevatorZero.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/ManualElevatorCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/ManualPivotCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/OpenFunnel.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/PitClimbSetupCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/ProcessorCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/StowCommand.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/EnterableState.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/Aligned.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/HeadingReset.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/TeleopDrive.java diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 15e58127..dc1fa5cd 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -20,7 +20,6 @@ import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.configs.ToFParamsConfigs; -import com.ctre.phoenix6.hardware.CANrange; import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; import com.ctre.phoenix6.signals.GravityTypeValue; import com.ctre.phoenix6.signals.InvertedValue; @@ -681,7 +680,7 @@ public static class CoralConstants { public static final double rangeDistanceGain = 13; // how many more volts, per unit of range - public static final double spitOutVoltage = -6; + public static final double reverseEjectVoltage = -6; public static final double fastEjectVoltage = -10; public static final double l1LeftEjectVoltage = 2; @@ -757,6 +756,7 @@ public static final class ClimberConstants { public static final double forwardSoftLimit = 0.0; public static final double reverseSoftLimit = -0.25; + public static final double stowPosition = -0.25; public static final double climbPosition = -0.110; public static final double kShakePosition = -0.02; @@ -805,7 +805,7 @@ public static final class ClimberConstants { public static final class AlgaeRollerConstants { public static final double intakeVoltage = 12; - public static final double ejectVoltage = -3.0; // 3.0 + public static final double netEjectVoltage = -3.0; // 3.0 public static final double processorEjectVoltage = -3.2; public static final double torqueCurrentThreshold = 75; diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index b1d06c5a..5c0a6f24 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -53,7 +53,6 @@ public void autonomousInit() { if (m_autonomousCommand != null) { m_autonomousCommand.schedule(); } - m_robotContainer.resetReferences(); } @Override @@ -69,8 +68,6 @@ public void teleopInit() { if (m_autonomousCommand != null) { m_autonomousCommand.cancel(); } - m_robotContainer.resetReferences(); - m_robotContainer.setupAutoclimb(); } @Override diff --git a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java index d79a666d..8d420fba 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java @@ -1,563 +1,50 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - package frc.robot; -import java.util.ArrayList; -import java.util.List; -import java.util.Set; -import java.util.function.Supplier; - -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; - -import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.auto.NamedCommands; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import static edu.wpi.first.units.Units.MetersPerSecond; -import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.PowerDistribution; -import edu.wpi.first.wpilibj.DriverStation.MatchType; import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; -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.DeferredCommand; -import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.WaitUntilCommand; -import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller; -import edu.wpi.first.wpilibj2.command.button.Trigger; -import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction; -import frc.robot.Constants.AlgaeRollerConstants; -import frc.robot.Constants.ButtonBindingConstants; -import frc.robot.Constants.ButtonBindingConstants.DragonReins; -import frc.robot.Constants.ButtonBindingConstants.PS5; -import frc.robot.Constants.ClimbLocations; -import frc.robot.Constants.ClimberConstants; -import frc.robot.Constants.DriveConstants; -import frc.robot.Constants.FieldConstants; -import frc.robot.Constants.ReefClipLocations; -import frc.robot.Constants.ScoringLocations; -import frc.robot.Constants.ScoringLocationsLeft; -import frc.robot.Constants.ScoringLocationsMiddle; -import frc.robot.Constants.ScoringLocationsRight; -import frc.robot.Constants.VisionConstants; -import frc.robot.commands.ClimbReadyCommand; -import frc.robot.commands.ClimberCommand; -import frc.robot.commands.CoralEjectCommand; -import frc.robot.commands.DriveToPointCommand; -import frc.robot.commands.ElevatorDefaultCommand; -import frc.robot.commands.ElevatorToPointCommand; -import frc.robot.commands.ElevatorZero; -import frc.robot.commands.OpenFunnel; -import frc.robot.commands.PitClimbSetupCommand; -import frc.robot.commands.StowCommand; -import frc.robot.commands.TeleopCommand; +import frc.robot.binding.Binder; +import frc.robot.binding.DriveBindings; +import frc.robot.binding.OperatorBindings; +import frc.robot.binding.RobotBindings; import frc.robot.generated.TunerConstants; import frc.robot.subsystems.AlgaeRollers; import frc.robot.subsystems.Climber; -import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.CoralRollers; import frc.robot.subsystems.Elevator; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.Pivot; -import frc.robot.utils.AutonomousUtil; -import frc.robot.utils.FieldUtils; -import frc.robot.vision.VisionHandler; +import frc.robot.superstructure.Superstructure; public class RobotContainer { - private final Logger m_logger = LoggerFactory.getLogger(RobotContainer.class); - - @SuppressWarnings("unused") - private final Telemetry m_telemetry = new Telemetry(TunerConstants.kSpeedAt12Volts.in(MetersPerSecond)); - - public final CommandSwerveDrivetrain m_drivetrain = TunerConstants.createDrivetrain(); - - private final VisionHandler m_vision = new VisionHandler(m_drivetrain); - - private final PowerDistribution pdp = new PowerDistribution(1, ModuleType.kRev); - - public RobotContainer() { - configureSysId(); - configureSubsystems(); - generateScoringLocations(); - configureNamedCommands(); - configureDriverBindings(); - configureOperatorBindings(); - configureAutonChooser(); - configureVision(); - configureTesting(); - configureDashboard(); - confiureSimulation(); - RobotObserver.setFFEnabledSupplier(this::getFFEnabled); - } - - private void configureSysId() { - SmartDashboard.putData("quasistatic forward steer", m_drivetrain.sysIdQuasistaticSteer(Direction.kForward)); - SmartDashboard.putData("quasistatic reverse steer", m_drivetrain.sysIdQuasistaticSteer(Direction.kReverse)); - SmartDashboard.putData("dynamic forward steer", m_drivetrain.sysIdDynamicSteer(Direction.kForward)); - SmartDashboard.putData("dynamic reverse steer", m_drivetrain.sysIdDynamicSteer(Direction.kReverse)); - - SmartDashboard.putData("quasistatic forward translation", m_drivetrain.sysIdQuasistaticTranslation(Direction.kForward)); - SmartDashboard.putData("quasistatic reverse translation", m_drivetrain.sysIdQuasistaticTranslation(Direction.kReverse)); - SmartDashboard.putData("dynamic forward translation", m_drivetrain.sysIdDynamicTranslation(Direction.kForward)); - SmartDashboard.putData("dynamic reverse translation", m_drivetrain.sysIdDynamicTranslation(Direction.kReverse)); - } - - public List scoringLocationsListLeft; - public List scoringLocationsRightList; - public List scoringLocationsMiddleList; - public List climbLocationsList; - - private void generateScoringLocations() { - // initializes lists of poses of all the enums - to use in auton util - ScoringLocationsLeft[] locationsLeft = ScoringLocationsLeft.values(); - this.scoringLocationsListLeft = new ArrayList<>(); - for (ScoringLocationsLeft location : locationsLeft) { - this.scoringLocationsListLeft.add(location.value); - } - - ScoringLocationsRight[] locationsRight = ScoringLocationsRight.values(); - this.scoringLocationsRightList = new ArrayList<>(); - for (ScoringLocationsRight location : locationsRight) { - this.scoringLocationsRightList.add(location.value); - } - - ScoringLocationsMiddle[] locationsMiddle = ScoringLocationsMiddle.values(); - this.scoringLocationsMiddleList = new ArrayList<>(); - for (ScoringLocationsMiddle location : locationsMiddle) { - this.scoringLocationsMiddleList.add(location.value); - } - - ClimbLocations[] climbLocations = ClimbLocations.values(); - this.climbLocationsList = new ArrayList<>(); - for (ClimbLocations location : climbLocations) { - this.climbLocationsList.add(location.value); - } - } - - private void confiureSimulation() { - DriverStation.silenceJoystickConnectionWarning(true); - } - - public void enablePDPSwitch() { - pdp.setSwitchableChannel(true); - } - - private void configureDashboard() { - SmartDashboard.putData("LIFT CLIMB", new ClimberCommand(m_climber, false)); - SmartDashboard.putData("LOWER CLIMB", new PitClimbSetupCommand(m_climber)); - SmartDashboard.putData("Lazy Zero Elevator", Commands.runOnce(m_elevator::zeroElevator).ignoringDisable(true)); - SmartDashboard.putData("Set Center", new InstantCommand(() -> { - m_drivetrain.setPose(FieldUtils.flipPose(new Pose2d(7.6, 4.025, Rotation2d.k180deg))); - }).ignoringDisable(true)); - } - - private void configureTesting() { - SmartDashboard.putData("Reset Pose", m_drivetrain.runOnce(() -> {m_drivetrain.setPose(new Pose2d(0, 0, Rotation2d.kCCW_90deg));})); - SmartDashboard.putData("Net", netCommand()); - SmartDashboard.putData("Net Wait", netCommand().andThen(Commands.waitUntil(m_elevator::safe))); - } - - // ********** BINDINGS ********** - - private void configureDriverBindings() { - CommandPS5Controller controller = new CommandPS5Controller(ButtonBindingConstants.driverPort); - // controller.setRumble(RumbleType.kRightRumble, 1.0); - - int xAxis; - int yAxis; - int rAxis; // rotation - int resetHeading; - - double flipX; - double flipY; - double flipR; - - xAxis = DragonReins.xAxis; - yAxis = DragonReins.yAxis; - rAxis = DragonReins.rotAxis; - - resetHeading = DragonReins.resetHeading; - - flipX = DragonReins.flipX ? -1.0 : 1.0; - flipY = DragonReins.flipY ? -1.0 : 1.0; - flipR = DragonReins.flipRot ? -1.0 : 1.0; - - Supplier xSup = () -> controller.getRawAxis(xAxis) * flipX; - Supplier ySup = () -> controller.getRawAxis(yAxis) * flipY; - Supplier rSup = () -> controller.getRawAxis(rAxis) * flipR; - - m_drivetrain.setDefaultCommand( - new TeleopCommand(m_drivetrain, xSup, ySup, rSup) - ); - - controller.button(resetHeading).onTrue(m_drivetrain.runOnce(() -> m_drivetrain.resetHeading())); - controller.button(resetHeading).onFalse(m_drivetrain.runOnce(() -> m_drivetrain.resetHeading())); - - bindAutoProcessCommand(controller.button(DragonReins.processor)); - - controller.axisMagnitudeGreaterThan(xAxis, DriveConstants.k_closedLoopOverrideToleranceTranslation) - .or(controller.axisMagnitudeGreaterThan(yAxis, DriveConstants.k_closedLoopOverrideToleranceTranslation)) - .or(controller.axisMagnitudeGreaterThan(rAxis, DriveConstants.k_closedLoopOverrideToleranceRotation)) - .onTrue(new InstantCommand(() -> AutonomousUtil.clearQueue())); - } - - private void configureOperatorBindings() { - CommandPS5Controller controller = new CommandPS5Controller(ButtonBindingConstants.buttonBoardPort); - - Trigger algaeOn = controller.button(PS5.algaeModeButton); - - controller.button(PS5.ejectCoral).whileTrue(new CoralEjectCommand(m_coralRollers, m_elevator)); - - bindAlignCommand(ReefClipLocations.LEFT, controller.button(PS5.leftReef)); - bindAlignCommand(ReefClipLocations.RIGHT, controller.button(PS5.rightReef)); - - bindL1Command(false, controller.pov(PS5.L1).and(algaeOn.negate()).and(controller.button(PS5.secondaryL1).negate())); - bindL1Command(true, controller.pov(PS5.L1).and(controller.button(PS5.secondaryL1)).and(algaeOn.negate())); - bindCoralCommands(2, controller.pov(PS5.L2).and(algaeOn.negate())); - bindCoralCommands(3, controller.pov(PS5.L3).and(algaeOn.negate())); - bindCoralCommands(4, controller.pov(PS5.L4).and(algaeOn.negate())); - - bindCoralIntakeCommand(controller.button(PS5.intake)); - - bindAlgaeIntakeCommand(AlgaeLocationPresets.REEFLOWER, controller.button(PS5.lowAlgae)); - bindAlgaeIntakeCommand(AlgaeLocationPresets.REEFUPPER, controller.button(PS5.highAlgae)); - bindAlgaeIntakeCommand(AlgaeLocationPresets.GROUND, controller.pov(PS5.groundAlgae).and(algaeOn)); - bindAlgaeIntakeCommand(AlgaeLocationPresets.HIGHGROUND, controller.pov(PS5.highGround).and(algaeOn)); - - bindAlgaeScoreCommand(AlgaeLocationPresets.PROCESSOR, controller.pov(PS5.processor).and(algaeOn)); - bindAlgaeScoreCommand(AlgaeLocationPresets.NET, controller.pov(PS5.net).and(algaeOn)); - - controller.button(PS5.climbReady).whileTrue(new ClimbReadyCommand(m_climber)); - controller.button(PS5.climb).whileTrue(new ClimberCommand(m_climber)); - - controller.button(PS5.stow).onTrue(new StowCommand(m_elevator, m_algaePivot)); - - bindFunnelOpenCommand(controller.button(11).and(controller.button(12))); - - bindElevatorZeroCommand(controller.button(PS5.zeroElevator)); - } - - private void bindElevatorZeroCommand(Trigger trigger) { - trigger.whileTrue(zero()); - } - - private void bindL1Command(boolean higher, Trigger trigger) { - Runnable elevatorCommand = (higher) ? m_elevator::setSecondaryL1 : m_elevator::setL1; - trigger.whileTrue( - m_elevator.run(elevatorCommand) - .onlyIf(m_coralRollers::holdingPiece) - ); - trigger.onFalse( - m_coralRollers.run(m_coralRollers::setL1Eject) - .onlyWhile(m_coralRollers::getFrontCANrange) - .onlyIf(m_elevator::atSetpoint) - .onlyIf(m_coralRollers::holdingPiece) - .finallyDo(m_elevator::release) - .finallyDo(m_coralRollers::stop) - ); - } - - private void bindCoralCommands(int level, Trigger trigger) { - trigger.whileTrue(coralPrepAndScoreCommand(level)); - trigger.onFalse(coralScoreCommand(level).andThen(zero())); - } - - private void bindAutoProcessCommand(Trigger trigger) { - trigger.whileTrue(new DriveToPointCommand(FieldConstants.k_processor, m_drivetrain, true)); - } - - private Command zero() { - // return new InstantCommand(); - return new ElevatorZero(m_elevator).withTimeout(2).asProxy() - .unless(RobotObserver::getNoElevatorZone); - } - - // ********** AUTONOMOUS ********** - - private SendableChooser autoChooser = new SendableChooser<>(); - - private void configureAutonChooser() { - autoChooser = AutoBuilder.buildAutoChooser(); - SmartDashboard.putData("Auto Chooser", autoChooser); - autoChooser.getSelected(); - } - - public Command getAutonomousCommand() { - Command autonCommand = autoChooser.getSelected(); - m_logger.info("Requirements: {}", autonCommand.getRequirements()); - return autonCommand; - } - - private void configureNamedCommands() { - NamedCommands.registerCommand("L4", coralScoreCommand(4)); - NamedCommands.registerCommand("L3", coralScoreCommand(3)); - NamedCommands.registerCommand("Intake", zero() - .andThen(coralIntakeCommand() - .withTimeout(5))); - NamedCommands.registerCommand("Intake Wait", new WaitUntilCommand(m_coralRollers::intakeReady) - .alongWith(m_drivetrain.runOnce(m_drivetrain::stop))); - NamedCommands.registerCommand("Interrupt", new WaitUntilCommand(() -> !DriverStation.isAutonomousEnabled())); - for (ScoringLocations location : Constants.ScoringLocations.values()) { - String name = "Align ".concat(location.toString()); - NamedCommands.registerCommand(name, new DriveToPointCommand(location.value, m_drivetrain, true) - .withTimeout(5.0)); - } - NamedCommands.registerCommand("Align IJ", new DriveToPointCommand(Constants.FieldConstants.kIJ, m_drivetrain, true)); - NamedCommands.registerCommand("Align GH", new DriveToPointCommand(Constants.FieldConstants.kGH, m_drivetrain, true)); - NamedCommands.registerCommand("Align Barge", new DriveToPointCommand(FieldConstants.kBarge1, m_drivetrain, true)); - NamedCommands.registerCommand("LIntake Align", new DriveToPointCommand(FieldConstants.kLeftIntake, m_drivetrain, true) - .until(m_coralRollers::intakeReady)); - NamedCommands.registerCommand("RIntake Align", new DriveToPointCommand(FieldConstants.kRightIntake, m_drivetrain, true) - .until(m_coralRollers::intakeReady)); - NamedCommands.registerCommand("AlgaeUpper", zero().andThen(algaeIntakeCommand(AlgaeLocationPresets.REEFUPPER)) - .until(m_algaeRollers::algaeHeld)); - NamedCommands.registerCommand("AlgaeLower", zero().andThen(algaeIntakeCommand(AlgaeLocationPresets.REEFLOWER)) - .until(m_algaeRollers::algaeHeld)); - NamedCommands.registerCommand("Stop", m_drivetrain.runOnce(m_drivetrain::stop)); - NamedCommands.registerCommand("Net", netCommand()); - NamedCommands.registerCommand("Process", new DriveToPointCommand(FieldConstants.k_processor, m_drivetrain, true) - .alongWith(processorSetupCommand())); - NamedCommands.registerCommand("Algae End", m_algaePivot.run(m_algaePivot::setGroundPickup) - .alongWith(m_elevator.run(m_elevator::setGroundIntake))); - } - - private void configureVision() { - if (VisionConstants.enableVision) { - m_vision.startThread(); - } else { - m_logger.warn("Disabled vision temporarily"); - } - } - - // ********** SUBSYSTEMS ********** - - private Elevator m_elevator; - private Pivot m_algaePivot; - private Climber m_climber; - private AlgaeRollers m_algaeRollers; - private CoralRollers m_coralRollers; - @SuppressWarnings("unused") - private LedFeedback m_ledFeedback; - - private void configureSubsystems() { - // m_drivetrain.registerTelemetry(m_telemetry::telemeterize); - m_elevator = new Elevator(); - m_algaePivot = new Pivot(); - m_climber = new Climber(); - m_algaeRollers = new AlgaeRollers(); - m_coralRollers = new CoralRollers(); - m_ledFeedback = new LedFeedback(); - m_elevator.setDefaultCommand(new ElevatorDefaultCommand(m_elevator)); - } - - // ** BUTTON BOARD HELPERS ** - private void bindCoralIntakeCommand(Trigger trigger) { - trigger.whileTrue(coralIntakeCommand()); - trigger.onFalse(coralIntakeCommand().onlyWhile(m_coralRollers::presentPiece)); - } - - private void bindAlignCommand(ReefClipLocations location, Trigger trigger) { - switch (location) { - case LEFT -> trigger.whileTrue(new DeferredCommand(() -> (AutonomousUtil.closestPathThenRunCommand(() -> new InstantCommand(), scoringLocationsListLeft).beforeStarting(new InstantCommand(() -> RobotObserver.setReefClipLocation(ReefClipLocations.LEFT)))), Set.of())); - case RIGHT -> trigger.whileTrue(new DeferredCommand(() -> (AutonomousUtil.closestPathThenRunCommand(() -> new InstantCommand(), scoringLocationsRightList).beforeStarting(new InstantCommand(() -> RobotObserver.setReefClipLocation(ReefClipLocations.RIGHT)))), Set.of())); - } - } - - private void bindAlgaeIntakeCommand(AlgaeLocationPresets location, Trigger trigger) { - trigger.whileTrue(algaeIntakeCommand(location).andThen(zero())); - } - - private void bindAlgaeScoreCommand(AlgaeLocationPresets type, Trigger trigger) { - switch (type) { - case NET -> { - trigger.whileTrue(m_elevator.run(m_elevator::setNet).onlyIf(m_algaeRollers::algaeHeld)); - trigger.onFalse( - netCommand().onlyIf(m_elevator::atSetpoint) - .andThen( - zero().unless(RobotObserver::getNoElevatorZone) - ).finallyDo(m_elevator::release) - ); - } - case PROCESSOR -> { - trigger.whileTrue(processorSetupCommand()); - trigger.onFalse(processorCommand().andThen(zero())); - } - default -> {} - } - } - - private void bindFunnelOpenCommand(Trigger trigger) { - trigger.whileTrue(new OpenFunnel(m_climber)); - } - - private Command algaeEjectCommand() { - return m_algaeRollers.startEnd( - m_algaeRollers::ejectAlgae, - m_algaeRollers::stopMotor - ).onlyWhile(m_algaeRollers::algaeHeld); - } - - // ** SUBSYSTEM PASS IN HELPERS ** - - private Command coralIntakeCommand() { - // return new CoralIntakeCommand(m_coralRollers, m_elevator); - return Commands.sequence( - m_elevator.runOnce(m_elevator::setStow).asProxy(), - m_coralRollers.runOnce(m_coralRollers::setIntake), - Commands.waitUntil(m_coralRollers::holdingPiece) - ) - .finallyDo(m_elevator::release) - .finallyDo(m_coralRollers::stop) - .unless(m_coralRollers::holdingPiece); - } - - private Command coralPrepAndScoreCommand(int level) { - return new ElevatorToPointCommand(level, m_elevator) - .andThen(new WaitUntilCommand(m_drivetrain::isAligned)) - .andThen(coralScoreCommand(level)) - .onlyIf(m_coralRollers::holdingPiece); - } - - private Command elevatorPrepCommand(int level) { - return new ElevatorToPointCommand(level, m_elevator) - .onlyIf(m_coralRollers::holdingPiece); - } - - private Command coralScoreCommand(int level) { - // return new CoralScoreCommand(m_coralRollers, m_elevator, level) - // .andThen(new WaitUntilCommand(m_elevator::atSetpoint) - // .onlyIf(m_coralRollers::holdingPiece) - // ); - Runnable elevatorCommand = () -> { - m_logger.trace("Running elevator command"); - m_elevator.setLevel(level); - }; - Runnable coralCommand = () -> { - m_logger.trace("Doing coral command"); - switch (level) { - case 1 -> m_coralRollers.setL1Eject(); - case 2 -> m_coralRollers.setL2Eject(); - case 3 -> m_coralRollers.setL3Eject(); - case 4 -> m_coralRollers.setL4Eject(); - } - }; - return Commands.sequence( - m_elevator.runOnce(elevatorCommand).asProxy(), - Commands.runOnce(() -> {m_logger.trace("Finished elevator command");}), - Commands.waitUntil(m_elevator::atSetpoint), - m_coralRollers.run(coralCommand) - .onlyWhile(m_coralRollers::holdingPiece) - ) - .finallyDo(m_elevator::release) - .finallyDo(m_coralRollers::stop) - .onlyIf(m_coralRollers::holdingPiece); - } - - private Command algaeIntakeCommand(AlgaeLocationPresets location) { - if (location == AlgaeLocationPresets.GROUND || location == AlgaeLocationPresets.HIGHGROUND) { - Runnable elevatorCommand = () -> { - if (location == AlgaeLocationPresets.GROUND) { - m_elevator.setGroundIntake(); - } else { - m_elevator.setHighGroundIntake(); - } - }; - return Commands.sequence( - m_algaeRollers.runOnce(m_algaeRollers::intakeAlgae), - m_elevator.runOnce(elevatorCommand).asProxy(), - Commands.waitUntil(m_elevator::atSetpoint), - m_algaePivot.runOnce(m_algaePivot::setGroundPickup), - Commands.waitUntil(m_algaeRollers::algaeHeld) - ) - .until(m_algaeRollers::algaeHeld) - .finallyDo(m_elevator::release) - .finallyDo(m_algaePivot::setStow) - .finallyDo(m_algaeRollers::smartStop); - } - /* reef intake */ - Runnable elevatorCommand = () -> { - if (location == AlgaeLocationPresets.REEFLOWER) { - m_elevator.setReefLower(); - } else { - m_elevator.setReefUpper(); - } - }; - return Commands.sequence( - m_algaeRollers.runOnce(m_algaeRollers::intakeAlgae), - m_elevator.runOnce(elevatorCommand).asProxy(), - Commands.waitUntil(m_elevator::atSetpoint), - m_algaePivot.runOnce(m_algaePivot::setReefPickup), - Commands.waitUntil(m_algaeRollers::algaeHeld), - m_algaePivot.runOnce(m_algaePivot::setReefExtract) - ) - .finallyDo(m_elevator::release) - .finallyDo(m_algaePivot::setStow) - .finallyDo(m_algaeRollers::smartStop); - } - - private Command netCommand() { - return Commands.sequence( - m_elevator.runOnce(m_elevator::setNet).asProxy(), - m_algaePivot.runOnce(m_algaePivot::setNet), - Commands.waitUntil(m_elevator::atSetpoint), - Commands.waitUntil(m_algaePivot::atSetpoint), - m_algaeRollers.runOnce(m_algaeRollers::ejectAlgae), - Commands.waitSeconds(AlgaeRollerConstants.algaeEjectTime) - ) - .onlyIf(m_algaeRollers::algaeHeld) - .finallyDo(m_algaeRollers::smartStop) - .finallyDo(m_algaePivot::setStow) - .finallyDo(m_elevator::release); - } - - private Command processorCommand() { - return Commands.sequence( - processorSetupCommand(), - Commands.waitUntil(m_elevator::atSetpoint), - m_algaeRollers.runOnce(m_algaeRollers::processorEjectAlgae), - Commands.waitSeconds(2) - ) - .finallyDo(m_algaeRollers::smartStop) - .finallyDo(m_algaePivot::setStow) - .finallyDo(m_elevator::release); - } - - private Command processorSetupCommand() { - return Commands.sequence( - m_algaePivot.runOnce(m_algaePivot::setProcessor), - m_elevator.runOnce(m_elevator::setProcessor).asProxy() - ) - .onlyIf(m_algaeRollers::algaeHeld); - } - - - public enum AlgaeLocationPresets { - REEFLOWER, REEFUPPER, PROCESSOR, GROUND, NET, HIGHGROUND; - } - - public void resetReferences() { - // m_elevator.setPosition(m_elevator.getPosition()); - m_algaePivot.setStow(); - } - - public boolean getFFEnabled() { - return m_elevator.elevatorUp() && !DriverStation.isAutonomous(); - } + private final PowerDistribution m_pdp = new PowerDistribution(1,ModuleType.kRev); + + private final Superstructure m_superstructure = new Superstructure( + new AlgaeRollers(), + new CoralRollers(), + new Pivot(), + new Elevator(), + new Climber(), + TunerConstants.createDrivetrain(), + new LedFeedback()); + + private final Binder m_driver = new DriveBindings(); + private final Binder m_operator = new OperatorBindings(); + private final Binder m_robot = new RobotBindings(); + + public RobotContainer() { + m_driver.bind(m_superstructure); + m_operator.bind(m_superstructure); + m_robot.bind(m_superstructure); + } + + public Command getAutonomousCommand() { + return Commands.none(); + } + + public void enablePDPSwitch() { + m_pdp.setSwitchableChannel(true); + } - public void setupAutoclimb() { - SmartDashboard.putBoolean("Match mode?", false); - Command autoclimb = Commands.sequence(Commands.waitUntil(() -> { - return (DriverStation.getMatchType() != MatchType.None || SmartDashboard.getBoolean("Match mode?", false)) - && (DriverStation.getMatchTime() < ClimberConstants.kClimbTime) - && (DriverStation.isTeleopEnabled()); - }), - new ClimbReadyCommand(m_climber).asProxy()); - autoclimb.schedule(); - } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/Binder.java b/ThriftyTest/src/main/java/frc/robot/binding/Binder.java new file mode 100644 index 00000000..88e3c27d --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/binding/Binder.java @@ -0,0 +1,13 @@ +package frc.robot.binding; + +import frc.robot.superstructure.Superstructure; + +/** + * To bind robot actions to event, group trigger bindings to a grouping inside of a Binder + */ +public interface Binder { + /** + * Binds all associated bindings for this binder + */ + void bind(Superstructure superstructure); +} diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java new file mode 100644 index 00000000..06b162af --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java @@ -0,0 +1,38 @@ +package frc.robot.binding; + +import java.util.function.DoubleSupplier; +import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Constants.ButtonBindingConstants; +import frc.robot.Constants.ButtonBindingConstants.DragonReins; +import frc.robot.superstructure.Superstructure; +import frc.robot.superstructure.states.HeadingReset; +import frc.robot.superstructure.states.TeleopDrive; + +public class DriveBindings implements Binder { + private final CommandPS5Controller m_controller = + new CommandPS5Controller(ButtonBindingConstants.driverPort); + + private final DoubleSupplier m_x; + private final DoubleSupplier m_y; + private final DoubleSupplier m_rot; + + private final Trigger m_resetHeading; + private final Trigger m_processorAlign; + + public DriveBindings() { + m_x = () -> m_controller.getRawAxis(DragonReins.xAxis) * (DragonReins.flipX ? -1.0 : 1.0); + m_y = () -> m_controller.getRawAxis(DragonReins.yAxis) * (DragonReins.flipY ? -1.0 : 1.0); + m_rot = () -> m_controller.getRawAxis(DragonReins.rotAxis) * (DragonReins.flipRot ? -1.0 : 1.0); + + m_resetHeading = m_controller.button(DragonReins.resetHeading); + m_processorAlign = m_controller.button(DragonReins.processor); + } + + public void bind(Superstructure superstructure) { + superstructure.setDrive(superstructure.enter(new TeleopDrive(m_x, m_y, m_rot))); + + m_resetHeading.onTrue(superstructure.enter(new HeadingReset())); + m_processorAlign.whileTrue(superstructure.enter(new Alignment()); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java new file mode 100644 index 00000000..4b7fc9cf --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -0,0 +1,9 @@ +package frc.robot.binding; + +import frc.robot.superstructure.Superstructure; + +public class OperatorBindings implements Binder { + public OperatorBindings() {} + + public void bind(Superstructure superstructure) {} +} diff --git a/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java new file mode 100644 index 00000000..247a7e58 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java @@ -0,0 +1,9 @@ +package frc.robot.binding; + +import frc.robot.superstructure.Superstructure; + +public class RobotBindings implements Binder { + public RobotBindings() {} + + public void bind(Superstructure superstructure) {} +} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/AlgaeEjectCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/AlgaeEjectCommand.java deleted file mode 100644 index 38555c57..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/AlgaeEjectCommand.java +++ /dev/null @@ -1,27 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.AlgaeRollers; -import frc.robot.subsystems.Elevator; - -public class AlgaeEjectCommand extends Command { - private final AlgaeRollers m_rollers; - private final Elevator m_elevator; - - public AlgaeEjectCommand(AlgaeRollers rollers, Elevator elevator) { - m_elevator = elevator; - m_rollers = rollers; - addRequirements(rollers); - } - - @Override - public void initialize() { - m_rollers.processorEjectAlgae(); - m_elevator.setProcessor(); - } - - @Override - public boolean isFinished() { - return true; - } -} \ No newline at end of file diff --git a/ThriftyTest/src/main/java/frc/robot/commands/AlgaeIntakeCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/AlgaeIntakeCommand.java deleted file mode 100644 index 1f73056f..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/AlgaeIntakeCommand.java +++ /dev/null @@ -1,78 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.RobotContainer.AlgaeLocationPresets; -import frc.robot.subsystems.AlgaeRollers; -import frc.robot.subsystems.Elevator; -import frc.robot.subsystems.Pivot; - -public class AlgaeIntakeCommand extends Command { - private final AlgaeRollers rollers; - private final Elevator elevator; - private final Pivot pivot; - private final AlgaeLocationPresets location; - private boolean isDone; - - public AlgaeIntakeCommand(AlgaeRollers rollers, Elevator elevator, Pivot pivot, AlgaeLocationPresets location) { - this.rollers = rollers; - this.elevator = elevator; - this.pivot = pivot; - this.location = location; - addRequirements(rollers, elevator, pivot); - } - - @Override - public void initialize() { - rollers.intakeAlgae(); - isDone = false; - switch (location) { - case GROUND -> { - elevator.setGroundIntake(); - } - case REEFLOWER -> { - // isDone = !CommandBounds.reefBounds.isActive(); - elevator.setReefLower(); - } - case REEFUPPER -> { - // isDone = !CommandBounds.reefBounds.isActive(); - elevator.setReefUpper(); - } - case HIGHGROUND -> { - elevator.setHighGroundIntake(); - } - default -> isDone = true; - } - } - - @Override - public void execute() { - switch (location) { - case GROUND, HIGHGROUND -> { - if (elevator.atSetpoint()) pivot.setGroundPickup(); - if (rollers.algaeHeld()) isDone = true; - } - case REEFLOWER, REEFUPPER -> { - if (elevator.atSetpoint()) { - if (rollers.algaeHeld()) { - pivot.setReefExtract(); - } else { - pivot.setReefPickup(); - } - } - } - default -> isDone = true; - } - } - - @Override - public void end(boolean interrupted) { - elevator.release(); - pivot.setStow(); - rollers.smartStop(); - } - - @Override - public boolean isFinished() { - return isDone; - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/AlgaeIntakeManualCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/AlgaeIntakeManualCommand.java deleted file mode 100644 index f0ff5c3d..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/AlgaeIntakeManualCommand.java +++ /dev/null @@ -1,27 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.AlgaeRollers; - -public class AlgaeIntakeManualCommand extends Command { - private final AlgaeRollers algae; - - public AlgaeIntakeManualCommand(AlgaeRollers algae) { - this.algae = algae; - } - - @Override - public void initialize() { - algae.intakeAlgae(); - } - - @Override - public void end(boolean interrupted) { - algae.smartStop(); - } - - @Override - public boolean isFinished() { - return algae.algaeHeld(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/AlgaeScoreCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/AlgaeScoreCommand.java deleted file mode 100644 index 8941ff5e..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/AlgaeScoreCommand.java +++ /dev/null @@ -1,84 +0,0 @@ -package frc.robot.commands; - -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; - -import com.ctre.phoenix6.Utils; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Constants.AlgaeRollerConstants; -import frc.robot.RobotContainer.AlgaeLocationPresets; -import frc.robot.RobotObserver; -import frc.robot.subsystems.AlgaeRollers; -import frc.robot.subsystems.Elevator; -import frc.robot.subsystems.Pivot; - -public class AlgaeScoreCommand extends Command { - private final Logger m_logger = LoggerFactory.getLogger(AlgaeScoreCommand.class); - - private final AlgaeRollers rollers; - private final Elevator elevator; - private final Pivot pivot; - private final AlgaeLocationPresets location; - private boolean isDone; - private double initialTime; - - public AlgaeScoreCommand(AlgaeRollers rollers, Elevator elevator, Pivot pivot, AlgaeLocationPresets location) { - this.rollers = rollers; - this.elevator = elevator; - this.pivot = pivot; - this.location = location; - addRequirements(rollers, elevator, pivot); - } - - @Override - public void initialize() { - isDone = false; - initialTime = Utils.getCurrentTimeSeconds(); - switch (location) { - case NET -> { - m_logger.trace("Setting NET"); - elevator.setNet(); - pivot.setNet(); - } - case PROCESSOR -> { - elevator.setProcessor(); - pivot.setProcessor(); - } - default -> isDone = true; - } - } - - @Override - public void execute() { - m_logger.trace("Running execute"); - if (elevator.atSetpoint() || RobotObserver.getNoElevatorZone() && pivot.atSetpoint()) { - m_logger.trace("Everything's at setpoint"); - if (location == AlgaeLocationPresets.NET) { - m_logger.trace("Ejecting"); - rollers.ejectAlgae(); - } else { - m_logger.trace("Scoring location is {}", location); - } - } else { - initialTime = Utils.getCurrentTimeSeconds(); - } - } - - @Override - public void end(boolean interrupted) { - m_logger.trace("ENDING"); - if (location == AlgaeLocationPresets.NET) { - m_logger.trace("Stowing and releasing"); - pivot.setStow(); - } - elevator.release(); - rollers.smartStop(); - } - - @Override - public boolean isFinished() { - m_logger.trace("isdone = {}", isDone); - return isDone || (Utils.getCurrentTimeSeconds() - initialTime) >= AlgaeRollerConstants.algaeEjectTime; - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/ClimbReadyCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/ClimbReadyCommand.java deleted file mode 100644 index 7582878a..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/ClimbReadyCommand.java +++ /dev/null @@ -1,38 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.Climber; - -/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */ -public class ClimbReadyCommand extends Command { - private final Climber m_climber; - - /** Creates a new ClimbReadyCommand. */ - public ClimbReadyCommand(Climber climber) { - addRequirements(climber); - m_climber = climber; - // Use addRequirements() here to declare subsystem dependencies. - } - - // Called when the command is initially scheduled. - @Override - public void initialize() { - m_climber.setUp(); - } - - // Called once the command ends or is interrupted. - @Override - public void end(boolean interrupted) { - m_climber.stopMotor(); - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return m_climber.climbReady(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/ClimberCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/ClimberCommand.java deleted file mode 100644 index e1f1b88b..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/ClimberCommand.java +++ /dev/null @@ -1,45 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.RobotObserver; -import frc.robot.subsystems.Climber; - -public class ClimberCommand extends Command { - private final Climber climber; - private boolean m_climbing; - - public ClimberCommand(Climber climber) { - this(climber, true); - } - - public ClimberCommand(Climber climber, boolean climbing) { - addRequirements(climber); - this.climber = climber; - m_climbing = climbing; - } - - @Override - public void initialize() { - if (m_climbing) { - climber.setDown(); - } else { - climber.setUp(); - } - } - - @Override - public void end(boolean interrupted) { - climber.stopMotor(); - climber.closeFunnel(); - RobotObserver.setClimbed(true); - } - - @Override - public boolean isFinished() { - if (m_climbing) { - return climber.atClimb(); - } else { - return climber.climbReady(); - } - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/CoralEjectCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/CoralEjectCommand.java deleted file mode 100644 index 5031da7a..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/CoralEjectCommand.java +++ /dev/null @@ -1,39 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.CoralRollers; -import frc.robot.subsystems.Elevator; - -public class CoralEjectCommand extends Command { - private final CoralRollers coral; - private final Elevator elevator; - - public CoralEjectCommand(CoralRollers coralRollers, Elevator elevator) { - this.coral = coralRollers; - this.elevator = elevator; - addRequirements(coralRollers, elevator); - } - - @Override - public void initialize() { - elevator.setEject(); - } - - @Override - public void execute() { - if (elevator.atSetpoint()) { - coral.setSpitOut(); - } - } - - @Override - public void end(boolean interrupted) { - coral.stop(); - elevator.release(); - } - - @Override - public boolean isFinished() { - return !coral.intakeReady(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/CoralIntakeCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/CoralIntakeCommand.java deleted file mode 100644 index 3ae24b0c..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/CoralIntakeCommand.java +++ /dev/null @@ -1,45 +0,0 @@ -package frc.robot.commands; - -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.CoralRollers; -import frc.robot.subsystems.Elevator; - -public class CoralIntakeCommand extends Command { - @SuppressWarnings("unused") - private final Logger m_logger = LoggerFactory.getLogger(CoralRollers.class); - - private final CoralRollers coral; - private final Elevator elevator; - - public CoralIntakeCommand(CoralRollers coralRollers, Elevator elevator) { - this.coral = coralRollers; - this.elevator = elevator; - addRequirements(coralRollers, elevator); - } - - @Override - public void initialize() { - elevator.setStow(); - } - - @Override - public void execute() { - if(elevator.atSetpoint()) { - coral.setIntake(); - } - } - - @Override - public void end(boolean interrupted) { - coral.stop(); - elevator.release(); - } - - @Override - public boolean isFinished() { - return coral.holdingPiece(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/CoralL1Command.java b/ThriftyTest/src/main/java/frc/robot/commands/CoralL1Command.java deleted file mode 100644 index bb021dc4..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/CoralL1Command.java +++ /dev/null @@ -1,39 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.CoralRollers; -import frc.robot.subsystems.Elevator; - -public class CoralL1Command extends Command { - private final CoralRollers coral; - private final Elevator elevator; - - public CoralL1Command(CoralRollers coralRollers, Elevator elevator) { - this.coral = coralRollers; - this.elevator = elevator; - addRequirements(coralRollers, elevator); - } - - @Override - public void initialize() { - elevator.setL1(); - } - - @Override - public void execute() { - if (elevator.atSetpoint()) { - coral.slowScore(); - } - } - - @Override - public void end(boolean interrupted) { - coral.stop(); - elevator.release(); - } - - @Override - public boolean isFinished() { - return !coral.holdingPiece(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/CoralScoreCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/CoralScoreCommand.java deleted file mode 100644 index 106d3bf8..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/CoralScoreCommand.java +++ /dev/null @@ -1,55 +0,0 @@ -package frc.robot.commands; - -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.CoralRollers; -import frc.robot.subsystems.Elevator; - -public class CoralScoreCommand extends Command { - private final Logger m_logger = LoggerFactory.getLogger(CoralScoreCommand.class); - - private final CoralRollers coral; - private final Elevator elevator; - private final int level; - - private boolean finish = false; - - public CoralScoreCommand(CoralRollers coralRollers, Elevator elevator, int level) { - this.coral = coralRollers; - this.elevator = elevator; - this.level = level; - addRequirements(coralRollers, elevator); - } - - @Override - public void initialize() { - // finish = !coral.holdingPiece(); - elevator.setLevel(level); - } - - @Override - public void execute() { - if(elevator.atSetpoint()) { - switch(level) { - case 1 -> coral.setL1Eject(); - case 2 -> coral.setL2Eject(); - case 3 -> coral.setL3Eject(); - case 4 -> coral.setL4Eject(); - default -> m_logger.warn("invalid setpoint: {}", level); - } - } - } - - @Override - public void end(boolean interrupted) { - coral.stop(); - elevator.release(); - } - - @Override - public boolean isFinished() { - return !coral.getFrontCANrange() || finish; - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/DriveToPointCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/DriveToPointCommand.java deleted file mode 100644 index 8ddfc844..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/DriveToPointCommand.java +++ /dev/null @@ -1,158 +0,0 @@ -package frc.robot.commands; - -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; - -import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; -import com.ctre.phoenix6.swerve.SwerveModule.SteerRequestType; -import com.ctre.phoenix6.swerve.SwerveRequest; -import com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import static edu.wpi.first.units.Units.Radians; -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Constants.AutonConstants; -import frc.robot.Constants.DriveConstants; -import frc.robot.RobotObserver; -import frc.robot.subsystems.CommandSwerveDrivetrain; -import frc.robot.utils.FieldUtils; - -public class DriveToPointCommand extends Command { - private final Logger m_logger = LoggerFactory.getLogger(DriveToPointCommand.class); - - private final double dt = 0.02; - - private static Rotation2d m_targetRotation; - - private final SwerveRequest.FieldCentricFacingAngle m_request = new SwerveRequest.FieldCentricFacingAngle() - .withForwardPerspective(ForwardPerspectiveValue.BlueAlliance) - .withHeadingPID(DriveConstants.k_driveToPointRotationPID.kP, 0, 0) - .withSteerRequestType(SteerRequestType.MotionMagicExpo) - .withDriveRequestType(DriveRequestType.Velocity); - - private Pose2d m_goal; - private final CommandSwerveDrivetrain m_drivetrain; - - private boolean m_flip; - - public DriveToPointCommand(Pose2d pose, CommandSwerveDrivetrain drivetrain) { - this(pose, drivetrain, false); - } - - public DriveToPointCommand(Pose2d pose, CommandSwerveDrivetrain drivetrain, boolean flipPose) { - m_goal = pose; - m_drivetrain = drivetrain; - m_flip = flipPose; - addRequirements(drivetrain); - } - - @Override - public void initialize() { - m_drivetrain.setAligned(false); - // flip goal if necessary - if (m_flip) { - m_goal = FieldUtils.flipPose(m_goal); - m_flip = false; - } - m_targetRotation = m_goal.getRotation(); - - RobotObserver.getField().getObject("target").setPose(m_goal); - } - - @Override - public void execute() { - Translation2d adjusted = adjust(m_drivetrain.getPose(), m_goal); - if (adjusted.getX() == 0 || adjusted.getY() == 0){ - m_logger.info("X/Y is Zero, current pose is {}, velocity is {}", m_drivetrain.getPose(), m_drivetrain.getVelocityComponents()); - } - m_drivetrain.setControl(m_request - .withVelocityX(adjusted.getX()) - .withVelocityY(adjusted.getY()) - .withTargetDirection(m_targetRotation) - ); - } - - private Translation2d adjust(Pose2d current, Pose2d goal) { - - Translation2d robotToTarget = goal.getTranslation().minus(current.getTranslation()); - - double distance = robotToTarget.getNorm(); - - if (distance == 0) { - return Translation2d.kZero; - } - - double theoreticalMaxVelocity = Math.sqrt(2 * distance * DriveConstants.kMaxAccelerationTowardsTarget); - - Translation2d currentVelocity = m_drivetrain.getVelocityComponents(); - - Translation2d direction = robotToTarget.div(distance); - - if (currentVelocity.getNorm() == 0) { - m_logger.trace("Current Velocity was Zero"); - double velocity = Math.min(theoreticalMaxVelocity, dt * DriveConstants.kMaxAccelerationTowardsTarget); - - return direction.times(velocity); - } - - double dot = direction.getX() * currentVelocity.getX() + direction.getY() * currentVelocity.getY(); - - if (dot == 0) { - m_logger.trace("Dot was Zero, currentVelocity {}, Distance {}, Direction {}", currentVelocity, distance, direction); - // if we are completely perpendicular with the ideal translation, we can assume that current velocity IS u - double velocityI = Math.min(theoreticalMaxVelocity, dt * DriveConstants.kMaxAccelerationTowardsTarget); - Translation2d veloI = direction.times(velocityI); - - double adjustmentU = Math.min(dt * DriveConstants.kMaxAccelerationPerpendicularToTarget, currentVelocity.getNorm()); - // currentVelocity - maxAdjustmentU * currentVelocity hat - Translation2d directionU = currentVelocity.div(currentVelocity.getNorm()); - Translation2d veloU = currentVelocity.minus(directionU.times(adjustmentU)); - - return veloI.plus(veloU); - } - - double currentVelocityTowardsTarget = Math.pow(currentVelocity.getNorm(), 2) / dot; - Translation2d currentVeloI = direction.times(currentVelocityTowardsTarget); - - Translation2d currentVeloU = currentVelocity.minus(currentVeloI); - double currentVelocityPerpendicularToTarget = currentVeloU.getNorm(); - - double adjustmentI = Math.min(theoreticalMaxVelocity, dt * DriveConstants.kMaxAccelerationTowardsTarget + currentVelocityTowardsTarget); - Translation2d veloI = direction.times(adjustmentI); - - double adjustmentU = Math.min(currentVeloU.getNorm(), dt * DriveConstants.kMaxAccelerationPerpendicularToTarget); - Translation2d veloU = Translation2d.kZero; - if (currentVelocityPerpendicularToTarget != 0) { - Translation2d directionU = currentVeloU.div(currentVelocityPerpendicularToTarget); - veloU = currentVeloU.minus(directionU.times(adjustmentU)); - } - - Translation2d r = veloI.plus(veloU); - m_logger.trace("Adjust() returns {}" , r); - - return r; - } - - @Override - public void end(boolean interrupted) { - m_drivetrain.setAligned(!interrupted); - m_drivetrain.stop(); - RobotObserver.getField().getObject("target").setPoses(); - } - - @Override - public boolean isFinished() { - double errX = m_drivetrain.getPose().getX() - m_goal.getX(); - double errY = m_drivetrain.getPose().getY() - m_goal.getY(); - double err = Math.hypot(errX, errY); - - double errRotation = Math.abs(m_drivetrain.getPose() - .getRotation() - .minus(m_targetRotation) - .getRadians()); - - return (err < AutonConstants.translationTolerance && errRotation < AutonConstants.rotationTolerance.in(Radians)); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/ElevatorDefaultCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/ElevatorDefaultCommand.java deleted file mode 100644 index 511fbff9..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/ElevatorDefaultCommand.java +++ /dev/null @@ -1,41 +0,0 @@ -package frc.robot.commands; - -import frc.robot.RobotObserver; -import frc.robot.subsystems.Elevator; - -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; - -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj2.command.Command; - -public class ElevatorDefaultCommand extends Command { - private final Logger m_logger = LoggerFactory.getLogger(ElevatorDefaultCommand.class); - private final Elevator m_elevator; - - public ElevatorDefaultCommand(Elevator elevator) { - addRequirements(elevator); - m_elevator = elevator; - } - - @Override - public void initialize() { - m_logger.debug("Starting"); - } - - @Override - public void execute() { - if (m_elevator.taken()) return; - if (RobotObserver.getReefReady() && !DriverStation.isAutonomous()) { - m_elevator.setPrep(); - } else { - m_elevator.setStow(); - } - m_elevator.release(); - } - - @Override - public void end(boolean interrupted) { - m_logger.debug("Ending"); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/ElevatorToPointCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/ElevatorToPointCommand.java deleted file mode 100644 index f786ea05..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/ElevatorToPointCommand.java +++ /dev/null @@ -1,29 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.Elevator; - -public class ElevatorToPointCommand extends Command { - private final int level; - private final Elevator elevator; - - public ElevatorToPointCommand(int level, Elevator elevator) { - this.level = level; - this.elevator = elevator; - addRequirements(elevator); - } - - @Override - public void initialize() { - elevator.setLevel(level); - } - - @Override - public boolean isFinished() { - return elevator.atSetpoint(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/ElevatorZero.java b/ThriftyTest/src/main/java/frc/robot/commands/ElevatorZero.java deleted file mode 100644 index cfdad768..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/ElevatorZero.java +++ /dev/null @@ -1,47 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.RobotObserver; -import frc.robot.subsystems.Elevator; - -public class ElevatorZero extends Command { - private boolean applied; - - private final Elevator m_elevator; - /** Creates a new ElevatorZero. */ - public ElevatorZero(Elevator elevator) { - m_elevator = elevator; - addRequirements(elevator); - } - - @Override - public void initialize() { - applied = false; - m_elevator.setStow(); - } - - @Override - public void execute() { - if (m_elevator.atSetpoint() && !RobotObserver.getCoralPieceHeld()) { - applied = true; - m_elevator.prepZero(); - } - } - - @Override - public void end(boolean interrupted) { - if (!interrupted && !RobotObserver.getCoralPieceHeld()) m_elevator.zeroElevator(); - m_elevator.enableLimits(); - m_elevator.release(); - } - - // Returns true when the command should end. - @Override - public boolean isFinished() { - return m_elevator.atZero() && applied || RobotObserver.getCoralPieceHeld(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/ManualElevatorCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/ManualElevatorCommand.java deleted file mode 100644 index b45fe1fc..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/ManualElevatorCommand.java +++ /dev/null @@ -1,26 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Constants.ElevatorConstants; -import frc.robot.subsystems.Elevator; - -public class ManualElevatorCommand extends Command { - private final boolean isUp; - private final Elevator elevator; - - public ManualElevatorCommand(Elevator elevator, boolean isUp) { - this.isUp = isUp; - this.elevator = elevator; - addRequirements(elevator); - } - - @Override - public void execute() { - elevator.setSpeed(isUp ? ElevatorConstants.manualUpSpeed : ElevatorConstants.manualDownSpeed); - } - - @Override - public void end(boolean interrupted) { - elevator.stop(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/ManualPivotCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/ManualPivotCommand.java deleted file mode 100644 index 9d123423..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/ManualPivotCommand.java +++ /dev/null @@ -1,26 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Constants.PivotConstants; -import frc.robot.subsystems.Pivot; - -public class ManualPivotCommand extends Command { - private final boolean isUp; - private final Pivot pivot; - - public ManualPivotCommand(Pivot pivot, boolean isUp) { - this.isUp = isUp; - this.pivot = pivot; - addRequirements(pivot); - } - - @Override - public void execute() { - pivot.setSpeed(isUp ? PivotConstants.manualUpSpeed : PivotConstants.manualDownSpeed); - } - - @Override - public void end(boolean interrupted) { - pivot.stop(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/OpenFunnel.java b/ThriftyTest/src/main/java/frc/robot/commands/OpenFunnel.java deleted file mode 100644 index 046900ec..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/OpenFunnel.java +++ /dev/null @@ -1,35 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.Climber; - -/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */ -public class OpenFunnel extends Command { - private Climber m_climber; - private int timeRemaining; - /** Creates a new OpenFunnel. */ - public OpenFunnel(Climber climber) { - m_climber = climber; - addRequirements(climber); - } - - @Override - public void initialize() { - m_climber.openFunnel(); - timeRemaining = 75; - } - - @Override - public void execute() { - timeRemaining --; - } - - @Override - public boolean isFinished() { - return timeRemaining == 0; - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/PitClimbSetupCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/PitClimbSetupCommand.java deleted file mode 100644 index 3c83c02a..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/PitClimbSetupCommand.java +++ /dev/null @@ -1,22 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.Climber; - -public class PitClimbSetupCommand extends Command { - private final Climber m_climber; - - public PitClimbSetupCommand(Climber climber) { - m_climber = climber; - } - - @Override - public void initialize() { - m_climber.setClimbRoll(); - } - - @Override - public void end(boolean interrupted) { - m_climber.stopMotor(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/ProcessorCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/ProcessorCommand.java deleted file mode 100644 index affceec3..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/ProcessorCommand.java +++ /dev/null @@ -1,23 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.AlgaeRollers; -import frc.robot.subsystems.Elevator; -import frc.robot.subsystems.Pivot; - -public class ProcessorCommand extends Command { - private Elevator m_elevator; - private Pivot m_pivot; - - public ProcessorCommand(Elevator elevator, AlgaeRollers rollers, Pivot pivot) { - m_elevator = elevator; - m_pivot = pivot; - addRequirements(elevator, rollers, pivot); - } - - @Override - public void initialize() { - m_elevator.setProcessor(); - m_pivot.setProcessor(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/StowCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/StowCommand.java deleted file mode 100644 index fa831430..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/StowCommand.java +++ /dev/null @@ -1,38 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.commands; - -import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.subsystems.Elevator; -import frc.robot.subsystems.Pivot; - -/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */ -public class StowCommand extends Command { - private final Pivot m_pivot; - private final Elevator m_elevator; - - /** Creates a new StowCommand. */ - public StowCommand(Elevator elevator, Pivot pivot) { - m_pivot = pivot; - m_elevator = elevator; - addRequirements(m_pivot, m_elevator); - } - - @Override - public void initialize() { - m_pivot.setStow(); - m_elevator.setStow(); - } - - @Override - public void end(boolean interrupted) { - m_pivot.stop(); - } - - @Override - public boolean isFinished() { - return m_elevator.atSetpoint() && m_pivot.atSetpoint(); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java deleted file mode 100644 index 8672fcca..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java +++ /dev/null @@ -1,104 +0,0 @@ -package frc.robot.commands; - -import java.util.function.Supplier; - -import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; -import com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue; -import com.ctre.phoenix6.swerve.SwerveRequest; - -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.wpilibj2.command.Command; - -import frc.robot.Constants.DriveConstants; -import frc.robot.Constants.ButtonBindingConstants.DragonReins; -import frc.robot.driveassist.DriverAssist; -import frc.robot.subsystems.CommandSwerveDrivetrain; - -public class TeleopCommand extends Command { - private final CommandSwerveDrivetrain m_drivetrain; - private final Supplier m_xSupplier; - private final Supplier m_ySupplier; - private final Supplier m_rotSupplier; - - private final double maxTranslationalVelocity = DriveConstants.k_maxTeleopLinearSpeed; - private final double maxRotationalVelocity = DriveConstants.k_maxTeleopAngularSpeed; - - private final DriverAssist m_assist = new DriverAssist(); - - private final SwerveRequest.FieldCentric driveClosedLoop = new SwerveRequest.FieldCentric() - .withForwardPerspective(ForwardPerspectiveValue.BlueAlliance) - .withDeadband(maxTranslationalVelocity * DragonReins.deadband) - .withRotationalDeadband(maxRotationalVelocity * DragonReins.deadband) - .withDriveRequestType(DriveRequestType.Velocity); - - public TeleopCommand( - CommandSwerveDrivetrain drivetrain, - Supplier xSupplier, - Supplier ySupplier, - Supplier rotSupplier - ) { - m_drivetrain = drivetrain; - m_xSupplier = xSupplier; - m_ySupplier = ySupplier; - m_rotSupplier = rotSupplier; - addRequirements(drivetrain); - } - - @Override - public void execute() { - // calculate the field-relative speeds - Transform2d robotRelative = new Transform2d( - new Translation2d( - m_xSupplier.get() * maxTranslationalVelocity, - m_ySupplier.get() * maxTranslationalVelocity - ), - new Rotation2d( - m_rotSupplier.get() * maxRotationalVelocity - ) - ); - if (robotRelative.getTranslation().getNorm() > 0) { - m_drivetrain.setAligned(false); - } - Transform2d fieldRelative = getFieldRelative(robotRelative); - // avoid obstacles using drive assist - Translation2d filtered = m_assist.calculate( - fieldRelative.getTranslation(), - m_drivetrain.getPose(), - m_drivetrain.getNearestAntitarget() - ); - Transform2d out = new Transform2d(filtered, fieldRelative.getRotation()); - applyVelocities(out); - } - - /** - * From a robot relative position, returns the field relative pose, using - * the drivetrain's operator perspective - */ - private Transform2d getFieldRelative(Transform2d robotRelative) { - // get the offset - Rotation2d forward = m_drivetrain.getOperatorForwardDirection(); - // get the original position - double x = robotRelative.getX(); - double y = robotRelative.getY(); - Rotation2d theta = robotRelative.getRotation(); - // calculate the new position after rotation - double px = x * forward.getCos() - y * forward.getSin(); - double py = y * forward.getCos() + x * forward.getSin(); - // combine the results - return new Transform2d(new Translation2d(px, py), theta); - } - - /** - * Applies a transform2d with field relative velocities to the drivetrain - */ - private void applyVelocities(Transform2d fieldRelative) { - m_drivetrain.setControl( - driveClosedLoop - .withVelocityX(fieldRelative.getX()) - .withVelocityY(fieldRelative.getY()) - .withRotationalRate(fieldRelative.getRotation().getRadians()) - ); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java index b6c94c6c..56d64d55 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java @@ -7,102 +7,123 @@ import edu.wpi.first.math.filter.MedianFilter; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.AlgaeRollerConstants; import frc.robot.Constants.IDConstants; import frc.robot.Robot; import frc.robot.RobotObserver; -public class AlgaeRollers extends SubsystemBase implements AutoCloseable { - @SuppressWarnings("unused") - private final Logger m_logger = LoggerFactory.getLogger(AlgaeRollers.class); - - private final TalonFX m_algaeRoller = new TalonFX(IDConstants.algae); +public class AlgaeRollers extends PassiveSubsystem implements AutoCloseable { + @SuppressWarnings("unused") + private final Logger m_logger = LoggerFactory.getLogger(AlgaeRollers.class); - private double m_voltage; - private boolean m_voltageChanged; + private final TalonFX m_algaeRoller = new TalonFX(IDConstants.algae); - private boolean m_hasAlgae; + private double m_voltage; + private boolean m_voltageChanged; - private MedianFilter m_filter = new MedianFilter(10); + private boolean m_hasAlgae; - public AlgaeRollers() { - configIntakeMotor(); - RobotObserver.setAlgaePieceHeldSupplier(this::algaeHeld); - } + private MedianFilter m_filter = new MedianFilter(10); - private void configIntakeMotor() { - m_algaeRoller.clearStickyFaults(); - m_algaeRoller.getConfigurator().apply(AlgaeRollerConstants.motorConfig); - } + public AlgaeRollers() { + super(); + configIntakeMotor(); + RobotObserver.setAlgaePieceHeldSupplier(this.holdingAlgae()); + } - private void setMotor(double voltage) { - if (voltage != m_voltage) { - m_voltageChanged = true; - } - m_voltage = voltage; - } + private void configIntakeMotor() { + m_algaeRoller.clearStickyFaults(); + m_algaeRoller.getConfigurator().apply(AlgaeRollerConstants.motorConfig); + } - public boolean algaeHeld() { - return m_hasAlgae; + private void setMotor(double voltage) { + if (voltage != m_voltage) { + m_voltageChanged = true; } - - public void intakeAlgae() { - if (algaeHeld()) { - setMotor(AlgaeRollerConstants.holdVoltage); - } else { - setMotor(AlgaeRollerConstants.intakeVoltage); - } + m_voltage = voltage; + } + + public Trigger holdingAlgae() { + return new Trigger(() -> m_hasAlgae); + } + + private double getTorqueCurrent() { + double measurement = m_algaeRoller.getTorqueCurrent().getValueAsDouble(); + return m_filter.calculate(measurement); + } + + private void stop() { + setMotor(0); + } + + /** + * If shouldHold is true, then try to hold an algae. Otherwise, stop the motors. + */ + private void keep(boolean shouldHold) { + if (shouldHold) { + setMotor(AlgaeRollerConstants.holdVoltage); + } else { + stop(); } + } - public void smartStop() { - if (algaeHeld()) { - setMotor(AlgaeRollerConstants.holdVoltage); - } else { - stopMotor(); - } + private void updateObjectState() { + if (Robot.isReal()) { + m_hasAlgae = getTorqueCurrent() >= AlgaeRollerConstants.torqueCurrentThreshold; + } else { + m_hasAlgae = SmartDashboard.getBoolean("Algae Held", false); } - private double getTorqueCurrent() { - double measurement = m_algaeRoller.getTorqueCurrent().getValueAsDouble(); - return m_filter.calculate(measurement); - } - - public void ejectAlgae() { - setMotor(AlgaeRollerConstants.ejectVoltage); - } - - public void processorEjectAlgae() { - setMotor(AlgaeRollerConstants.processorEjectVoltage); - } + SmartDashboard.putBoolean("Algae Held", m_hasAlgae); + } - public void stopMotor() { - setMotor(0); + @Override + public void periodic() { + SmartDashboard.putNumber("Algae Temp", m_algaeRoller.getDeviceTemp().getValueAsDouble()); + updateObjectState(); + if (m_voltageChanged) { + m_algaeRoller.setVoltage(m_voltage); + m_voltageChanged = false; } - - private void updateObjectState() { - if (Robot.isReal()) { - m_hasAlgae = getTorqueCurrent() >= AlgaeRollerConstants.torqueCurrentThreshold; - } else { - m_hasAlgae = SmartDashboard.getBoolean("Algae Held", false); - } - - SmartDashboard.putBoolean("Algae Held", m_hasAlgae); - } - - @Override - public void periodic() { - SmartDashboard.putNumber("Algae Temp", m_algaeRoller.getDeviceTemp().getValueAsDouble()); - updateObjectState(); - if (m_voltageChanged) { - m_algaeRoller.setVoltage(m_voltage); - m_voltageChanged = false; - } - } - - @Override - public void close() throws Exception { - m_algaeRoller.close(); - } - + } + + @Override + public void close() throws Exception { + m_algaeRoller.close(); + } + + protected void passive() {} + + /** + * Intakes an algae, then holds it. If an algae is already held, the command does not run. + */ + public Command intake() { + return Commands.sequence( + runOnce(() -> setMotor(AlgaeRollerConstants.intakeVoltage)), + Commands.waitUntil(holdingAlgae())) + + .finallyDo(this::keep) + .unless(holdingAlgae()); + } + + public Command netScore() { + return Commands.sequence( + runOnce(() -> setMotor(AlgaeRollerConstants.netEjectVoltage)), + Commands.waitSeconds(AlgaeRollerConstants.algaeEjectTime)) + + .finallyDo(this::keep) + .onlyIf(holdingAlgae()); + } + + public Command processorScore() { + return Commands.sequence( + runOnce(() -> setMotor(AlgaeRollerConstants.processorEjectVoltage)), + Commands.waitUntil(holdingAlgae())) + + .finallyDo(this::keep) + .onlyIf(holdingAlgae()); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java index 79b79c03..1878d933 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java @@ -11,111 +11,142 @@ import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Servo; 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.button.Trigger; import frc.robot.Constants.ClimberConstants; import frc.robot.Constants.IDConstants; -public class Climber extends SubsystemBase implements AutoCloseable { - @SuppressWarnings("unused") - private final Logger m_logger = LoggerFactory.getLogger(Climber.class); - private final TalonFX m_leftClimbMotor = new TalonFX(IDConstants.climbLeft); - private final TalonFX m_rightClimbMotor = new TalonFX(IDConstants.climbRight); - private final CANcoder m_encoder = new CANcoder(IDConstants.climbEncoder); - - private final Servo m_servo = new Servo(IDConstants.servo); - - private double m_voltage; - private boolean m_voltageChanged; - - private final VoltageOut m_request = new VoltageOut(0); - - public Climber() { - configMotors(); - configEncoder(); - } - - private void configEncoder() { - m_encoder.getConfigurator().apply(ClimberConstants.encoderConfig); - } - - private void configMotors() { - m_leftClimbMotor.clearStickyFaults(); - m_rightClimbMotor.clearStickyFaults(); - m_leftClimbMotor.getConfigurator().apply(ClimberConstants.motorConfig); - m_rightClimbMotor.getConfigurator().apply(ClimberConstants.motorConfig); - m_rightClimbMotor.setControl(new Follower(IDConstants.climbLeft, ClimberConstants.rightMotorInvert)); - } - - public void openFunnel() { - if (DriverStation.getMatchTime() > ClimberConstants.kClimbTime || DriverStation.isAutonomous()) { - return; - } - m_servo.set(ClimberConstants.k_openServoPosition); - } - - public void closeFunnel() { - m_servo.set(ClimberConstants.k_closedServoPosition); - } - - private void setMotor(double voltage) { - m_voltageChanged = (m_voltage != voltage); - m_voltage = voltage; - } - - /** - * Causes the climber to go up. NOT THE ROBOT - */ - public void setUp() { - setMotor(ClimberConstants.climberUpVolts); - } - - /** - * Causes the climber to go down. NOT THE ROBOT. - */ - public void setDown() { - setMotor(ClimberConstants.climbDownVolts); - } - - public void setClimbRoll() { - m_leftClimbMotor.setControl(m_request.withOutput(ClimberConstants.climbRollVolts)); - } - - public void stopMotor() { - m_leftClimbMotor.stopMotor(); - m_voltage = 0.0; - m_voltageChanged = false; - } - - public double getPosition() { - return m_leftClimbMotor.getPosition().getValueAsDouble(); - } - - @Override - public void periodic() { - if (m_voltageChanged) { - m_leftClimbMotor.setControl(m_request.withOutput(m_voltage)); - m_voltageChanged = false; - } - SmartDashboard.putBoolean("Climb Ready", climbReady()); - SmartDashboard.putBoolean("Climbed", atClimb()); - SmartDashboard.putNumber("climber pos", m_encoder.getPosition().getValueAsDouble()); - } - - public double getVelocity() { - return m_leftClimbMotor.getVelocity().getValueAsDouble(); - } - - public boolean atClimb() { - return getPosition() <= ClimberConstants.climbPosition; - } - - public boolean climbReady() { - return getPosition() > ClimberConstants.climbReadyTolerance; - } - - @Override - public void close() throws Exception { - m_leftClimbMotor.close(); - m_rightClimbMotor.close(); - } +public class Climber extends PassiveSubsystem implements AutoCloseable { + @SuppressWarnings("unused") + private final Logger m_logger = LoggerFactory.getLogger(Climber.class); + private final TalonFX m_leftClimbMotor = new TalonFX(IDConstants.climbLeft); + private final TalonFX m_rightClimbMotor = new TalonFX(IDConstants.climbRight); + private final CANcoder m_encoder = new CANcoder(IDConstants.climbEncoder); + + private final Servo m_servo = new Servo(IDConstants.servo); + + private double m_voltage; + private boolean m_voltageChanged; + + private final VoltageOut m_request = new VoltageOut(0); + + public Climber() { + super(); + configMotors(); + configEncoder(); + } + + private void configEncoder() { + m_encoder.getConfigurator().apply(ClimberConstants.encoderConfig); + } + + private void configMotors() { + m_leftClimbMotor.clearStickyFaults(); + m_rightClimbMotor.clearStickyFaults(); + m_leftClimbMotor.getConfigurator().apply(ClimberConstants.motorConfig); + m_rightClimbMotor.getConfigurator().apply(ClimberConstants.motorConfig); + m_rightClimbMotor + .setControl(new Follower(IDConstants.climbLeft, ClimberConstants.rightMotorInvert)); + } + + private void openFunnel() { + m_servo.set(ClimberConstants.k_openServoPosition); + } + + private void closeFunnel() { + m_servo.set(ClimberConstants.k_closedServoPosition); + } + + private void setMotor(double voltage) { + m_voltageChanged = (m_voltage != voltage); + m_voltage = voltage; + } + + private void setUp() { + setMotor(ClimberConstants.climberUpVolts); + } + + private void setDown() { + setMotor(ClimberConstants.climbDownVolts); + } + + private void stop() { + m_leftClimbMotor.stopMotor(); + m_voltage = 0.0; + m_voltageChanged = false; + } + + public double getPosition() { + return m_leftClimbMotor.getPosition().getValueAsDouble(); + } + + @Override + public void periodic() { + if (m_voltageChanged) { + m_leftClimbMotor.setControl(m_request.withOutput(m_voltage)); + m_voltageChanged = false; + } + SmartDashboard.putBoolean("Climb Ready", raised().getAsBoolean()); + SmartDashboard.putBoolean("Climbed", climbed().getAsBoolean()); + SmartDashboard.putNumber("climber pos", m_encoder.getPosition().getValueAsDouble()); + } + + public double getVelocity() { + return m_leftClimbMotor.getVelocity().getValueAsDouble(); + } + + public Trigger climbed() { + return new Trigger(() -> getPosition() <= ClimberConstants.climbPosition); + } + + public Trigger raised() { + return new Trigger(() -> getPosition() > ClimberConstants.climbReadyTolerance); + } + + public Trigger lowered() { + return new Trigger(() -> getPosition() <= ClimberConstants.stowPosition); + } + + @Override + public void close() throws Exception { + m_leftClimbMotor.close(); + m_rightClimbMotor.close(); + } + + protected void passive() {} + + /** + * Drives the cliber up until it has reached it's raised + */ + public Command raise() { + return Commands.sequence( + runOnce(this::setUp), + Commands.waitUntil(raised())) + + .finallyDo(this::stop); + } + + /** + * Drives the climber down until the climber is stowed + */ + public Command lower() { + return Commands.sequence( + runOnce(this::setDown), + Commands.waitUntil(lowered()) + + .finallyDo(this::stop); + } + + /** + * Drives the climber down until the climb position is reached + */ + public Command climb() { + return Commands.sequencee( + runOnce(this::setDown), + Commands.waitUntil(climbed()) + + .finallyDo(this::stop); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index b930533c..43807e71 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -2,7 +2,7 @@ import static edu.wpi.first.units.Units.Second; import static edu.wpi.first.units.Units.Volts; - +import java.util.function.DoubleSupplier; import java.util.function.Supplier; import org.slf4j.Logger; @@ -14,7 +14,9 @@ import com.ctre.phoenix6.swerve.SwerveModule; import com.ctre.phoenix6.swerve.SwerveModuleConstants; import com.ctre.phoenix6.swerve.SwerveRequest; +import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveRequest.ApplyRobotSpeeds; +import com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue; import com.pathplanner.lib.config.RobotConfig; import com.pathplanner.lib.util.DriveFeedforwards; import com.pathplanner.lib.util.swerve.SwerveSetpoint; @@ -23,6 +25,7 @@ import edu.wpi.first.math.Matrix; 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.kinematics.SwerveModuleState; @@ -50,298 +53,344 @@ import frc.robot.vision.TimestampedPoseEstimate; /** - * Class that extends the Phoenix 6 SwerveDrivetrain class and implements - * Subsystem so it can easily be used in command-based projects. + * Class that extends the Phoenix 6 SwerveDrivetrain class and implements Subsystem so it can easily + * be used in command-based projects. */ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem { - @SuppressWarnings("unused") - private final Logger m_logger = LoggerFactory.getLogger(CommandSwerveDrivetrain.class); - - private Notifier m_simNotifier = null; - private double m_lastSimTime; - - private boolean m_aligned; - - /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */ - private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero; - /* Red alliance sees forward as 180 degrees (toward blue alliance wall) */ - private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg; - /* Keep track if we've ever applied the operator perspective before or not */ - private boolean m_hasAppliedOperatorPerspective = false; - - private Pose2d m_estimatedPose = new Pose2d(); - - private double m_oldVisionTimestamp = -1; - - private boolean m_validPose = false; - - private SwerveSetpointGenerator setpointGenerator; - private SwerveSetpoint previousSetpoint; - private final ApplyRobotSpeeds autoRequest = new ApplyRobotSpeeds().withDriveRequestType(SwerveModule.DriveRequestType.Velocity); - - public CommandSwerveDrivetrain(SwerveDrivetrainConstants drivetrainConstants, - SwerveModuleConstants... modules) { - super(drivetrainConstants, modules); - setup(); - } - - public CommandSwerveDrivetrain(SwerveDrivetrainConstants drivetrainConstants, double odometryUpdateFrequency, - SwerveModuleConstants... modules) { - super(drivetrainConstants, odometryUpdateFrequency, modules); - setup(); - } - - public CommandSwerveDrivetrain(SwerveDrivetrainConstants drivetrainConstants, double odometryUpdateFrequency, - Matrix odometryStandardDeviation, Matrix visionStandardDeviation, - SwerveModuleConstants... modules) { - super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, visionStandardDeviation, - modules); - setup(); - } - - private void setup() { - AutonomousUtil.initializePathPlanner(this); - if (Robot.isSimulation()) { - startSimThread(); - } - m_aligned = false; - - RobotObserver.setVisionValidSupplier(this::getVisionValid); - RobotObserver.setPoseSupplier(this::getPose); - RobotObserver.setVelocitySupplier(this::getVelocity); - RobotObserver.setNoElevatorZoneSupplier(this::noElevatorZone); - RobotObserver.setReefReadySupplier(this::getReefReady); - RobotObserver.setAlginedSupplier(this::isAligned); - } - - public void initializeSetpointGenerator(RobotConfig config) { - setpointGenerator = new SwerveSetpointGenerator(config, Units.rotationsToRadians(DriveConstants.k_maxRotationalSpeed)); - - ChassisSpeeds currSpeeds = getRobotRelativeSpeeds(); - SwerveModuleState[] currStates = getState().ModuleStates; - previousSetpoint = new SwerveSetpoint(currSpeeds, currStates, DriveFeedforwards.zeros(config.numModules)); - } - - public Translation2d getVelocityComponents() { - double vx = getRobotRelativeSpeeds().vxMetersPerSecond; - double vy = getRobotRelativeSpeeds().vyMetersPerSecond; - Rotation2d theta = getPose().getRotation(); - return new Translation2d(vx, vy).rotateBy(theta); - - } + @SuppressWarnings("unused") + private final Logger m_logger = LoggerFactory.getLogger(CommandSwerveDrivetrain.class); - public double getVelocity() { - Translation2d velo = getVelocityComponents(); - return velo.getNorm(); - } - - public Pose2d getPose() { - return m_estimatedPose; - } - - public Pose2d getNearestAntitarget() { - return new Pose2d(FFConstants.k_bargeX, m_estimatedPose.getY(), new Rotation2d()); - } - - /** - * returns the current pose, with red side poses flipped - */ - public Pose2d getBluePose() { - return FieldUtils.flipPose(m_estimatedPose); - } - - public void zeroPose() { - setPose(new Pose2d()); - } - - public void resetHeading() { - setOperatorPerspectiveForward(getPose().getRotation()); - } - - public void setPose(Pose2d pose) { - resetPose(pose); - } - - public ChassisSpeeds getRobotRelativeSpeeds() { - return getState().Speeds; - } - - public void driveWithChassisSpeeds(ChassisSpeeds speeds) { - previousSetpoint = setpointGenerator.generateSetpoint( - previousSetpoint, // The previous setpoint - speeds, // The desired target speeds - 0.02 // The loop time of the robot code, in seconds - ); - - setControl(autoRequest.withSpeeds(previousSetpoint.robotRelativeSpeeds())); - } - - public void stop() { - setControl(new SwerveRequest.SwerveDriveBrake()); - } + private Notifier m_simNotifier = null; + private double m_lastSimTime; - public Command applyRequest(Supplier requestSupplier) { - return run(() -> this.setControl(requestSupplier.get())); - } - - @Override - public void periodic() { - m_estimatedPose = this.getState().Pose; - - SmartDashboard.putBoolean("Drivetrain Aligned", m_aligned); - SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime()); - - if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) { - DriverStation.getAlliance().ifPresent(allianceColor -> { - setOperatorPerspectiveForward( - allianceColor == Alliance.Red - ? kRedAlliancePerspectiveRotation - : kBlueAlliancePerspectiveRotation); - m_hasAppliedOperatorPerspective = true; - }); - } - - handleVisionToggle(); - } - - private void startSimThread() { - m_lastSimTime = Utils.getCurrentTimeSeconds(); - - m_simNotifier = new Notifier(() -> { - final double currentTime = Utils.getCurrentTimeSeconds(); - double deltaTime = currentTime - m_lastSimTime; - m_lastSimTime = currentTime; - - updateSimState(deltaTime, RobotController.getBatteryVoltage()); - }); - m_simNotifier.startPeriodic(SimConstants.k_simPeriodic); - } - - private boolean getVisionValid() { - return m_validPose; - } - - private void handleVisionToggle() { - if (m_oldVisionTimestamp >= 0) { - m_validPose = Utils.getCurrentTimeSeconds() - m_oldVisionTimestamp < Constants.VisionConstants.k_visionTimeout; - } - SmartDashboard.putBoolean("VIABLE POSE", m_validPose); - } - - /* Swerve requests to apply during SysId characterization */ - private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation(); - private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains(); - private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation(); - - private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine( - new SysIdRoutine.Config( - null, // Use default ramp rate (1 V/s) - Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout - null, // Use default timeout (10 s) - // Log state with SignalLogger class - state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())), - new SysIdRoutine.Mechanism( - output -> setControl(m_translationCharacterization.withVolts(output)), - null, - this)); - - private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine( - new SysIdRoutine.Config( - null, // Use default ramp rate (1 V/s) - Volts.of(7), // Use dynamic voltage of 7 V - null, // Use default timeout (10 s) - // Log state with SignalLogger class - state -> SignalLogger.writeString("SysIdSteer_State", state.toString())), - new SysIdRoutine.Mechanism( - volts -> setControl(m_steerCharacterization.withVolts(volts)), - null, - this)); - - private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine( - new SysIdRoutine.Config( - /* This is in radians per second², but SysId only supports "volts per second" */ - Volts.of(Math.PI / 6).per(Second), - /* This is in radians per second, but SysId only supports "volts" */ - Volts.of(Math.PI), - null, // Use default timeout (10 s) - // Log state with SignalLogger class - state -> SignalLogger.writeString("SysIdRotation_State", state.toString())), - new SysIdRoutine.Mechanism( - output -> { - /* output is actually radians per second, but SysId only supports "volts" */ - setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts))); - /* also log the requested output for SysId */ - SignalLogger.writeDouble("Rotational_Rate", output.in(Volts)); - }, - null, - this)); - - public void driveRobotRelative(ChassisSpeeds speeds) { - setControl(new SwerveRequest.ApplyRobotSpeeds().withSpeeds(speeds)); - } - - public void addPoseEstimate(TimestampedPoseEstimate estimate) { - m_oldVisionTimestamp = estimate.timestamp(); - // This should NOT run in simulation! - if (Robot.isSimulation()) return; - // Depending on our configs, we should use or not use the std devs - if (Constants.VisionConstants.k_useStdDevs) { - addVisionMeasurement( - estimate.pose(), - estimate.timestamp(), - estimate.stdDevs()); - } else { - addVisionMeasurement( - estimate.pose(), - estimate.timestamp()); - } - } - - public Command sysIdQuasistaticTranslation(SysIdRoutine.Direction direction) { - return m_sysIdRoutineTranslation.quasistatic(direction); - } - - public Command sysIdDynamicTranslation(SysIdRoutine.Direction direction) { - return m_sysIdRoutineTranslation.dynamic(direction); - } - - public Command sysIdQuasistaticSteer(SysIdRoutine.Direction direction) { - return m_sysIdRoutineSteer.quasistatic(direction); - } - - public Command sysIdDynamicSteer(SysIdRoutine.Direction direction) { - return m_sysIdRoutineSteer.dynamic(direction); - } - - public Command sysIdQuasistaticRotation(SysIdRoutine.Direction direction) { - return m_sysIdRoutineRotation.quasistatic(direction); - } - - public Command sysIdDynamicRotation(SysIdRoutine.Direction direction) { - return m_sysIdRoutineRotation.dynamic(direction); - } - - private boolean noElevatorZone() { - double distance = getNearestAntitarget() - .getTranslation() - .minus(m_estimatedPose.getTranslation()) - .getNorm(); - return distance < FFConstants.k_radius && !DriverStation.isAutonomous(); - } - - public void setAligned(boolean aligned) { - m_aligned = aligned; - } - - public boolean isAligned() { - return m_aligned; - } - - public boolean getReefReady() { - double distanceToReef = getBluePose().getTranslation() - .minus(FieldConstants.reefCenter) - .getNorm(); - boolean inRange = (DriverStation.isAutonomous()) ? distanceToReef <= FieldConstants.kReefReadyAuton : distanceToReef <= FieldConstants.kReefReady; - return inRange; - } + private boolean m_aligned; + + private SwerveRequest.FieldCentric m_teleopRequest = new SwerveRequest.FieldCentric() + .withForwardPerspective(ForwardPerspectiveValue.OperatorPerspective) + .withDriveRequestType(DriveRequestType.Velocity); + + /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */ + private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero; + + /* Red alliance sees forward as 180 degrees (toward blue alliance wall) */ + private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg; + + /* Keep track if we've ever applied the operator perspective before or not */ + private boolean m_hasAppliedOperatorPerspective = false; + + private Pose2d m_estimatedPose = new Pose2d(); + + private double m_oldVisionTimestamp = -1; + + private boolean m_validPose = false; + + private SwerveSetpointGenerator setpointGenerator; + + private SwerveSetpoint previousSetpoint; + + private final ApplyRobotSpeeds autoRequest = + new ApplyRobotSpeeds().withDriveRequestType(SwerveModule.DriveRequestType.Velocity); + + public CommandSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, + SwerveModuleConstants... modules) { + super(drivetrainConstants, modules); + setup(); + } + + public CommandSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, + double odometryUpdateFrequency, + SwerveModuleConstants... modules) { + super(drivetrainConstants, odometryUpdateFrequency, modules); + setup(); + } + + public CommandSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, + double odometryUpdateFrequency, + Matrix odometryStandardDeviation, Matrix visionStandardDeviation, + SwerveModuleConstants... modules) { + super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, + visionStandardDeviation, + modules); + setup(); + } + + private void setup() { + AutonomousUtil.initializePathPlanner(this); + if (Robot.isSimulation()) { + startSimThread(); + } + m_aligned = false; + + RobotObserver.setVisionValidSupplier(this::getVisionValid); + RobotObserver.setPoseSupplier(this::getPose); + RobotObserver.setVelocitySupplier(this::getVelocity); + RobotObserver.setNoElevatorZoneSupplier(this::noElevatorZone); + RobotObserver.setReefReadySupplier(this::getReefReady); + RobotObserver.setAlginedSupplier(this::isAligned); + } + + public void initializeSetpointGenerator(RobotConfig config) { + setpointGenerator = new SwerveSetpointGenerator(config, + Units.rotationsToRadians(DriveConstants.k_maxRotationalSpeed)); + + ChassisSpeeds currSpeeds = getRobotRelativeSpeeds(); + SwerveModuleState[] currStates = getState().ModuleStates; + previousSetpoint = + new SwerveSetpoint(currSpeeds, currStates, DriveFeedforwards.zeros(config.numModules)); + } + + public Translation2d getVelocityComponents() { + double vx = getRobotRelativeSpeeds().vxMetersPerSecond; + double vy = getRobotRelativeSpeeds().vyMetersPerSecond; + Rotation2d theta = getPose().getRotation(); + return new Translation2d(vx, vy).rotateBy(theta); + + } + + public double getVelocity() { + Translation2d velo = getVelocityComponents(); + return velo.getNorm(); + } + + public Pose2d getPose() { + return m_estimatedPose; + } + + public Pose2d getNearestAntitarget() { + return new Pose2d(FFConstants.k_bargeX, m_estimatedPose.getY(), new Rotation2d()); + } + + /** + * returns the current pose, with red side poses flipped + */ + public Pose2d getBluePose() { + return FieldUtils.flipPose(m_estimatedPose); + } + + public void zeroPose() { + setPose(new Pose2d()); + } + + public Command resetHeading() { + return runOnce(() -> setOperatorPerspectiveForward(getPose().getRotation())); + } + + public void setPose(Pose2d pose) { + resetPose(pose); + } + + public ChassisSpeeds getRobotRelativeSpeeds() { + return getState().Speeds; + } + + public void driveWithChassisSpeeds(ChassisSpeeds speeds) { + previousSetpoint = setpointGenerator.generateSetpoint( + previousSetpoint, // The previous setpoint + speeds, // The desired target speeds + 0.02 // The loop time of the robot code, in seconds + ); + + setControl(autoRequest.withSpeeds(previousSetpoint.robotRelativeSpeeds())); + } + + public void stop() { + setControl(new SwerveRequest.SwerveDriveBrake()); + } + + public Command applyRequest(Supplier requestSupplier) { + return run(() -> this.setControl(requestSupplier.get())); + } + + @Override + public void periodic() { + m_estimatedPose = this.getState().Pose; + + SmartDashboard.putBoolean("Drivetrain Aligned", m_aligned); + SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime()); + + if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) { + DriverStation.getAlliance().ifPresent(allianceColor -> { + setOperatorPerspectiveForward( + allianceColor == Alliance.Red + ? kRedAlliancePerspectiveRotation + : kBlueAlliancePerspectiveRotation); + m_hasAppliedOperatorPerspective = true; + }); + } + + handleVisionToggle(); + } + + private void startSimThread() { + m_lastSimTime = Utils.getCurrentTimeSeconds(); + + m_simNotifier = new Notifier(() -> { + final double currentTime = Utils.getCurrentTimeSeconds(); + double deltaTime = currentTime - m_lastSimTime; + m_lastSimTime = currentTime; + + updateSimState(deltaTime, RobotController.getBatteryVoltage()); + }); + m_simNotifier.startPeriodic(SimConstants.k_simPeriodic); + } + + private boolean getVisionValid() { + return m_validPose; + } + + private void handleVisionToggle() { + if (m_oldVisionTimestamp >= 0) { + m_validPose = Utils.getCurrentTimeSeconds() + - m_oldVisionTimestamp < Constants.VisionConstants.k_visionTimeout; + } + SmartDashboard.putBoolean("VIABLE POSE", m_validPose); + } + + /* Swerve requests to apply during SysId characterization */ + private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = + new SwerveRequest.SysIdSwerveTranslation(); + private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = + new SwerveRequest.SysIdSwerveSteerGains(); + private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = + new SwerveRequest.SysIdSwerveRotation(); + + private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine( + new SysIdRoutine.Config( + null, // Use default ramp rate (1 V/s) + Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout + null, // Use default timeout (10 s) + // Log state with SignalLogger class + state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())), + new SysIdRoutine.Mechanism( + output -> setControl(m_translationCharacterization.withVolts(output)), + null, + this)); + + private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine( + new SysIdRoutine.Config( + null, // Use default ramp rate (1 V/s) + Volts.of(7), // Use dynamic voltage of 7 V + null, // Use default timeout (10 s) + // Log state with SignalLogger class + state -> SignalLogger.writeString("SysIdSteer_State", state.toString())), + new SysIdRoutine.Mechanism( + volts -> setControl(m_steerCharacterization.withVolts(volts)), + null, + this)); + + private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine( + new SysIdRoutine.Config( + /* This is in radians per second², but SysId only supports "volts per second" */ + Volts.of(Math.PI / 6).per(Second), + /* This is in radians per second, but SysId only supports "volts" */ + Volts.of(Math.PI), + null, // Use default timeout (10 s) + // Log state with SignalLogger class + state -> SignalLogger.writeString("SysIdRotation_State", state.toString())), + new SysIdRoutine.Mechanism( + output -> { + /* output is actually radians per second, but SysId only supports "volts" */ + setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts))); + /* also log the requested output for SysId */ + SignalLogger.writeDouble("Rotational_Rate", output.in(Volts)); + }, + null, + this)); + + public void driveRobotRelative(ChassisSpeeds speeds) { + setControl(new SwerveRequest.ApplyRobotSpeeds().withSpeeds(speeds)); + } + + public void addPoseEstimate(TimestampedPoseEstimate estimate) { + m_oldVisionTimestamp = estimate.timestamp(); + // This should NOT run in simulation! + if (Robot.isSimulation()) + return; + // Depending on our configs, we should use or not use the std devs + if (Constants.VisionConstants.k_useStdDevs) { + addVisionMeasurement( + estimate.pose(), + estimate.timestamp(), + estimate.stdDevs()); + } else { + addVisionMeasurement( + estimate.pose(), + estimate.timestamp()); + } + } + + public Command sysIdQuasistaticTranslation(SysIdRoutine.Direction direction) { + return m_sysIdRoutineTranslation.quasistatic(direction); + } + + public Command sysIdDynamicTranslation(SysIdRoutine.Direction direction) { + return m_sysIdRoutineTranslation.dynamic(direction); + } + + public Command sysIdQuasistaticSteer(SysIdRoutine.Direction direction) { + return m_sysIdRoutineSteer.quasistatic(direction); + } + + public Command sysIdDynamicSteer(SysIdRoutine.Direction direction) { + return m_sysIdRoutineSteer.dynamic(direction); + } + + public Command sysIdQuasistaticRotation(SysIdRoutine.Direction direction) { + return m_sysIdRoutineRotation.quasistatic(direction); + } + + public Command sysIdDynamicRotation(SysIdRoutine.Direction direction) { + return m_sysIdRoutineRotation.dynamic(direction); + } + + private boolean noElevatorZone() { + double distance = getNearestAntitarget() + .getTranslation() + .minus(m_estimatedPose.getTranslation()) + .getNorm(); + return distance < FFConstants.k_radius && !DriverStation.isAutonomous(); + } + + public void setAligned(boolean aligned) { + m_aligned = aligned; + } + + public boolean isAligned() { + return m_aligned; + } + + public boolean getReefReady() { + double distanceToReef = getBluePose().getTranslation() + .minus(FieldConstants.reefCenter) + .getNorm(); + boolean inRange = + (DriverStation.isAutonomous()) ? distanceToReef <= FieldConstants.kReefReadyAuton + : distanceToReef <= FieldConstants.kReefReady; + return inRange; + } + + /** + * Drives the robot from given x, y, and rotatational velocity suppliers. + */ + public Command teleopDrive(DoubleSupplier x, DoubleSupplier y, DoubleSupplier rot) { + return run(() -> { + setControl(m_teleopRequest + .withVelocityX(x.getAsDouble()) + .withVelocityY(y.getAsDouble()) + .withRotationalRate(rot.getAsDouble())); + }); + } + + /** + * Drives to a certain point on the field + */ + public Command driveTo(Pose2d goal) { + return run(() -> { + Transform2d velocities = getVelocityComponents(); + Transform2d reference = + }); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java index c98a6104..c5897e5a 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java @@ -7,205 +7,189 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -import com.ctre.phoenix6.Utils; -import com.ctre.phoenix6.controls.Follower; import com.ctre.phoenix6.hardware.CANrange; import com.ctre.phoenix6.hardware.TalonFX; -import edu.wpi.first.wpilibj.AnalogInput; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.CoralConstants; import frc.robot.Constants.IDConstants; import frc.robot.Robot; import frc.robot.RobotObserver; -public class CoralRollers extends SubsystemBase { - @SuppressWarnings("unused") - private final Logger m_logger = LoggerFactory.getLogger(CoralRollers.class); - - private final TalonFX m_coralLeft = new TalonFX(IDConstants.coralLeft); - private final TalonFX m_coralRight = new TalonFX(IDConstants.coralRight); - - private final CANrange m_frontRange = new CANrange(IDConstants.coralCANrange); - private final CANrange m_upperRange = new CANrange(IDConstants.upperCANrange); - private final CANrange m_innerRange = new CANrange(IDConstants.innerCANrange); - - private double m_voltage; - private boolean m_voltageChanged; - private double m_stoppedTime; - private boolean m_stoppedTimeChanged; - - public CoralRollers() { - configMotors(); - configDashboard(); - configCANrange(); - RobotObserver.setPieceHeldSupplier(this::holdingPiece); - } - - private void configMotors() { - m_coralLeft.clearStickyFaults(); - m_coralRight.clearStickyFaults(); - - m_coralLeft.getConfigurator().apply(CoralConstants.motorConfig); - m_coralRight.getConfigurator().apply(CoralConstants.motorConfig.withMotorOutput(CoralConstants.motorConfig.MotorOutput.withInverted(CoralConstants.kInvertRight))); - - // m_coralRight.setControl(new Follower(IDConstants.coralLeft, CoralConstants.rightMotorInvert)); - } - - private void configDashboard() { - if (Robot.isReal()) { - // NOTHING YET - } else { - SmartDashboard.putBoolean("Coral Override", false); - } - } - - private void configCANrange() { - m_frontRange.getConfigurator().apply(CoralConstants.frontRangeConfig); - m_upperRange.getConfigurator().apply(CoralConstants.upperRangeConfig); - m_innerRange.getConfigurator().apply(CoralConstants.innerRangeConfig); - } - - public void setVoltage(double voltage) { - m_coralLeft.setVoltage(voltage); - m_coralRight.setVoltage(voltage); - // m_voltageChanged = (voltage != m_voltage); - // m_voltage = voltage; - } - - public void setIntake() { - setVoltage(CoralConstants.intakeVoltage); - } - - public void setRetract() { - setVoltage(CoralConstants.retractVoltage); - } - - public void timeoutIntake() { - // a whole lotta logic that essentially allows u to stop the motor in default command - // when you leave the yay zone after intakeTimeout seconds automatically (max process time) or when coral detected - if (!m_stoppedTimeChanged) { - m_stoppedTimeChanged = true; - m_stoppedTime = Utils.getCurrentTimeSeconds(); - } - - if (holdingPiece()) { - stop(); - return; - } - - if (presentPiece()) { - setIntake(); - return; - } - - double elapsed = Utils.getCurrentTimeSeconds() - m_stoppedTime; - - if (elapsed > CoralConstants.intakeTimeout) { - stop(); - resetTimeout(); - return; - } - - if (holdingPiece()) { - stop(); - } - } - - public void resetTimeout() { - m_stoppedTime = -1; - m_stoppedTimeChanged = false; - } - - public void setEject() { - setVoltage(CoralConstants.ejectVoltage); - } - - public void setL2Eject() { - m_logger.trace("Setting L2 eject"); - setVoltage(CoralConstants.l2EjectVoltage); - } - - public void setL3Eject() { - m_logger.trace("Setting L3 eject"); - setVoltage(CoralConstants.l3EjectVoltage); - } - - public void setL4Eject() { - m_logger.trace("Setting L4 eject"); - setVoltage(CoralConstants.l4EjectVoltage); - } - - public void setSpitOut() { - setVoltage(CoralConstants.spitOutVoltage); - } - - public void setL1Eject() { - m_coralLeft.setVoltage(CoralConstants.l1LeftEjectVoltage); - m_coralRight.setVoltage(CoralConstants.l1RightEjectVoltage); - } - - public void resetFollow() { - m_coralRight.setControl(new Follower(IDConstants.coralLeft, CoralConstants.rightMotorInvert)); - } - - public void stop() { - setVoltage(0); - } - - public boolean getFrontCANrange() { - return m_frontRange.getIsDetected().getValue(); - } - - public boolean getUpperCANrange() { - return m_upperRange.getIsDetected().getValue(); - } - - public boolean getInnerCANrange() { - return m_innerRange.getIsDetected().getValue(); - } - - public boolean holdingPiece() { - if (Robot.isReal()) { - boolean holding = getFrontCANrange() && !getUpperCANrange(); - m_logger.trace("holding: {}", holding); - return holding; - } else { - boolean present = SmartDashboard.getBoolean("Coral present", false); - SmartDashboard.putBoolean("Coral present", present); - return present; - } - } - - public void fastEject() { - setVoltage(CoralConstants.fastEjectVoltage); - } - - public void slowScore() { - setVoltage(CoralConstants.l1EjectVoltage); - } - - public boolean presentPiece() { - return getInnerCANrange() || getFrontCANrange(); - } - - public boolean intakeReady() { - return getUpperCANrange() || presentPiece(); - } - - @Override - public void periodic() { - SmartDashboard.putBoolean("Inner CANrange", getInnerCANrange()); - SmartDashboard.putBoolean("Coral CANrange", getFrontCANrange()); - SmartDashboard.putBoolean("OCS", getUpperCANrange()); - SmartDashboard.putBoolean("HAS CORAL", holdingPiece()); - - if (m_voltageChanged) { - m_coralLeft.setVoltage(m_voltage); - m_coralRight.setVoltage(m_voltage); - m_voltageChanged = false; - } - } - +public class CoralRollers extends PassiveSubsystem { + private final Logger m_logger = LoggerFactory.getLogger(CoralRollers.class); + + private final TalonFX m_coralLeft = new TalonFX(IDConstants.coralLeft); + private final TalonFX m_coralRight = new TalonFX(IDConstants.coralRight); + + private final CANrange m_frontRange = new CANrange(IDConstants.coralCANrange); + private final CANrange m_upperRange = new CANrange(IDConstants.upperCANrange); + private final CANrange m_innerRange = new CANrange(IDConstants.innerCANrange); + + private double m_voltage; + private boolean m_voltageChanged; + + public CoralRollers() { + super(); + configMotors(); + configDashboard(); + configCANrange(); + RobotObserver.setPieceHeldSupplier(holdingPiece()); + } + + private void configMotors() { + m_coralLeft.clearStickyFaults(); + m_coralRight.clearStickyFaults(); + + m_coralLeft.getConfigurator().apply(CoralConstants.motorConfig); + m_coralRight.getConfigurator().apply(CoralConstants.motorConfig.withMotorOutput( + CoralConstants.motorConfig.MotorOutput.withInverted(CoralConstants.kInvertRight))); + } + + private void configDashboard() { + if (Robot.isReal()) { + // NOTHING YET + } else { + SmartDashboard.putBoolean("Coral Override", false); + } + } + + private void configCANrange() { + m_frontRange.getConfigurator().apply(CoralConstants.frontRangeConfig); + m_upperRange.getConfigurator().apply(CoralConstants.upperRangeConfig); + m_innerRange.getConfigurator().apply(CoralConstants.innerRangeConfig); + } + + private void setVoltage(double voltage) { + m_coralLeft.setVoltage(voltage); + m_coralRight.setVoltage(voltage); + } + + private void setIntake() { + setVoltage(CoralConstants.intakeVoltage); + } + + private void setL2Score() { + m_logger.trace("Setting L2 eject"); + setVoltage(CoralConstants.l2EjectVoltage); + } + + private void setL3Score() { + m_logger.trace("Setting L3 eject"); + setVoltage(CoralConstants.l3EjectVoltage); + } + + private void setL4Score() { + m_logger.trace("Setting L4 eject"); + setVoltage(CoralConstants.l4EjectVoltage); + } + + private void setL1Score() { + m_coralLeft.setVoltage(CoralConstants.l1LeftEjectVoltage); + m_coralRight.setVoltage(CoralConstants.l1RightEjectVoltage); + } + + private boolean getFrontCANrange() { + return m_frontRange.getIsDetected().getValue(); + } + + private boolean getUpperCANrange() { + return m_upperRange.getIsDetected().getValue(); + } + + private boolean getInnerCANrange() { + return m_innerRange.getIsDetected().getValue(); + } + + public Trigger holdingPiece() { + return new Trigger(() -> { + if (Robot.isReal()) { + boolean holding = getFrontCANrange() && !getUpperCANrange(); + m_logger.trace("holding: {}", holding); + return holding; + } else { + boolean present = SmartDashboard.getBoolean("Coral present", false); + SmartDashboard.putBoolean("Coral present", present); + return present; + } + }); + } + + private void stop() { + setVoltage(0); + } + + public Trigger presentPiece() { + return new Trigger(() -> getInnerCANrange() || getFrontCANrange()); + } + + public Trigger intakeReady() { + return new Trigger(() -> getUpperCANrange() || getInnerCANrange() || getFrontCANrange()); + } + + @Override + public void periodic() { + SmartDashboard.putBoolean("Inner CANrange", getInnerCANrange()); + SmartDashboard.putBoolean("Coral CANrange", getFrontCANrange()); + SmartDashboard.putBoolean("OCS", getUpperCANrange()); + SmartDashboard.putBoolean("HAS CORAL", holdingPiece().getAsBoolean()); + + if (m_voltageChanged) { + m_coralLeft.setVoltage(m_voltage); + m_coralRight.setVoltage(m_voltage); + m_voltageChanged = false; + } + } + + protected void passive() {} + + /** + * Intakes a game piece. The command ends when the piece is fully in the robot. + */ + public Command intake() { + return Commands.sequence( + runOnce(this::setIntake), + Commands.waitUntil(holdingPiece())) + + .finallyDo(this::stop); + } + + /** + * Scores a piece at L1 power + */ + public Command l1Score() { + return run(this::setL1Score) + .onlyWhile(holdingPiece()) + .finallyDo(this::stop); + } + + /** + * Scores a piece at L2 power + */ + public Command l2Score() { + return run(this::setL2Score) + .onlyWhile(holdingPiece()) + .finallyDo(this::stop); + } + + /** + * Scores a piece at L3 power + */ + public Command l3Score() { + return run(this::setL3Score) + .onlyWhile(holdingPiece()) + .finallyDo(this::stop); + } + + /** + * Scores a piece at L4 power + */ + public Command l4Score() { + return run(this::setL4Score) + .onlyWhile(holdingPiece()) + .finallyDo(this::stop); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java index ff41e5b0..3c4f80d1 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java @@ -27,7 +27,9 @@ import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.ElevatorConstants; import frc.robot.Constants.IDConstants; import frc.robot.Constants.RobotConstants; @@ -35,292 +37,370 @@ import frc.robot.Robot; import frc.robot.RobotObserver; -public class Elevator extends SubsystemBase { - // we want to have a logger, even if we're not using it... yet - @SuppressWarnings("unused") - private final Logger m_logger = LoggerFactory.getLogger(Elevator.class); - - private final TalonFX m_elevatorLeft = new TalonFX(IDConstants.elevatorLeft, "*"); - private final TalonFX m_elevatorRight = new TalonFX(IDConstants.elevatorRight, "*"); - - private final CANrange m_CANrange = new CANrange(IDConstants.elevatorCANrange); - - private final Debouncer m_debouncer = new Debouncer(ElevatorConstants.kRangeDebounceTime.in(Seconds)); - - private double m_position; - private double m_velocity; - - private double m_reference; - - private ElevatorSim m_elevatorSim; - private final DCMotor m_elevatorGearbox = DCMotor.getKrakenX60Foc(2); // 2 motors (left and right) - - private Mechanism2d m_mechVisual; - private MechanismRoot2d m_mechRoot; - private MechanismLigament2d m_elevatorArm; - - private boolean m_taken; - - private double m_speed; - private boolean m_speedChanged; - - public Elevator() { - configMotor(); - configCANrange(); - configSim(); - m_taken = false; - } - - private void configCANrange() { - m_CANrange.getConfigurator().apply(ElevatorConstants.kCANrangeConfig, RobotConstants.globalCanTimeout.in(Seconds)); - } - - private void configMotor() { - m_elevatorRight.getConfigurator().apply(ElevatorConstants.motorConfig, 0.2); - m_elevatorLeft.getConfigurator().apply(ElevatorConstants.motorConfig, 0.2); - Follower follower = new Follower(IDConstants.elevatorRight, ElevatorConstants.invertLeftMotorFollower); - m_elevatorLeft.setControl(follower); - m_elevatorRight.setPosition(0); - } - - private void configSim() { - m_elevatorSim = new ElevatorSim( - ElevatorConstants.stateSpacePlant, - m_elevatorGearbox, - ElevatorConstants.reverseSoftLimit, - ElevatorConstants.forwardSoftLimit, - true, - ElevatorConstants.reverseSoftLimit - ); - - m_mechVisual = new Mechanism2d(1, 12); // Width/height in meters - m_mechRoot = m_mechVisual.getRoot("ElevatorRoot", 0.5, 0.0); // Center at (0.5, 0) - m_elevatorArm = m_mechRoot.append(new MechanismLigament2d("ElevatorArm", 0.0, 90)); // Start at 0.1m height - SmartDashboard.putData("Elevator Visualization", m_mechVisual); - if (RobotBase.isSimulation()) { - // in simulation, we want to emulate the effect produced by - // using an encoder offset (i.e. we start at 0). - m_elevatorRight.setPosition(0.0); - } - } - - // private final MotionMagicVoltage control = new MotionMagicVoltage(0); - private final DynamicMotionMagicVoltage control = new DynamicMotionMagicVoltage(0,0,0,0); - - public void setPosition(double goal) { - m_taken = true; - if (RobotObserver.getNoElevatorZone() && (m_position > ElevatorConstants.unsafeRange || goal > ElevatorConstants.unsafeRange)) { - return; - } - // floor values for the goal between our two extrema for their positions - goal = Math.min(goal, ElevatorConstants.forwardSoftLimit); - goal = Math.max(goal, ElevatorConstants.reverseSoftLimit); - if (goal >= getPosition() || true) { - m_elevatorRight.setControl(control - .withPosition(goal) - .withVelocity(ElevatorConstants.maxSpeedUp) - .withAcceleration(ElevatorConstants.maxAccelerationUp) - .withJerk(ElevatorConstants.maxJerkUp) - .withSlot(0)); - } else { - m_elevatorRight.setControl(control - .withPosition(goal) - .withVelocity(ElevatorConstants.maxSpeedDown) - .withAcceleration(ElevatorConstants.maxAccelerationDown) - .withJerk(ElevatorConstants.maxJerkDown) - .withSlot(1)); - } - - m_reference = goal; - } - - public void setSpeed(double speed) { - m_speedChanged = (speed != m_speed); - m_speed = speed; - } - - public void setGroundIntake() { - setPosition(ElevatorConstants.groundIntake); - } - - public void setHighGroundIntake() { - setPosition(ElevatorConstants.highGroundIntake); - } - - public void setStow() { - setPosition(ElevatorConstants.stow); - } - - public void setEject() { - setPosition(ElevatorConstants.eject); - } - - public void setProcessor() { - setPosition(ElevatorConstants.processor); - } - - public void setZero() { - setPosition(0); - } - - public void setL1() { - setPosition(ElevatorConstants.L1); - } - - public void setSecondaryL1() { - setPosition(ElevatorConstants.secondaryL1); - } - - public void setL2() { - setPosition(ElevatorConstants.L2); - } - - public void setL3() { - setPosition(ElevatorConstants.L3); - } - - public void setL4() { - setPosition(ElevatorConstants.L4); - } - - public void setPrep() { - // no compensation - setPosition(ElevatorConstants.prep); - } - - public void setReefLower() { - setPosition(ElevatorConstants.reefLower); - } - - public void setReefUpper() { - setPosition(ElevatorConstants.reefUpper); - } - - public void setNet() { - setPosition(ElevatorConstants.net); - } - - public void stop() { - setPosition(m_position); - } - - public void setLevel(int level) { - switch (level) { - case 1 -> setL1(); - case 2 -> setL2(); - case 3 -> setL3(); - case 4 -> setL4(); - case 5 -> setNet(); - case 0 -> setStow(); - default -> setStow(); - } - } - - public boolean atSetpoint() { - if (Robot.isSimulation()) return true; - boolean at = Math.abs(m_reference - m_position) < ElevatorConstants.tolerance; - m_logger.debug("Setpoint: {}", at); - return at; - } - - public double getReference() { - return m_reference; - } - - public double getPosition() { - return m_position; - } - - public double getVelocity() { - return m_velocity; - } - - private double getPositionUncached() { - if (RobotBase.isReal()) { - return m_elevatorRight.getPosition().getValueAsDouble(); - } else { - return m_elevatorSim.getPositionMeters(); - } - } - - private double getVelocityUncached() { - if (RobotBase.isReal()) { - return m_elevatorRight.getVelocity().getValueAsDouble(); - } else { - return m_elevatorSim.getVelocityMetersPerSecond(); - } - } - - public void prepZero() { - m_elevatorRight.getConfigurator().apply(new SoftwareLimitSwitchConfigs()); - m_elevatorRight.setControl(new DutyCycleOut(ElevatorConstants.manualDownSpeed) - .withLimitReverseMotion(false) - .withIgnoreHardwareLimits(true)); - } - - public void zeroElevator() { - m_elevatorRight.setPosition(0.0, 0.2); - } - - public void enableLimits() { - m_elevatorRight.getConfigurator().apply(ElevatorConstants.motorConfig.SoftwareLimitSwitch); - } - - public boolean atZero() { - return m_debouncer.calculate(m_CANrange.getIsDetected().getValue()); - // return m_elevatorRight.getSupplyCurrent().getValueAsDouble() >= ElevatorConstants.k_zeroCurrentThreshold; - } - - public void goDownNoStopping() { - m_elevatorRight.setPosition(1); - m_elevatorRight.set(ElevatorConstants.manualDownSpeed); - } - - @Override - public void periodic() { - m_position = getPositionUncached(); - m_velocity = getVelocityUncached(); - - if (m_speedChanged) { - m_elevatorRight.setControl(new DutyCycleOut(m_speed)); - m_speedChanged = false; - } - - SmartDashboard.putBoolean("ELEVATOR AT POSITION", atSetpoint()); - } - - @Override - public void simulationPeriodic() { - // Update the simulation with the motor voltage - double appliedVolts = m_elevatorRight.get() * RobotController.getBatteryVoltage() * 2; - - m_elevatorSim.setInput(appliedVolts); - m_elevatorSim.update(SimConstants.k_simPeriodic); - - m_position = getPositionUncached(); - m_velocity = getVelocityUncached(); - - // Update the simulated encoder values - m_elevatorRight.getSimState().setRawRotorPosition(m_position); - m_elevatorRight.getSimState().setRotorVelocity(m_velocity); - - m_elevatorArm.setLength(m_position + 0.1); // Offset to avoid overlapping with root - - // Simulate battery voltage - double volts = BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDrawAmps()); - RoboRioSim.setVInVoltage(volts); - } - - public boolean elevatorUp() { - return getPosition() > ElevatorConstants.unsafeRange || m_reference > ElevatorConstants.unsafeRange; - } - public boolean safe() {return !elevatorUp();} - - public void release() { - m_taken = false; - } - - public boolean taken() { - return m_taken; - } +public class Elevator extends PassiveSubsystem { + // we want to have a logger, even if we're not using it... yet + private final Logger m_logger = LoggerFactory.getLogger(Elevator.class); + + private final TalonFX m_elevatorLeft = new TalonFX(IDConstants.elevatorLeft, "*"); + private final TalonFX m_elevatorRight = new TalonFX(IDConstants.elevatorRight, "*"); + + private final CANrange m_CANrange = new CANrange(IDConstants.elevatorCANrange); + + private final Debouncer m_debouncer = + new Debouncer(ElevatorConstants.kRangeDebounceTime.in(Seconds)); + + private double m_position; + + private double m_reference; + + private ElevatorSim m_elevatorSim; + private final DCMotor m_elevatorGearbox = DCMotor.getKrakenX60Foc(2); // 2 motors (left and right) + + private Mechanism2d m_mechVisual; + private MechanismRoot2d m_mechRoot; + private MechanismLigament2d m_elevatorArm; + + private double m_speed; + private boolean m_speedChanged; + + public Elevator() { + super(); + configMotor(); + configCANrange(); + configSim(); + SmartDashboard.putData("Lazy Zero Elevator", runOnce(this::zeroElevator).ignoringDisable(true)); + } + + private void configCANrange() { + m_CANrange.getConfigurator().apply( + ElevatorConstants.kCANrangeConfig, + RobotConstants.globalCanTimeout.in(Seconds)); + } + + private void configMotor() { + m_elevatorRight.getConfigurator().apply(ElevatorConstants.motorConfig, 0.2); + m_elevatorLeft.getConfigurator().apply(ElevatorConstants.motorConfig, 0.2); + Follower follower = new Follower( + IDConstants.elevatorRight, + ElevatorConstants.invertLeftMotorFollower); + m_elevatorLeft.setControl(follower); + m_elevatorRight.setPosition(0); + } + + private void configSim() { + m_elevatorSim = new ElevatorSim( + ElevatorConstants.stateSpacePlant, + m_elevatorGearbox, + ElevatorConstants.reverseSoftLimit, + ElevatorConstants.forwardSoftLimit, + true, + ElevatorConstants.reverseSoftLimit); + + m_mechVisual = new Mechanism2d(1, 12); // Width/height in meters + m_mechRoot = m_mechVisual.getRoot("ElevatorRoot", 0.5, 0.0); // Center at (0.5, 0) + m_elevatorArm = m_mechRoot.append(new MechanismLigament2d("ElevatorArm", 0.0, 90)); // Start at + // 0.1m + // height + SmartDashboard.putData("Elevator Visualization", m_mechVisual); + if (RobotBase.isSimulation()) { + // in simulation, we want to emulate the effect produced by + // using an encoder offset (i.e. we start at 0). + m_elevatorRight.setPosition(0.0); + } + } + + private final DynamicMotionMagicVoltage control = new DynamicMotionMagicVoltage(0, 0, 0, 0); + + private void setPosition(double goal) { + take(); + if (RobotObserver.getNoElevatorZone() + && (m_position > ElevatorConstants.unsafeRange || goal > ElevatorConstants.unsafeRange)) { + return; + } + // floor values for the goal between our two extrema for their positions + goal = Math.min(goal, ElevatorConstants.forwardSoftLimit); + goal = Math.max(goal, ElevatorConstants.reverseSoftLimit); + m_elevatorRight.setControl(control + .withPosition(goal).withVelocity(ElevatorConstants.maxSpeedUp) + .withAcceleration(ElevatorConstants.maxAccelerationUp).withJerk(ElevatorConstants.maxJerkUp) + .withSlot(0)); + m_reference = goal; + } + + private void setGround() { + setPosition(ElevatorConstants.groundIntake); + } + + private void setHighGround() { + setPosition(ElevatorConstants.highGroundIntake); + } + + private void setStow() { + setPosition(ElevatorConstants.stow); + } + + private void setEject() { + setPosition(ElevatorConstants.eject); + } + + private void setProcessor() { + setPosition(ElevatorConstants.processor); + } + + private void setL1() { + setPosition(ElevatorConstants.L1); + } + + private void setSecondaryL1() { + setPosition(ElevatorConstants.secondaryL1); + } + + private void setL2() { + setPosition(ElevatorConstants.L2); + } + + private void setL3() { + setPosition(ElevatorConstants.L3); + } + + private void setL4() { + setPosition(ElevatorConstants.L4); + } + + private void setLowReef() { + setPosition(ElevatorConstants.reefLower); + } + + private void setHighReef() { + setPosition(ElevatorConstants.reefUpper); + } + + private void setNet() { + setPosition(ElevatorConstants.net); + } + + public boolean ready() { + if (Robot.isSimulation()) + return true; + boolean at = Math.abs(m_reference - m_position) < ElevatorConstants.tolerance; + m_logger.debug("Setpoint: {}", at); + return at; + } + + public double getReference() { + return m_reference; + } + + public double getPosition() { + return m_position; + } + + private double getPositionUncached() { + if (RobotBase.isReal()) { + return m_elevatorRight.getPosition().getValueAsDouble(); + } else { + return m_elevatorSim.getPositionMeters(); + } + } + + private void prepZero() { + m_elevatorRight.getConfigurator().apply(new SoftwareLimitSwitchConfigs()); + m_elevatorRight.setControl(new DutyCycleOut(ElevatorConstants.manualDownSpeed) + .withLimitReverseMotion(false).withIgnoreHardwareLimits(true)); + } + + private void zeroElevator() { + m_elevatorRight.setPosition(0.0, 0.2); + } + + private void enableLimits() { + m_elevatorRight.getConfigurator().apply(ElevatorConstants.motorConfig.SoftwareLimitSwitch); + } + + private boolean atZero() { + return m_debouncer.calculate(m_CANrange.getIsDetected().getValue()); + } + + private void goDownNoStopping() { + m_elevatorRight.setPosition(1); // TODO: Why is this line here? + m_logger.warn("unhandled todo!"); + m_elevatorRight.set(ElevatorConstants.manualDownSpeed); + } + + @Override + public void periodic() { + m_position = getPositionUncached(); + + if (m_speedChanged) { + m_elevatorRight.setControl(new DutyCycleOut(m_speed)); + m_speedChanged = false; + } + + SmartDashboard.putBoolean("ELEVATOR AT POSITION", ready()); + } + + @Override + public void simulationPeriodic() { + // Update the simulation with the motor voltage + double appliedVolts = m_elevatorRight.get() * RobotController.getBatteryVoltage() * 2; + + m_elevatorSim.setInput(appliedVolts); + m_elevatorSim.update(SimConstants.k_simPeriodic); + + m_position = getPositionUncached(); + + // Update the simulated encoder values + m_elevatorRight.getSimState().setRawRotorPosition(m_position); + + m_elevatorArm.setLength(m_position + 0.1); // Offset to avoid overlapping with root + + // Simulate battery voltage + double volts = + BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDrawAmps()); + RoboRioSim.setVInVoltage(volts); + } + + /** + * Whether or not the elevator is above the "safe" range + */ + public Trigger unsafe() { + return new Trigger(() -> getPosition() > ElevatorConstants.unsafeRange + || m_reference > ElevatorConstants.unsafeRange); + } + + protected void passive() {} + + /** + * Stows the elevator + */ + public Command stow() { + return Commands.sequence( + runOnce(this::setStow), + Commands.waitUntil(this::ready)); + } + + /** + * Goes to the height to eject a coral + */ + public Command eject() { + return Commands.sequence( + runOnce(this::setEject), + Commands.waitUntil(this::ready)); + } + + /** + * Goes to L1 height + */ + public Command l1() { + return Commands.sequence( + runOnce(this::setL1), + Commands.waitUntil(this::ready)); + } + + /** + * Goes to the secondary (higher) L1 height + */ + public Command secondaryL1() { + return Commands.sequence( + runOnce(this::setSecondaryL1), + Commands.waitUntil(this::ready)); + } + + /** + * Goes to L2 height + */ + public Command l2() { + return Commands.sequence( + runOnce(this::setL2), + Commands.waitUntil(this::ready)); + } + + /** + * Goes to L3 height + */ + public Command l3() { + return Commands.sequence( + runOnce(this::setL3), + Commands.waitUntil(this::ready)); + } + + /** + * goes to L4 height + */ + public Command l4() { + return Commands.sequence( + runOnce(this::setL4), + Commands.waitUntil(this::ready)); + } + + /** + * Goes to the ground height + */ + public Command ground() { + return Commands.sequence( + runOnce(this::setGround), + Commands.waitUntil(this::ready)); + } + + /** + * Goes to the high ground height + */ + public Command highGround() { + return Commands.sequence( + runOnce(this::setHighGround), + Commands.waitUntil(this::ready)); + } + + /** + * Goes to net height + */ + public Command net() { + return Commands.sequence( + runOnce(this::setNet), + Commands.waitUntil(this::ready)); + } + + /** + * Goes to processor height + */ + public Command processor() { + return Commands.sequence( + runOnce(this::setProcessor), + Commands.waitUntil(this::ready)); + } + + /** + * Goes to the position for intaking off the lower reef slot + */ + public Command lowReef() { + return Commands.sequence( + runOnce(this::setLowReef), + Commands.waitUntil(this::ready)); + } + + /** + * Goes to the position for intaking off the higher reef slot + */ + public Command highReef() { + return Commands.sequence( + runOnce(this::setHighReef), + Commands.waitUntil(this::ready)); + } + + /** + * Automatically zeroes the elevator. + */ + public Command autoZero() { + return Commands.sequence( + runOnce(this::prepZero), + runOnce(this::goDownNoStopping), + Commands.waitUntil(this::atZero)) + + .finallyDo(this::enableLimits) + .finallyDo(interrupted -> { + if (!interrupted) { + zeroElevator(); + } + }); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java b/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java new file mode 100644 index 00000000..62f73edb --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java @@ -0,0 +1,77 @@ +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +/** + * Represents a subsystem with the ability to enable and disable its passive state. + * + * Because some subsystems have default, or "passive", behavior that should only run upon a certain + * condition. The PassiveSubsystem deals with this functionality by storing a "taken" flag that is + * set and unset by commands, methods, etc. + * + * Instead of using a default command to add passive behavior, this makes more sense because this + * ensures that the + */ +public abstract class PassiveSubsystem extends SubsystemBase { + private boolean m_taken; + + protected PassiveSubsystem() { + enablePassiveBehavior(); + } + + /** + * Returns whether the subsystem is taken, or available for passive action + */ + public boolean taken() { + return m_taken; + } + + /** + * Sets the subsystem's taken state to true so that passive behavior does not run. + */ + public void take() { + m_taken = true; + } + + /** + * Sets the subsystem's taken state to false so that passive behavior may run. + */ + public void release() { + m_taken = false; + } + + /** + * Calls release() if the condition is met. This is useful as a helper method to only + * release a subsystem if a command was interrupted. + */ + public void conditionalRelease(boolean shouldRelease) { + if (shouldRelease) { + release(); + } + } + + /** + * The passive method that should be called every sceduler iteration if and only if the subsystem + * is not taken. + */ + protected abstract void passive(); + + private Command passiveBehavior() { + return Commands.run(() -> { + if (!taken()) { + passive(); + } + }); + } + + /** + * Enables passive behavior for the PassiveSubsystem. Without calling this method, passive + * behavior will never be triggered. A good place for this is most likely the constructor for the + * subsystem. + */ + protected void enablePassiveBehavior() { + setDefaultCommand(passiveBehavior()); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java index 68493073..bbdc5819 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java @@ -17,159 +17,190 @@ import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.Constants.IDConstants; import frc.robot.Constants.PivotConstants; import frc.robot.Constants.SimConstants; import frc.robot.Robot; import frc.robot.RobotObserver; -public class Pivot extends SubsystemBase { - private final TalonFX m_pivot = new TalonFX(IDConstants.pivot); +public class Pivot extends PassiveSubsystem { + private final TalonFX m_pivot = new TalonFX(IDConstants.pivot); + + private double m_position; + + private double m_reference; + + private SingleJointedArmSim m_armSim; + private final DCMotor m_gearbox = DCMotor.getKrakenX60(1); // 2 motors (left and right) + + private Mechanism2d m_mechVisual; + private MechanismRoot2d m_mechRoot; + private MechanismLigament2d m_armLigament; + + private double m_speed; + private boolean m_speedChanged; + + public Pivot() { + super(); + configSim(); + configMotor(); + } - private double m_position; - private double m_velocity; + private void configMotor() { + m_pivot.getConfigurator().apply(PivotConstants.motorConfig, 0.2); + m_pivot.setPosition(PivotConstants.rotorOffset); + } - private double m_reference; + private void configSim() { + m_armSim = new SingleJointedArmSim( + PivotConstants.stateSpacePlant, + m_gearbox, + PivotConstants.gearRatio, + PivotConstants.armLength, + PivotConstants.radiansAtZero, + PivotConstants.radiansAtMax, + true, // Add noise for realism + PivotConstants.stow // Starting angle + ); + + m_mechVisual = new Mechanism2d(1.0, 1.0); // Width/height in meters + m_mechRoot = m_mechVisual.getRoot("ArmRoot", 0.5, 0.0); // Center at (0.5, 0) + m_armLigament = m_mechRoot + .append( + new MechanismLigament2d("Arm", PivotConstants.armLength, Math.toDegrees(m_position))); + SmartDashboard.putData("Pivot Arm Visualization", m_mechVisual); + } + + MotionMagicVoltage control = new MotionMagicVoltage(0); + + public void setPosition(double goal) { + if (RobotObserver.getAlgaePieceHeld()) { + m_pivot.setControl(control.withPosition(goal).withSlot(1)); + } else { + m_pivot.setControl(control.withPosition(goal).withSlot(0)); + } + m_reference = goal; + } + + public void setSpeed(double speed) { + m_speedChanged = (speed != m_speed); + m_speed = speed; + } + + public void setStow() { + setPosition(PivotConstants.stow); + } + + public void setProcessor() { + setPosition(PivotConstants.processor); + } + + public void setNet() { + setPosition(PivotConstants.net); + } + + public void setGroundPickup() { + setPosition(PivotConstants.groundPickup); + } + + public void setReefIntake() { + setPosition(PivotConstants.reefPickup); + } + + public void setReefExtract() { + setPosition(PivotConstants.reefExtract); + } + + public void stop() { + setPosition(m_position); + } + + public double getPosition() { + return m_position; + } + + public double getReference() { + return m_reference; + } + + public boolean ready() { + return Math.abs(getReference() - getPosition()) < PivotConstants.tolerance; + } + + private double getPositionUncached() { + if (Robot.isReal()) { + return m_pivot.getPosition().getValueAsDouble(); + } else { + return m_armSim.getAngleRads(); + } + } + + @Override + public void periodic() { + m_armLigament.setAngle(Math.toDegrees(m_position)); + + m_position = getPositionUncached(); + + if (m_speedChanged) { + m_pivot.setControl(new DutyCycleOut(m_speed)); + m_speedChanged = false; + } + + SmartDashboard.putBoolean("PIVOT AT POSITION", ready()); + } + + @Override + public void simulationPeriodic() { + // Update the simulation with the motor voltage + double appliedVolts = m_pivot.get() * RobotController.getBatteryVoltage(); + m_armSim.setInput(appliedVolts); + m_armSim.update(SimConstants.k_simPeriodic); + + // Simulate battery voltage + RoboRioSim.setVInVoltage( + BatterySim.calculateDefaultBatteryLoadedVoltage(m_armSim.getCurrentDrawAmps())); + } + + protected void passive() { + setStow(); + } + + /** + * Stows the pivot + */ + public Command stow() { + return Commands.sequence( + runOnce(this::setStow), + Commands.waitUntil(this::ready)); + } + + /** + * Sets the pivot to the angle for ground intake + */ + public Command ground() { + return Commands.sequence( + runOnce(this::setGroundPickup), + Commands.waitUntil(this::ready)); + } + + /** + * Sets the pivot to the angle for intaking an algae from the reef + */ + public Command reefIntake() { + return Commands.sequence( + runOnce(this::setReefIntake), + Commands.waitUntil(this::ready)); + } + + /** + * Sets the pivot to the angle for pulling an algae out of the reef + */ + public Command reefExtract() { + return Commands.sequence( + runOnce(this::setReefExtract), + Commands.waitUntil(this::ready)); + } - private SingleJointedArmSim m_armSim; - private final DCMotor m_gearbox = DCMotor.getKrakenX60(1); // 2 motors (left and right) - - private Mechanism2d m_mechVisual; - private MechanismRoot2d m_mechRoot; - private MechanismLigament2d m_armLigament; - - private double m_speed; - private boolean m_speedChanged; - - public Pivot() { - configSim(); - configMotor(); - } - - private void configMotor() { - m_pivot.getConfigurator().apply(PivotConstants.motorConfig, 0.2); - m_pivot.setPosition(PivotConstants.rotorOffset); - } - - private void configSim() { - m_armSim = new SingleJointedArmSim( - PivotConstants.stateSpacePlant, - m_gearbox, - PivotConstants.gearRatio, - PivotConstants.armLength, - PivotConstants.radiansAtZero, - PivotConstants.radiansAtMax, - true, // Add noise for realism - PivotConstants.stow // Starting angle - ); - - m_mechVisual = new Mechanism2d(1.0, 1.0); // Width/height in meters - m_mechRoot = m_mechVisual.getRoot("ArmRoot", 0.5, 0.0); // Center at (0.5, 0) - m_armLigament = m_mechRoot - .append(new MechanismLigament2d("Arm", PivotConstants.armLength, Math.toDegrees(m_position))); - SmartDashboard.putData("Pivot Arm Visualization", m_mechVisual); - } - - MotionMagicVoltage control = new MotionMagicVoltage(0); - - public void setPosition(double goal) { - if (RobotObserver.getAlgaePieceHeld()) { - m_pivot.setControl(control.withPosition(goal).withSlot(1)); - } else { - m_pivot.setControl(control.withPosition(goal).withSlot(0)); - } - m_reference = goal; - } - - public void setSpeed(double speed) { - m_speedChanged = (speed != m_speed); - m_speed = speed; - } - - public void setStow() { - setPosition(PivotConstants.stow); - } - - public void setProcessor() { - setPosition(PivotConstants.processor); - } - - public void setNet() { - setPosition(PivotConstants.net); - } - - public void setGroundPickup() { - setPosition(PivotConstants.groundPickup); - } - - public void setReefPickup() { - setPosition(PivotConstants.reefPickup); - } - - public void setReefExtract() { - setPosition(PivotConstants.reefExtract); - } - - public void stop() { - setPosition(m_position); - } - - public double getPosition() { - return m_position; - } - - public double getReference() { - return m_reference; - } - - public double getVelocity() { - return m_velocity; - } - - public boolean atSetpoint() { - return Math.abs(getReference() - getPosition()) < PivotConstants.tolerance; - } - - private double getPositionUncached() { - if (Robot.isReal()) { - return m_pivot.getPosition().getValueAsDouble(); - } else { - return m_armSim.getAngleRads(); - } - } - - private double getVelocityUncached() { - if (Robot.isReal()) { - return m_pivot.getVelocity().getValueAsDouble(); - } else { - return m_armSim.getVelocityRadPerSec(); - } - } - - @Override - public void periodic() { - m_armLigament.setAngle(Math.toDegrees(m_position)); - - m_position = getPositionUncached(); - m_velocity = getVelocityUncached(); - - if (m_speedChanged) { - m_pivot.setControl(new DutyCycleOut(m_speed)); - m_speedChanged = false; - } - - SmartDashboard.putBoolean("PIVOT AT POSITION", atSetpoint()); - } - - @Override - public void simulationPeriodic() { - // Update the simulation with the motor voltage - double appliedVolts = m_pivot.get() * RobotController.getBatteryVoltage(); - m_armSim.setInput(appliedVolts); - m_armSim.update(SimConstants.k_simPeriodic); - - // Simulate battery voltage - RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage(m_armSim.getCurrentDrawAmps())); - } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/EnterableState.java b/ThriftyTest/src/main/java/frc/robot/superstructure/EnterableState.java new file mode 100644 index 00000000..c190db60 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/EnterableState.java @@ -0,0 +1,18 @@ +package frc.robot.superstructure; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.Superstructure.Subsystems; + +/** + * A robot has a lot of possible states. This class represents a single one. + * + * A state is a possible configuration of the robot. The EnterableState has a method + * build(subsystems) which builds a command that, if possible, directs the robot to + * enter the state that the class represents. + */ +public interface EnterableState { + /** + * Builds a command to enter this state. + */ + Command build(Subsystems subsystems); +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java new file mode 100644 index 00000000..783d580c --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -0,0 +1,55 @@ +package frc.robot.superstructure; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.AlgaeRollers; +import frc.robot.subsystems.Climber; +import frc.robot.subsystems.CommandSwerveDrivetrain; +import frc.robot.subsystems.CoralRollers; +import frc.robot.subsystems.Elevator; +import frc.robot.subsystems.LedFeedback; +import frc.robot.subsystems.Pivot; + +public class Superstructure { + private final Subsystems m_subsystems; + + /** + * Constructs a new superstructure given the individual subsystems + */ + public Superstructure( + AlgaeRollers algaeRollers, + CoralRollers coralRollers, + Pivot pivot, + Elevator elevator, + Climber climber, + CommandSwerveDrivetrain drivetrain, + LedFeedback leds) { + + m_subsystems = new Subsystems( + algaeRollers, + coralRollers, + pivot, + elevator, + climber, + drivetrain, + leds); + } + + public Command enter(EnterableState state) { + return state.build(m_subsystems); + } + + public void setDrive(Command driveCommand) { + m_subsystems.drivetrain().setDefaultCommand(driveCommand); + } + + public static record Subsystems( + AlgaeRollers algaeRollers, + CoralRollers coralRollers, + Pivot pivot, + Elevator elevator, + Climber climber, + CommandSwerveDrivetrain drivetrain, + LedFeedback leds) { + } + +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Aligned.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Aligned.java new file mode 100644 index 00000000..284351de --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Aligned.java @@ -0,0 +1,18 @@ +package frc.robot.superstructure.states; + +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class Aligned implements EnterableState { + private final Pose2d m_goal; + /** + * A state that controls the drivetrain and drives to a certain, given point on the field. + */ + public Aligned(Pose2d goal) { + m_goal = goal; + } + + public Command build(Subsystems subsystems) { + return subsystems.drivetrain().align(m_goal); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/HeadingReset.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HeadingReset.java new file mode 100644 index 00000000..5010fe26 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HeadingReset.java @@ -0,0 +1,16 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class HeadingReset implements EnterableState { + /** + * An instant state that resets the operator forward perspective for teleop control + */ + public HeadingReset() {} + + public Command build(Subsystems subsystems) { + return subsystems.drivetrain().resetHeading(); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java new file mode 100644 index 00000000..ece82931 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java @@ -0,0 +1,20 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class Stowed implements EnterableState { + /** + * Stows all the stowables on the robot + */ + public Stowed() {} + + public Command build(Subsystems subsystems) { + return Commands.parallel( + subsystems.elevator().stow(), + subsystems.pivot().stow()); + } +} + diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/TeleopDrive.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/TeleopDrive.java new file mode 100644 index 00000000..8acb222f --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/TeleopDrive.java @@ -0,0 +1,25 @@ +package frc.robot.superstructure.states; + +import java.util.function.DoubleSupplier; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class TeleopDrive implements EnterableState { + private final DoubleSupplier m_x; + private final DoubleSupplier m_y; + private final DoubleSupplier m_rot; + + /** + * A state that is used to drive the robot given suppliers for x, y, and rotational velocities. + */ + public TeleopDrive(DoubleSupplier x, DoubleSupplier y, DoubleSupplier rot) { + m_x = x; + m_y = y; + m_rot = rot; + } + + public Command build(Subsystems subsystems) { + return subsystems.drivetrain().teleopDrive(m_x, m_y, m_rot); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java b/ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java index d3e91470..ee84e041 100644 --- a/ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java +++ b/ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java @@ -1,9 +1,6 @@ package frc.robot.utils; import java.io.IOException; -import java.util.ArrayList; -import java.util.List; -import java.util.function.Supplier; import org.json.simple.parser.ParseException; import org.slf4j.Logger; @@ -11,150 +8,43 @@ import com.pathplanner.lib.auto.AutoBuilder; import com.pathplanner.lib.config.RobotConfig; -import com.pathplanner.lib.path.GoalEndState; -import com.pathplanner.lib.path.IdealStartingState; -import com.pathplanner.lib.path.PathConstraints; -import com.pathplanner.lib.path.PathPlannerPath; -import com.pathplanner.lib.path.Waypoint; import com.pathplanner.lib.util.PathPlannerLogging; -import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import frc.robot.Constants.AutonConstants; import frc.robot.Constants.DriveConstants; -import frc.robot.RobotContainer; import frc.robot.RobotObserver; -import frc.robot.commands.DriveToPointCommand; import frc.robot.subsystems.CommandSwerveDrivetrain; public class AutonomousUtil { - @SuppressWarnings("unused") - private static final Logger m_logger = LoggerFactory.getLogger(RobotContainer.class); - - private static CommandSwerveDrivetrain m_drivetrain; - - public static void initializePathPlanner(CommandSwerveDrivetrain drivetrain) { - RobotConfig config; - try { - config = RobotConfig.fromGUISettings(); - AutoBuilder.configure( - drivetrain::getPose, // Robot pose supplier - drivetrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose) - drivetrain::getRobotRelativeSpeeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE - (speeds, feedforwards) -> drivetrain.driveWithChassisSpeeds(speeds), - DriveConstants.k_pathplannerHolonomicDriveController, - config, // The robot configuration - () -> { - var alliance = DriverStation.getAlliance(); - if (alliance.isPresent()) { - return alliance.get() == DriverStation.Alliance.Red; - } - return false; - }, - drivetrain); // Reference to this subsystem to set requirements - - drivetrain.initializeSetpointGenerator(config); - - m_drivetrain = drivetrain; - - PathPlannerLogging.setLogActivePathCallback(poses -> RobotObserver.getField().getObject("Pathfind Trajectory").setPoses(poses)); - } catch (IOException | ParseException e) { - e.printStackTrace(); - System.exit(1); - } - } - - private static final PathConstraints pathFindConstraints = new PathConstraints(DriveConstants.k_maxLinearSpeed, DriveConstants.k_maxLinearAcceleration, DriveConstants.k_maxAngularSpeed, DriveConstants.k_maxAngularAcceleration); - private static final PathConstraints finalAlignConstraints = new PathConstraints(DriveConstants.k_maxAlignLinearSpeed, DriveConstants.k_maxAlignLinearAcceleration, DriveConstants.k_maxAlignAngularSpeed, DriveConstants.k_maxAlignAngularAcceleration); - - private static Command pathFindThenPreciseAlign(Pose2d pose) { - Pose2d startPose = new Pose2d( - (Math.cos(pose.getRotation().getRadians()) * -AutonConstants.stage2Distance) + pose.getX(), - (Math.sin(pose.getRotation().getRadians()) * -AutonConstants.stage2Distance) + pose.getY(), - pose.getRotation() - ); - - List waypoints = PathPlannerPath.waypointsFromPoses(startPose, pose); - PathPlannerPath path = new PathPlannerPath( - waypoints, - finalAlignConstraints, - new IdealStartingState(0/*DriveConstants.k_maxAlignLinearSpeed.in(MetersPerSecond)*/, pose.getRotation()), - new GoalEndState(0, pose.getRotation()), - false); - - return AutoBuilder.pathfindThenFollowPath(path, pathFindConstraints); - } - - private static Command pathFinder(Pose2d pose) { - return new SequentialCommandGroup( - new InstantCommand(() -> RobotObserver.setReefMode(true)), - pathFindThenPreciseAlign(pose), - // preciseAlign(pose), - new InstantCommand(() -> RobotObserver.setReefMode(false)) - ); - } - - private static Command driveToPoint(Pose2d pose, CommandSwerveDrivetrain drivetrain) { - return new SequentialCommandGroup( - new InstantCommand(() -> RobotObserver.setReefMode(true)), - new DriveToPointCommand(FieldUtils.flipPose(pose), drivetrain), - new InstantCommand(() -> RobotObserver.setReefMode(false)) - ); - } - - public static Command generateRoutineWithCommands(CommandSwerveDrivetrain drivetrain, Pose2d desiredPickupLocation, Pose2d[] poses, Command[] scoringCommands, Supplier intakeCommand) { - SequentialCommandGroup routine = new SequentialCommandGroup(); - for (int i = 0; i < scoringCommands.length; i++) { - if (i != 0) { - routine.addCommands(pathFinder(desiredPickupLocation)); - routine.addCommands(intakeCommand.get()); + @SuppressWarnings("unused") + private static final Logger m_logger = LoggerFactory.getLogger(AutonomousUtil.class); + + public static void initializePathPlanner(CommandSwerveDrivetrain drivetrain) { + RobotConfig config; + try { + config = RobotConfig.fromGUISettings(); + AutoBuilder.configure( + drivetrain::getPose, // Robot pose supplier + drivetrain::resetPose, // Method to reset odometry (will be called if your auto has a + // starting pose) + drivetrain::getRobotRelativeSpeeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE + (speeds, feedforwards) -> drivetrain.driveWithChassisSpeeds(speeds), + DriveConstants.k_pathplannerHolonomicDriveController, + config, // The robot configuration + () -> { + var alliance = DriverStation.getAlliance(); + if (alliance.isPresent()) { + return alliance.get() == DriverStation.Alliance.Red; } - routine.addCommands(pathFinder(poses[i])); - routine.addCommands(scoringCommands[i]); - routine.addCommands(pathFinder(desiredPickupLocation)); - routine.addCommands(intakeCommand.get()); - } - - return routine; - } - - public static Command pathThenRunCommand(Pose2d pose, Supplier command) { - return new SequentialCommandGroup( - // pathFinder(pose), - driveToPoint(pose, m_drivetrain), - command.get() - ); - } - - public static Command closestPathThenRunCommand(Supplier scoreSupplier, List scoringLocationList) { - return pathThenRunCommand(clip(scoringLocationList), scoreSupplier); - } - - // queue stuff - - private static ArrayList onTheFlyCommands = new ArrayList<>(); - - public static void queuePathWithCommand(Pose2d pose, Supplier command) { - onTheFlyCommands.add(pathThenRunCommand(pose, command)); - } - - public static void queueClosest(Supplier scoreSupplier, List scoringLocationList) { - queuePathWithCommand(clip(scoringLocationList), scoreSupplier); - } - - private static Pose2d clip(List list) { - return FieldUtils.flipPose(RobotObserver.getPose()).nearest(list); - } - - // ****** HANDLE THE QUEUE ******** + return false; + }, + drivetrain); // Reference to this subsystem to set requirements - public static void clearQueue() { - for (Command command : onTheFlyCommands) { - command.cancel(); - } - onTheFlyCommands = new ArrayList<>(); + PathPlannerLogging.setLogActivePathCallback( + poses -> RobotObserver.getField().getObject("Pathfind Trajectory").setPoses(poses)); + } catch (IOException | ParseException e) { + e.printStackTrace(); + System.exit(1); } + } } diff --git a/ThriftyTest/src/main/java/frc/robot/utils/Shape.java b/ThriftyTest/src/main/java/frc/robot/utils/Shape.java index 0eeabc23..dcc64412 100644 --- a/ThriftyTest/src/main/java/frc/robot/utils/Shape.java +++ b/ThriftyTest/src/main/java/frc/robot/utils/Shape.java @@ -12,88 +12,94 @@ import frc.robot.RobotObserver; public class Shape { - private final List m_vertices; - private final String m_name; + private final List m_vertices; + private final String m_name; - public Shape(List vertices, String name) { - this.m_vertices = vertices; - this.m_name = name; + public Shape(List vertices, String name) { + this.m_vertices = vertices; + this.m_name = name; + } + + public static Shape fromUnsortedVertices(List unsortedVertices, String name) { + if (unsortedVertices.size() < 3) { + throw new IllegalArgumentException("Polygon must be atleat 3 points."); } - public static Shape fromUnsortedVertices(List unsortedVertices, String name) { - if (unsortedVertices.size() < 3) { - throw new IllegalArgumentException("Polygon must be atleat 3 points."); - } + List mutableList = new ArrayList<>(unsortedVertices); - List mutableList = new ArrayList<>(unsortedVertices); + double centerX = 0, centerY = 0; + for (Translation2d vertex : unsortedVertices) { + centerX += vertex.getX(); + centerY += vertex.getY(); + } - double centerX = 0, centerY = 0; - for (Translation2d vertex : unsortedVertices) { - centerX += vertex.getX(); - centerY += vertex.getY(); - } + centerX /= unsortedVertices.size(); + centerY /= unsortedVertices.size(); - centerX /= unsortedVertices.size(); - centerY /= unsortedVertices.size(); + final double cx = centerX; + final double cy = centerY; - final double cx = centerX; - final double cy = centerY; + mutableList.sort( + Comparator.comparingDouble(point -> Math.atan2(point.getY() - cy, point.getX() - cx))); - mutableList.sort(Comparator.comparingDouble(point -> Math.atan2(point.getY() - cy, point.getX() - cx))); + return new Shape(mutableList, name); + } - return new Shape(mutableList, name); - } + // ray cast: if crosses odd times, its inside + public boolean isPointInside(Translation2d point) { + int crossings = 0; + int numVertices = m_vertices.size(); - // ray cast: if crosses odd times, its inside - public boolean isPointInside (Translation2d point) { - int crossings = 0; - int numVertices = m_vertices.size(); - - // horizontal ray pointing right, counts num vertices it crosses - for (int i = 0; i < numVertices; i++) { - Translation2d start = m_vertices.get(i); - Translation2d end = m_vertices.get((i+1) % numVertices); // rolls over to 1 after last vertex - - // converted to doubles for ez math - double x = point.getX(), y = point.getY(); - double x1 = start.getX(), y1 = start.getY(); - double x2 = end.getX(), y2 = end.getY(); - - if ((y > y1) != (y > y2)) { // if both true? not within y1-y2 bounds - // calculates the x coordinate of where it intersects the line - double intersectionPoint = x1 + (y - y1) * (x2 - x1) / (y2 - y1); - if (x < intersectionPoint) { // we only care if its to the RIGHT (when point less than intersection point) - crossings++; - } - } - } + // horizontal ray pointing right, counts num vertices it crosses + for (int i = 0; i < numVertices; i++) { + Translation2d start = m_vertices.get(i); + Translation2d end = m_vertices.get((i + 1) % numVertices); // rolls over to 1 after last + // vertex - return (crossings % 2 == 1); - } + // converted to doubles for ez math + double x = point.getX(), y = point.getY(); + double x1 = start.getX(), y1 = start.getY(); + double x2 = end.getX(), y2 = end.getY(); - public boolean isActive() { - if (!RobotObserver.getVisionValid()) { // vision off = don't run shape logic - return true; + if ((y > y1) != (y > y2)) { // if both true? not within y1-y2 bounds + // calculates the x coordinate of where it intersects the line + double intersectionPoint = x1 + (y - y1) * (x2 - x1) / (y2 - y1); + if (x < intersectionPoint) { // we only care if its to the RIGHT (when point less than + // intersection point) + crossings++; } - boolean isInside = isPointInside(FieldUtils.flipPose(RobotObserver.getPose()).getTranslation()); - return isInside; + } } - public List getVertices() { - return m_vertices; - } - - // flips hotdog style (up down) - ex. reef pose - public static Shape flipHotdog(Shape shape, String name) { - // flips the y axis by doing field width - old y - return new Shape(shape.getVertices().stream() - .map(oldTranslation -> new Translation2d(oldTranslation.getX(), FieldConstants.k_fieldWidth.in(Meters) - oldTranslation.getY())) - .collect(Collectors.toList()), name); - } + return (crossings % 2 == 1); + } - public Shape flip() { - return new Shape(this.getVertices().stream() - .map(oldTranslation -> new Translation2d(FieldConstants.k_fieldLength.in(Meters) - oldTranslation.getX(), FieldConstants.k_fieldWidth.in(Meters) - oldTranslation.getY())) - .collect(Collectors.toList()), this.m_name); + public boolean isActive() { + if (!RobotObserver.getVisionValid()) { // vision off = don't run shape logic + return true; } + boolean isInside = isPointInside(FieldUtils.flipPose(RobotObserver.getPose()).getTranslation()); + return isInside; + } + + public List getVertices() { + return m_vertices; + } + + // flips hotdog style (up down) - ex. reef pose + public static Shape flipHotdog(Shape shape, String name) { + // flips the y axis by doing field width - old y + return new Shape(shape.getVertices().stream() + .map(oldTranslation -> new Translation2d(oldTranslation.getX(), + FieldConstants.k_fieldWidth.in(Meters) - oldTranslation.getY())) + .collect(Collectors.toList()), name); + } + + public Shape flip() { + return new Shape(this.getVertices().stream() + .map(oldTranslation -> new Translation2d( + FieldConstants.k_fieldLength.in(Meters) - oldTranslation.getX(), + FieldConstants.k_fieldWidth.in(Meters) - oldTranslation.getY())) + .collect(Collectors.toList()), this.m_name); + } } From 6ffd51fa6d6f252e6f92144c941e71847b6bbccb Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 14:57:45 -0400 Subject: [PATCH 002/135] Incorporate autopilot and add more states --- ThriftyTest/simgui-ds.json | 7 +- ThriftyTest/simgui.json | 224 +- .../deploy/pathplanner/autos/4PieceLeft.auto | 44 +- .../deploy/pathplanner/autos/4PieceRight.auto | 44 +- .../deploy/pathplanner/autos/Test Path.auto | 8 +- .../main/deploy/pathplanner/autos/stupid.auto | 31 + .../deploy/pathplanner/paths/EIntake.path | 10 +- .../deploy/pathplanner/paths/IntakeA.path | 2 +- .../deploy/pathplanner/paths/IntakeB.path | 8 +- .../deploy/pathplanner/paths/IntakeC.path | 8 +- .../deploy/pathplanner/paths/IntakeD.path | 10 +- .../deploy/pathplanner/paths/IntakeE.path | 16 +- .../deploy/pathplanner/paths/IntakeF.path | 8 +- .../deploy/pathplanner/paths/IntakeG.path | 8 +- .../src/main/java/frc/robot/Constants.java | 1888 +++++++++-------- .../src/main/java/frc/robot/Telemetry.java | 3 +- .../java/frc/robot/binding/DriveBindings.java | 31 +- .../frc/robot/binding/OperatorBindings.java | 99 +- .../frc/robot/commands/TeleopCommand.java | 104 + .../java/frc/robot/driveassist/Autopilot.java | 251 +++ .../{DriverAssist.java => ForceField.java} | 4 +- .../frc/robot/subsystems/AlgaeRollers.java | 10 +- .../java/frc/robot/subsystems/Climber.java | 22 +- .../subsystems/CommandSwerveDrivetrain.java | 73 +- .../frc/robot/subsystems/CoralRollers.java | 59 +- .../java/frc/robot/subsystems/Elevator.java | 210 +- .../frc/robot/subsystems/LedFeedback.java | 4 +- .../main/java/frc/robot/subsystems/Pivot.java | 56 +- .../robot/superstructure/Superstructure.java | 13 +- .../robot/superstructure/states/Align.java | 23 + .../robot/superstructure/states/Aligned.java | 18 - .../robot/superstructure/states/Climb.java | 16 + .../superstructure/states/ClimbRaised.java | 16 + .../superstructure/states/ClimbStowed.java | 15 + .../states/CompleteCoralIntake.java | 17 + .../superstructure/states/CoralIntake.java | 23 + .../superstructure/states/CoralScore.java | 27 + .../states/CoralScoreReady.java | 23 + .../superstructure/states/ElevatorZero.java | 18 + .../states/GroundAlgaeIntake.java | 25 + .../states/HighGroundAlgaeIntake.java | 25 + .../states/LowerReefAlgaeIntake.java | 27 + .../frc/robot/superstructure/states/Net.java | 26 + .../robot/superstructure/states/NetReady.java | 24 + .../superstructure/states/Processor.java | 26 + .../superstructure/states/ProcessorReady.java | 24 + .../superstructure/states/ReefAlign.java | 46 + .../robot/superstructure/states/Stowed.java | 3 +- .../states/UpperReefAlgaeIntake.java | 28 + .../main/java/frc/robot/utils/FieldUtils.java | 17 +- .../src/main/java/frc/robot/utils/Shape.java | 2 +- .../frc/robot/vision/MultiInputFilter.java | 18 +- .../vision/SingleInputPoseEstimator.java | 9 - ThriftyTest/src/main/resources/logback.xml | 7 +- 54 files changed, 2352 insertions(+), 1406 deletions(-) create mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/stupid.auto create mode 100644 ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java create mode 100644 ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java rename ThriftyTest/src/main/java/frc/robot/driveassist/{DriverAssist.java => ForceField.java} (95%) create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/Aligned.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/Climb.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/ClimbRaised.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/ClimbStowed.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScoreReady.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorReady.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java diff --git a/ThriftyTest/simgui-ds.json b/ThriftyTest/simgui-ds.json index 8f6d7994..84f70fac 100644 --- a/ThriftyTest/simgui-ds.json +++ b/ThriftyTest/simgui-ds.json @@ -1,9 +1,4 @@ { - "FMS": { - "window": { - "visible": false - } - }, "Joysticks": { "window": { "visible": false @@ -11,7 +6,7 @@ }, "System Joysticks": { "window": { - "enabled": false + "visible": false } }, "keyboardJoysticks": [ diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 0d387c38..9c6ffe9f 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -6,11 +6,16 @@ "open": true } }, +<<<<<<< HEAD "Talon FX (v6)[55]": { +======= + "CANrange (v6)[58]": { +>>>>>>> origin/align-v3 "header": { "open": true } }, +<<<<<<< HEAD "Talon FX (v6)[56]": { "header": { "open": true @@ -18,6 +23,12 @@ }, "window": { "visible": false +======= + "CANrange (v6)[59]": { + "header": { + "open": true + } +>>>>>>> origin/align-v3 } }, "Timing": { @@ -31,10 +42,27 @@ "/FMSInfo": "FMSInfo", "/SmartDashboard/AUTOALIGN SLOWDOWN (LAST RESTORT)!!!!!!!!!!!!!!!!!!!!": "Command", "/SmartDashboard/Alerts": "Alerts", + "/SmartDashboard/Align A": "Command", + "/SmartDashboard/Align B": "Command", + "/SmartDashboard/Align C": "Command", + "/SmartDashboard/Align D": "Command", + "/SmartDashboard/Align E": "Command", + "/SmartDashboard/Align F": "Command", + "/SmartDashboard/Align G": "Command", + "/SmartDashboard/Align H": "Command", + "/SmartDashboard/Align I": "Command", + "/SmartDashboard/Align J": "Command", + "/SmartDashboard/Align K": "Command", + "/SmartDashboard/Align L": "Command", + "/SmartDashboard/Align LEFTHP": "Command", + "/SmartDashboard/Align NET": "Command", + "/SmartDashboard/Align PROCESSOR": "Command", + "/SmartDashboard/Align RIGHTHP": "Command", "/SmartDashboard/AlignLEFT ": "Command", "/SmartDashboard/AlignRight": "Command", "/SmartDashboard/Auto Chooser": "String Chooser", "/SmartDashboard/Drive To Center Command": "Command", + "/SmartDashboard/Drive to center": "Command", "/SmartDashboard/Elevator Visualization": "Mechanism2d", "/SmartDashboard/Field": "Field2d", "/SmartDashboard/Go To B": "Command", @@ -90,13 +118,16 @@ "/SmartDashboard/f": "Command", "/SmartDashboard/g": "Command", "/SmartDashboard/h": "Command", + "/SmartDashboard/lintake": "Command", "/SmartDashboard/open funnel": "Command", "/SmartDashboard/quasistatic forward steer": "Command", "/SmartDashboard/quasistatic forward translation": "Command", "/SmartDashboard/quasistatic reverse steer": "Command", "/SmartDashboard/quasistatic reverse translation": "Command", "/SmartDashboard/runme hehe": "Command", - "/SmartDashboard/teleport": "Command" + "/SmartDashboard/teleport": "Command", + "/SmartDashboard/test": "Command", + "/SmartDashboard/test hi": "Command" }, "windows": { "/SmartDashboard/April Tag Debug Field": { @@ -194,6 +225,26 @@ "visible": true } }, + "/SmartDashboard/Module 0": { + "window": { + "visible": true + } + }, + "/SmartDashboard/Module 1": { + "window": { + "visible": true + } + }, + "/SmartDashboard/Module 2": { + "window": { + "visible": true + } + }, + "/SmartDashboard/Module 3": { + "window": { + "visible": true + } + }, "/SmartDashboard/Super Field": { "Blue Alliance Left Intake": { "arrows": false, @@ -422,12 +473,13 @@ "arrowSize": 25, "arrowWeight": 2.0, "color": [ - 0.7045847773551941, - 0.7914843559265137, - 0.7941176295280457, + 0.3744233250617981, + 0.7675007581710815, + 0.779411792755127, 255.0 ], "length": 0.9399999976158142, + "selectable": false, "style": "Box/Image", "width": 0.9399999976158142 }, @@ -440,6 +492,7 @@ 255.0 ], "length": 0.9399999976158142, + "selectable": false, "style": "Hidden", "width": 0.9399999976158142 }, @@ -472,6 +525,7 @@ ], "arrowSize": 100, "arrowWeight": 2.0, + "arrows": false, "color": [ 255.0, 167.8480987548828, @@ -502,15 +556,60 @@ ] }, "estimation": { + "arrows": false, "color": [ 0.9588443040847778, 0.970588207244873, 0.042820051312446594, 255.0 - ] + ], + "selectable": false, + "style": "Box/Image" + }, + "f": { + "arrows": false, + "selectable": false, + "style": "Line" }, "height": 8.051901817321777, +<<<<<<< HEAD "image": "C:\\Users\\hackbots\\code\\2025_Reefscape\\ThriftyTest\\2025-field-cropped.png", +======= + "ideal": { + "arrows": false, + "color": [ + 0.5740254521369934, + 0.3892252743244171, + 0.8725489974021912, + 255.0 + ], + "selectable": false, + "style": "Line" + }, + "image": "/Users/rekrab/hackbots/2025_Reefscape/ThriftyTest/2025-field-cropped.png", + "past": { + "arrows": false, + "color": [ + 0.906862735748291, + 0.7604258060455322, + 0.2845059335231781, + 255.0 + ], + "selectable": false, + "style": "Line" + }, + "path": { + "arrows": false, + "color": [ + 0.4281767010688782, + 0.6010612845420837, + 0.8480392098426819, + 255.0 + ], + "style": "Line", + "weight": 8.0 + }, +>>>>>>> origin/align-v3 "rejected": { "arrows": false, "color": [ @@ -521,11 +620,34 @@ ], "length": 0.9399999976158142, "selectable": false, + "style": "Box/Image", "width": 0.9399999976158142 }, "right": 2932, - "target": { + "robot path": { "arrows": false, + "color": [ + 0.8627451062202454, + 0.29852771759033203, + 0.17762400209903717, + 255.0 + ], + "selectable": false, + "style": "Line" + }, + "sim path": { + "arrows": false, + "color": [ + 0.22241443395614624, + 0.8725489974021912, + 0.6048464179039001, + 255.0 + ], + "selectable": false, + "style": "Line" + }, + "target": { + "arrowSize": 42, "color": [ 0.8649789094924927, 0.31752389669418335, @@ -537,6 +659,17 @@ "style": "Box/Image", "width": 0.9399999976158142 }, + "transit": { + "arrows": false, + "color": [ + 0.7613812685012817, + 0.35229238867759705, + 0.8872548937797546, + 255.0 + ], + "selectable": false, + "style": "Line" + }, "visibleTargetPoses": { "arrowColor": [ 1.0, @@ -552,12 +685,18 @@ ], "length": 0.4000000059604645, "selectable": false, + "style": "Box/Image", "width": 0.4000000059604645 }, "width": 17.54825210571289, "window": { "visible": true } + }, + "/SmartDashboard/test": { + "window": { + "visible": true + } } } }, @@ -567,7 +706,9 @@ "ChassisSpeeds##v_/DriveState/Speeds": { "open": true }, - "open": true + "SwerveModuleState[]##v_/DriveState/ModuleTargets": { + "open": true + } }, "SmartDashboard": { "open": true @@ -575,12 +716,6 @@ } }, "NetworkTables Info": { - "Server": { - "Subscribers": { - "open": true - }, - "open": true - }, "visible": true }, "Plot": { @@ -590,8 +725,8 @@ "axis": [ { "label": "Axis", - "lockMin": true, - "max": 5.0 + "max": 5.0, + "min": -5.0 } ], "backgroundColor": [ @@ -620,6 +755,59 @@ 1.0 ], "id": "NT:/SmartDashboard/ru" + }, + { + "color": [ + 0.3333333432674408, + 0.658823549747467, + 0.4078431725502014, + 1.0 + ], + "id": "NT:/SmartDashboard/du" + } + ] + } + ], + "window": { + "visible": false + } +<<<<<<< HEAD +======= + }, + "Plot <1>": { + "plots": [ + { + "axis": [ + { + "max": 0.1, + "min": -0.1 + } + ], + "backgroundColor": [ + 0.05999999865889549, + 0.05999999865889549, + 0.05999999865889549, + 0.9399999976158142 + ], + "height": 317, + "series": [ + { + "color": [ + 0.2980392277240753, + 0.44705885648727417, + 0.6901960968971252, + 1.0 + ], + "id": "NT:/SmartDashboard/u goal" + }, + { + "color": [ + 0.8666667342185974, + 0.5176470875740051, + 0.32156863808631897, + 1.0 + ], + "id": "NT:/SmartDashboard/i goal" } ] } @@ -627,6 +815,12 @@ "window": { "visible": false } + }, + "Plot <2>": { + "window": { + "visible": false + } +>>>>>>> origin/align-v3 } } } diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto index a6bd4dd7..a73b092f 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto @@ -4,12 +4,6 @@ "type": "sequential", "data": { "commands": [ - { - "type": "path", - "data": { - "pathName": "StartJ" - } - }, { "type": "named", "data": { @@ -36,12 +30,6 @@ "type": "sequential", "data": { "commands": [ - { - "type": "path", - "data": { - "pathName": "JIntake" - } - }, { "type": "named", "data": { @@ -54,12 +42,6 @@ "name": "Intake Wait" } }, - { - "type": "path", - "data": { - "pathName": "IntakeK" - } - }, { "type": "named", "data": { @@ -92,12 +74,6 @@ "type": "sequential", "data": { "commands": [ - { - "type": "path", - "data": { - "pathName": "KIntake" - } - }, { "type": "named", "data": { @@ -110,12 +86,6 @@ "name": "Intake Wait" } }, - { - "type": "path", - "data": { - "pathName": "IntakeL" - } - }, { "type": "named", "data": { @@ -148,12 +118,6 @@ "type": "sequential", "data": { "commands": [ - { - "type": "path", - "data": { - "pathName": "LIntake" - } - }, { "type": "named", "data": { @@ -166,12 +130,6 @@ "name": "Intake Wait" } }, - { - "type": "path", - "data": { - "pathName": "IntakeA" - } - }, { "type": "named", "data": { @@ -193,7 +151,7 @@ ] } }, - "resetOdom": true, + "resetOdom": false, "folder": null, "choreoAuto": false } \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto index e8d65d5f..3f95798f 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto @@ -4,12 +4,6 @@ "type": "sequential", "data": { "commands": [ - { - "type": "path", - "data": { - "pathName": "StartE" - } - }, { "type": "named", "data": { @@ -36,12 +30,6 @@ "type": "sequential", "data": { "commands": [ - { - "type": "path", - "data": { - "pathName": "FIntake" - } - }, { "type": "named", "data": { @@ -54,12 +42,6 @@ "name": "Intake Wait" } }, - { - "type": "path", - "data": { - "pathName": "IntakeD" - } - }, { "type": "named", "data": { @@ -92,12 +74,6 @@ "type": "sequential", "data": { "commands": [ - { - "type": "path", - "data": { - "pathName": "DIntake" - } - }, { "type": "named", "data": { @@ -110,12 +86,6 @@ "name": "Intake Wait" } }, - { - "type": "path", - "data": { - "pathName": "IntakeC" - } - }, { "type": "named", "data": { @@ -148,12 +118,6 @@ "type": "sequential", "data": { "commands": [ - { - "type": "path", - "data": { - "pathName": "CIntake" - } - }, { "type": "named", "data": { @@ -166,12 +130,6 @@ "name": "Intake Wait" } }, - { - "type": "path", - "data": { - "pathName": "IntakeB" - } - }, { "type": "named", "data": { @@ -193,7 +151,7 @@ ] } }, - "resetOdom": true, + "resetOdom": false, "folder": null, "choreoAuto": false } \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/Test Path.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/Test Path.auto index b28cdfb8..37a19658 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/Test Path.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/Test Path.auto @@ -5,21 +5,21 @@ "data": { "commands": [ { - "type": "path", + "type": "named", "data": { - "pathName": "IntakeE" + "name": "Align H" } }, { "type": "named", "data": { - "name": "Align E" + "name": "RIntake Align" } } ] } }, - "resetOdom": true, + "resetOdom": false, "folder": null, "choreoAuto": false } \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/stupid.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/stupid.auto new file mode 100644 index 00000000..270b761a --- /dev/null +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/stupid.auto @@ -0,0 +1,31 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "EIntake" + } + }, + { + "type": "named", + "data": { + "name": "RIntake Align" + } + }, + { + "type": "path", + "data": { + "pathName": "IntakeB" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/paths/EIntake.path b/ThriftyTest/src/main/deploy/pathplanner/paths/EIntake.path index d05fd8d9..a236df5b 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/paths/EIntake.path +++ b/ThriftyTest/src/main/deploy/pathplanner/paths/EIntake.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.8290983606557374, - "y": 1.5495389344262287 + "x": 2.687902565502183, + "y": 1.6449947973526196 }, "prevControl": { - "x": 3.367437281948422, - "y": 1.9230241926455585 + "x": 3.2262414867948674, + "y": 2.01848005557195 }, "nextControl": null, "isLocked": false, @@ -41,7 +41,7 @@ "unlimited": false }, "goalEndState": { - "velocity": 3.0, + "velocity": 100000.0, "rotation": 55.0 }, "reversed": false, diff --git a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeA.path b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeA.path index b679953d..f72059d5 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeA.path +++ b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeA.path @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 1.558878327546296, + "x": 1.5588783275462958, "y": 5.461553385416666 }, "isLocked": false, diff --git a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeB.path b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeB.path index 93cf61ad..0e466cd8 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeB.path +++ b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeB.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.4505122950819673, - "y": 1.1899077868852452 + "x": 1.211, + "y": 0.9501 }, "prevControl": null, "nextControl": { - "x": 1.8445104142949305, - "y": 2.071017089547282 + "x": 1.604998119212963, + "y": 1.8312093026620369 }, "isLocked": false, "linkedName": "RightIntake" diff --git a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeC.path b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeC.path index e8c56752..424671d3 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeC.path +++ b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeC.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.4505122950819673, - "y": 1.1899077868852452 + "x": 1.211, + "y": 0.9501 }, "prevControl": null, "nextControl": { - "x": 2.1717297418351507, - "y": 1.8750655757464543 + "x": 1.9322174467531832, + "y": 1.6352577888612092 }, "isLocked": false, "linkedName": "RightIntake" diff --git a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeD.path b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeD.path index c175ebc2..a32e883e 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeD.path +++ b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeD.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.4505122950819673, - "y": 1.1899077868852452 + "x": 1.211, + "y": 0.9501 }, "prevControl": null, "nextControl": { - "x": 2.40952868852459, - "y": 1.8132684426229502 + "x": 3.167310836226851, + "y": 1.7636744068287031 }, "isLocked": false, "linkedName": "RightIntake" @@ -47,7 +47,7 @@ "reversed": false, "folder": "IntakeX", "idealStartingState": { - "velocity": 0, + "velocity": 0.0, "rotation": 55.0 }, "useDefaultConstraints": true diff --git a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeE.path b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeE.path index e2fcbdf4..fb4c9b3a 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeE.path +++ b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeE.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 1.4505122950819673, - "y": 1.1899077868852452 + "x": 1.211, + "y": 0.9501 }, "prevControl": null, "nextControl": { - "x": 1.8034428772883508, - "y": 1.3620003337907018 + "x": 1.6737711250569205, + "y": 0.5407347478369764 }, "isLocked": false, "linkedName": "RightIntake" }, { "anchor": { - "x": 4.761588179976851, - "y": 2.2843272569444433 + "x": 4.8874276620370365, + "y": 1.6390577980324066 }, "prevControl": { - "x": 4.573615089699073, - "y": 1.1070496961805552 + "x": 4.882012080439814, + "y": 0.4239876302083323 }, "nextControl": null, "isLocked": false, diff --git a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeF.path b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeF.path index 7fcc8824..11c82a38 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeF.path +++ b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeF.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.4505122950819673, - "y": 1.1899077868852452 + "x": 1.211, + "y": 0.9501 }, "prevControl": null, "nextControl": { - "x": 2.3030878882532644, - "y": 1.4149164674408006 + "x": 2.063575593171297, + "y": 1.1751086805555553 }, "isLocked": false, "linkedName": "RightIntake" diff --git a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeG.path b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeG.path index 8b495844..f12481ea 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeG.path +++ b/ThriftyTest/src/main/deploy/pathplanner/paths/IntakeG.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.4505122950819673, - "y": 1.1899077868852452 + "x": 1.211, + "y": 0.9501 }, "prevControl": null, "nextControl": { - "x": 3.6449735485846473, - "y": 1.6806461671240358 + "x": 3.40546125350268, + "y": 1.4408383802387907 }, "isLocked": false, "linkedName": "RightIntake" diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index dc1fa5cd..7a5869d0 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -46,6 +46,8 @@ import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.util.Units; + +import static edu.wpi.first.units.Units.Centimeters; import static edu.wpi.first.units.Units.Degrees; import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.MetersPerSecond; @@ -64,988 +66,1056 @@ import edu.wpi.first.units.measure.LinearVelocity; import edu.wpi.first.units.measure.Time; import edu.wpi.first.wpilibj.PS5Controller.Button; +import frc.robot.driveassist.Autopilot; import frc.robot.generated.TunerConstants; import frc.robot.utils.Shape; /* -PLEASE READ: - -To ensure consistency throughout the code, the same coordinate system is used -here as is specified in WPILib's documentation. - -To read it all, check this out: -https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html - -TL;DR: -We use NWU axes convention. -This means that, when viewed from above, the North, West, and then upwards will -correspond to +X, +Y, and +Z respectively. - -Example: - +X - ^ - | - |-front-| - | | -+Y <--- | | - | | - |-------| - -And +Z is upwards, so it wouldn't show here. -*/ + * PLEASE READ: + * + * To ensure consistency throughout the code, the same coordinate system is used here as is + * specified in WPILib's documentation. + * + * To read it all, check this out: + * https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html + * + * TL;DR: We use NWU axes convention. This means that, when viewed from above, the North, West, and + * then upwards will correspond to +X, +Y, and +Z respectively. + * + * Example: +X ^ | |-front-| | | +Y <--- | | | | |-------| + * + * And +Z is upwards, so it wouldn't show here. + */ public class Constants { - public static class IDConstants { - public static final int leftRange = 8; - public static final int rightRange = 7; - - public static final int elevatorLeft = 51; - public static final int elevatorRight = 52; - public static final int elevatorCANrange = 53; - - public static final int pivot = 57; - - public static final int coralLeft = 55; - public static final int coralRight = 56; - public static final int coralCANrange = 59; - public static final int upperCANrange = 58; - public static final int innerCANrange = 54; - - public static final int frontIR = 2; - public static final int rearIR = 3; - - public static final int climbLeft = 1; - public static final int climbRight = 2; - - public static final int algae = 60; - - public static final int candle1 = 5; - public static final int candle2 = 6; - - public static final int servo = 7; + public static class IDConstants { + public static final int leftRange = 8; + public static final int rightRange = 7; - public static final int climbEncoder = 9; - } + public static final int elevatorLeft = 51; + public static final int elevatorRight = 52; + public static final int elevatorCANrange = 53; - public static class SimConstants { - public static final double k_simPeriodic = 0.005; - } + public static final int pivot = 57; - public static class RobotConstants { - public static final Time globalCanTimeout = Milliseconds.of(20); // 20 milliseconds - } - - public static class DriveConstants { - public static final PIDConstants k_translationPID = new PIDConstants(2, 0.0, 0.0); // 0.18836 - public static final PIDConstants k_rotationPID = new PIDConstants(1.5, 0.0, 0.0); // 0.17119 - public static final PIDConstants k_driveToPointRotationPID = new PIDConstants(4, 0.0, 0.0); // 0.17119 + public static final int coralLeft = 55; + public static final int coralRight = 56; + public static final int coralCANrange = 59; + public static final int upperCANrange = 58; + public static final int innerCANrange = 54; - public static final double kMaxAccelerationPerpendicularToTarget = 3.5; // 5.0 - public static double kMaxAccelerationTowardsTarget = 3.5; // 5.0 + public static final int frontIR = 2; + public static final int rearIR = 3; - public static final PPHolonomicDriveController k_pathplannerHolonomicDriveController = new PPHolonomicDriveController(k_translationPID, k_rotationPID); + public static final int climbLeft = 1; + public static final int climbRight = 2; - public static final double k_maxTeleopLinearSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); - public static final double k_maxTeleopAngularSpeed = RotationsPerSecond.of(1.5).in(RadiansPerSecond); + public static final int algae = 60; - public static final LinearVelocity k_maxLinearSpeed = MetersPerSecond.of(4); - public static final LinearAcceleration k_maxLinearAcceleration = MetersPerSecondPerSecond.of(3); - public static final AngularVelocity k_maxAngularSpeed = RotationsPerSecond.of(2); - public static final AngularAcceleration k_maxAngularAcceleration = RotationsPerSecondPerSecond.of(2); + public static final int candle1 = 5; + public static final int candle2 = 6; - public static final LinearVelocity k_maxAlignLinearSpeed = MetersPerSecond.of(1.0); - public static final LinearAcceleration k_maxAlignLinearAcceleration = MetersPerSecondPerSecond.of(1); - public static final AngularVelocity k_maxAlignAngularSpeed = RotationsPerSecond.of(1); - public static final AngularAcceleration k_maxAlignAngularAcceleration = RotationsPerSecondPerSecond.of(1); + public static final int servo = 7; - public static final double k_maxRotationalSpeed = k_maxLinearSpeed.in(MetersPerSecond) / (TunerConstants.kWheelRadius.in(Meters) * 2 * Math.PI); // lin speed / circumference = rot speed + public static final int climbEncoder = 9; + } - public static final double k_elevatorHeightLinearVelocityGain = -0.357; // for every 1 rotation elevator up, subtract X: 1 mps at max elevator - public static final double k_elevatorHeightLinearAccelerationGain = k_elevatorHeightLinearVelocityGain * 2; - public static final double k_elevatorHeightAngularVelocityGain = -0.0446; // for every 1 rotation elevator up, subtract X: 0.25 rps at max elevator - public static final double k_elevatorHeightAngularAccelerationGain = k_elevatorHeightAngularVelocityGain * 2; + public static class SimConstants { + public static final double k_simPeriodic = 0.005; + } - public static final double k_closedLoopOverrideToleranceTranslation = 0.05; - public static final double k_closedLoopOverrideToleranceRotation = 0.05; + public static class RobotConstants { + public static final Time globalCanTimeout = Milliseconds.of(20); // 20 milliseconds + } - public static final double rangeZero = 0.175; - public static final double rangeMax = 0.3; + public static class DriveConstants { + public static final PIDConstants k_translationPID = new PIDConstants(2, 0.0, 0.0); // 0.18836 + public static final PIDConstants k_rotationPID = new PIDConstants(1.5, 0.0, 0.0); // 0.17119 - // This one is as well, however it is only used in auton - public static final Constraints k_rotationConstraints = new Constraints( - k_maxAngularSpeed.in(RadiansPerSecond), - k_maxAngularAcceleration.in(RadiansPerSecondPerSecond) - ); + public static class HeadingPID { + public static final double kP = 4.0; + public static final double kI = 0.0; + public static final double kD = 0.0; } - public static class ButtonBindingConstants { - public static enum DriverChoice {DRAGONREINS, BACKUP;} - public static enum ButtonBoardChoice {PS5, KEYBOARD;} - - public static final DriverChoice driverChoice = DriverChoice.DRAGONREINS; - public static final ButtonBoardChoice buttonBoardChoice = ButtonBoardChoice.PS5; - - public static final String dragonReinsName = "spark"; - public static final String driverBackupName = "inter"; - - public static final String ps5Name = "dual"; - - public static final int driverPort = 0; - public static final int buttonBoardPort = 1; - - public static class DragonReins { - public static final int xAxis = 1; - public static final int yAxis = 0; - public static final int rotAxis = 3; - - public static final boolean flipX = false; - public static final boolean flipY = true; - public static final boolean flipRot = false; - - public static final int resetHeading = 1; - public static final int processor = 2; - - public static final double deadband = 0.01; - } - - public static class PS5 { - public static final int L1 = 180; // POV - public static final int L2 = 270; // POV - public static final int L3 = 90; // POV - public static final int L4 = 0; // POV - - public static final int ejectCoral = Button.kL2.value; - - public static final int leftReef = Button.kSquare.value; - public static final int rightReef = Button.kCircle.value; - - public static final int lowAlgae = Button.kCross.value; - public static final int highAlgae = Button.kTriangle.value; - public static final int groundAlgae = 180; // POV - public static final int processor = 90; // POV - public static final int highGround = 270; // POV - public static final int net = 0; // POV - public static final int algaeModeButton = Button.kR2.value; // R2 - - public static final int autoProcessor = Button.kR1.value; - - public static final int climbReady = Button.kCreate.value; - public static final int climb = Button.kOptions.value; - - public static final int stow = Button.kPS.value; - - public static final int intake = Button.kL1.value; // LB - - public static final int zeroElevator = 15; // old safety mode button (little bar below PS button) - - public static final int secondaryL1 = 14; - } - - public static class ButtonBoardKeyboard { - // WHEN SAFETY ON - AUTOMATION BASED - public static final int L1 = 1; - public static final int L2 = 2; - public static final int L3 = 3; - public static final int L4 = 4; - - public static final int A = 5; - public static final int B = 6; - public static final int C = 7; - public static final int D = 8; - public static final int E = 9; - public static final int F = 10; - public static final int G = 11; - public static final int H = 12; - public static final int I = 13; - public static final int J = 14; - public static final int K = 15; - public static final int L = 16; - - public static final int lowAlgae = 17; - public static final int highAlgae = 18; - public static final int groundAlgae = 19; - public static final int processor = 20; - public static final int net = 21; - - public static final int leftIntake = 22; - public static final int rightIntake = 23; - - public static final int climb = 24; - - public static final int cancelAuto = 25; - } + private static final Autopilot.Constraints kTightAutopilotConstraintsI = + new Autopilot.Constraints() + .withAcceleration(8.5) + .withDecceleration(1.3); + + private static final Autopilot.Constraints kTightAutopilotConstraintsU = + new Autopilot.Constraints() + .withAcceleration(17.0) + .withDecceleration(0.7); + + private static final Autopilot.Profile kTightProfile = new Autopilot.Profile() + .withConstraintsI(kTightAutopilotConstraintsI) + .withConstraintsU(kTightAutopilotConstraintsU) + .withErrorXY(Centimeters.of(2)) + .withErrorTheta(Degrees.of(2)); + + public static final Autopilot kTightAutopilot = new Autopilot(kTightProfile); + + private static final Autopilot.Constraints kLooseAutopilotConstraintsI = + new Autopilot.Constraints() + .withAcceleration(8.5) + .withDecceleration(4); + + private static final Autopilot.Constraints kLooseAutopilotConstraintsU = + new Autopilot.Constraints() + .withAcceleration(8.5) + .withDecceleration(3); + + private static final Autopilot.Profile kLooseProfile = new Autopilot.Profile() + .withConstraintsI(kLooseAutopilotConstraintsI) + .withConstraintsU(kLooseAutopilotConstraintsU) + .withErrorXY(Centimeters.of(6)) + .withErrorTheta(Degrees.of(5)); + + public static final Autopilot kLooseAutopilot = new Autopilot(kLooseProfile); + + public static final PPHolonomicDriveController k_pathplannerHolonomicDriveController = + new PPHolonomicDriveController(k_translationPID, k_rotationPID); + + public static final double k_maxTeleopLinearSpeed = + TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); + public static final double k_maxTeleopAngularSpeed = + RotationsPerSecond.of(1.5).in(RadiansPerSecond); + + public static final LinearVelocity k_maxLinearSpeed = MetersPerSecond.of(4); + public static final LinearAcceleration k_maxLinearAcceleration = MetersPerSecondPerSecond.of(3); + public static final AngularVelocity k_maxAngularSpeed = RotationsPerSecond.of(2); + public static final AngularAcceleration k_maxAngularAcceleration = + RotationsPerSecondPerSecond.of(2); + + public static final LinearVelocity k_maxAlignLinearSpeed = MetersPerSecond.of(1.0); + public static final LinearAcceleration k_maxAlignLinearAcceleration = + MetersPerSecondPerSecond.of(1); + public static final AngularVelocity k_maxAlignAngularSpeed = RotationsPerSecond.of(1); + public static final AngularAcceleration k_maxAlignAngularAcceleration = + RotationsPerSecondPerSecond.of(1); + + public static final double k_maxRotationalSpeed = k_maxLinearSpeed.in(MetersPerSecond) + / (TunerConstants.kWheelRadius.in(Meters) * 2 * Math.PI); // lin speed / circumference = rot + // speed + + public static final double k_elevatorHeightLinearVelocityGain = -0.357; // for every 1 rotation + // elevator up, subtract + // X: 1 mps at max + // elevator + public static final double k_elevatorHeightLinearAccelerationGain = + k_elevatorHeightLinearVelocityGain * 2; + public static final double k_elevatorHeightAngularVelocityGain = -0.0446; // for every 1 + // rotation elevator + // up, subtract X: + // 0.25 rps at max + // elevator + public static final double k_elevatorHeightAngularAccelerationGain = + k_elevatorHeightAngularVelocityGain * 2; + + public static final double k_closedLoopOverrideToleranceTranslation = 0.05; + public static final double k_closedLoopOverrideToleranceRotation = 0.05; + + public static final double rangeZero = 0.175; + public static final double rangeMax = 0.3; + + // This one is as well, however it is only used in auton + public static final Constraints k_rotationConstraints = new Constraints( + k_maxAngularSpeed.in(RadiansPerSecond), + k_maxAngularAcceleration.in(RadiansPerSecondPerSecond)); + } + + public static class ButtonBindingConstants { + public static enum DriverChoice { + DRAGONREINS, BACKUP; } - - public static class VisionConstants { - public static final boolean enableVision = true; - public static final boolean k_enableLogging = true; - - public static final double k_rotationCoefficient = Math.PI * 20; - public static final double k_translationCoefficient = 0.10; // previously 0.10 - - public static final AprilTagFieldLayout k_layout = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded); - - public static final String k_estimationName = "estimation"; - public static final String kRejectedName = "rejected"; - - public static final String k_logPath = "/home/lvuser/logs/vision"; - public static final String k_simLogPath = "logs/vision"; - - private static final double k_moduleHeight = 0.190; - - private static final double k_tightPitch = -Units.degreesToRadians(22.5); - private static final double k_widePitch = -Units.degreesToRadians(25.0); - - private static final double k_tightYaw = Units.degreesToRadians(37.0); // this doesn't seem right - private static final double k_wideYaw = Units.degreesToRadians(-7.0); - - // The camera names - public static Map fakecameras = Map.ofEntries( - Map.entry("test", new Transform3d(0, 0, 1.5, new Rotation3d())) - ); - public static Map cameras = Map.ofEntries( - Map.entry("cam1", new Transform3d( // left tight - new Translation3d(0.256, 0.289, k_moduleHeight), - new Rotation3d(0, k_tightPitch, -k_tightYaw) - )), - Map.entry("cam2", new Transform3d( // left wide - new Translation3d(0.337, 0.331, k_moduleHeight), - new Rotation3d(0, k_widePitch, -k_wideYaw) - )), - Map.entry("cam3", new Transform3d( // right wide - new Translation3d(0.337, -0.331, k_moduleHeight), - new Rotation3d(0, k_widePitch, k_wideYaw) - )), - Map.entry("cam4", new Transform3d( // right tight - new Translation3d(0.256, -0.289, k_moduleHeight), - new Rotation3d(0, k_tightPitch, k_tightYaw) - )) - ); - - public static final String k_leftAlignName = "cam1"; - public static final String k_rightAlignName = "cam4"; - - // The tick time for each pose estimator to run - public static final double k_periodic = 0.02; - // The maximum number of results (per camera) - public static final double k_expectedResults = 10; - // The maximum tolerated latency, in seconds. - public static final double k_latencyThreshold = 0.75; - // The maximum tolerated ambiguity value. - public static final double k_AmbiguityThreshold = 0.2; - // The farthest out off a field a pose estimate can say we are - // (in each dimension separately) - public static final Distance k_XYMargin = Meters.of(0.5); - // The maximum distance from 0 that a camera's pose can report - public static final Distance k_ZMargin = Meters.of(1.5); - - // Some configuration variables: - public static final boolean k_useStdDevs = true; - public static final double k_distanceMultiplier = 5.0; - public static final double k_noisyDistance = 4.0; - public static final double k_ambiguityMultiplier = 0.4; - public static final double k_ambiguityShifter = 0.2; - public static final double k_targetMultiplier = 80; - public static final double k_differenceThreshold = 0.10; - public static final double k_differenceMultiplier = 200.0; - public static final double k_latencyMultiplier = 1.3; - - public static final double k_headingThreshold = Units.degreesToRadians(3); - - // Stats about the camera for simulation - public static final int k_resWidth = 320; - public static final int k_resHeight = 240; - public static final Rotation2d k_fov = Rotation2d.fromDegrees(82.0); - public static final Rotation2d kHorizontalFov = Rotation2d.fromDegrees(70.0); - - - // Simulated error: - public static final Time k_avgLatency = Milliseconds.of(18); - public static final Time k_latencyStdDev = Milliseconds.of(2); - public static final double k_avgErr = 0.18; - public static final double k_errStdDev = 0.02; - - // Stop using vision after X time - public static final double k_visionTimeout = 0.5; - - // reef tag ids (single tag only) - public static final Set k_reefIds = Set.of( - 6, 7, 8, 9, 10, 11, // red tags - 17, 18, 19, 20, 21, 22 // blue tags - ); + public static enum ButtonBoardChoice { + PS5, KEYBOARD; } - public static class FieldConstants { - public static final Distance k_fieldWidth = Meters.of(8.05); - public static final Distance k_fieldLength = Meters.of(17.55); - public static final Translation2d reefCenter = new Translation2d(4.5, 4.0); - public static final double kReefReadyAuton = 2.6; - public static final double kReefReady = 2.1; - public static final Pose2d k_processor = new Pose2d(5.974, 1.16, Rotation2d.kCW_90deg); + public static final DriverChoice driverChoice = DriverChoice.DRAGONREINS; + public static final ButtonBoardChoice buttonBoardChoice = ButtonBoardChoice.PS5; - public static final Pose2d kRightIntake = new Pose2d(1.247, 0.950, Rotation2d.fromDegrees(55)); - public static final Pose2d kLeftIntake = new Pose2d(1.211, 7.016, Rotation2d.fromDegrees(-55)); + public static final String dragonReinsName = "spark"; + public static final String driverBackupName = "inter"; - public static final Pose2d kGH = new Pose2d(5.791, 4.046, Rotation2d.k180deg); - public static final Pose2d kIJ = new Pose2d(5.155, 5.194, Rotation2d.fromDegrees(-120)); + public static final String ps5Name = "dual"; - public static final Pose2d kBarge1 = new Pose2d(7.459, 4.717, Rotation2d.fromDegrees(21.0)); - } - - public static final class StateSpaceConstants { - public static final double k_dt = 0.01; // fast state space, please! - public static final double k_maxVoltage = 12.0; - } + public static final int driverPort = 0; + public static final int operatorPort = 1; - public static final class AutonConstants { - public static final double translationTolerance = 0.03; // 0.04 - public static Angle rotationTolerance = Degrees.of(2); + public static class Driver { + public static final int xAxis = 1; + public static final int yAxis = 0; + public static final int rotAxis = 3; - public static final double driveToPointMaxDistance = 1.5; // beyond X meters, command will insta end - public static final double stage2Distance = 1; - } + public static final boolean flipX = false; + public static final boolean flipY = true; + public static final boolean flipRot = false; - public static final class CANrangeConstants { + public static final int resetHeading = 1; + public static final int processor = 2; - public static final CANrangeConfiguration k_canRangeConfig = new CANrangeConfiguration() - .withFovParams(new FovParamsConfigs() - .withFOVRangeX(7) - .withFOVRangeY(7) - ) - .withToFParams(new ToFParamsConfigs() - .withUpdateMode(UpdateModeValue.ShortRange100Hz) - ); - // .withProximityParams(null) - public static final double farAlignedDistanceMeters = 0.18; - public static final double tolerance = 0.2; // 20% tolerance - public static final double closeAlignedDistanceMeters = 0.12; - public static final int k_filterWindow = 5; // 5 measurements + public static final double deadband = 0.01; } - public static final class ElevatorConstants { - public static final boolean enable = true; - - public static final boolean invertLeftMotorFollower = true; - - public static final double supplyCurrentLimit = 100; - public static final double k_zeroCurrentThreshold = 23.5; - - public static final double rotorToSensorRatio = 5.2; - public static final double sensorToMechanismRatio = 1; + public static class Operator { + public static final int L1 = 180; // POV + public static final int L2 = 270; // POV + public static final int L3 = 90; // POV + public static final int L4 = 0; // POV - public static final InvertedValue motorInverted = InvertedValue.CounterClockwise_Positive; - - public static final double gearRatio = rotorToSensorRatio * sensorToMechanismRatio; + public static final int secondaryL1 = 14; - public static final double stage1Mass = Units.lbsToKilograms(5.402); - public static final double stage2Mass = Units.lbsToKilograms(4.819); - public static final double carriageMass = Units.lbsToKilograms(3.084); - public static final double coralMechanismMass = Units.lbsToKilograms(8.173); // includes coral - public static final double algaeMechanismMass = Units.lbsToKilograms(8.359); + public static final int ejectCoral = Button.kL2.value; - public static final double netMass = stage1Mass + stage2Mass + carriageMass + coralMechanismMass + algaeMechanismMass; // Mass of the elevator carriage - public static final double drumRadius = Units.inchesToMeters(2.256 / 2); // Radius of the elevator drum - // approx. 0.02865 - - public static final double momentOfInertia = netMass * Math.pow(drumRadius, 2); - - public static final LinearSystem stateSpacePlant = LinearSystemId - .createElevatorSystem(KrakenX60FOCConstants.KrakenX60FOCMotor, netMass, drumRadius, gearRatio); - - public static final double absoluteSensorRange = 0.5; - public static final SensorDirectionValue invertEncoder = SensorDirectionValue.CounterClockwise_Positive; - public static final double encoderOffset = 0.291015625 ; //0.490234375 - - public static final double metersToRotations = 1 / (drumRadius * 2 * Math.PI); - // approx 7.96 - - public static final boolean enableCANRange = true; - - public static final double rangeDistanceGain = 64; // how much higher, per unit of range - - /* Please note: - * The maximum height of the elevator (in inches) was calculated to be 80.44 inches. - * Accounting for e rror, we really never should set a setpoint higher than 79 inches (how we chose the net height) - */ - - public static final double inch = Units.inchesToMeters(1) * metersToRotations; - - public static final double groundIntake = 0; - public static final double highGroundIntake = Units.inchesToMeters(12.0) * metersToRotations; - public static final double stow = 0.31; - public static final double eject = stow + 2 * inch; - public static final double processor = 0; - // public static final double L1 = stow + 3.5 * inch; - public static final double L2 = 4.016 + 3 * inch; // 35.5 - public static final double L1 = 2.63; - public static final double secondaryL1 = L1 + 8 * inch; - public static final double L3 = 7.257 - 4 * inch; // 50.5 - public static final double L4 = 9.757 + 0.3 * inch; - public static final double net = 9.31 + 4 * inch; // 67 - short, // 72 - long - public static final double reefLower = 2; - public static final double reefUpper = 4.5; - public static final double prep = L2; - - public static final double forwardSoftLimit = 11.15; - public static final double reverseSoftLimit = 0; - - public static final double unsafeRange = L2 + 2 * inch; - - public static final double tolerance = 0.06; - - public static final double k_maxCanCompensation = 2 * inch; - - public static final double manualUpSpeed = 0.2; - public static final double manualDownSpeed = -0.3; - - public static final double maxSpeedUp = 32; // 16 - public static final double maxAccelerationUp = 48; // 48 - public static final double maxJerkUp = 480; // 480 - - public static final double maxSpeedDown = 10; // 10 - public static final double maxAccelerationDown = 30; // 30 - public static final double maxJerkDown = 300; // 300 - - public static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() - .withMagnetSensor(new MagnetSensorConfigs() - .withAbsoluteSensorDiscontinuityPoint(absoluteSensorRange) - .withSensorDirection(invertEncoder) - .withMagnetOffset(encoderOffset)); - - public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Brake) - .withInverted(motorInverted)) - - .withFeedback(new FeedbackConfigs() - .withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor) - .withSensorToMechanismRatio(gearRatio)) - - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(supplyCurrentLimit)) - - .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() - .withForwardSoftLimitThreshold(forwardSoftLimit) - .withForwardSoftLimitEnable(true) - .withReverseSoftLimitThreshold(reverseSoftLimit) - .withReverseSoftLimitEnable(false)) - - .withSlot0(new Slot0Configs() - .withGravityType(GravityTypeValue.Elevator_Static) - .withKP(20) - .withKI(0) - .withKD(0) - .withKS(0.125) - .withKV(3.59 * (drumRadius * 2 * Math.PI)) - .withKA(0.05 * (drumRadius * 2 * Math.PI)) - .withKG(0.42)) - - .withSlot1(new Slot1Configs() - .withGravityType(GravityTypeValue.Elevator_Static) - .withKP(7) - .withKI(0) - .withKD(0) - .withKS(0) - .withKV(3.59 * (drumRadius * 2 * Math.PI)) - .withKA(0.05 * (drumRadius * 2 * Math.PI)) - .withKG(0.42)) - - .withMotionMagic(new MotionMagicConfigs() - .withMotionMagicCruiseVelocity(maxSpeedUp) - .withMotionMagicAcceleration(maxAccelerationUp) - .withMotionMagicJerk(maxJerkUp)); - - public static final CANrangeConfiguration kCANrangeConfig = new CANrangeConfiguration() - .withFovParams(new FovParamsConfigs() - .withFOVRangeX(6.75) - .withFOVRangeY(6.75)) - .withProximityParams(new ProximityParamsConfigs() - .withMinSignalStrengthForValidMeasurement(3500) - .withProximityThreshold(0.13) - .withProximityHysteresis(0)); - - public static final Time kRangeDebounceTime = Seconds.of(0.06); - } - - public static final class PivotConstants { - public static final double encoderOffset = 0.665283203125; - - public static final double rotorOffset = 0.344; - - public static final double rotorToSensorRatio = 64.0 / 14.0; - public static final double sensorToMechanismRatio = 32.0 / 14.0; - - public static final InvertedValue invertMotor = InvertedValue.CounterClockwise_Positive; - public static final SensorDirectionValue invertEncoder = SensorDirectionValue.Clockwise_Positive; - - public static final double forwardSoftLimitThreshold = 0.359; - public static final double reverseSoftLimitThreshold = 0.0; - - public static final double radiansAtMax = forwardSoftLimitThreshold; - public static final double radiansAtZero = 0; - - public static final double absoluteSensorRange = 0.5; - - public static final double supplyCurrentLimit = 40; - - public static final double tolerance = 0.03; - - public static final double groundPickup = 0.0669; - public static final double processor = 0.085; - public static final double reefPickup = 0.2; - public static final double reefExtract = 0.281; - public static final double net = 0.342; - public static final double stow = 0.343; - - public static final double manualUpSpeed = 0.1; - public static final double manualDownSpeed = -0.1; - - public static final double momentOfIntertia = 0.14622; - public static final double gearRatio = rotorToSensorRatio * sensorToMechanismRatio; - - public static final LinearSystem stateSpacePlant = LinearSystemId - .createSingleJointedArmSystem(TalonFXConstants.TalonFXDCMotor, momentOfIntertia, gearRatio); - - public static final double maxSpeed = 1.5; // cancoder rotations per second - public static final double accelerationMultiplier = 2; - - public static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() - .withMagnetSensor(new MagnetSensorConfigs() - .withAbsoluteSensorDiscontinuityPoint(absoluteSensorRange) - .withSensorDirection(invertEncoder) - .withMagnetOffset(encoderOffset)); - - public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Brake) - .withInverted(invertMotor)) - - // .withFeedback(new FeedbackConfigs() - // .withFeedbackRemoteSensorID(IDConstants.pivotEncoder) - // .withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder) - // .withRotorToSensorRatio(rotorToSensorRatio) - // .withSensorToMechanismRatio(sensorToMechanismRatio)) - .withFeedback(new FeedbackConfigs() - .withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor) - .withSensorToMechanismRatio(gearRatio)) - - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(supplyCurrentLimit)) - - .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() - .withForwardSoftLimitThreshold(forwardSoftLimitThreshold) - .withForwardSoftLimitEnable(true) - .withReverseSoftLimitThreshold(reverseSoftLimitThreshold) - .withReverseSoftLimitEnable(true)) - - .withSlot0(new Slot0Configs() - .withGravityType(GravityTypeValue.Arm_Cosine) - .withKP(25) - .withKI(0) - .withKD(0) - .withKS(0) - .withKV(1.3) - .withKA(0.12) - .withKG(0.625)) - .withSlot1(new Slot1Configs() - .withGravityType(GravityTypeValue.Arm_Cosine) - .withKP(30) - .withKI(0) - .withKD(0) - .withKS(0) - .withKV(1.3) - .withKA(0.12) - .withKG(0.85)) - - .withMotionMagic(new MotionMagicConfigs() - .withMotionMagicCruiseVelocity(maxSpeed) - .withMotionMagicAcceleration(maxSpeed * accelerationMultiplier) - .withMotionMagicJerk(maxSpeed * accelerationMultiplier * 10)); - - public static final double armLength = 0.443; - } - - public static class CoralConstants { - public static final double intakeVoltage = 2.4; - public static final double retractVoltage = -3.5; - public static final double ejectVoltage = 5; - - public static final double l1EjectVoltage = 2.5; - public static final double l2EjectVoltage = 4.0; // 5.1 - public static final double l3EjectVoltage = 4.0; // 5.1 - public static final double l4EjectVoltage = 5.5; - - public static final double rangeDistanceGain = 13; // how many more volts, per unit of range - - public static final double reverseEjectVoltage = -6; - public static final double fastEjectVoltage = -10; - - public static final double l1LeftEjectVoltage = 2; - public static final double l1RightEjectVoltage = 4; - - public static final boolean rightMotorInvert = true; - - public static final double supplyCurrentLimit = 20.0; - - public static final double IRThreshold = 0.51; - - public static final boolean enableCANRange = true; - - public static final InvertedValue kInvertRight = InvertedValue.Clockwise_Positive; - - public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Coast) - .withInverted(InvertedValue.CounterClockwise_Positive)) - - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(supplyCurrentLimit)); - - public static final CANdiConfiguration candiConfig = new CANdiConfiguration() - .withDigitalInputs(new DigitalInputsConfigs() - .withS1CloseState(S1CloseStateValue.CloseWhenHigh) - .withS2CloseState(S2CloseStateValue.CloseWhenHigh)); - - public static final CANrangeConfiguration frontRangeConfig = new CANrangeConfiguration() - .withFovParams(new FovParamsConfigs() - .withFOVRangeX(6.5) - .withFOVRangeY(6.5)) - .withProximityParams(new ProximityParamsConfigs() - .withMinSignalStrengthForValidMeasurement(15015) - .withProximityThreshold(0.1)) - .withToFParams(new ToFParamsConfigs() - .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - - - public static final CANrangeConfiguration upperRangeConfig = new CANrangeConfiguration() - .withFovParams(new FovParamsConfigs() - .withFOVRangeX(6.5) - .withFOVRangeY(15)) - .withProximityParams(new ProximityParamsConfigs() - .withMinSignalStrengthForValidMeasurement(2500) - .withProximityThreshold(0.65)) - .withToFParams(new ToFParamsConfigs() - .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - - public static final CANrangeConfiguration innerRangeConfig = new CANrangeConfiguration() - .withFovParams(new FovParamsConfigs() - .withFOVRangeX(27) - .withFOVRangeY(27)) - .withProximityParams(new ProximityParamsConfigs() - .withMinSignalStrengthForValidMeasurement(1500) - .withProximityHysteresis(0) - .withProximityThreshold(0.06)) - .withToFParams(new ToFParamsConfigs() - .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - - public static double intakeTimeout = 1; - } - - public static final class ClimberConstants { - public static final boolean rightMotorInvert = true; - public static final double climberUpVolts = 12.0; // 12.0 - public static final double climbDownVolts = -12.0; - public static final double climbRollVolts = -4; - - public static final double climberCurrentLimit = 80.0; - public static final InvertedValue invertMotor = InvertedValue.CounterClockwise_Positive; - - public static final double forwardSoftLimit = 0.0; - public static final double reverseSoftLimit = -0.25; - public static final double stowPosition = -0.25; - public static final double climbPosition = -0.110; - public static final double kShakePosition = -0.02; - - public static final double encoderOffset = -0.01318359; - public static final SensorDirectionValue invertEncoder = SensorDirectionValue.CounterClockwise_Positive; - - public static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() - .withMagnetSensor(new MagnetSensorConfigs() - .withAbsoluteSensorDiscontinuityPoint(0.5) - .withSensorDirection(invertEncoder) - .withMagnetOffset(encoderOffset)); - - public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Brake) - .withInverted(invertMotor)) - - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(climberCurrentLimit)) - - .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() - .withForwardSoftLimitThreshold(forwardSoftLimit) - .withForwardSoftLimitEnable(true) - .withReverseSoftLimitThreshold(reverseSoftLimit) - .withReverseSoftLimitEnable(true)) - - .withFeedback(new FeedbackConfigs() - .withFeedbackRemoteSensorID(IDConstants.climbEncoder) - .withFeedbackSensorSource(FeedbackSensorSourceValue.RemoteCANcoder)); - - public static final double climbReadyRangeValue = 0.08; - public static final double climbedRangeValue = 0.145; - - public static final double climbMaxEncoderValue = 63.833; - public static final double climbReadyMaxEncoderValue = 90; - - public static final double k_openServoPosition = 0.0; - public static final double k_closedServoPosition = 1.0; - public static final double k_servoTolerance = 0.01; - - public static final double climbReadyTolerance = -0.001; - - public static final double kClimbTime = 30.0; - } + public static final int leftReef = Button.kSquare.value; + public static final int rightReef = Button.kCircle.value; - public static final class AlgaeRollerConstants { - public static final double intakeVoltage = 12; - public static final double netEjectVoltage = -3.0; // 3.0 - public static final double processorEjectVoltage = -3.2; + public static final int lowAlgae = Button.kCross.value; + public static final int highAlgae = Button.kTriangle.value; + public static final int ground = 180; // POV + public static final int processor = 90; // POV + public static final int highGround = 270; // POV + public static final int net = 0; // POV + public static final int algaeModeButton = Button.kR2.value; // R2 - public static final double torqueCurrentThreshold = 75; + public static final int autoProcessor = Button.kR1.value; - public static final double supplyCurrentLimit = 25.0; + public static final int climbUp = Button.kCreate.value; + public static final int climb = Button.kOptions.value; - public static final double holdVoltage = 2.7; - public static final double k_updateObjectPeriodSeconds = 0.200; // 200 milliseconds - public static final InvertedValue invertMotor = InvertedValue.Clockwise_Positive; - public static final double algaeEjectTime = 0.4; // was 0.6 but i want faster when we're done - public static final double reefPickupSafetyDistance = 1.75; + public static final int stow = Button.kPS.value; - public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Brake) - .withInverted(invertMotor)) + public static final int intake = Button.kL1.value; // LB - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(supplyCurrentLimit)); - } + public static final int zeroElevator = 15; // old safety mode button (little bar below PS + // button) - public static final class TalonFXConstants { - public static final double nominalVoltageVolts = 12.0; // DC Volts - public static final double stallTorqueNewtonMeters = 4.69; // Nm - public static final double stallCurrentAmps = 257.0; // Amps - public static final double freeCurrentAmps = 1.5; // Amps - public static final double freeSpeedRadPerSec = 6380.0 * 2.0 * Math.PI / 60.0; // RPM * 2pi / 60 = Rad per - // second + public static final int rightFunnel = 11; + public static final int leftFunnel = 12; - public static final double positionStdDevs = 1.0 / 2048.0; // rotations - public static final double velocityStdDevs = 2.0 / 2048.0; // rotations - public static final DCMotor TalonFXDCMotor = new DCMotor(nominalVoltageVolts, stallTorqueNewtonMeters, - stallCurrentAmps, freeCurrentAmps, freeSpeedRadPerSec, 1); } - public static final class KrakenX60Constants { - public static final double nominalVoltageVolts = 12.0; - public static final double stallTorqueNewtonMeters = 7.16; - public static final double stallCurrentAmps = 374.38; - public static final double freeCurrentAmps = 2.0; - public static final double freeSpeedRadPerSec = Units.rotationsToRadians(6000); - public static final double positionStdDevs = 1.0 / 2048.0; - public static final double velocityStdDevs = 2.0 / 2048.0; - - public static final DCMotor KrakenX60Motor = new DCMotor(nominalVoltageVolts, stallTorqueNewtonMeters, - stallCurrentAmps, freeCurrentAmps, freeSpeedRadPerSec, 1); + public static class ButtonBoardKeyboard { + // WHEN SAFETY ON - AUTOMATION BASED + public static final int L1 = 1; + public static final int L2 = 2; + public static final int L3 = 3; + public static final int L4 = 4; + + public static final int A = 5; + public static final int B = 6; + public static final int C = 7; + public static final int D = 8; + public static final int E = 9; + public static final int F = 10; + public static final int G = 11; + public static final int H = 12; + public static final int I = 13; + public static final int J = 14; + public static final int K = 15; + public static final int L = 16; + + public static final int lowAlgae = 17; + public static final int highAlgae = 18; + public static final int groundAlgae = 19; + public static final int processor = 20; + public static final int net = 21; + + public static final int leftIntake = 22; + public static final int rightIntake = 23; + + public static final int climb = 24; + + public static final int cancelAuto = 25; } - - public static final class KrakenX60FOCConstants { - public static final double nominalVoltageVolts = 12.0; - public static final double stallTorqueNewtonMeters = 9.37; - public static final double stallCurrentAmps = 483; - public static final double freeCurrentAmps = 2.0; - public static final double freeSpeedRadPerSec = Units.rotationsToRadians(5800); - public static final double positionStdDevs = 1.0 / 2048.0; - public static final double velocityStdDevs = 2.0 / 2048.0; - - public static final DCMotor KrakenX60FOCMotor = new DCMotor(nominalVoltageVolts, stallTorqueNewtonMeters, - stallCurrentAmps, freeCurrentAmps, freeSpeedRadPerSec, 1); + } + + public static class VisionConstants { + public static final boolean enableVision = true; + public static final boolean k_enableLogging = true; + + public static final double k_rotationCoefficient = Math.PI * 20; + public static final double k_translationCoefficient = 0.10; // previously 0.10 + + public static final AprilTagFieldLayout k_layout = + AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded); + + public static final String k_estimationName = "estimation"; + public static final String kRejectedName = "rejected"; + + public static final String k_logPath = "/home/lvuser/logs/vision"; + public static final String k_simLogPath = "logs/vision"; + + private static final double k_moduleHeight = 0.190; + + private static final double k_tightPitch = -Units.degreesToRadians(22.5); + private static final double k_widePitch = -Units.degreesToRadians(25.0); + + private static final double k_tightYaw = Units.degreesToRadians(37.0); // this doesn't seem + // right + private static final double k_wideYaw = Units.degreesToRadians(-7.0); + + // The camera names + public static Map fakecameras = Map.ofEntries( + Map.entry("test", new Transform3d(0, 0, 0, new Rotation3d()))); + public static Map cameras = Map.ofEntries( + Map.entry("cam1", new Transform3d( // left tight + new Translation3d(0.256, 0.289, k_moduleHeight), + new Rotation3d(0, k_tightPitch, -k_tightYaw))), + Map.entry("cam2", new Transform3d( // left wide + new Translation3d(0.337, 0.331, k_moduleHeight), + new Rotation3d(0, k_widePitch, -k_wideYaw))), + Map.entry("cam3", new Transform3d( // right wide + new Translation3d(0.337, -0.331, k_moduleHeight), + new Rotation3d(0, k_widePitch, k_wideYaw))), + Map.entry("cam4", new Transform3d( // right tight + new Translation3d(0.256, -0.289, k_moduleHeight), + new Rotation3d(0, k_tightPitch, k_tightYaw)))); + + public static final String k_leftAlignName = "cam1"; + public static final String k_rightAlignName = "cam4"; + + // The tick time for each pose estimator to run + public static final double k_periodic = 0.02; + // The maximum number of results (per camera) + public static final double k_expectedResults = 10; + // The maximum tolerated latency, in seconds. + public static final double k_latencyThreshold = 0.75; + // The maximum tolerated ambiguity value. + public static final double k_AmbiguityThreshold = 0.2; + // The farthest out off a field a pose estimate can say we are + // (in each dimension separately) + public static final Distance k_XYMargin = Meters.of(0.5); + // The maximum distance from 0 that a camera's pose can report + public static final Distance k_ZMargin = Meters.of(1.5); + + // Some configuration variables: + public static final boolean k_useStdDevs = true; + public static final double k_distanceMultiplier = 5.0; + public static final double k_noisyDistance = 4.0; + public static final double k_ambiguityMultiplier = 0.4; + public static final double k_ambiguityShifter = 0.2; + public static final double k_targetMultiplier = 80; + public static final double k_differenceThreshold = 0.10; + public static final double k_differenceMultiplier = 200.0; + public static final double k_latencyMultiplier = 1.3; + + public static final double k_headingThreshold = Units.degreesToRadians(3); + + // Stats about the camera for simulation + public static final int k_resWidth = 320 * 2; + public static final int k_resHeight = 240 * 2; + public static final Rotation2d k_fov = Rotation2d.fromDegrees(82.0); + public static final Rotation2d kHorizontalFov = Rotation2d.fromDegrees(70.0); + + + // Simulated error: + public static final Time k_avgLatency = Milliseconds.of(18); + public static final Time k_latencyStdDev = Milliseconds.of(2); + public static final double k_avgErr = 0.08; + public static final double k_errStdDev = 0.02; + + // Stop using vision after X time + public static final double k_visionTimeout = 0.5; + + // reef tag ids (single tag only) + public static final Set k_reefIds = Set.of( + 6, 7, 8, 9, 10, 11, // red tags + 17, 18, 19, 20, 21, 22 // blue tags + ); + } + + public static class FieldConstants { + public static final Distance k_fieldWidth = Meters.of(8.05); + public static final Distance k_fieldLength = Meters.of(17.55); + public static final Translation2d reefCenter = new Translation2d(4.5, 4.0); + public static final double kReefReadyAuton = 2.6; + public static final double kReefReady = 2.1; + public static final Pose2d k_processor = new Pose2d(5.974, 1.16, Rotation2d.kCW_90deg); + + public static final Pose2d kRightIntake = new Pose2d(1.247, 0.950, Rotation2d.fromDegrees(55)); + public static final Pose2d kLeftIntake = new Pose2d(1.211, 7.016, Rotation2d.fromDegrees(-55)); + + public static final Pose2d kGH = new Pose2d(5.791, 4.046, Rotation2d.k180deg); + public static final Pose2d kIJ = new Pose2d(5.155, 5.194, Rotation2d.fromDegrees(-120)); + + public static final Pose2d kBarge1 = new Pose2d(7.459, 4.717, Rotation2d.fromDegrees(21.0)); + } + + public static final class StateSpaceConstants { + public static final double k_dt = 0.01; // fast state space, please! + public static final double k_maxVoltage = 12.0; + } + + public static final class AutonConstants { + public static final double translationTolerance = 0.03; // 0.04 + public static Angle rotationTolerance = Degrees.of(2); + + public static final double driveToPointMaxDistance = 1.5; // beyond X meters, command will insta + // end + public static final double stage2Distance = 1; + } + + public static final class CANrangeConstants { + + public static final CANrangeConfiguration k_canRangeConfig = new CANrangeConfiguration() + .withFovParams(new FovParamsConfigs() + .withFOVRangeX(7) + .withFOVRangeY(7)) + .withToFParams(new ToFParamsConfigs() + .withUpdateMode(UpdateModeValue.ShortRange100Hz)); + // .withProximityParams(null) + public static final double farAlignedDistanceMeters = 0.18; + public static final double tolerance = 0.2; // 20% tolerance + public static final double closeAlignedDistanceMeters = 0.12; + public static final int k_filterWindow = 5; // 5 measurements + } + + public static final class ElevatorConstants { + public static final boolean enable = true; + + public static final boolean invertLeftMotorFollower = true; + + public static final double supplyCurrentLimit = 100; + public static final double k_zeroCurrentThreshold = 23.5; + + public static final double rotorToSensorRatio = 5.2; + public static final double sensorToMechanismRatio = 1; + + public static final InvertedValue motorInverted = InvertedValue.CounterClockwise_Positive; + + public static final double gearRatio = rotorToSensorRatio * sensorToMechanismRatio; + + public static final double stage1Mass = Units.lbsToKilograms(5.402); + public static final double stage2Mass = Units.lbsToKilograms(4.819); + public static final double carriageMass = Units.lbsToKilograms(3.084); + public static final double coralMechanismMass = Units.lbsToKilograms(8.173); // includes coral + public static final double algaeMechanismMass = Units.lbsToKilograms(8.359); + + public static final double netMass = + stage1Mass + stage2Mass + carriageMass + coralMechanismMass + algaeMechanismMass; // Mass of + // the + // elevator + // carriage + public static final double drumRadius = Units.inchesToMeters(2.256 / 2); // Radius of the + // elevator drum + // approx. 0.02865 + + public static final double momentOfInertia = netMass * Math.pow(drumRadius, 2); + + public static final LinearSystem stateSpacePlant = LinearSystemId + .createElevatorSystem(KrakenX60FOCConstants.KrakenX60FOCMotor, netMass, drumRadius, + gearRatio); + + public static final double absoluteSensorRange = 0.5; + public static final SensorDirectionValue invertEncoder = + SensorDirectionValue.CounterClockwise_Positive; + public static final double encoderOffset = 0.291015625; // 0.490234375 + + public static final double metersToRotations = 1 / (drumRadius * 2 * Math.PI); + // approx 7.96 + + public static final boolean enableCANRange = true; + + public static final double rangeDistanceGain = 64; // how much higher, per unit of range + + /* + * Please note: The maximum height of the elevator (in inches) was calculated to be 80.44 + * inches. Accounting for e rror, we really never should set a setpoint higher than 79 inches + * (how we chose the net height) + */ + + public static final double inch = Units.inchesToMeters(1) * metersToRotations; + + public enum ElevatorState { + Ground(0), + HighGround(12 * inch), + Stow(0.31), + Eject(ElevatorState.Stow.position() + 2 * inch), + Processor(0), + L1(2.63), + SecondaryL1(ElevatorState.L1.position() + 8 * inch), + L2(4.016 + 3 * inch), + L3(7.257 - 4 * inch), + L4(9.757 + 0.3 * inch), + Net(9.31 + 4 * inch), + LowerReef(2.0), + UpperReef(4.5); + + private final double m_position; + + private ElevatorState(double position) { + m_position = position; + } + + public double position() { + return m_position; + } } - public enum ScoringLocations { - A(new Pose2d(3.188, 4.191, Rotation2d.fromDegrees(0))), // GOOD - B(new Pose2d(3.188, 3.861, Rotation2d.fromDegrees(0))), // GOOD - - C(new Pose2d(3.72, 2.982, Rotation2d.fromDegrees(58.7))), // GOOD - D(new Pose2d(3.967, 2.810, Rotation2d.fromDegrees(58.2))), // GOOD - - E(new Pose2d(4.998, 2.816, Rotation2d.fromDegrees(120))), // GOOD - F(new Pose2d(5.283, 2.981, Rotation2d.fromDegrees(120))), // GOOD - - G(new Pose2d(5.791, 3.861, Rotation2d.fromDegrees(180))), // GOOD - H(new Pose2d(5.791, 4.191, Rotation2d.fromDegrees(180))), // GOOD - - I(new Pose2d(5.283, 5.071, Rotation2d.fromDegrees(-120))), // GOOD - J(new Pose2d(4.998, 5.236, Rotation2d.fromDegrees(-120))), // GOOD + public static final double forwardSoftLimit = 11.15; + public static final double reverseSoftLimit = 0; + + public static final double unsafeRange = ElevatorState.L2.position() + 2 * inch; + + public static final double tolerance = 0.06; + + public static final double k_maxCanCompensation = 2 * inch; + + public static final double manualUpSpeed = 0.2; + public static final double manualDownSpeed = -0.3; + + public static final double maxSpeedUp = 32; // 16 + public static final double maxAccelerationUp = 48; // 48 + public static final double maxJerkUp = 480; // 480 + + public static final double maxSpeedDown = 10; // 10 + public static final double maxAccelerationDown = 30; // 30 + public static final double maxJerkDown = 300; // 300 + + public static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() + .withMagnetSensor(new MagnetSensorConfigs() + .withAbsoluteSensorDiscontinuityPoint(absoluteSensorRange) + .withSensorDirection(invertEncoder) + .withMagnetOffset(encoderOffset)); + + public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withInverted(motorInverted)) + + .withFeedback(new FeedbackConfigs() + .withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor) + .withSensorToMechanismRatio(gearRatio)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withSupplyCurrentLimit(supplyCurrentLimit)) + + .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitThreshold(forwardSoftLimit) + .withForwardSoftLimitEnable(true) + .withReverseSoftLimitThreshold(reverseSoftLimit) + .withReverseSoftLimitEnable(false)) + + .withSlot0(new Slot0Configs() + .withGravityType(GravityTypeValue.Elevator_Static) + .withKP(20) + .withKI(0) + .withKD(0) + .withKS(0.125) + .withKV(3.59 * (drumRadius * 2 * Math.PI)) + .withKA(0.05 * (drumRadius * 2 * Math.PI)) + .withKG(0.42)) + + .withSlot1(new Slot1Configs() + .withGravityType(GravityTypeValue.Elevator_Static) + .withKP(7) + .withKI(0) + .withKD(0) + .withKS(0) + .withKV(3.59 * (drumRadius * 2 * Math.PI)) + .withKA(0.05 * (drumRadius * 2 * Math.PI)) + .withKG(0.42)) + + .withMotionMagic(new MotionMagicConfigs() + .withMotionMagicCruiseVelocity(maxSpeedUp) + .withMotionMagicAcceleration(maxAccelerationUp) + .withMotionMagicJerk(maxJerkUp)); + + public static final CANrangeConfiguration kCANrangeConfig = new CANrangeConfiguration() + .withFovParams(new FovParamsConfigs() + .withFOVRangeX(6.75) + .withFOVRangeY(6.75)) + .withProximityParams(new ProximityParamsConfigs() + .withMinSignalStrengthForValidMeasurement(3500) + .withProximityThreshold(0.13) + .withProximityHysteresis(0)); + + public static final Time kRangeDebounceTime = Seconds.of(0.06); + } + + public static final class PivotConstants { + public static final double encoderOffset = 0.665283203125; + + public static final double rotorOffset = 0.344; + + public static final double rotorToSensorRatio = 64.0 / 14.0; + public static final double sensorToMechanismRatio = 32.0 / 14.0; + + public static final InvertedValue invertMotor = InvertedValue.CounterClockwise_Positive; + public static final SensorDirectionValue invertEncoder = + SensorDirectionValue.Clockwise_Positive; + + public static final double forwardSoftLimitThreshold = 0.359; + public static final double reverseSoftLimitThreshold = 0.0; + + public static final double radiansAtMax = forwardSoftLimitThreshold; + public static final double radiansAtZero = 0; + + public static final double absoluteSensorRange = 0.5; + + public static final double supplyCurrentLimit = 40; + + public static final double tolerance = 0.03; + + public static final double groundPickup = 0.0669; + public static final double processor = 0.085; + public static final double reefPickup = 0.2; + public static final double reefExtract = 0.281; + public static final double net = 0.342; + public static final double stow = 0.343; + + public static final double manualUpSpeed = 0.1; + public static final double manualDownSpeed = -0.1; + + public static final double momentOfIntertia = 0.14622; + public static final double gearRatio = rotorToSensorRatio * sensorToMechanismRatio; - K(new Pose2d(3.951, 5.236, Rotation2d.fromDegrees(-60))), // GOOD - L(new Pose2d(3.696, 5.071, Rotation2d.fromDegrees(-60))), // GOOD + public static final LinearSystem stateSpacePlant = LinearSystemId + .createSingleJointedArmSystem(TalonFXConstants.TalonFXDCMotor, momentOfIntertia, gearRatio); + + public static final double maxSpeed = 1.5; // cancoder rotations per second + public static final double accelerationMultiplier = 2; + + public static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() + .withMagnetSensor(new MagnetSensorConfigs() + .withAbsoluteSensorDiscontinuityPoint(absoluteSensorRange) + .withSensorDirection(invertEncoder) + .withMagnetOffset(encoderOffset)); + + public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withInverted(invertMotor)) + + // .withFeedback(new FeedbackConfigs() + // .withFeedbackRemoteSensorID(IDConstants.pivotEncoder) + // .withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder) + // .withRotorToSensorRatio(rotorToSensorRatio) + // .withSensorToMechanismRatio(sensorToMechanismRatio)) + .withFeedback(new FeedbackConfigs() + .withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor) + .withSensorToMechanismRatio(gearRatio)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withSupplyCurrentLimit(supplyCurrentLimit)) + + .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitThreshold(forwardSoftLimitThreshold) + .withForwardSoftLimitEnable(true) + .withReverseSoftLimitThreshold(reverseSoftLimitThreshold) + .withReverseSoftLimitEnable(true)) + + .withSlot0(new Slot0Configs() + .withGravityType(GravityTypeValue.Arm_Cosine) + .withKP(25) + .withKI(0) + .withKD(0) + .withKS(0) + .withKV(1.3) + .withKA(0.12) + .withKG(0.625)) + .withSlot1(new Slot1Configs() + .withGravityType(GravityTypeValue.Arm_Cosine) + .withKP(30) + .withKI(0) + .withKD(0) + .withKS(0) + .withKV(1.3) + .withKA(0.12) + .withKG(0.85)) + + .withMotionMagic(new MotionMagicConfigs() + .withMotionMagicCruiseVelocity(maxSpeed) + .withMotionMagicAcceleration(maxSpeed * accelerationMultiplier) + .withMotionMagicJerk(maxSpeed * accelerationMultiplier * 10)); - RIGHTHP(new Pose2d(1.227, 1.048, Rotation2d.fromDegrees(55))), - LEFTHP(new Pose2d(1.227, 6.983, Rotation2d.fromDegrees(-55))), - PROCESSOR(new Pose2d(6.0, 0.6, Rotation2d.fromDegrees(-90))), - NET(new Pose2d(7.7, 6.0, Rotation2d.fromDegrees(0))); + public static final double armLength = 0.443; + } - public Pose2d value; + public static class CoralConstants { + public static final double intakeVoltage = 2.4; + public static final double retractVoltage = -3.5; + public static final double ejectVoltage = 5; - private ScoringLocations(Pose2d value) { - this.value = value; - } - } + public static final double l1EjectVoltage = 2.5; + public static final double l2EjectVoltage = 4.0; // 5.1 + public static final double l3EjectVoltage = 4.0; // 5.1 + public static final double l4EjectVoltage = 5.5; + + public static final double rangeDistanceGain = 13; // how many more volts, per unit of range + + public static final double reverseEjectVoltage = -6; + public static final double fastEjectVoltage = -10; + + public static final double l1LeftEjectVoltage = 2; + public static final double l1RightEjectVoltage = 4; + + public static final boolean rightMotorInvert = true; + + public static final double supplyCurrentLimit = 20.0; + + public static final double IRThreshold = 0.51; + + public static final boolean enableCANRange = true; + + public static final InvertedValue kInvertRight = InvertedValue.Clockwise_Positive; + + public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Coast) + .withInverted(InvertedValue.CounterClockwise_Positive)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withSupplyCurrentLimit(supplyCurrentLimit)); + + public static final CANdiConfiguration candiConfig = new CANdiConfiguration() + .withDigitalInputs(new DigitalInputsConfigs() + .withS1CloseState(S1CloseStateValue.CloseWhenHigh) + .withS2CloseState(S2CloseStateValue.CloseWhenHigh)); + + public static final CANrangeConfiguration frontRangeConfig = new CANrangeConfiguration() + .withFovParams(new FovParamsConfigs() + .withFOVRangeX(6.5) + .withFOVRangeY(6.5)) + .withProximityParams(new ProximityParamsConfigs() + .withMinSignalStrengthForValidMeasurement(15015) + .withProximityThreshold(0.1)) + .withToFParams(new ToFParamsConfigs() + .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - public enum ScoringLocationsLeft { - A(ScoringLocations.A.value), - C(ScoringLocations.C.value), - E(ScoringLocations.E.value), - G(ScoringLocations.G.value), - I(ScoringLocations.I.value), - K(ScoringLocations.K.value); - public Pose2d value; + public static final CANrangeConfiguration upperRangeConfig = new CANrangeConfiguration() + .withFovParams(new FovParamsConfigs() + .withFOVRangeX(6.5) + .withFOVRangeY(15)) + .withProximityParams(new ProximityParamsConfigs() + .withMinSignalStrengthForValidMeasurement(2500) + .withProximityThreshold(0.65)) + .withToFParams(new ToFParamsConfigs() + .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - private ScoringLocationsLeft(Pose2d value) { - this.value = value; - } + public static final CANrangeConfiguration innerRangeConfig = new CANrangeConfiguration() + .withFovParams(new FovParamsConfigs() + .withFOVRangeX(27) + .withFOVRangeY(27)) + .withProximityParams(new ProximityParamsConfigs() + .withMinSignalStrengthForValidMeasurement(1500) + .withProximityHysteresis(0) + .withProximityThreshold(0.06)) + .withToFParams(new ToFParamsConfigs() + .withUpdateMode(UpdateModeValue.ShortRange100Hz)); + + public static double intakeTimeout = 1; + } + + public static final class ClimberConstants { + public static final boolean rightMotorInvert = true; + public static final double climberUpVolts = 12.0; // 12.0 + public static final double climbDownVolts = -12.0; + public static final double climbRollVolts = -4; + + public static final double climberCurrentLimit = 80.0; + public static final InvertedValue invertMotor = InvertedValue.CounterClockwise_Positive; + + public static final double forwardSoftLimit = 0.0; + public static final double reverseSoftLimit = -0.25; + public static final double stowPosition = -0.25; + public static final double climbPosition = -0.110; + public static final double kShakePosition = -0.02; + + public static final double encoderOffset = -0.01318359; + public static final SensorDirectionValue invertEncoder = + SensorDirectionValue.CounterClockwise_Positive; + + public static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() + .withMagnetSensor(new MagnetSensorConfigs() + .withAbsoluteSensorDiscontinuityPoint(0.5) + .withSensorDirection(invertEncoder) + .withMagnetOffset(encoderOffset)); + + public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withInverted(invertMotor)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withSupplyCurrentLimit(climberCurrentLimit)) + + .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitThreshold(forwardSoftLimit) + .withForwardSoftLimitEnable(true) + .withReverseSoftLimitThreshold(reverseSoftLimit) + .withReverseSoftLimitEnable(true)) + + .withFeedback(new FeedbackConfigs() + .withFeedbackRemoteSensorID(IDConstants.climbEncoder) + .withFeedbackSensorSource(FeedbackSensorSourceValue.RemoteCANcoder)); + + public static final double climbReadyRangeValue = 0.08; + public static final double climbedRangeValue = 0.145; + + public static final double climbMaxEncoderValue = 63.833; + public static final double climbReadyMaxEncoderValue = 90; + + public static final double k_openServoPosition = 0.0; + public static final double k_closedServoPosition = 1.0; + public static final double k_servoTolerance = 0.01; + + public static final double climbReadyTolerance = -0.001; + + public static final double kClimbTime = 30.0; + public static final double kFunnelOpenTime = 1.5; + } + + public static final class AlgaeRollerConstants { + public static final double intakeVoltage = 12; + public static final double netEjectVoltage = -3.0; // 3.0 + public static final double processorEjectVoltage = -3.2; + + public static final double torqueCurrentThreshold = 75; + + public static final double supplyCurrentLimit = 25.0; + + public static final double holdVoltage = 2.7; + public static final double k_updateObjectPeriodSeconds = 0.200; // 200 milliseconds + public static final InvertedValue invertMotor = InvertedValue.Clockwise_Positive; + public static final double algaeEjectTime = 0.4; // was 0.6 but i want faster when we're done + public static final double processorScoreTime = 2.0; // was 0.6 but i want faster when we're done + public static final double reefPickupSafetyDistance = 1.75; + + public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withInverted(invertMotor)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withSupplyCurrentLimit(supplyCurrentLimit)); + } + + public static final class TalonFXConstants { + public static final double nominalVoltageVolts = 12.0; // DC Volts + public static final double stallTorqueNewtonMeters = 4.69; // Nm + public static final double stallCurrentAmps = 257.0; // Amps + public static final double freeCurrentAmps = 1.5; // Amps + public static final double freeSpeedRadPerSec = 6380.0 * 2.0 * Math.PI / 60.0; // RPM * 2pi / 60 + // = Rad per + // second + + public static final double positionStdDevs = 1.0 / 2048.0; // rotations + public static final double velocityStdDevs = 2.0 / 2048.0; // rotations + + public static final DCMotor TalonFXDCMotor = + new DCMotor(nominalVoltageVolts, stallTorqueNewtonMeters, + stallCurrentAmps, freeCurrentAmps, freeSpeedRadPerSec, 1); + } + + public static final class KrakenX60Constants { + public static final double nominalVoltageVolts = 12.0; + public static final double stallTorqueNewtonMeters = 7.16; + public static final double stallCurrentAmps = 374.38; + public static final double freeCurrentAmps = 2.0; + public static final double freeSpeedRadPerSec = Units.rotationsToRadians(6000); + public static final double positionStdDevs = 1.0 / 2048.0; + public static final double velocityStdDevs = 2.0 / 2048.0; + + public static final DCMotor KrakenX60Motor = + new DCMotor(nominalVoltageVolts, stallTorqueNewtonMeters, + stallCurrentAmps, freeCurrentAmps, freeSpeedRadPerSec, 1); + } + + public static final class KrakenX60FOCConstants { + public static final double nominalVoltageVolts = 12.0; + public static final double stallTorqueNewtonMeters = 9.37; + public static final double stallCurrentAmps = 483; + public static final double freeCurrentAmps = 2.0; + public static final double freeSpeedRadPerSec = Units.rotationsToRadians(5800); + public static final double positionStdDevs = 1.0 / 2048.0; + public static final double velocityStdDevs = 2.0 / 2048.0; + + public static final DCMotor KrakenX60FOCMotor = + new DCMotor(nominalVoltageVolts, stallTorqueNewtonMeters, + stallCurrentAmps, freeCurrentAmps, freeSpeedRadPerSec, 1); + } + + public enum ScoringLocations { + A(new Pose2d(3.188, 4.191, Rotation2d.fromDegrees(0))), // GOOD + B(new Pose2d(3.188, 3.861, Rotation2d.fromDegrees(0))), // GOOD + + C(new Pose2d(3.72, 2.982, Rotation2d.fromDegrees(58.7))), // GOOD + D(new Pose2d(3.967, 2.810, Rotation2d.fromDegrees(58.2))), // GOOD + + E(new Pose2d(4.998, 2.816, Rotation2d.fromDegrees(120))), // GOOD + F(new Pose2d(5.283, 2.981, Rotation2d.fromDegrees(120))), // GOOD + + G(new Pose2d(5.791, 3.861, Rotation2d.fromDegrees(180))), // GOOD + H(new Pose2d(5.791, 4.191, Rotation2d.fromDegrees(180))), // GOOD + + I(new Pose2d(5.283, 5.071, Rotation2d.fromDegrees(-120))), // GOOD + J(new Pose2d(4.998, 5.236, Rotation2d.fromDegrees(-120))), // GOOD + + K(new Pose2d(3.951, 5.236, Rotation2d.fromDegrees(-60))), // GOOD + L(new Pose2d(3.696, 5.071, Rotation2d.fromDegrees(-60))), // GOOD + + RIGHTHP(new Pose2d(1.227, 1.048, Rotation2d.fromDegrees(55))), LEFTHP( + new Pose2d(1.227, 6.983, Rotation2d.fromDegrees(-55))), PROCESSOR( + new Pose2d(6.0, 0.6, Rotation2d.fromDegrees(-90))), NET( + new Pose2d(7.7, 6.0, Rotation2d.fromDegrees(0))); + + public Pose2d value; + + private ScoringLocations(Pose2d value) { + this.value = value; } + } - public enum ScoringLocationsRight { - B(ScoringLocations.B.value), - D(ScoringLocations.D.value), - F(ScoringLocations.F.value), - H(ScoringLocations.H.value), - J(ScoringLocations.J.value), - L(ScoringLocations.L.value); + public enum ScoringLocationsLeft { + A(ScoringLocations.A.value), C(ScoringLocations.C.value), E(ScoringLocations.E.value), G( + ScoringLocations.G.value), I(ScoringLocations.I.value), K(ScoringLocations.K.value); - public Pose2d value; + public Pose2d value; - private ScoringLocationsRight(Pose2d value) { - this.value = value; - } + private ScoringLocationsLeft(Pose2d value) { + this.value = value; } + } - public enum ScoringLocationsMiddle { - AB(ScoringLocations.A.value.interpolate(ScoringLocations.B.value, 0.5)), - CD(ScoringLocations.C.value.interpolate(ScoringLocations.D.value, 0.5)), - EF(ScoringLocations.E.value.interpolate(ScoringLocations.F.value, 0.5)), - GH(ScoringLocations.G.value.interpolate(ScoringLocations.H.value, 0.5)), - IJ(ScoringLocations.I.value.interpolate(ScoringLocations.J.value, 0.5)), - KL(ScoringLocations.K.value.interpolate(ScoringLocations.L.value, 0.5)); + public enum ScoringLocationsRight { + B(ScoringLocations.B.value), D(ScoringLocations.D.value), F(ScoringLocations.F.value), H( + ScoringLocations.H.value), J(ScoringLocations.J.value), L(ScoringLocations.L.value); - public Pose2d value; + public Pose2d value; - private ScoringLocationsMiddle(Pose2d value) { - this.value = value; - } + private ScoringLocationsRight(Pose2d value) { + this.value = value; } + } - public enum ClimbLocations { - WALL(new Pose2d(8.5, 7.26, Rotation2d.fromDegrees(0))), - MIDDLE(new Pose2d(8.5, 6.1, Rotation2d.fromDegrees(0))), - CENTER(new Pose2d(8.5, 5.0, Rotation2d.fromDegrees(0))); + public enum ScoringLocationsMiddle { + AB(ScoringLocations.A.value.interpolate(ScoringLocations.B.value, 0.5)), CD( + ScoringLocations.C.value.interpolate(ScoringLocations.D.value, 0.5)), EF( + ScoringLocations.E.value.interpolate(ScoringLocations.F.value, 0.5)), GH( + ScoringLocations.G.value.interpolate(ScoringLocations.H.value, 0.5)), IJ( + ScoringLocations.I.value.interpolate(ScoringLocations.J.value, 0.5)), KL( + ScoringLocations.K.value.interpolate(ScoringLocations.L.value, 0.5)); - public Pose2d value; + public Pose2d value; - private ClimbLocations(Pose2d value) { - this.value = value; - } + private ScoringLocationsMiddle(Pose2d value) { + this.value = value; } + } - public enum ReefClipLocations { - LEFT, RIGHT; - } + public enum ClimbLocations { + WALL(new Pose2d(8.5, 7.26, Rotation2d.fromDegrees(0))), MIDDLE( + new Pose2d(8.5, 6.1, Rotation2d.fromDegrees(0))), CENTER( + new Pose2d(8.5, 5.0, Rotation2d.fromDegrees(0))); - public static final class CommandBounds { - // 1 robot of space around the entire reef - public static final List reef = List.of( - new Translation2d(2.729, 3.013), - new Translation2d(4.498, 1.975), - new Translation2d(6.242, 3.013), - new Translation2d(6.242, 5.024), - new Translation2d(4.498, 6.010), - new Translation2d(2.729, 5.024) - ); - public static final Shape reefBounds = Shape.fromUnsortedVertices(reef, "Reef"); - - // 1.5 robot of space away from the opposite alliance barge side intake - public static final List leftIntake = List.of( - new Translation2d(0.0, 1.25), - new Translation2d(1.7, 0.0), - new Translation2d(3.2, 0.0), - new Translation2d(0.0, 2.35) - ); - public static final Shape leftIntakeBounds = Shape.fromUnsortedVertices(leftIntake, "Left Intake"); - - // 1.5 robot of space away from the same alliance barge side intake - public static final Shape rightIntakeBounds = Shape.flipHotdog(leftIntakeBounds, "Right Intake"); - - // processor where we score - public static final List oppositeAllianceProcessor = List.of( - new Translation2d(5.5, 0.0), - new Translation2d(6.5, 0.0), - new Translation2d(6.5, 1), - new Translation2d(5.5, 1) - ); - public static final Shape processorBounds = Shape.fromUnsortedVertices(oppositeAllianceProcessor, "Processor"); - - // net where we score - public static final List net = List.of( - new Translation2d(7.2, 4.25), - new Translation2d(10.3, 4.25), - new Translation2d(10.3, 8), - new Translation2d(7.2, 8) - ); - public static final Shape netBounds = Shape.fromUnsortedVertices(net, "Net"); - - public static final List tooClose = List.of( - new Translation2d(8.6 ,4.25 ), - new Translation2d(11.7,4.25), - new Translation2d(11.7,8), - new Translation2d(8.6,8) - - ); - - public static final Shape netTooCloseBounds = Shape.fromUnsortedVertices(tooClose, "NoNet"); - - public static Map displayBounds = Map.ofEntries( - Map.entry("Blue Alliance Reef", reefBounds), - Map.entry("Blue Alliance Net", netBounds), - Map.entry("Blue Alliance Left Intake", leftIntakeBounds), - Map.entry("Blue Alliance Right Intake", rightIntakeBounds), - Map.entry("Blue Alliance Processor", processorBounds), - Map.entry("Red Alliance Reef", reefBounds.flip()), - Map.entry("Red Alliance Net", netBounds.flip()), - Map.entry("Red Alliance Left Intake", leftIntakeBounds.flip()), - Map.entry("Red Alliance Right Intake", rightIntakeBounds.flip()), - Map.entry("Red Alliance Processor", processorBounds.flip()) - ); - } - - public static class LedConstants { - public static final int numLED = 133; - public static final double flashSpeed = 0.75; - public static final double strobeSpeed = 0.1; - public static final double endgameWarning = 30; - public static final double endgameAlert = 15; - public static final int funnelOffset = 8; // 8 - public static final int elevatorOffset = 95; // 94 - public static final int funnelNumLED = 81; // 85 - public static final int elevatorNumLED = 40; // 40 - public static final int funnelOffset2 = 8; // 8 - public static final int elevatorOffset2 = 93; // 94 - public static final int funnelNumLED2 = elevatorOffset2 - funnelOffset2; // 85 - public static final int elevatorNumLED2 = 40; // 40 - } + public Pose2d value; - public static class FFConstants { - public static final double k_bargeX = 8.774176; - public static final double k_radius = 1.27; - public static final double k_decceleration = 6.0; + private ClimbLocations(Pose2d value) { + this.value = value; } + } + + public enum ReefClipLocations { + LEFT, RIGHT; + } + + public static final class CommandBounds { + // 1 robot of space around the entire reef + public static final List reef = List.of( + new Translation2d(2.729, 3.013), + new Translation2d(4.498, 1.975), + new Translation2d(6.242, 3.013), + new Translation2d(6.242, 5.024), + new Translation2d(4.498, 6.010), + new Translation2d(2.729, 5.024)); + public static final Shape reefBounds = Shape.fromUnsortedVertices(reef, "Reef"); + + // 1.5 robot of space away from the opposite alliance barge side intake + public static final List leftIntake = List.of( + new Translation2d(0.0, 1.25), + new Translation2d(1.7, 0.0), + new Translation2d(3.2, 0.0), + new Translation2d(0.0, 2.35)); + public static final Shape leftIntakeBounds = + Shape.fromUnsortedVertices(leftIntake, "Left Intake"); + + // 1.5 robot of space away from the same alliance barge side intake + public static final Shape rightIntakeBounds = + Shape.flipHotdog(leftIntakeBounds, "Right Intake"); + + // processor where we score + public static final List oppositeAllianceProcessor = List.of( + new Translation2d(5.5, 0.0), + new Translation2d(6.5, 0.0), + new Translation2d(6.5, 1), + new Translation2d(5.5, 1)); + public static final Shape processorBounds = + Shape.fromUnsortedVertices(oppositeAllianceProcessor, "Processor"); + + // net where we score + public static final List net = List.of( + new Translation2d(7.2, 4.25), + new Translation2d(10.3, 4.25), + new Translation2d(10.3, 8), + new Translation2d(7.2, 8)); + public static final Shape netBounds = Shape.fromUnsortedVertices(net, "Net"); + + public static final List tooClose = List.of( + new Translation2d(8.6, 4.25), + new Translation2d(11.7, 4.25), + new Translation2d(11.7, 8), + new Translation2d(8.6, 8) + + ); + + public static final Shape netTooCloseBounds = Shape.fromUnsortedVertices(tooClose, "NoNet"); + + public static Map displayBounds = Map.ofEntries( + Map.entry("Blue Alliance Reef", reefBounds), + Map.entry("Blue Alliance Net", netBounds), + Map.entry("Blue Alliance Left Intake", leftIntakeBounds), + Map.entry("Blue Alliance Right Intake", rightIntakeBounds), + Map.entry("Blue Alliance Processor", processorBounds), + Map.entry("Red Alliance Reef", reefBounds.flip()), + Map.entry("Red Alliance Net", netBounds.flip()), + Map.entry("Red Alliance Left Intake", leftIntakeBounds.flip()), + Map.entry("Red Alliance Right Intake", rightIntakeBounds.flip()), + Map.entry("Red Alliance Processor", processorBounds.flip())); + } + + public static class LedConstants { + public static final int numLED = 133; + public static final double flashSpeed = 0.75; + public static final double strobeSpeed = 0.1; + public static final double endgameWarning = 30; + public static final double endgameAlert = 15; + public static final int funnelOffset = 8; // 8 + public static final int elevatorOffset = 95; // 94 + public static final int funnelNumLED = 81; // 85 + public static final int elevatorNumLED = 40; // 40 + public static final int funnelOffset2 = 8; // 8 + public static final int elevatorOffset2 = 93; // 94 + public static final int funnelNumLED2 = elevatorOffset2 - funnelOffset2; // 85 + public static final int elevatorNumLED2 = 40; // 40 + } + + public static class FFConstants { + public static final double k_bargeX = 8.774176; + public static final double k_radius = 1.27; + public static final double k_decceleration = 6.0; + } + + public enum CoralLevel { L1, SecondaryL1, L2, L3, L4 } } diff --git a/ThriftyTest/src/main/java/frc/robot/Telemetry.java b/ThriftyTest/src/main/java/frc/robot/Telemetry.java index 584792e0..7aa2f09c 100644 --- a/ThriftyTest/src/main/java/frc/robot/Telemetry.java +++ b/ThriftyTest/src/main/java/frc/robot/Telemetry.java @@ -13,6 +13,7 @@ import edu.wpi.first.networktables.StructPublisher; import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj.util.Color8Bit; @@ -106,7 +107,7 @@ public void telemeterize(SwerveDriveState state) { m_moduleDirections[i].setAngle(state.ModuleStates[i].angle); m_moduleSpeeds[i].setLength(state.ModuleStates[i].speedMetersPerSecond / (2 * MaxSpeed)); - // SmartDashboard.putData("Module " + i, m_moduleMechanisms[i]); + SmartDashboard.putData("Module " + i, m_moduleMechanisms[i]); } } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java index 06b162af..9d4891f3 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java @@ -4,8 +4,12 @@ import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.ButtonBindingConstants; -import frc.robot.Constants.ButtonBindingConstants.DragonReins; +import frc.robot.Constants.DriveConstants; +import frc.robot.Constants.ButtonBindingConstants.Driver; +import frc.robot.Constants.FieldConstants; +import frc.robot.driveassist.Autopilot; import frc.robot.superstructure.Superstructure; +import frc.robot.superstructure.states.Align; import frc.robot.superstructure.states.HeadingReset; import frc.robot.superstructure.states.TeleopDrive; @@ -13,26 +17,23 @@ public class DriveBindings implements Binder { private final CommandPS5Controller m_controller = new CommandPS5Controller(ButtonBindingConstants.driverPort); - private final DoubleSupplier m_x; - private final DoubleSupplier m_y; - private final DoubleSupplier m_rot; + private final DoubleSupplier m_x = + () -> m_controller.getRawAxis(Driver.xAxis) * (Driver.flipX ? -1.0 : 1.0);; + private final DoubleSupplier m_y = + () -> m_controller.getRawAxis(Driver.yAxis) * (Driver.flipY ? -1.0 : 1.0); - private final Trigger m_resetHeading; - private final Trigger m_processorAlign; + private final DoubleSupplier m_rot = + () -> m_controller.getRawAxis(Driver.rotAxis) * (Driver.flipRot ? -1.0 : 1.0); - public DriveBindings() { - m_x = () -> m_controller.getRawAxis(DragonReins.xAxis) * (DragonReins.flipX ? -1.0 : 1.0); - m_y = () -> m_controller.getRawAxis(DragonReins.yAxis) * (DragonReins.flipY ? -1.0 : 1.0); - m_rot = () -> m_controller.getRawAxis(DragonReins.rotAxis) * (DragonReins.flipRot ? -1.0 : 1.0); - - m_resetHeading = m_controller.button(DragonReins.resetHeading); - m_processorAlign = m_controller.button(DragonReins.processor); - } + private final Trigger m_resetHeading = m_controller.button(Driver.resetHeading); + private final Trigger m_processorAlign = m_controller.button(Driver.processor); public void bind(Superstructure superstructure) { superstructure.setDrive(superstructure.enter(new TeleopDrive(m_x, m_y, m_rot))); m_resetHeading.onTrue(superstructure.enter(new HeadingReset())); - m_processorAlign.whileTrue(superstructure.enter(new Alignment()); + m_processorAlign.whileTrue(superstructure.enter(new Align( + DriveConstants.kTightAutopilot, + new Autopilot.Target().withReference(FieldConstants.k_processor)))); } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java index 4b7fc9cf..265d07a8 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -1,9 +1,104 @@ package frc.robot.binding; +import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Constants.ButtonBindingConstants; +import frc.robot.Constants.CoralLevel; +import frc.robot.Constants.ButtonBindingConstants.Operator; import frc.robot.superstructure.Superstructure; +import frc.robot.superstructure.states.Climb; +import frc.robot.superstructure.states.ClimbRaised; +import frc.robot.superstructure.states.CompleteCoralIntake; +import frc.robot.superstructure.states.CoralIntake; +import frc.robot.superstructure.states.CoralScore; +import frc.robot.superstructure.states.CoralScoreReady; +import frc.robot.superstructure.states.ElevatorZero; +import frc.robot.superstructure.states.GroundAlgaeIntake; +import frc.robot.superstructure.states.HighGroundAlgaeIntake; +import frc.robot.superstructure.states.UpperReefAlgaeIntake; +import frc.robot.superstructure.states.ReefAlign.ReefSide; +import frc.robot.superstructure.states.LowerReefAlgaeIntake; +import frc.robot.superstructure.states.Net; +import frc.robot.superstructure.states.NetReady; +import frc.robot.superstructure.states.Processor; +import frc.robot.superstructure.states.ProcessorReady; +import frc.robot.superstructure.states.ReefAlign; public class OperatorBindings implements Binder { - public OperatorBindings() {} + private final CommandPS5Controller m_controller = + new CommandPS5Controller(ButtonBindingConstants.operatorPort); - public void bind(Superstructure superstructure) {} + private final Trigger m_l1 = m_controller.button(Operator.L1); + private final Trigger m_secondaryL1 = m_controller.button(Operator.secondaryL1); + private final Trigger m_l2 = m_controller.button(Operator.L2); + private final Trigger m_l3 = m_controller.button(Operator.L3); + private final Trigger m_l4 = m_controller.button(Operator.L4); + + private final Trigger m_left = m_controller.button(Operator.leftReef); + private final Trigger m_right = m_controller.button(Operator.rightReef); + + private final Trigger m_coralIntake = m_controller.button(Operator.intake); + private final Trigger m_ejectCoral = m_controller.button(Operator.ejectCoral); + + private final Trigger m_algae = m_controller.button(Operator.algaeModeButton); + + private final Trigger m_algaeGround = m_controller.button(Operator.ground); + private final Trigger m_algaeHighGround = m_controller.button(Operator.highGround); + private final Trigger m_algaeLowReef = m_controller.button(Operator.lowAlgae); + private final Trigger m_algaeHighReef = m_controller.button(Operator.highAlgae); + + private final Trigger m_processor = m_controller.button(Operator.processor); + private final Trigger m_net = m_controller.button(Operator.net); + + private final Trigger m_climberUp = m_controller.button(Operator.climbUp); + private final Trigger m_climb = m_controller.button(Operator.climb); + + private final Trigger m_stow = m_controller.button(Operator.stow); + + private final Trigger m_funnelLeft = m_controller.button(Operator.leftFunnel); + private final Trigger m_funnelRight = m_controller.button(Operator.rightFunnel); + private final Trigger m_funnel = m_funnelLeft.and(m_funnelRight); + + private final Trigger m_zeroElevator = m_controller.button(Operator.zeroElevator); + + public void bind(Superstructure superstructure) { + /* algae intake */ + m_algae.and(m_algaeGround).whileTrue(superstructure.enter(new GroundAlgaeIntake())); + m_algae.and(m_algaeHighGround).whileTrue(superstructure.enter(new HighGroundAlgaeIntake())); + m_algae.and(m_algaeLowReef).whileTrue(superstructure.enter(new LowerReefAlgaeIntake())); + m_algae.and(m_algaeHighReef).whileTrue(superstructure.enter(new UpperReefAlgaeIntake())); + + /* algae score */ + m_algae.and(m_processor).whileTrue(superstructure.enter(new ProcessorReady())); + m_algae.and(m_processor).onFalse(superstructure.enter(new Processor())); + m_algae.and(m_net).whileTrue(superstructure.enter(new NetReady())); + m_algae.and(m_net).onFalse(superstructure.enter(new Net())); + + /* coral intake & score */ + m_coralIntake.whileTrue(superstructure.enter(new CoralIntake())); + m_coralIntake.onFalse(superstructure.enter(new CompleteCoralIntake())); + bindCoral(m_l1.and(m_secondaryL1.negate()), CoralLevel.L1, superstructure); + bindCoral(m_l1.and(m_secondaryL1), CoralLevel.SecondaryL1, superstructure); + bindCoral(m_l2, CoralLevel.L2, superstructure); + bindCoral(m_l3, CoralLevel.L3, superstructure); + bindCoral(m_l4, CoralLevel.L4, superstructure); + + /* align */ + m_left.whileTrue(superstructure.enter(new ReefAlign(ReefSide.Left))); + m_right.whileTrue(superstructure.enter(new ReefAlign(ReefSide.Right))); + + /* climb */ + m_climb.whileTrue(superstructure.enter(new Climb())); + m_climberUp.whileTrue(superstructure.enter(new ClimbRaised())); + + /* misc */ + m_zeroElevator.whileTrue(superstructure.enter(new ElevatorZero())); + } + + private void bindCoral(Trigger trigger, CoralLevel level, Superstructure superstructure) { + trigger.whileTrue(superstructure.enter(new CoralScoreReady(level))); + trigger.and(superstructure.aligned()).onTrue(superstructure.enter(new CoralScore(level))); + trigger.onFalse(superstructure.enter(new CoralScore(level))); + } } + diff --git a/ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java new file mode 100644 index 00000000..527dbe90 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java @@ -0,0 +1,104 @@ +package frc.robot.commands; + +import java.util.function.Supplier; + +import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; +import com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue; +import com.ctre.phoenix6.swerve.SwerveRequest; + +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.wpilibj2.command.Command; + +import frc.robot.Constants.DriveConstants; +import frc.robot.Constants.ButtonBindingConstants.Driver; +import frc.robot.driveassist.ForceField; +import frc.robot.subsystems.CommandSwerveDrivetrain; + +public class TeleopCommand extends Command { + private final CommandSwerveDrivetrain m_drivetrain; + private final Supplier m_xSupplier; + private final Supplier m_ySupplier; + private final Supplier m_rotSupplier; + + private final double maxTranslationalVelocity = DriveConstants.k_maxTeleopLinearSpeed; + private final double maxRotationalVelocity = DriveConstants.k_maxTeleopAngularSpeed; + + private final ForceField m_ff = new ForceField(); + + private final SwerveRequest.FieldCentric driveClosedLoop = new SwerveRequest.FieldCentric() + .withForwardPerspective(ForwardPerspectiveValue.BlueAlliance) + .withDeadband(maxTranslationalVelocity * Driver.deadband) + .withRotationalDeadband(maxRotationalVelocity * Driver.deadband) + .withDriveRequestType(DriveRequestType.Velocity); + + public TeleopCommand( + CommandSwerveDrivetrain drivetrain, + Supplier xSupplier, + Supplier ySupplier, + Supplier rotSupplier + ) { + m_drivetrain = drivetrain; + m_xSupplier = xSupplier; + m_ySupplier = ySupplier; + m_rotSupplier = rotSupplier; + addRequirements(drivetrain); + } + + @Override + public void execute() { + // calculate the field-relative speeds + Transform2d robotRelative = new Transform2d( + new Translation2d( + m_xSupplier.get() * maxTranslationalVelocity, + m_ySupplier.get() * maxTranslationalVelocity + ), + new Rotation2d( + m_rotSupplier.get() * maxRotationalVelocity + ) + ); + if (robotRelative.getTranslation().getNorm() > 0) { + m_drivetrain.setAligned(false); + } + Transform2d fieldRelative = getFieldRelative(robotRelative); + // avoid obstacles using force fields + Translation2d filtered = m_ff.calculate( + fieldRelative.getTranslation(), + m_drivetrain.getPose(), + m_drivetrain.getNearestAntitarget() + ); + Transform2d out = new Transform2d(filtered, fieldRelative.getRotation()); + applyVelocities(out); + } + + /** + * From a robot relative position, returns the field relative pose, using + * the drivetrain's operator perspective + */ + private Transform2d getFieldRelative(Transform2d robotRelative) { + // get the offset + Rotation2d forward = m_drivetrain.getOperatorForwardDirection(); + // get the original position + double x = robotRelative.getX(); + double y = robotRelative.getY(); + Rotation2d theta = robotRelative.getRotation(); + // calculate the new position after rotation + double px = x * forward.getCos() - y * forward.getSin(); + double py = y * forward.getCos() + x * forward.getSin(); + // combine the results + return new Transform2d(new Translation2d(px, py), theta); + } + + /** + * Applies a transform2d with field relative velocities to the drivetrain + */ + private void applyVelocities(Transform2d fieldRelative) { + m_drivetrain.setControl( + driveClosedLoop + .withVelocityX(fieldRelative.getX()) + .withVelocityY(fieldRelative.getY()) + .withRotationalRate(fieldRelative.getRotation().getRadians()) + ); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java new file mode 100644 index 00000000..0ecbb4de --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -0,0 +1,251 @@ +package frc.robot.driveassist; + +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.Radians; +import static edu.wpi.first.units.Units.Rotations; + +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +import com.pathplanner.lib.util.FlippingUtil; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; + +public class Autopilot { + @SuppressWarnings("unused") + private static final Logger m_logger = LoggerFactory.getLogger(Autopilot.class); + private Profile m_profile; + + private final double dt = 0.020; + + public Autopilot(Profile profile) { + m_profile = profile; + } + + /** + * Returns the next field relative velocity for the trajectory + * + * @param current The robot's current position + * @param velocity The robot's current (field relative) velocity + * @param target The target the robot should drive towards + */ + public Translation2d calculate( + Pose2d current, + Translation2d velocity, + Target target + ) { + Pose2d reference = target.m_reference; + Rotation2d entryAngle = target.m_entryAngle; + // direction and distance to actual target + Translation2d offset = reference.getTranslation().minus(current.getTranslation()); + double distance = offset.getNorm(); + if (distance == 0) return Translation2d.kZero; + // create new target + Translation2d entryDirection = new Translation2d( + entryAngle.getCos(), + entryAngle.getSin() + ); + // end velocity + Translation2d endVelocity = entryDirection.times(target.m_velocity); + // calculate directions for i & j + Translation2d directionI = offset.div(distance); + Translation2d directionU = new Translation2d( + directionI.getY(), + -directionI.getX() + ); + // current velocity (i & j) + double veloI = project(velocity, directionI); + double veloU = project(velocity, directionU); + // double veloU = 0.0; + Translation2d entry = entryDirection.times(-distance); + double entryDistance = project(entry, directionU); + // drive towards goal state + double adjustedI = approach(distance, veloI, m_profile.getConstraintsI()) + Math.max(project(endVelocity, directionI), 0); + double adjustedU = approach(entryDistance, veloU, m_profile.getConstraintsU()); + // combine + Translation2d adjusted = directionI.times(adjustedI).plus( + directionU.times(adjustedU)); + return adjusted; + } + + private double project(Translation2d vector, Translation2d axis) { + double dot = vector.getX() * axis.getX() + vector.getY() * axis.getY(); + return dot / Math.pow(axis.getNorm(), 2); + } + + private double approach(double distance, double initial, Constraints c) { + double goal = Math.sqrt(2 * c.m_decceleration * Math.abs(distance)) * Math.signum(distance); + if (Math.abs(goal - initial) < dt * c.m_acceleration) { + // we're within range, just adjust to what we need. + return goal; + } + // check for a "out-of-bounds" position + if (goal < initial && goal > 0) return goal; + if (goal > initial && goal < 0) return goal; + if (goal > initial) { + return initial + dt * c.m_acceleration; + } else { + return initial - dt * c.m_acceleration; + } + } + + public boolean atSetpoint(Pose2d current, Pose2d goal) { + boolean okXY = Math.hypot(current.getX() - goal.getX(), current.getY() - goal.getY()) <= m_profile.m_errorXY.in(Meters); + boolean okTheta = Math.abs(current.getRotation().minus(goal.getRotation()).getRadians()) <= m_profile.m_errorTheta.in(Radians); + return okXY && okTheta; + } + + /* Constraints to limit autopilot */ + public static class Constraints { + private double m_acceleration; + private double m_decceleration; + + public Constraints() {} + + public Constraints(double acceleration, double decceleration) { + m_acceleration = acceleration; + m_decceleration = decceleration; + } + + public Constraints withAcceleration(double acceleration) { + m_acceleration = acceleration; + return this; + } + + public Constraints withDecceleration(double decceleration) { + m_decceleration = decceleration; + return this; + } + } + + /* Profile (how to reach the goal) */ + public static class Profile { + private Constraints m_constraintsI; + private Constraints m_constraintsU; + private Distance m_errorXY; + private Angle m_errorTheta; + + public Profile() { + m_errorXY = Meters.of(0); + m_errorTheta = Rotations.of(0); + } + + public Profile withErrorXY(Distance errorXY) { + m_errorXY = errorXY; + return this; + } + + public Profile withErrorTheta(Angle errorTheta) { + m_errorTheta = errorTheta; + return this; + } + + public Profile withConstraintsI(Constraints constraintsI) { + m_constraintsI = constraintsI; + return this; + } + + public Profile withConstraintsU(Constraints constraintsU) { + m_constraintsU = constraintsU; + return this; + } + + public Distance getErrorXY() { + return m_errorXY; + } + + public Angle getErrorTheta() { + return m_errorTheta; + } + + public Constraints getConstraintsI() { + return m_constraintsI; + } + + public Constraints getConstraintsU() { + return m_constraintsU; + } + } + + /* End States (the goal to reach) */ + public static class Target { + private Pose2d m_reference; + private Rotation2d m_entryAngle; + private double m_velocity; + + /** + * Creates a blank autopilot target with reference (0,0) and rotation + * of zero. + * Note: an entry angle MUST be specified, and this doesn't + * set one. Your code will crash without one. + */ + public Target() { + m_reference = Pose2d.kZero; + m_velocity = 0; + } + + /** + * Modifies this instance's reference pose and returns itself for + * easier method chaining. NOTE: This also sets, if unset, the + * entry angle to be the angle of the pose. + */ + public Target withReference(Pose2d reference) { + m_reference = reference; + if (m_entryAngle == null) m_entryAngle = reference.getRotation(); + return this; + } + + /** + * Modifies this instance's entry angle and returns itself for easier + * method chaining + */ + public Target withEntryAngle(Rotation2d entryAngle) { + m_entryAngle = entryAngle; + return this; + } + + /** + * Modifies this instance's end velocity and returns itself for easier + * method chaining + */ + public Target withVelocity(double velocity) { + m_velocity = velocity; + return this; + } + + /** + * Returns this target's reference pose + */ + public Pose2d getReference() { + return m_reference; + } + + /** + * Returns this target's desired entry angle + */ + public Rotation2d getEntryAngle() { + return m_entryAngle; + } + + /** + * Returns this target/s end velocity + */ + public double getVelocity() { + return m_velocity; + } + + /** + * Flips a target across the field, preserving relative entry angle + * and rotation. + */ + public Target flip() { + m_reference = FlippingUtil.flipFieldPose(m_reference); + m_entryAngle = FlippingUtil.flipFieldRotation(m_entryAngle); + return this; + } + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/DriverAssist.java b/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java similarity index 95% rename from ThriftyTest/src/main/java/frc/robot/driveassist/DriverAssist.java rename to ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java index 7efee08d..50120fc3 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/DriverAssist.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java @@ -10,8 +10,8 @@ import frc.robot.Constants.FFConstants; import frc.robot.RobotObserver; -public class DriverAssist { - private final Logger m_logger = LoggerFactory.getLogger(DriverAssist.class); +public class ForceField { + private final Logger m_logger = LoggerFactory.getLogger(ForceField.class); /** * Returns the calculated drive command to apply to the drivetrian diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java index 56d64d55..45b16585 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java @@ -109,7 +109,10 @@ public Command intake() { .unless(holdingAlgae()); } - public Command netScore() { + /** + * Ejects an algae with the correct conditions for a net score + */ + public Command net() { return Commands.sequence( runOnce(() -> setMotor(AlgaeRollerConstants.netEjectVoltage)), Commands.waitSeconds(AlgaeRollerConstants.algaeEjectTime)) @@ -118,10 +121,13 @@ public Command netScore() { .onlyIf(holdingAlgae()); } + /** + * Ejects an algae with the correct conditions for a processor score + */ public Command processorScore() { return Commands.sequence( runOnce(() -> setMotor(AlgaeRollerConstants.processorEjectVoltage)), - Commands.waitUntil(holdingAlgae())) + Commands.waitSeconds(AlgaeRollerConstants.processorScoreTime)) .finallyDo(this::keep) .onlyIf(holdingAlgae()); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java index 1878d933..f7896875 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java @@ -8,12 +8,10 @@ import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.TalonFX; -import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Servo; 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.button.Trigger; import frc.robot.Constants.ClimberConstants; import frc.robot.Constants.IDConstants; @@ -51,12 +49,14 @@ private void configMotors() { .setControl(new Follower(IDConstants.climbLeft, ClimberConstants.rightMotorInvert)); } - private void openFunnel() { - m_servo.set(ClimberConstants.k_openServoPosition); - } - - private void closeFunnel() { - m_servo.set(ClimberConstants.k_closedServoPosition); + /* + * Opens the funnel, then resets the servo + */ + public Command openFunnel() { + return Commands.sequence( + runOnce(() -> m_servo.set(ClimberConstants.k_openServoPosition)), + Commands.waitSeconds(ClimberConstants.kFunnelOpenTime), + runOnce(() -> m_servo.set(ClimberConstants.k_closedServoPosition))); } private void setMotor(double voltage) { @@ -134,7 +134,7 @@ public Command raise() { public Command lower() { return Commands.sequence( runOnce(this::setDown), - Commands.waitUntil(lowered()) + Commands.waitUntil(lowered())) .finallyDo(this::stop); } @@ -143,9 +143,9 @@ public Command lower() { * Drives the climber down until the climb position is reached */ public Command climb() { - return Commands.sequencee( + return Commands.sequence( runOnce(this::setDown), - Commands.waitUntil(climbed()) + Commands.waitUntil(climbed())) .finallyDo(this::stop); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index 43807e71..3236f901 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -16,6 +16,8 @@ import com.ctre.phoenix6.swerve.SwerveRequest; import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveRequest.ApplyRobotSpeeds; +import com.ctre.phoenix6.swerve.SwerveRequest.FieldCentric; +import com.ctre.phoenix6.swerve.SwerveRequest.FieldCentricFacingAngle; import com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue; import com.pathplanner.lib.config.RobotConfig; import com.pathplanner.lib.util.DriveFeedforwards; @@ -25,7 +27,6 @@ import edu.wpi.first.math.Matrix; 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.kinematics.SwerveModuleState; @@ -39,12 +40,15 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Subsystem; +import edu.wpi.first.wpilibj2.command.button.Trigger; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; import frc.robot.Constants; import frc.robot.Constants.DriveConstants; import frc.robot.Constants.FFConstants; import frc.robot.Constants.FieldConstants; import frc.robot.Constants.SimConstants; +import frc.robot.Constants.DriveConstants.HeadingPID; +import frc.robot.driveassist.Autopilot; import frc.robot.Robot; import frc.robot.RobotObserver; import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain; @@ -65,10 +69,15 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su private boolean m_aligned; - private SwerveRequest.FieldCentric m_teleopRequest = new SwerveRequest.FieldCentric() + private FieldCentric m_teleopRequest = new FieldCentric() .withForwardPerspective(ForwardPerspectiveValue.OperatorPerspective) .withDriveRequestType(DriveRequestType.Velocity); + private FieldCentricFacingAngle m_veloRequest = new FieldCentricFacingAngle() + .withHeadingPID(HeadingPID.kP, HeadingPID.kI, HeadingPID.kD) + .withForwardPerspective(ForwardPerspectiveValue.BlueAlliance) + .withDriveRequestType(DriveRequestType.Velocity); + /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */ private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero; @@ -127,9 +136,9 @@ private void setup() { RobotObserver.setVisionValidSupplier(this::getVisionValid); RobotObserver.setPoseSupplier(this::getPose); RobotObserver.setVelocitySupplier(this::getVelocity); - RobotObserver.setNoElevatorZoneSupplier(this::noElevatorZone); - RobotObserver.setReefReadySupplier(this::getReefReady); - RobotObserver.setAlginedSupplier(this::isAligned); + RobotObserver.setNoElevatorZoneSupplier(noElevatorZone()); + RobotObserver.setReefReadySupplier(reefReady()); + RobotObserver.setAlginedSupplier(aligned()); } public void initializeSetpointGenerator(RobotConfig config) { @@ -167,7 +176,7 @@ public Pose2d getNearestAntitarget() { * returns the current pose, with red side poses flipped */ public Pose2d getBluePose() { - return FieldUtils.flipPose(m_estimatedPose); + return FieldUtils.getGlobalPose(m_estimatedPose); } public void zeroPose() { @@ -207,6 +216,8 @@ public Command applyRequest(Supplier requestSupplier) { @Override public void periodic() { m_estimatedPose = this.getState().Pose; + SmartDashboard.putNumber("x", m_estimatedPose.getTranslation().getX()); + SmartDashboard.putNumber("y", m_estimatedPose.getTranslation().getY()); SmartDashboard.putBoolean("Drivetrain Aligned", m_aligned); SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime()); @@ -346,30 +357,34 @@ public Command sysIdDynamicRotation(SysIdRoutine.Direction direction) { return m_sysIdRoutineRotation.dynamic(direction); } - private boolean noElevatorZone() { - double distance = getNearestAntitarget() - .getTranslation() - .minus(m_estimatedPose.getTranslation()) - .getNorm(); - return distance < FFConstants.k_radius && !DriverStation.isAutonomous(); + private Trigger noElevatorZone() { + return new Trigger(() -> { + double distance = getNearestAntitarget() + .getTranslation() + .minus(m_estimatedPose.getTranslation()) + .getNorm(); + return distance < FFConstants.k_radius && !DriverStation.isAutonomous(); + }); } public void setAligned(boolean aligned) { m_aligned = aligned; } - public boolean isAligned() { - return m_aligned; + public Trigger aligned() { + return new Trigger(() -> m_aligned); } - public boolean getReefReady() { - double distanceToReef = getBluePose().getTranslation() - .minus(FieldConstants.reefCenter) - .getNorm(); - boolean inRange = - (DriverStation.isAutonomous()) ? distanceToReef <= FieldConstants.kReefReadyAuton - : distanceToReef <= FieldConstants.kReefReady; - return inRange; + public Trigger reefReady() { + return new Trigger(() -> { + double distanceToReef = getBluePose().getTranslation() + .minus(FieldConstants.reefCenter) + .getNorm(); + boolean inRange = + (DriverStation.isAutonomous()) ? distanceToReef <= FieldConstants.kReefReadyAuton + : distanceToReef <= FieldConstants.kReefReady; + return inRange; + }); } /** @@ -387,10 +402,16 @@ public Command teleopDrive(DoubleSupplier x, DoubleSupplier y, DoubleSupplier ro /** * Drives to a certain point on the field */ - public Command driveTo(Pose2d goal) { + public Command align(Autopilot autopilot, Autopilot.Target target) { return run(() -> { - Transform2d velocities = getVelocityComponents(); - Transform2d reference = - }); + Translation2d velocities = getVelocityComponents(); + Translation2d output = autopilot.calculate(m_estimatedPose, velocities, target); + setControl(m_veloRequest + .withVelocityX(output.getX()) + .withVelocityY(output.getY()) + .withTargetDirection(target.getReference().getRotation())); + }).until(() -> { + return autopilot.atSetpoint(m_estimatedPose, target.getReference()); + }).finallyDo(this::stop); } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java index c5897e5a..775ae729 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java @@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.CoralConstants; +import frc.robot.Constants.CoralLevel; import frc.robot.Constants.IDConstants; import frc.robot.Robot; import frc.robot.RobotObserver; @@ -37,7 +38,7 @@ public CoralRollers() { configMotors(); configDashboard(); configCANrange(); - RobotObserver.setPieceHeldSupplier(holdingPiece()); + RobotObserver.setPieceHeldSupplier(holding()); } private void configMotors() { @@ -104,7 +105,7 @@ private boolean getInnerCANrange() { return m_innerRange.getIsDetected().getValue(); } - public Trigger holdingPiece() { + public Trigger holding() { return new Trigger(() -> { if (Robot.isReal()) { boolean holding = getFrontCANrange() && !getUpperCANrange(); @@ -122,11 +123,7 @@ private void stop() { setVoltage(0); } - public Trigger presentPiece() { - return new Trigger(() -> getInnerCANrange() || getFrontCANrange()); - } - - public Trigger intakeReady() { + public Trigger present() { return new Trigger(() -> getUpperCANrange() || getInnerCANrange() || getFrontCANrange()); } @@ -135,7 +132,7 @@ public void periodic() { SmartDashboard.putBoolean("Inner CANrange", getInnerCANrange()); SmartDashboard.putBoolean("Coral CANrange", getFrontCANrange()); SmartDashboard.putBoolean("OCS", getUpperCANrange()); - SmartDashboard.putBoolean("HAS CORAL", holdingPiece().getAsBoolean()); + SmartDashboard.putBoolean("HAS CORAL", holding().getAsBoolean()); if (m_voltageChanged) { m_coralLeft.setVoltage(m_voltage); @@ -152,44 +149,24 @@ protected void passive() {} public Command intake() { return Commands.sequence( runOnce(this::setIntake), - Commands.waitUntil(holdingPiece())) - - .finallyDo(this::stop); - } + Commands.waitUntil(holding())) - /** - * Scores a piece at L1 power - */ - public Command l1Score() { - return run(this::setL1Score) - .onlyWhile(holdingPiece()) .finallyDo(this::stop); } - /** - * Scores a piece at L2 power - */ - public Command l2Score() { - return run(this::setL2Score) - .onlyWhile(holdingPiece()) - .finallyDo(this::stop); - } + public Command score(CoralLevel level) { + return Commands.sequence( + runOnce(() -> { + switch (level) { + case L1, SecondaryL1 -> setL1Score(); + case L2 -> setL2Score(); + case L3 -> setL3Score(); + case L4 -> setL4Score(); + } + }), + Commands.waitUntil(holding().negate())) - /** - * Scores a piece at L3 power - */ - public Command l3Score() { - return run(this::setL3Score) - .onlyWhile(holdingPiece()) - .finallyDo(this::stop); + .onlyIf(holding()); } - /** - * Scores a piece at L4 power - */ - public Command l4Score() { - return run(this::setL4Score) - .onlyWhile(holdingPiece()) - .finallyDo(this::stop); - } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java index 3c4f80d1..2c140076 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java @@ -30,10 +30,12 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Constants.CoralLevel; import frc.robot.Constants.ElevatorConstants; import frc.robot.Constants.IDConstants; import frc.robot.Constants.RobotConstants; import frc.robot.Constants.SimConstants; +import frc.robot.Constants.ElevatorConstants.ElevatorState; import frc.robot.Robot; import frc.robot.RobotObserver; @@ -68,7 +70,7 @@ public Elevator() { configMotor(); configCANrange(); configSim(); - SmartDashboard.putData("Lazy Zero Elevator", runOnce(this::zeroElevator).ignoringDisable(true)); + SmartDashboard.putData("Lazy Zero Elevator", runOnce(this::calibrateZero).ignoringDisable(true)); } private void configCANrange() { @@ -127,64 +129,14 @@ private void setPosition(double goal) { m_reference = goal; } - private void setGround() { - setPosition(ElevatorConstants.groundIntake); - } - - private void setHighGround() { - setPosition(ElevatorConstants.highGroundIntake); - } - - private void setStow() { - setPosition(ElevatorConstants.stow); - } - - private void setEject() { - setPosition(ElevatorConstants.eject); - } - - private void setProcessor() { - setPosition(ElevatorConstants.processor); - } - - private void setL1() { - setPosition(ElevatorConstants.L1); - } - - private void setSecondaryL1() { - setPosition(ElevatorConstants.secondaryL1); - } - - private void setL2() { - setPosition(ElevatorConstants.L2); - } - - private void setL3() { - setPosition(ElevatorConstants.L3); - } - - private void setL4() { - setPosition(ElevatorConstants.L4); - } - - private void setLowReef() { - setPosition(ElevatorConstants.reefLower); - } - - private void setHighReef() { - setPosition(ElevatorConstants.reefUpper); - } - - private void setNet() { - setPosition(ElevatorConstants.net); - } - - public boolean ready() { - if (Robot.isSimulation()) - return true; - boolean at = Math.abs(m_reference - m_position) < ElevatorConstants.tolerance; - m_logger.debug("Setpoint: {}", at); - return at; + public Trigger ready() { + return new Trigger(() -> { + if (Robot.isSimulation()) + return true; + boolean at = Math.abs(m_reference - m_position) < ElevatorConstants.tolerance; + m_logger.debug("Setpoint: {}", at); + return at; + }); } public double getReference() { @@ -209,7 +161,7 @@ private void prepZero() { .withLimitReverseMotion(false).withIgnoreHardwareLimits(true)); } - private void zeroElevator() { + private void calibrateZero() { m_elevatorRight.setPosition(0.0, 0.2); } @@ -236,7 +188,7 @@ public void periodic() { m_speedChanged = false; } - SmartDashboard.putBoolean("ELEVATOR AT POSITION", ready()); + SmartDashboard.putBoolean("ELEVATOR AT POSITION", ready().getAsBoolean()); } @Override @@ -270,121 +222,27 @@ public Trigger unsafe() { protected void passive() {} - /** - * Stows the elevator - */ - public Command stow() { - return Commands.sequence( - runOnce(this::setStow), - Commands.waitUntil(this::ready)); - } - - /** - * Goes to the height to eject a coral - */ - public Command eject() { - return Commands.sequence( - runOnce(this::setEject), - Commands.waitUntil(this::ready)); - } - - /** - * Goes to L1 height - */ - public Command l1() { + public Command go(ElevatorState state) { return Commands.sequence( - runOnce(this::setL1), - Commands.waitUntil(this::ready)); - } - - /** - * Goes to the secondary (higher) L1 height - */ - public Command secondaryL1() { - return Commands.sequence( - runOnce(this::setSecondaryL1), - Commands.waitUntil(this::ready)); - } - - /** - * Goes to L2 height - */ - public Command l2() { - return Commands.sequence( - runOnce(this::setL2), - Commands.waitUntil(this::ready)); - } - - /** - * Goes to L3 height - */ - public Command l3() { - return Commands.sequence( - runOnce(this::setL3), - Commands.waitUntil(this::ready)); - } - - /** - * goes to L4 height - */ - public Command l4() { - return Commands.sequence( - runOnce(this::setL4), - Commands.waitUntil(this::ready)); - } - - /** - * Goes to the ground height - */ - public Command ground() { - return Commands.sequence( - runOnce(this::setGround), - Commands.waitUntil(this::ready)); - } - - /** - * Goes to the high ground height - */ - public Command highGround() { - return Commands.sequence( - runOnce(this::setHighGround), - Commands.waitUntil(this::ready)); - } - - /** - * Goes to net height - */ - public Command net() { - return Commands.sequence( - runOnce(this::setNet), - Commands.waitUntil(this::ready)); - } - - /** - * Goes to processor height - */ - public Command processor() { - return Commands.sequence( - runOnce(this::setProcessor), - Commands.waitUntil(this::ready)); - } - - /** - * Goes to the position for intaking off the lower reef slot - */ - public Command lowReef() { - return Commands.sequence( - runOnce(this::setLowReef), - Commands.waitUntil(this::ready)); - } - - /** - * Goes to the position for intaking off the higher reef slot - */ - public Command highReef() { - return Commands.sequence( - runOnce(this::setHighReef), - Commands.waitUntil(this::ready)); + runOnce(() -> setPosition(state.position())), + Commands.waitUntil(ready())); + } + + public Command go(CoralLevel level) { + switch (level) { + case L1: + return go(ElevatorState.L1); + case SecondaryL1: + return go(ElevatorState.SecondaryL1); + case L2: + return go(ElevatorState.L2); + case L3: + return go(ElevatorState.L3); + case L4: + return go(ElevatorState.L4); + default: + return Commands.none(); + } } /** @@ -399,7 +257,7 @@ public Command autoZero() { .finallyDo(this::enableLimits) .finallyDo(interrupted -> { if (!interrupted) { - zeroElevator(); + calibrateZero(); } }); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java index 41d6f4d5..9b076b59 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java @@ -246,13 +246,13 @@ private void defaultColors() { private boolean badController() { boolean driverConnected = DriverStation.isJoystickConnected(ButtonBindingConstants.driverPort); - boolean operatorConnected = DriverStation.isJoystickConnected(ButtonBindingConstants.buttonBoardPort); + boolean operatorConnected = DriverStation.isJoystickConnected(ButtonBindingConstants.operatorPort); if (!driverConnected || !operatorConnected) return true; String driverName = DriverStation.getJoystickName(ButtonBindingConstants.driverPort).toLowerCase(); - String operatorName = DriverStation.getJoystickName(ButtonBindingConstants.buttonBoardPort).toLowerCase(); + String operatorName = DriverStation.getJoystickName(ButtonBindingConstants.operatorPort).toLowerCase(); boolean driverOk = driverName.contains(ButtonBindingConstants.dragonReinsName) || driverName.contains(ButtonBindingConstants.driverBackupName); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java index bbdc5819..509986a9 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java @@ -19,6 +19,7 @@ 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.Trigger; import frc.robot.Constants.IDConstants; import frc.robot.Constants.PivotConstants; import frc.robot.Constants.SimConstants; @@ -75,7 +76,7 @@ private void configSim() { MotionMagicVoltage control = new MotionMagicVoltage(0); - public void setPosition(double goal) { + private void setPosition(double goal) { if (RobotObserver.getAlgaePieceHeld()) { m_pivot.setControl(control.withPosition(goal).withSlot(1)); } else { @@ -84,36 +85,31 @@ public void setPosition(double goal) { m_reference = goal; } - public void setSpeed(double speed) { - m_speedChanged = (speed != m_speed); - m_speed = speed; - } - - public void setStow() { + private void setStow() { setPosition(PivotConstants.stow); } - public void setProcessor() { + private void setProcessor() { setPosition(PivotConstants.processor); } - public void setNet() { + private void setNet() { setPosition(PivotConstants.net); } - public void setGroundPickup() { + private void setGroundPickup() { setPosition(PivotConstants.groundPickup); } - public void setReefIntake() { + private void setReefIntake() { setPosition(PivotConstants.reefPickup); } - public void setReefExtract() { + private void setReefExtract() { setPosition(PivotConstants.reefExtract); } - public void stop() { + private void stop() { setPosition(m_position); } @@ -125,8 +121,8 @@ public double getReference() { return m_reference; } - public boolean ready() { - return Math.abs(getReference() - getPosition()) < PivotConstants.tolerance; + public Trigger ready() { + return new Trigger(() -> Math.abs(getReference() - getPosition()) < PivotConstants.tolerance); } private double getPositionUncached() { @@ -148,7 +144,7 @@ public void periodic() { m_speedChanged = false; } - SmartDashboard.putBoolean("PIVOT AT POSITION", ready()); + SmartDashboard.putBoolean("PIVOT AT POSITION", ready().getAsBoolean()); } @Override @@ -173,16 +169,34 @@ protected void passive() { public Command stow() { return Commands.sequence( runOnce(this::setStow), - Commands.waitUntil(this::ready)); + Commands.waitUntil(ready())); } /** - * Sets the pivot to the angle for ground intake + * Sets the pivot to the angle for ground intake (including high ground) */ public Command ground() { return Commands.sequence( runOnce(this::setGroundPickup), - Commands.waitUntil(this::ready)); + Commands.waitUntil(ready())); + } + + /** + * Sets the pivot to the angle for the processor + */ + public Command processor() { + return Commands.sequence( + runOnce(this::setProcessor), + Commands.waitUntil(ready())); + } + + /** + * Sets the pivot to the angle for the net + */ + public Command net() { + return Commands.sequence( + runOnce(this::setNet), + Commands.waitUntil(ready())); } /** @@ -191,7 +205,7 @@ public Command ground() { public Command reefIntake() { return Commands.sequence( runOnce(this::setReefIntake), - Commands.waitUntil(this::ready)); + Commands.waitUntil(ready())); } /** @@ -200,7 +214,7 @@ public Command reefIntake() { public Command reefExtract() { return Commands.sequence( runOnce(this::setReefExtract), - Commands.waitUntil(this::ready)); + Commands.waitUntil(ready())); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 783d580c..81df3efe 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -1,6 +1,7 @@ package frc.robot.superstructure; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.subsystems.AlgaeRollers; import frc.robot.subsystems.Climber; import frc.robot.subsystems.CommandSwerveDrivetrain; @@ -35,16 +36,17 @@ public Superstructure( } public Command enter(EnterableState state) { - return state.build(m_subsystems); - } + return state.build(m_subsystems) + .withName(state.toString()); // avoid poorly named commands + } public void setDrive(Command driveCommand) { m_subsystems.drivetrain().setDefaultCommand(driveCommand); } public static record Subsystems( - AlgaeRollers algaeRollers, - CoralRollers coralRollers, + AlgaeRollers algae, + CoralRollers coral, Pivot pivot, Elevator elevator, Climber climber, @@ -52,4 +54,7 @@ public static record Subsystems( LedFeedback leds) { } + public Trigger aligned() { + return m_subsystems.drivetrain().aligned(); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java new file mode 100644 index 00000000..80fc8c60 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java @@ -0,0 +1,23 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.driveassist.Autopilot; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class Align implements EnterableState { + private final Autopilot m_autopilot; + private final Autopilot.Target m_target; + + /** + * A state that controls the drivetrain and drives to a certain, given point on the field. + */ + public Align(Autopilot autopilot, Autopilot.Target target) { + m_autopilot = autopilot; + m_target = target; + } + + public Command build(Subsystems subsystems) { + return subsystems.drivetrain().align(m_autopilot, m_target); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Aligned.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Aligned.java deleted file mode 100644 index 284351de..00000000 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Aligned.java +++ /dev/null @@ -1,18 +0,0 @@ -package frc.robot.superstructure.states; - -import frc.robot.superstructure.EnterableState; -import frc.robot.superstructure.Superstructure.Subsystems; - -public class Aligned implements EnterableState { - private final Pose2d m_goal; - /** - * A state that controls the drivetrain and drives to a certain, given point on the field. - */ - public Aligned(Pose2d goal) { - m_goal = goal; - } - - public Command build(Subsystems subsystems) { - return subsystems.drivetrain().align(m_goal); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Climb.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Climb.java new file mode 100644 index 00000000..596cc3b4 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Climb.java @@ -0,0 +1,16 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class Climb implements EnterableState { + /** + * A state in which the robot has lowered the climber to the climb setpoint + */ + public Climb() {} + + public Command build(Subsystems subsystems) { + return subsystems.climber().climb(); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ClimbRaised.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ClimbRaised.java new file mode 100644 index 00000000..70bd89ab --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ClimbRaised.java @@ -0,0 +1,16 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class ClimbRaised implements EnterableState { + /** + * A state with the climber at the raised position + */ + public ClimbRaised() {} + + public Command build(Subsystems subsystems) { + return subsystems.climber().raise(); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ClimbStowed.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ClimbStowed.java new file mode 100644 index 00000000..94299bf5 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ClimbStowed.java @@ -0,0 +1,15 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class ClimbStowed { + /** + * A state that represents the climber at its "stow" position + */ + public ClimbStowed() {} + + public Command build(Subsystems subsystems) { + return subsystems.climber().lower(); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java new file mode 100644 index 00000000..e30f29ee --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java @@ -0,0 +1,17 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class CompleteCoralIntake implements EnterableState { + /** + * A state to complete a coral intake if it can be done + */ + public CompleteCoralIntake() {} + + public Command build(Subsystems subsystems) { + return new CoralIntake().build(subsystems) + .onlyIf(subsystems.coral().present()); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java new file mode 100644 index 00000000..68854f76 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java @@ -0,0 +1,23 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class CoralIntake implements EnterableState { + /** + * A state to intake coral + */ + public CoralIntake() {} + + public Command build(Subsystems subsystems) { + return Commands.sequence( + subsystems.elevator().go(ElevatorState.Stow), + subsystems.coral().intake()) + + .unless(subsystems.coral().holding()) + .finallyDo(subsystems.elevator()::release); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java new file mode 100644 index 00000000..a51ad849 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java @@ -0,0 +1,27 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.CoralLevel; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class CoralScore implements EnterableState { + private CoralLevel m_level; + + /** + * A state that scores a coral on a specified level on the reef. + */ + public CoralScore(CoralLevel level) { + m_level = level; + } + + public Command build(Subsystems subsystems) { + return Commands.sequence( + subsystems.elevator().go(m_level), + subsystems.coral().score(m_level)) + + .onlyIf(subsystems.coral().holding()) + .finallyDo(subsystems.elevator()::release); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScoreReady.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScoreReady.java new file mode 100644 index 00000000..5f7500c0 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScoreReady.java @@ -0,0 +1,23 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants.CoralLevel; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class CoralScoreReady implements EnterableState { + private final CoralLevel m_level; + + /** + * A state that prepares the robot to score at the desired level + */ + public CoralScoreReady(CoralLevel level) { + m_level = level; + } + + public Command build(Subsystems subsystems) { + return subsystems.elevator().go(m_level) + .onlyIf(subsystems.coral().holding()) + .finallyDo(subsystems.elevator()::conditionalRelease); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java new file mode 100644 index 00000000..51633fcc --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java @@ -0,0 +1,18 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class ElevatorZero implements EnterableState { + /** + * A state that calibrates the elevator to its zero position + */ + public ElevatorZero() {} + + public Command build(Subsystems subsystems) { + return subsystems.elevator().autoZero() + .unless(subsystems.coral().present()) + .finallyDo(subsystems.elevator()::release); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java new file mode 100644 index 00000000..a7f87502 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java @@ -0,0 +1,25 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class GroundAlgaeIntake implements EnterableState { + /** + * A state to intake algae from the ground + */ + public GroundAlgaeIntake() {} + + public Command build(Subsystems subsystems) { + return Commands.parallel( + subsystems.elevator().go(ElevatorState.Ground).asProxy(), + subsystems.pivot().ground(), + subsystems.algae().intake()) + + .unless(subsystems.algae().holdingAlgae()) + .finallyDo(subsystems.elevator()::release) + .finallyDo(subsystems.pivot()::release); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java new file mode 100644 index 00000000..c7732f05 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java @@ -0,0 +1,25 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class HighGroundAlgaeIntake implements EnterableState { + /** + * A state to intake algae off the "lollipops" + */ + public HighGroundAlgaeIntake() {} + + public Command build(Subsystems subsystems) { + return Commands.parallel( + subsystems.elevator().go(ElevatorState.UpperReef), + subsystems.pivot().ground(), + subsystems.algae().intake()) + + .unless(subsystems.algae().holdingAlgae()) + .finallyDo(subsystems.elevator()::release) + .finallyDo(subsystems.pivot()::release); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java new file mode 100644 index 00000000..1e015520 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java @@ -0,0 +1,27 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class LowerReefAlgaeIntake implements EnterableState { + /** + * A state to intake the algae off of the reef + */ + public LowerReefAlgaeIntake() {} + + public Command build(Subsystems subsystems) { + return Commands.sequence( + Commands.parallel( + subsystems.elevator().go(ElevatorState.LowerReef).asProxy(), + subsystems.pivot().reefIntake(), + subsystems.algae().intake()), + subsystems.pivot().reefExtract()) + + .unless(subsystems.algae().holdingAlgae()) + .finallyDo(subsystems.elevator()::release) + .finallyDo(subsystems.pivot()::release); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java new file mode 100644 index 00000000..4c2f165e --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java @@ -0,0 +1,26 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class Net implements EnterableState { + /** + * A state that scores an algae in the net + */ + public Net() {} + + public Command build(Subsystems subsystems) { + return Commands.sequence( + Commands.parallel( + subsystems.elevator().go(ElevatorState.Net), + subsystems.pivot().net()), + subsystems.algae().net()) + + .onlyIf(subsystems.algae().holdingAlgae()) + .finallyDo(subsystems.elevator()::release) + .finallyDo(subsystems.pivot()::release); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java new file mode 100644 index 00000000..00d00058 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java @@ -0,0 +1,24 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class NetReady implements EnterableState { + /** + * A state that sets the robot up to score in the net + */ + public NetReady() {} + + public Command build(Subsystems subsystems) { + return Commands.parallel( + subsystems.elevator().go(ElevatorState.Net), + subsystems.pivot().net()) + + .onlyIf(subsystems.algae().holdingAlgae()) + .finallyDo(subsystems.elevator()::conditionalRelease) + .finallyDo(subsystems.pivot()::conditionalRelease); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java new file mode 100644 index 00000000..b1ec5885 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java @@ -0,0 +1,26 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class Processor implements EnterableState { + /** + * A state that scores an algae in the processor + */ + public Processor() {} + + public Command build(Subsystems subsystems) { + return Commands.sequence( + Commands.parallel( + subsystems.elevator().go(ElevatorState.Processor).asProxy(), + subsystems.pivot().processor()), + subsystems.algae().processorScore()) + + .onlyIf(subsystems.algae().holdingAlgae()) + .finallyDo(subsystems.elevator()::release) + .finallyDo(subsystems.pivot()::release); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorReady.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorReady.java new file mode 100644 index 00000000..1dba3b29 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorReady.java @@ -0,0 +1,24 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class ProcessorReady implements EnterableState { + /** + * A state that prepares the robot for a processor score + */ + public ProcessorReady() {} + + public Command build(Subsystems subsystems) { + return Commands.parallel( + subsystems.elevator().go(ElevatorState.Processor).asProxy(), + subsystems.pivot().processor()) + + .onlyIf(subsystems.algae().holdingAlgae()) + .finallyDo(subsystems.elevator()::conditionalRelease) + .finallyDo(subsystems.pivot()::conditionalRelease); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java new file mode 100644 index 00000000..9d96083a --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java @@ -0,0 +1,46 @@ +package frc.robot.superstructure.states; + +import java.util.ArrayList; +import java.util.Arrays; +import java.util.List; +import java.util.Set; +import java.util.stream.Collectors; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.DriveConstants; +import frc.robot.Constants.ScoringLocationsLeft; +import frc.robot.Constants.ScoringLocationsRight; +import frc.robot.driveassist.Autopilot; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; +import frc.robot.utils.FieldUtils; + +public class ReefAlign implements EnterableState { + private List m_locations; + /** + * Represents a state where the robot aligns to a reef face + */ + public ReefAlign(ReefSide side) { + if (side == ReefSide.Left) { + m_locations = Arrays.stream(ScoringLocationsLeft.values()) + .map(location -> location.value) + .collect(Collectors.toList()); + } else { + m_locations = Arrays.stream(ScoringLocationsRight.values()) + .map(location -> location.value) + .collect(Collectors.toList()); + } + } + + public Command build(Subsystems subsystems) { + return Commands.defer(() -> { + Autopilot.Target target = new Autopilot.Target() + .withReference(FieldUtils.getGlobalPose(subsystems.drivetrain().getPose().nearest(m_locations))); + return subsystems.drivetrain().align(DriveConstants.kTightAutopilot, target); + }, Set.of( + subsystems.drivetrain())); + } + + public enum ReefSide { Left, Right; } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java index ece82931..cca72ea4 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java @@ -2,6 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -13,7 +14,7 @@ public Stowed() {} public Command build(Subsystems subsystems) { return Commands.parallel( - subsystems.elevator().stow(), + subsystems.elevator().go(ElevatorState.Stow).asProxy(), subsystems.pivot().stow()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java new file mode 100644 index 00000000..048d7f89 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java @@ -0,0 +1,28 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class UpperReefAlgaeIntake implements EnterableState { + /** + * A state that intakes algae off of the higher level of the reef + */ + public UpperReefAlgaeIntake() {} + + public Command build(Subsystems subsystems) { + return Commands.sequence( + Commands.parallel( + subsystems.elevator().go(ElevatorState.UpperReef).asProxy(), + + subsystems.pivot().reefIntake(), + subsystems.algae().intake()), + subsystems.pivot().reefExtract()) + + .unless(subsystems.algae().holdingAlgae()) + .finallyDo(subsystems.elevator()::release) + .finallyDo(subsystems.pivot()::release); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java b/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java index 86000fdc..5975cb5f 100644 --- a/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java +++ b/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java @@ -5,6 +5,7 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; +import frc.robot.driveassist.Autopilot; public class FieldUtils { /** @@ -15,11 +16,19 @@ public class FieldUtils { *

IMPORTANT

* This depends on the current Driver Station settinng for alliance. When this function is called, the driver station pose is read. */ - public static Pose2d flipPose(Pose2d pose) { - if (DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red) { - return FlippingUtil.flipFieldPose(pose); + public static Pose2d getGlobalPose(Pose2d localPose) { + if (DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Red)) { + return FlippingUtil.flipFieldPose(localPose); } else { - return pose; + return localPose; + } + } + + public static Autopilot.Target flipPose(Autopilot.Target target) { + if (DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Red)) { + return target.flip(); + } else { + return target; } } } diff --git a/ThriftyTest/src/main/java/frc/robot/utils/Shape.java b/ThriftyTest/src/main/java/frc/robot/utils/Shape.java index dcc64412..f9990316 100644 --- a/ThriftyTest/src/main/java/frc/robot/utils/Shape.java +++ b/ThriftyTest/src/main/java/frc/robot/utils/Shape.java @@ -78,7 +78,7 @@ public boolean isActive() { if (!RobotObserver.getVisionValid()) { // vision off = don't run shape logic return true; } - boolean isInside = isPointInside(FieldUtils.flipPose(RobotObserver.getPose()).getTranslation()); + boolean isInside = isPointInside(FieldUtils.getGlobalPose(RobotObserver.getPose()).getTranslation()); return isInside; } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java b/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java index ce2558c2..ae656881 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java @@ -28,16 +28,14 @@ public class MultiInputFilter { private boolean verifyTarget(Pose2d source, int tag) { Optional tagPose = VisionConstants.k_layout.getTagPose(tag); if (tagPose.isEmpty()) return false; - Transform2d relative = tagPose.get().toPose2d().minus(source); - double angleToTag = Math.abs(Math.atan2(relative.getY(), relative.getX())); - boolean angleToTagOk = angleToTag < VisionConstants.kHorizontalFov.getRadians() / 2; - double tagFacingAngle = Math.abs(relative.getRotation().getRotations()); - boolean tagFacingAngleOk = tagFacingAngle > 0.25; - if (angleToTagOk && tagFacingAngleOk) { - return true; - } else { - return false; - } + Pose2d tagPose2d = tagPose.get().toPose2d(); + Transform2d sourceRelative = tagPose2d.minus(source); + Transform2d tagRelative = source.minus(tagPose2d); + double sourceAngle = Math.atan2(sourceRelative.getY(), sourceRelative.getX()); + double tagAngle = Math.atan2(tagRelative.getY(), tagRelative.getX()); + boolean sourceAngleOk = Math.abs(sourceAngle) <= VisionConstants.kHorizontalFov.getRadians() / 2.0; + boolean tagAngleOk = Math.abs(tagAngle) <= Math.PI / 2.0; + return sourceAngleOk && tagAngleOk; } /** diff --git a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java index f964e50e..54b104ed 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java @@ -174,15 +174,6 @@ private boolean precheckValidity(PhotonPipelineResult result) { m_logger.warn("({}) Refused old vision data, latency of {}", m_name, latency); return false; } - // check if we are in reef mode - //if (RobotObserver.getReefMode()) { - // switch (RobotObserver.getReefClipLocation()) { - // case LEFT: - // if (m_name.equals(VisionConstants.k_leftAlignName)) return false; - // case RIGHT: - // if (m_name.equals(VisionConstants.k_rightAlignName)) return false; - // } - //} // no targets -> no pose return result.hasTargets(); } diff --git a/ThriftyTest/src/main/resources/logback.xml b/ThriftyTest/src/main/resources/logback.xml index b95fdb92..136520ce 100644 --- a/ThriftyTest/src/main/resources/logback.xml +++ b/ThriftyTest/src/main/resources/logback.xml @@ -8,12 +8,9 @@ - - - - - + + From 86b251cac19fa44c20ca3bf3eb1513f0cabecfa8 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 15:06:33 -0400 Subject: [PATCH 003/135] Add final states and operator bindings --- .../frc/robot/binding/OperatorBindings.java | 6 +++++ .../frc/robot/subsystems/CoralRollers.java | 12 ++++++++++ .../main/java/frc/robot/subsystems/Pivot.java | 4 ---- .../superstructure/states/CoralEject.java | 23 +++++++++++++++++++ .../superstructure/states/FunnelOpened.java | 16 +++++++++++++ .../superstructure/states/ReefAlign.java | 1 - 6 files changed, 57 insertions(+), 5 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/FunnelOpened.java diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java index 265d07a8..49edb209 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -9,10 +9,12 @@ import frc.robot.superstructure.states.Climb; import frc.robot.superstructure.states.ClimbRaised; import frc.robot.superstructure.states.CompleteCoralIntake; +import frc.robot.superstructure.states.CoralEject; import frc.robot.superstructure.states.CoralIntake; import frc.robot.superstructure.states.CoralScore; import frc.robot.superstructure.states.CoralScoreReady; import frc.robot.superstructure.states.ElevatorZero; +import frc.robot.superstructure.states.FunnelOpened; import frc.robot.superstructure.states.GroundAlgaeIntake; import frc.robot.superstructure.states.HighGroundAlgaeIntake; import frc.robot.superstructure.states.UpperReefAlgaeIntake; @@ -23,6 +25,7 @@ import frc.robot.superstructure.states.Processor; import frc.robot.superstructure.states.ProcessorReady; import frc.robot.superstructure.states.ReefAlign; +import frc.robot.superstructure.states.Stowed; public class OperatorBindings implements Binder { private final CommandPS5Controller m_controller = @@ -77,6 +80,7 @@ public void bind(Superstructure superstructure) { /* coral intake & score */ m_coralIntake.whileTrue(superstructure.enter(new CoralIntake())); m_coralIntake.onFalse(superstructure.enter(new CompleteCoralIntake())); + m_ejectCoral.whileTrue(superstructure.enter(new CoralEject())); bindCoral(m_l1.and(m_secondaryL1.negate()), CoralLevel.L1, superstructure); bindCoral(m_l1.and(m_secondaryL1), CoralLevel.SecondaryL1, superstructure); bindCoral(m_l2, CoralLevel.L2, superstructure); @@ -93,6 +97,8 @@ public void bind(Superstructure superstructure) { /* misc */ m_zeroElevator.whileTrue(superstructure.enter(new ElevatorZero())); + m_stow.whileTrue(superstructure.enter(new Stowed())); + m_funnel.whileTrue(superstructure.enter(new FunnelOpened())); } private void bindCoral(Trigger trigger, CoralLevel level, Superstructure superstructure) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java index 775ae729..34fa133f 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java @@ -169,4 +169,16 @@ public Command score(CoralLevel level) { .onlyIf(holding()); } + /** + * Ejects a coral piece + */ + public Command eject() { + return Commands.sequence( + runOnce(() -> setVoltage(CoralConstants.ejectVoltage)), + Commands.waitUntil(present().negate())) + + .onlyIf(present()) + .finallyDo(this::stop); + } + } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java index 509986a9..056e9290 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java @@ -109,10 +109,6 @@ private void setReefExtract() { setPosition(PivotConstants.reefExtract); } - private void stop() { - setPosition(m_position); - } - public double getPosition() { return m_position; } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java new file mode 100644 index 00000000..92ac0a08 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java @@ -0,0 +1,23 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class CoralEject implements EnterableState { + /** + * A state that represents a present coral being ejected + */ + public CoralEject() {} + + public Command build(Subsystems subsystems) { + return Commands.sequence( + subsystems.elevator().go(ElevatorState.Eject).asProxy(), + subsystems.coral().eject()) + + .onlyIf(subsystems.coral().present()) + .finallyDo(subsystems.elevator()::release); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/FunnelOpened.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/FunnelOpened.java new file mode 100644 index 00000000..76ea1985 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/FunnelOpened.java @@ -0,0 +1,16 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class FunnelOpened implements EnterableState { + /** + * A state that represents the funnel in the open state + */ + public FunnelOpened() {} + + public Command build(Subsystems subsystems) { + return subsystems.climber().openFunnel(); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java index 9d96083a..e873e28f 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java @@ -1,6 +1,5 @@ package frc.robot.superstructure.states; -import java.util.ArrayList; import java.util.Arrays; import java.util.List; import java.util.Set; From 63373d03816d81b75ea33b8bfe448094b3c2915d Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 15:09:58 -0400 Subject: [PATCH 004/135] Run formatter on Superstructure.java --- .../main/java/frc/robot/superstructure/Superstructure.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 81df3efe..007c2571 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -37,8 +37,8 @@ public Superstructure( public Command enter(EnterableState state) { return state.build(m_subsystems) - .withName(state.toString()); // avoid poorly named commands - } + .withName(state.toString()); // avoid poorly named commands + } public void setDrive(Command driveCommand) { m_subsystems.drivetrain().setDefaultCommand(driveCommand); @@ -52,7 +52,7 @@ public static record Subsystems( Climber climber, CommandSwerveDrivetrain drivetrain, LedFeedback leds) { - } + } public Trigger aligned() { return m_subsystems.drivetrain().aligned(); From 060fb2d89734f56a1912b86cb3e00aca8da4f836 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 21:03:34 -0400 Subject: [PATCH 005/135] Add javadoc to Superstructure.enter() --- .../src/main/java/frc/robot/superstructure/Superstructure.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 007c2571..58dbb775 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -35,6 +35,9 @@ public Superstructure( leds); } + /** + * Sets a specified EnterableState as reference state + */ public Command enter(EnterableState state) { return state.build(m_subsystems) .withName(state.toString()); // avoid poorly named commands From 15ee77ab7963d96692f845a36d43a586103462bf Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 21:03:56 -0400 Subject: [PATCH 006/135] Reformat LEDs; Add PassiveSubsystem extension --- .../frc/robot/subsystems/LedFeedback.java | 600 +++++++++--------- 1 file changed, 288 insertions(+), 312 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java index 9b076b59..b899930d 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java @@ -29,332 +29,308 @@ import frc.robot.Constants.LedConstants; import frc.robot.RobotObserver; -public class LedFeedback extends SubsystemBase { - @SuppressWarnings("unused") - private final Logger m_logger = LoggerFactory.getLogger(LedFeedback.class); - private static double matchTime = 0; - // private Supplier isInRange; - // private boolean algaeOnBoard = false; - private boolean coralOnBoard = false; - private boolean aligned = false; - private boolean climbed = false; - private boolean algaeOnBoard = false; - private boolean algaeInRange = false; - private boolean noElevatorZoneActive = false; - private boolean inAuton = false; - private boolean inTeleop = false; - private double rangeLeft = 0.0; - private double rangeRight = 0.0; - - private int selectedSlot = 0; - - private static enum LED_MODE { - CORAL_ON_BOARD, CORAL_READY, END_GAME_WARNING, END_GAME_ALERT, DEFAULT, - BADCONTROLLER, IN_RANGE, CLIMBED, ALGAE_ON_BOARD, DEFAULT_ENDGAME, ALGAE_READY, ALGAE_TOO_CLOSE, ALIGNED, CLOSE, - ALIGNED_REEF, ALIGNED_BRANCH, ALIGNED_RIGHT, ALIGNED_LEFT; - }; - - private static enum LED_COLOR { - RED, YELLOW, GREEN, PURPLE, BLUE, WHITE, OFF, BROWN, ORANGE, BLUE_VIOLET, DEEP_PINK, SKYBLUE; - }; - - private static enum LED_PATTERN { - TWINKLE, STROBE, LARSON, FLASH, SOLID, CLEAR, RAINBOW; - }; - - private static enum LED_SECTION { - FUNNEL_LEFT, ELEVATOR_LEFT, FUNNEL_RIGHT, ELEVATOR_RIGHT; - } - - private static LED_MODE mode = null; - - private CANdle ledcontroller = new CANdle(IDConstants.candle1); - private CANdle ledcontroller2 = new CANdle(IDConstants.candle2); - - public LedFeedback() { - CANdleConfiguration config = new CANdleConfiguration(); - config.stripType = LEDStripType.RGB; // set the strip type to RGB - config.brightnessScalar = 0.7; // dim the LEDs to 70% brightness - ledcontroller.configAllSettings(config, 20); - ledcontroller2.configAllSettings(config, 20); - - defaultColors(); - - } - - @Override - public void periodic() { - matchTime = (DriverStation.getMatchType() == MatchType.None) ? Double.POSITIVE_INFINITY : DriverStation.getMatchTime(); - inAuton = DriverStation.isAutonomousEnabled(); - inTeleop = DriverStation.isTeleopEnabled(); - - coralOnBoard = RobotObserver.getCoralPieceHeld(); - algaeOnBoard = RobotObserver.getAlgaePieceHeld(); - aligned = RobotObserver.getAligned(); - algaeInRange = CommandBounds.netBounds.isActive(); - noElevatorZoneActive = RobotObserver.getNoElevatorZone(); - climbed = RobotObserver.getClimbed(); - - if (badController()) { - - if (mode != LED_MODE.BADCONTROLLER) { - mode = LED_MODE.BADCONTROLLER; - setAll(LED_COLOR.RED, LED_PATTERN.STROBE); - - } - } else if (climbed) { - if (mode != LED_MODE.CLIMBED) { - setAll(LED_COLOR.OFF, LED_PATTERN.RAINBOW); - mode = LED_MODE.CLIMBED; - } - } else if (inTeleop || inAuton) { - if (matchTime <= LedConstants.endgameWarning && !inAuton) { - // Check for Final Seconds of Endgame - if (matchTime <= LedConstants.endgameAlert) { - if (mode != LED_MODE.END_GAME_ALERT) { - mode = LED_MODE.END_GAME_ALERT; - setAll(LED_COLOR.YELLOW, LED_PATTERN.STROBE); - } - // In Start of Endgame - } else { - if (mode != LED_MODE.END_GAME_WARNING) { - mode = LED_MODE.END_GAME_WARNING; - setAll(LED_COLOR.YELLOW, LED_PATTERN.SOLID); - - } - } - } - else if (coralOnBoard && alignedReef()) { - if (mode != LED_MODE.ALIGNED_REEF) { - mode = LED_MODE.ALIGNED_REEF; - setAll(LED_COLOR.ORANGE, LED_PATTERN.STROBE); - - } - // Check if Aligned too far right or Left Branch on Reef - // } else if (coralOnBoard && (alignedRight() || alignedLeft())) { - // if (mode != LED_MODE.ALIGNED_BRANCH) { - // mode = LED_MODE.ALIGNED_BRANCH; - // setAll(LED_COLOR.GREEN, LED_PATTERN.FLASH); - // } - } else if (coralOnBoard && alignedRight()) { - if (mode != LED_MODE.ALIGNED_RIGHT) { - mode = LED_MODE.ALIGNED_RIGHT; - setRight(LED_COLOR.DEEP_PINK, LED_PATTERN.FLASH); - - } - } else if (coralOnBoard && alignedLeft()) { - if (mode != LED_MODE.ALIGNED_LEFT) { - mode = LED_MODE.ALIGNED_LEFT; - setLeft(LED_COLOR.DEEP_PINK, LED_PATTERN.FLASH); - - } - } - // Check if Coral is On Board and In range of reef - else if (coralOnBoard && aligned) { - if (mode != LED_MODE.CORAL_READY) { - mode = LED_MODE.CORAL_READY; - setAll(LED_COLOR.BLUE, LED_PATTERN.SOLID); - - } - // Check if Coral is On Board - } else if (coralOnBoard) { - if (mode != LED_MODE.CORAL_ON_BOARD) { - mode = LED_MODE.CORAL_ON_BOARD; - setAll(LED_COLOR.WHITE, LED_PATTERN.SOLID); - - } - // Check if Algae is On Board and Too Close to Net - } else if (noElevatorZoneActive) { - if (mode != LED_MODE.ALGAE_TOO_CLOSE) { - mode = LED_MODE.ALGAE_TOO_CLOSE; - setAll(LED_COLOR.SKYBLUE, LED_PATTERN.STROBE); - - } - // Check if Algae is On Board and In range to Net - } else if (algaeOnBoard && algaeInRange) { - if (mode != LED_MODE.ALGAE_READY) { - mode = LED_MODE.ALGAE_READY; - setAll(LED_COLOR.BLUE, LED_PATTERN.SOLID); - } - // Check if Algae is on board - } else if (algaeOnBoard) { - if (mode != LED_MODE.ALGAE_ON_BOARD) { - mode = LED_MODE.ALGAE_ON_BOARD; - setAll(LED_COLOR.GREEN, LED_PATTERN.SOLID); - - } - // If Everything is false make it Default Colors - } else { - if (mode != LED_MODE.DEFAULT) { - defaultColors(); - mode = LED_MODE.DEFAULT; - } - } - - // Run this when robot is disabled +public class LedFeedback extends PassiveSubsystem { + @SuppressWarnings("unused") + private final Logger m_logger = LoggerFactory.getLogger(LedFeedback.class); + private static double matchTime = 0; + // private Supplier isInRange; + // private boolean algaeOnBoard = false; + private boolean coralOnBoard = false; + private boolean aligned = false; + private boolean climbed = false; + private boolean algaeOnBoard = false; + private boolean algaeInRange = false; + private boolean noElevatorZoneActive = false; + private boolean inAuton = false; + private boolean inTeleop = false; + private double rangeLeft = 0.0; + private double rangeRight = 0.0; + + private int selectedSlot = 0; + + private static enum LED_MODE { + CORAL_ON_BOARD, CORAL_READY, END_GAME_WARNING, END_GAME_ALERT, DEFAULT, BADCONTROLLER, IN_RANGE, CLIMBED, ALGAE_ON_BOARD, DEFAULT_ENDGAME, ALGAE_READY, ALGAE_TOO_CLOSE, ALIGNED, CLOSE, ALIGNED_REEF, ALIGNED_BRANCH, ALIGNED_RIGHT, ALIGNED_LEFT; + }; + + private static enum LED_COLOR { + RED, YELLOW, GREEN, PURPLE, BLUE, WHITE, OFF, BROWN, ORANGE, BLUE_VIOLET, DEEP_PINK, SKYBLUE; + }; + + private static enum LED_PATTERN { + TWINKLE, STROBE, LARSON, FLASH, SOLID, CLEAR, RAINBOW; + }; + + private static enum LED_SECTION { + FUNNEL_LEFT, ELEVATOR_LEFT, FUNNEL_RIGHT, ELEVATOR_RIGHT; + } + + private static LED_MODE mode = null; + + private CANdle ledcontroller = new CANdle(IDConstants.candle1); + private CANdle ledcontroller2 = new CANdle(IDConstants.candle2); + + public LedFeedback() { + super(); + CANdleConfiguration config = new CANdleConfiguration(); + config.stripType = LEDStripType.RGB; // set the strip type to RGB + config.brightnessScalar = 0.7; // dim the LEDs to 70% brightness + ledcontroller.configAllSettings(config, 20); + ledcontroller2.configAllSettings(config, 20); + + defaultColors(); + + } + + public void passive() { + matchTime = (DriverStation.getMatchType() == MatchType.None) ? Double.POSITIVE_INFINITY + : DriverStation.getMatchTime(); + inAuton = DriverStation.isAutonomousEnabled(); + inTeleop = DriverStation.isTeleopEnabled(); + + coralOnBoard = RobotObserver.getCoralPieceHeld(); + algaeOnBoard = RobotObserver.getAlgaePieceHeld(); + aligned = RobotObserver.getAligned(); + algaeInRange = CommandBounds.netBounds.isActive(); + noElevatorZoneActive = RobotObserver.getNoElevatorZone(); + climbed = RobotObserver.getClimbed(); + + if (badController()) { + + if (mode != LED_MODE.BADCONTROLLER) { + mode = LED_MODE.BADCONTROLLER; + setAll(LED_COLOR.RED, LED_PATTERN.STROBE); + + } + } else if (climbed) { + if (mode != LED_MODE.CLIMBED) { + setAll(LED_COLOR.OFF, LED_PATTERN.RAINBOW); + mode = LED_MODE.CLIMBED; + } + } else if (inTeleop || inAuton) { + if (matchTime <= LedConstants.endgameWarning && !inAuton) { + // Check for Final Seconds of Endgame + if (matchTime <= LedConstants.endgameAlert) { + if (mode != LED_MODE.END_GAME_ALERT) { + mode = LED_MODE.END_GAME_ALERT; + setAll(LED_COLOR.YELLOW, LED_PATTERN.STROBE); + } + // In Start of Endgame } else { - if (mode != LED_MODE.DEFAULT) { - defaultColors(); - mode = LED_MODE.DEFAULT; - return; - } - } - } - - private boolean alignedReef() { - return (Math.abs(rangeRight - - CANrangeConstants.closeAlignedDistanceMeters) < CANrangeConstants.closeAlignedDistanceMeters - * CANrangeConstants.tolerance - && - Math.abs(rangeLeft - - CANrangeConstants.closeAlignedDistanceMeters) < CANrangeConstants.closeAlignedDistanceMeters - * CANrangeConstants.tolerance); - } - - private boolean alignedLeft() { - return (Math.abs(rangeRight - - CANrangeConstants.closeAlignedDistanceMeters) < CANrangeConstants.closeAlignedDistanceMeters - * CANrangeConstants.tolerance) - && - (Math.abs(rangeLeft - - CANrangeConstants.farAlignedDistanceMeters) < CANrangeConstants.farAlignedDistanceMeters - * CANrangeConstants.tolerance); - } - - private boolean alignedRight() { - return (Math.abs( - rangeLeft - CANrangeConstants.closeAlignedDistanceMeters) < CANrangeConstants.closeAlignedDistanceMeters - * CANrangeConstants.tolerance) - && - (Math.abs(rangeRight - - CANrangeConstants.farAlignedDistanceMeters) < CANrangeConstants.farAlignedDistanceMeters - * CANrangeConstants.tolerance); - } - - private void clearAllAnimations() { - ledcontroller.clearAnimation(0); - ledcontroller.clearAnimation(1); - ledcontroller2.clearAnimation(0); - ledcontroller2.clearAnimation(1); - } - - private void defaultColors() { - clearAllAnimations(); - setElevator(LED_COLOR.PURPLE, LED_PATTERN.FLASH); // changed to heartbeat mode - setFunnel(LED_COLOR.PURPLE, LED_PATTERN.LARSON); - } + if (mode != LED_MODE.END_GAME_WARNING) { + mode = LED_MODE.END_GAME_WARNING; + setAll(LED_COLOR.YELLOW, LED_PATTERN.SOLID); - private boolean badController() { - boolean driverConnected = DriverStation.isJoystickConnected(ButtonBindingConstants.driverPort); - boolean operatorConnected = DriverStation.isJoystickConnected(ButtonBindingConstants.operatorPort); + } + } + } else if (coralOnBoard && alignedReef()) { + if (mode != LED_MODE.ALIGNED_REEF) { + mode = LED_MODE.ALIGNED_REEF; + setAll(LED_COLOR.ORANGE, LED_PATTERN.STROBE); - if (!driverConnected || !operatorConnected) - return true; + } + // Check if Aligned too far right or Left Branch on Reef + // } else if (coralOnBoard && (alignedRight() || alignedLeft())) { + // if (mode != LED_MODE.ALIGNED_BRANCH) { + // mode = LED_MODE.ALIGNED_BRANCH; + // setAll(LED_COLOR.GREEN, LED_PATTERN.FLASH); + // } + } else if (coralOnBoard && alignedRight()) { + if (mode != LED_MODE.ALIGNED_RIGHT) { + mode = LED_MODE.ALIGNED_RIGHT; + setRight(LED_COLOR.DEEP_PINK, LED_PATTERN.FLASH); - String driverName = DriverStation.getJoystickName(ButtonBindingConstants.driverPort).toLowerCase(); - String operatorName = DriverStation.getJoystickName(ButtonBindingConstants.operatorPort).toLowerCase(); + } + } else if (coralOnBoard && alignedLeft()) { + if (mode != LED_MODE.ALIGNED_LEFT) { + mode = LED_MODE.ALIGNED_LEFT; + setLeft(LED_COLOR.DEEP_PINK, LED_PATTERN.FLASH); - boolean driverOk = driverName.contains(ButtonBindingConstants.dragonReinsName) || driverName.contains(ButtonBindingConstants.driverBackupName); + } + } + // Check if Coral is On Board and In range of reef + else if (coralOnBoard && aligned) { + if (mode != LED_MODE.CORAL_READY) { + mode = LED_MODE.CORAL_READY; + setAll(LED_COLOR.BLUE, LED_PATTERN.SOLID); - boolean operatorOk = operatorName.contains(ButtonBindingConstants.ps5Name); + } + // Check if Coral is On Board + } else if (coralOnBoard) { + if (mode != LED_MODE.CORAL_ON_BOARD) { + mode = LED_MODE.CORAL_ON_BOARD; + setAll(LED_COLOR.WHITE, LED_PATTERN.SOLID); - return !(driverOk && operatorOk); - } + } + // Check if Algae is On Board and Too Close to Net + } else if (noElevatorZoneActive) { + if (mode != LED_MODE.ALGAE_TOO_CLOSE) { + mode = LED_MODE.ALGAE_TOO_CLOSE; + setAll(LED_COLOR.SKYBLUE, LED_PATTERN.STROBE); - public void setAll(LED_COLOR color, LED_PATTERN pattern) { - clearAllAnimations(); - setColor(color, LED_SECTION.ELEVATOR_LEFT, pattern); // changed to heartbeat mode - setColor(color, LED_SECTION.ELEVATOR_RIGHT, pattern); // changed to heartbeat mode - setColor(color, LED_SECTION.FUNNEL_LEFT, pattern); - setColor(color, LED_SECTION.FUNNEL_RIGHT, pattern); - } + } + // Check if Algae is On Board and In range to Net + } else if (algaeOnBoard && algaeInRange) { + if (mode != LED_MODE.ALGAE_READY) { + mode = LED_MODE.ALGAE_READY; + setAll(LED_COLOR.BLUE, LED_PATTERN.SOLID); + } + // Check if Algae is on board + } else if (algaeOnBoard) { + if (mode != LED_MODE.ALGAE_ON_BOARD) { + mode = LED_MODE.ALGAE_ON_BOARD; + setAll(LED_COLOR.GREEN, LED_PATTERN.SOLID); - public void setElevator(LED_COLOR color, LED_PATTERN pattern) { - setColor(color, LED_SECTION.ELEVATOR_LEFT, pattern); - setColor(color, LED_SECTION.ELEVATOR_RIGHT, pattern); - } + } + // If Everything is false make it Default Colors + } else { + if (mode != LED_MODE.DEFAULT) { + defaultColors(); + mode = LED_MODE.DEFAULT; + } + } - public void setFunnel(LED_COLOR color, LED_PATTERN pattern) { - setColor(color, LED_SECTION.FUNNEL_LEFT, pattern); - setColor(color, LED_SECTION.FUNNEL_RIGHT, pattern); + // Run this when robot is disabled + } else { + if (mode != LED_MODE.DEFAULT) { + defaultColors(); + mode = LED_MODE.DEFAULT; + return; + } } - - public void setRight(LED_COLOR color, LED_PATTERN pattern) { - setColor(color, LED_SECTION.ELEVATOR_RIGHT, pattern); - setColor(color, LED_SECTION.FUNNEL_RIGHT, pattern); + } + + private void clearAllAnimations() { + ledcontroller.clearAnimation(0); + ledcontroller.clearAnimation(1); + ledcontroller2.clearAnimation(0); + ledcontroller2.clearAnimation(1); + } + + private void defaultColors() { + clearAllAnimations(); + setElevator(LED_COLOR.PURPLE, LED_PATTERN.FLASH); // changed to heartbeat mode + setFunnel(LED_COLOR.PURPLE, LED_PATTERN.LARSON); + } + + private boolean badController() { + boolean driverConnected = DriverStation.isJoystickConnected(ButtonBindingConstants.driverPort); + boolean operatorConnected = + DriverStation.isJoystickConnected(ButtonBindingConstants.operatorPort); + + if (!driverConnected || !operatorConnected) + return true; + + String driverName = + DriverStation.getJoystickName(ButtonBindingConstants.driverPort).toLowerCase(); + String operatorName = + DriverStation.getJoystickName(ButtonBindingConstants.operatorPort).toLowerCase(); + + boolean driverOk = driverName.contains(ButtonBindingConstants.dragonReinsName) + || driverName.contains(ButtonBindingConstants.driverBackupName); + + boolean operatorOk = operatorName.contains(ButtonBindingConstants.ps5Name); + + return !(driverOk && operatorOk); + } + + public void setAll(LED_COLOR color, LED_PATTERN pattern) { + clearAllAnimations(); + setColor(color, LED_SECTION.ELEVATOR_LEFT, pattern); // changed to heartbeat mode + setColor(color, LED_SECTION.ELEVATOR_RIGHT, pattern); // changed to heartbeat mode + setColor(color, LED_SECTION.FUNNEL_LEFT, pattern); + setColor(color, LED_SECTION.FUNNEL_RIGHT, pattern); + } + + public void setElevator(LED_COLOR color, LED_PATTERN pattern) { + setColor(color, LED_SECTION.ELEVATOR_LEFT, pattern); + setColor(color, LED_SECTION.ELEVATOR_RIGHT, pattern); + } + + public void setFunnel(LED_COLOR color, LED_PATTERN pattern) { + setColor(color, LED_SECTION.FUNNEL_LEFT, pattern); + setColor(color, LED_SECTION.FUNNEL_RIGHT, pattern); + } + + public void setRight(LED_COLOR color, LED_PATTERN pattern) { + setColor(color, LED_SECTION.ELEVATOR_RIGHT, pattern); + setColor(color, LED_SECTION.FUNNEL_RIGHT, pattern); + } + + public void setLeft(LED_COLOR color, LED_PATTERN pattern) { + setColor(color, LED_SECTION.ELEVATOR_LEFT, pattern); + setColor(color, LED_SECTION.FUNNEL_LEFT, pattern); + } + + @SuppressWarnings("incomplete-switch") + public void setColor(LED_COLOR color, LED_SECTION section, LED_PATTERN pattern) { + int nbrLED = 0; + int offsetLED = 0; + + CANdle candle = null; + Color c = new Color(); + + switch (color) { + case BLUE -> c = Color.kBlue; + case GREEN -> c = Color.kGreen; + case RED -> c = Color.kRed; + case YELLOW -> c = Color.kYellow; + case PURPLE -> c = Color.kPurple; + case WHITE -> c = Color.kWhite; + case SKYBLUE -> c = Color.kRoyalBlue; + case ORANGE -> c = Color.kOrange; + case DEEP_PINK -> c = Color.kDeepPink; + case OFF -> c = Color.kBlack; } - public void setLeft(LED_COLOR color, LED_PATTERN pattern) { - setColor(color, LED_SECTION.ELEVATOR_LEFT, pattern); - setColor(color, LED_SECTION.FUNNEL_LEFT, pattern); + int r = (int) (c.red * 255); + int b = (int) (c.blue * 255); + int g = (int) (c.green * 255); + + switch (section) { + case FUNNEL_LEFT: + offsetLED = LedConstants.funnelOffset; + nbrLED = LedConstants.funnelNumLED; + selectedSlot = 0; + candle = ledcontroller; + break; + case ELEVATOR_LEFT: + offsetLED = LedConstants.elevatorOffset; + nbrLED = LedConstants.elevatorNumLED; + selectedSlot = 1; + candle = ledcontroller; + break; + case FUNNEL_RIGHT: + offsetLED = LedConstants.funnelOffset2; + nbrLED = LedConstants.funnelNumLED2; + selectedSlot = 0; + candle = ledcontroller2; + break; + case ELEVATOR_RIGHT: + offsetLED = LedConstants.elevatorOffset2; + nbrLED = LedConstants.elevatorNumLED2; + selectedSlot = 1; + candle = ledcontroller2; } - @SuppressWarnings("incomplete-switch") - public void setColor(LED_COLOR color, LED_SECTION section, LED_PATTERN pattern) { - int nbrLED = 0; - int offsetLED = 0; - - CANdle candle = null; - Color c = new Color(); - - switch (color) { - case BLUE -> c = Color.kBlue; - case GREEN -> c = Color.kGreen; - case RED -> c = Color.kRed; - case YELLOW -> c = Color.kYellow; - case PURPLE -> c = Color.kPurple; - case WHITE -> c = Color.kWhite; - case SKYBLUE -> c = Color.kRoyalBlue; - case ORANGE -> c = Color.kOrange; - case DEEP_PINK -> c = Color.kDeepPink; - case OFF -> c = Color.kBlack; - - } - - int r = (int) (c.red * 255); - int b = (int) (c.blue * 255); - int g = (int) (c.green * 255); - - switch (section) { - case FUNNEL_LEFT: - offsetLED = LedConstants.funnelOffset; - nbrLED = LedConstants.funnelNumLED; - selectedSlot = 0; - candle = ledcontroller; - break; - case ELEVATOR_LEFT: - offsetLED = LedConstants.elevatorOffset; - nbrLED = LedConstants.elevatorNumLED; - selectedSlot = 1; - candle = ledcontroller; - break; - case FUNNEL_RIGHT: - offsetLED = LedConstants.funnelOffset2; - nbrLED = LedConstants.funnelNumLED2; - selectedSlot = 0; - candle = ledcontroller2; - break; - case ELEVATOR_RIGHT: - offsetLED = LedConstants.elevatorOffset2; - nbrLED = LedConstants.elevatorNumLED2; - selectedSlot = 1; - candle = ledcontroller2; - } - - candle.clearAnimation(selectedSlot); - - switch (pattern) { - case SOLID -> candle.setLEDs(r, g, b, 0, offsetLED, nbrLED); - case FLASH -> candle.animate( - new SingleFadeAnimation(r, g, b, 0, LedConstants.flashSpeed, nbrLED, offsetLED), selectedSlot); - case STROBE -> candle.animate(new StrobeAnimation(r, g, b, 0, LedConstants.strobeSpeed, nbrLED, offsetLED), - selectedSlot); - case TWINKLE -> candle.animate( - new TwinkleAnimation(r, g, b, 0, 0.5, nbrLED, TwinklePercent.Percent42, offsetLED), selectedSlot); - case CLEAR -> candle.setLEDs(0, 0, 0, 0, offsetLED, nbrLED); - case LARSON -> candle.animate(new LarsonAnimation(r, g, b, 0, 0.5, nbrLED, BounceMode.Back, 7, offsetLED), - selectedSlot); - case RAINBOW -> candle.animate(new RainbowAnimation(1, 0.9, nbrLED, true, offsetLED), selectedSlot); - } + candle.clearAnimation(selectedSlot); + + switch (pattern) { + case SOLID -> candle.setLEDs(r, g, b, 0, offsetLED, nbrLED); + case FLASH -> candle.animate( + new SingleFadeAnimation(r, g, b, 0, LedConstants.flashSpeed, nbrLED, offsetLED), + selectedSlot); + case STROBE -> candle.animate( + new StrobeAnimation(r, g, b, 0, LedConstants.strobeSpeed, nbrLED, offsetLED), + selectedSlot); + case TWINKLE -> candle.animate( + new TwinkleAnimation(r, g, b, 0, 0.5, nbrLED, TwinklePercent.Percent42, offsetLED), + selectedSlot); + case CLEAR -> candle.setLEDs(0, 0, 0, 0, offsetLED, nbrLED); + case LARSON -> candle.animate( + new LarsonAnimation(r, g, b, 0, 0.5, nbrLED, BounceMode.Back, 7, offsetLED), + selectedSlot); + case RAINBOW -> candle.animate(new RainbowAnimation(1, 0.9, nbrLED, true, offsetLED), + selectedSlot); } + } } From bdf32738110176e02341bc202b1fd948e5e10740 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 21:05:03 -0400 Subject: [PATCH 007/135] removed empty line --- ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java | 1 - 1 file changed, 1 deletion(-) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java index b899930d..cf5ca4ec 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java @@ -78,7 +78,6 @@ public LedFeedback() { ledcontroller2.configAllSettings(config, 20); defaultColors(); - } public void passive() { From 7eeae861c8e65f14d3518c162b775ce8138d2421 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 22:13:29 -0400 Subject: [PATCH 008/135] Add Modifer interface --- .../robot/superstructure/PassiveModifier.java | 8 ++++++++ .../frc/robot/superstructure/Superstructure.java | 14 ++++++++++++++ .../superstructure/modifiers/ElevatorPrep.java | 16 ++++++++++++++++ 3 files changed, 38 insertions(+) create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/PassiveModifier.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/modifiers/ElevatorPrep.java diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/PassiveModifier.java b/ThriftyTest/src/main/java/frc/robot/superstructure/PassiveModifier.java new file mode 100644 index 00000000..7e9440cf --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/PassiveModifier.java @@ -0,0 +1,8 @@ +package frc.robot.superstructure; + +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.superstructure.Superstructure.Subsystems; + +public interface PassiveModifier { + void modify(Subsystems subsystems, Trigger trigger); +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 58dbb775..f16eb3e3 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -1,6 +1,7 @@ package frc.robot.superstructure; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.subsystems.AlgaeRollers; import frc.robot.subsystems.Climber; @@ -43,6 +44,15 @@ public Command enter(EnterableState state) { .withName(state.toString()); // avoid poorly named commands } + /** + * Uses a PassiveModifier to change passive behavior + */ + public Command modify(PassiveModifier modifier, Trigger trigger) { + return Commands.runOnce(() -> modifier.modify(m_subsystems, trigger)) + .withName(modifier.toString()) + .ignoringDisable(true); + } + public void setDrive(Command driveCommand) { m_subsystems.drivetrain().setDefaultCommand(driveCommand); } @@ -60,4 +70,8 @@ public static record Subsystems( public Trigger aligned() { return m_subsystems.drivetrain().aligned(); } + + public Trigger inReefZone() { + return m_subsystems.drivetrain().inReefZone(); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/modifiers/ElevatorPrep.java b/ThriftyTest/src/main/java/frc/robot/superstructure/modifiers/ElevatorPrep.java new file mode 100644 index 00000000..46e4dbf1 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/modifiers/ElevatorPrep.java @@ -0,0 +1,16 @@ +package frc.robot.superstructure.modifiers; + +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.superstructure.PassiveModifier; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class ElevatorPrep implements PassiveModifier { + /** + * Modifies the behavior of the elevator's prefire. + */ + public ElevatorPrep() {} + + public void modify(Subsystems subsystems, Trigger trigger) { + subsystems.elevator().setPrefireRequirement(trigger); + } + } From 8d8f2d9a5d0a49f9a2d0597e00d6e438e805e5be Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 22:15:41 -0400 Subject: [PATCH 009/135] Add passive intake-completion behavior for CoralRollers --- .../frc/robot/subsystems/CoralRollers.java | 42 ++++++++----------- 1 file changed, 18 insertions(+), 24 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java index 34fa133f..05dcdb18 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java @@ -30,8 +30,8 @@ public class CoralRollers extends PassiveSubsystem { private final CANrange m_upperRange = new CANrange(IDConstants.upperCANrange); private final CANrange m_innerRange = new CANrange(IDConstants.innerCANrange); - private double m_voltage; - private boolean m_voltageChanged; + private double m_voltageLeft; + private double m_voltageRight; public CoralRollers() { super(); @@ -65,8 +65,12 @@ private void configCANrange() { } private void setVoltage(double voltage) { - m_coralLeft.setVoltage(voltage); - m_coralRight.setVoltage(voltage); + if (m_voltageLeft != voltage) { + m_coralLeft.setVoltage(voltage); + } + if (m_voltageRight != voltage) { + m_coralRight.setVoltage(voltage); + } } private void setIntake() { @@ -105,20 +109,6 @@ private boolean getInnerCANrange() { return m_innerRange.getIsDetected().getValue(); } - public Trigger holding() { - return new Trigger(() -> { - if (Robot.isReal()) { - boolean holding = getFrontCANrange() && !getUpperCANrange(); - m_logger.trace("holding: {}", holding); - return holding; - } else { - boolean present = SmartDashboard.getBoolean("Coral present", false); - SmartDashboard.putBoolean("Coral present", present); - return present; - } - }); - } - private void stop() { setVoltage(0); } @@ -127,22 +117,26 @@ public Trigger present() { return new Trigger(() -> getUpperCANrange() || getInnerCANrange() || getFrontCANrange()); } + public Trigger holding() { + return new Trigger(() -> getFrontCANrange() && !getUpperCANrange()); + } + @Override public void periodic() { SmartDashboard.putBoolean("Inner CANrange", getInnerCANrange()); SmartDashboard.putBoolean("Coral CANrange", getFrontCANrange()); SmartDashboard.putBoolean("OCS", getUpperCANrange()); SmartDashboard.putBoolean("HAS CORAL", holding().getAsBoolean()); + } - if (m_voltageChanged) { - m_coralLeft.setVoltage(m_voltage); - m_coralRight.setVoltage(m_voltage); - m_voltageChanged = false; + protected void passive() { + if (present().getAsBoolean() && !holding().getAsBoolean()) { + setIntake(); + } else { + stop(); } } - protected void passive() {} - /** * Intakes a game piece. The command ends when the piece is fully in the robot. */ From 180dc3a93ceca16861d2072f6337d839a96b50cf Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 22:16:07 -0400 Subject: [PATCH 010/135] Move LED logic to passive --- .../frc/robot/subsystems/LedFeedback.java | 35 ++----------------- 1 file changed, 2 insertions(+), 33 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java index cf5ca4ec..4dd47b02 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java @@ -21,9 +21,7 @@ import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.MatchType; import edu.wpi.first.wpilibj.util.Color; -import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants.ButtonBindingConstants; -import frc.robot.Constants.CANrangeConstants; import frc.robot.Constants.CommandBounds; import frc.robot.Constants.IDConstants; import frc.robot.Constants.LedConstants; @@ -33,8 +31,7 @@ public class LedFeedback extends PassiveSubsystem { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(LedFeedback.class); private static double matchTime = 0; - // private Supplier isInRange; - // private boolean algaeOnBoard = false; + private boolean coralOnBoard = false; private boolean aligned = false; private boolean climbed = false; @@ -43,8 +40,6 @@ public class LedFeedback extends PassiveSubsystem { private boolean noElevatorZoneActive = false; private boolean inAuton = false; private boolean inTeleop = false; - private double rangeLeft = 0.0; - private double rangeRight = 0.0; private int selectedSlot = 0; @@ -121,33 +116,7 @@ public void passive() { } } - } else if (coralOnBoard && alignedReef()) { - if (mode != LED_MODE.ALIGNED_REEF) { - mode = LED_MODE.ALIGNED_REEF; - setAll(LED_COLOR.ORANGE, LED_PATTERN.STROBE); - - } - // Check if Aligned too far right or Left Branch on Reef - // } else if (coralOnBoard && (alignedRight() || alignedLeft())) { - // if (mode != LED_MODE.ALIGNED_BRANCH) { - // mode = LED_MODE.ALIGNED_BRANCH; - // setAll(LED_COLOR.GREEN, LED_PATTERN.FLASH); - // } - } else if (coralOnBoard && alignedRight()) { - if (mode != LED_MODE.ALIGNED_RIGHT) { - mode = LED_MODE.ALIGNED_RIGHT; - setRight(LED_COLOR.DEEP_PINK, LED_PATTERN.FLASH); - - } - } else if (coralOnBoard && alignedLeft()) { - if (mode != LED_MODE.ALIGNED_LEFT) { - mode = LED_MODE.ALIGNED_LEFT; - setLeft(LED_COLOR.DEEP_PINK, LED_PATTERN.FLASH); - - } - } - // Check if Coral is On Board and In range of reef - else if (coralOnBoard && aligned) { + } else if (coralOnBoard && aligned) { if (mode != LED_MODE.CORAL_READY) { mode = LED_MODE.CORAL_READY; setAll(LED_COLOR.BLUE, LED_PATTERN.SOLID); From dbfe6eb88bde9a494276c57e0e4b2452953d4669 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 22:16:26 -0400 Subject: [PATCH 011/135] Add elevator prefire --- .../java/frc/robot/binding/RobotBindings.java | 6 +++++- .../subsystems/CommandSwerveDrivetrain.java | 4 ++-- .../java/frc/robot/subsystems/Elevator.java | 19 +++++++++++++++++-- 3 files changed, 24 insertions(+), 5 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java index 247a7e58..77472f35 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java @@ -1,9 +1,13 @@ package frc.robot.binding; import frc.robot.superstructure.Superstructure; +import frc.robot.superstructure.modifiers.ElevatorPrep; public class RobotBindings implements Binder { public RobotBindings() {} - public void bind(Superstructure superstructure) {} + public void bind(Superstructure superstructure) { + /* elevator prefire */ + superstructure.modify(new ElevatorPrep(), superstructure.inReefZone()); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index 3236f901..f7417dcf 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -137,7 +137,7 @@ private void setup() { RobotObserver.setPoseSupplier(this::getPose); RobotObserver.setVelocitySupplier(this::getVelocity); RobotObserver.setNoElevatorZoneSupplier(noElevatorZone()); - RobotObserver.setReefReadySupplier(reefReady()); + RobotObserver.setReefReadySupplier(inReefZone()); RobotObserver.setAlginedSupplier(aligned()); } @@ -375,7 +375,7 @@ public Trigger aligned() { return new Trigger(() -> m_aligned); } - public Trigger reefReady() { + public Trigger inReefZone() { return new Trigger(() -> { double distanceToReef = getBluePose().getTranslation() .minus(FieldConstants.reefCenter) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java index 2c140076..0de12984 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java @@ -52,7 +52,6 @@ public class Elevator extends PassiveSubsystem { new Debouncer(ElevatorConstants.kRangeDebounceTime.in(Seconds)); private double m_position; - private double m_reference; private ElevatorSim m_elevatorSim; @@ -65,6 +64,8 @@ public class Elevator extends PassiveSubsystem { private double m_speed; private boolean m_speedChanged; + private Trigger m_prefireReq = new Trigger(() -> false); + public Elevator() { super(); configMotor(); @@ -129,6 +130,10 @@ private void setPosition(double goal) { m_reference = goal; } + private void setPosition(ElevatorState state) { + setPosition(state.position()); + } + public Trigger ready() { return new Trigger(() -> { if (Robot.isSimulation()) @@ -220,7 +225,13 @@ public Trigger unsafe() { || m_reference > ElevatorConstants.unsafeRange); } - protected void passive() {} + protected void passive() { + if (m_prefireReq.getAsBoolean()) { + setPosition(ElevatorState.L2); + } else { + setPosition(ElevatorState.Stow); + } + } public Command go(ElevatorState state) { return Commands.sequence( @@ -261,4 +272,8 @@ public Command autoZero() { } }); } + + public void setPrefireRequirement(Trigger trigger) { + m_prefireReq = trigger; + } } From b75a7edb648b98abd9777a2225d093ac2a427f57 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 23:08:25 -0400 Subject: [PATCH 012/135] Tested;Improved;Updated --- ThriftyTest/simgui-ds.json | 5 - ThriftyTest/simgui.json | 755 +----------------- .../src/main/java/frc/robot/Constants.java | 48 +- .../main/java/frc/robot/RobotContainer.java | 11 +- .../frc/robot/binding/OperatorBindings.java | 10 +- .../subsystems/CommandSwerveDrivetrain.java | 6 +- .../java/frc/robot/subsystems/Elevator.java | 33 +- .../robot/subsystems/PassiveSubsystem.java | 2 +- .../robot/superstructure/Superstructure.java | 12 +- .../superstructure/states/ReefAlign.java | 5 +- 10 files changed, 82 insertions(+), 805 deletions(-) diff --git a/ThriftyTest/simgui-ds.json b/ThriftyTest/simgui-ds.json index 84f70fac..ec5519ef 100644 --- a/ThriftyTest/simgui-ds.json +++ b/ThriftyTest/simgui-ds.json @@ -1,9 +1,4 @@ { - "Joysticks": { - "window": { - "visible": false - } - }, "System Joysticks": { "window": { "visible": false diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 9c6ffe9f..d7fcb73c 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -1,34 +1,8 @@ { "HALProvider": { "Other Devices": { - "CANdi (v6)[59]": { - "header": { - "open": true - } - }, -<<<<<<< HEAD - "Talon FX (v6)[55]": { -======= - "CANrange (v6)[58]": { ->>>>>>> origin/align-v3 - "header": { - "open": true - } - }, -<<<<<<< HEAD - "Talon FX (v6)[56]": { - "header": { - "open": true - } - }, "window": { "visible": false -======= - "CANrange (v6)[59]": { - "header": { - "open": true - } ->>>>>>> origin/align-v3 } }, "Timing": { @@ -40,428 +14,19 @@ "NTProvider": { "types": { "/FMSInfo": "FMSInfo", - "/SmartDashboard/AUTOALIGN SLOWDOWN (LAST RESTORT)!!!!!!!!!!!!!!!!!!!!": "Command", - "/SmartDashboard/Alerts": "Alerts", - "/SmartDashboard/Align A": "Command", - "/SmartDashboard/Align B": "Command", - "/SmartDashboard/Align C": "Command", - "/SmartDashboard/Align D": "Command", - "/SmartDashboard/Align E": "Command", - "/SmartDashboard/Align F": "Command", - "/SmartDashboard/Align G": "Command", - "/SmartDashboard/Align H": "Command", - "/SmartDashboard/Align I": "Command", - "/SmartDashboard/Align J": "Command", - "/SmartDashboard/Align K": "Command", - "/SmartDashboard/Align L": "Command", - "/SmartDashboard/Align LEFTHP": "Command", - "/SmartDashboard/Align NET": "Command", - "/SmartDashboard/Align PROCESSOR": "Command", - "/SmartDashboard/Align RIGHTHP": "Command", - "/SmartDashboard/AlignLEFT ": "Command", - "/SmartDashboard/AlignRight": "Command", - "/SmartDashboard/Auto Chooser": "String Chooser", - "/SmartDashboard/Drive To Center Command": "Command", - "/SmartDashboard/Drive to center": "Command", "/SmartDashboard/Elevator Visualization": "Mechanism2d", - "/SmartDashboard/Field": "Field2d", - "/SmartDashboard/Go To B": "Command", - "/SmartDashboard/Height to Score #0": "String Chooser", - "/SmartDashboard/Height to Score #1": "String Chooser", - "/SmartDashboard/Height to Score #2": "String Chooser", - "/SmartDashboard/Height to Score #3": "String Chooser", - "/SmartDashboard/Height to Score #4": "String Chooser", - "/SmartDashboard/LIFT CLIMB": "Command", - "/SmartDashboard/LOWER CLIMB": "Command", "/SmartDashboard/Lazy Zero Elevator": "Command", - "/SmartDashboard/ManualClimberCommand": "Command", - "/SmartDashboard/Module 0": "Mechanism2d", - "/SmartDashboard/Module 1": "Mechanism2d", - "/SmartDashboard/Module 2": "Mechanism2d", - "/SmartDashboard/Module 3": "Mechanism2d", - "/SmartDashboard/Multi Tag": "Command", "/SmartDashboard/PathPlanner": "Alerts", "/SmartDashboard/Pivot Arm Visualization": "Mechanism2d", - "/SmartDashboard/Place to Score #0": "String Chooser", - "/SmartDashboard/Place to Score #1": "String Chooser", - "/SmartDashboard/Place to Score #2": "String Chooser", - "/SmartDashboard/Place to Score #3": "String Chooser", - "/SmartDashboard/Place to Score #4": "String Chooser", - "/SmartDashboard/Raise Elevator": "Command", - "/SmartDashboard/Raise Pivot": "Command", - "/SmartDashboard/Reef mode off": "Command", - "/SmartDashboard/Reef mode on": "Command", - "/SmartDashboard/Reset Pose": "Command", - "/SmartDashboard/SendableChooser[0]": "String Chooser", - "/SmartDashboard/Set Center": "Command", - "/SmartDashboard/Set pose manually": "Command", - "/SmartDashboard/Single Tag": "Command", - "/SmartDashboard/Stow Elevator": "Command", "/SmartDashboard/Super Field": "Field2d", - "/SmartDashboard/Testing Command": "Command", - "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d", - "/SmartDashboard/Zero Elevator": "Command", - "/SmartDashboard/a": "Command", - "/SmartDashboard/b": "Command", - "/SmartDashboard/c": "Command", - "/SmartDashboard/camera testing spot": "Command", - "/SmartDashboard/camera testing spot 2": "Command", - "/SmartDashboard/d": "Command", - "/SmartDashboard/drive to other pose": "Command", - "/SmartDashboard/drive to reef": "Command", - "/SmartDashboard/dynamic forward steer": "Command", - "/SmartDashboard/dynamic forward translation": "Command", - "/SmartDashboard/dynamic reverse steer": "Command", - "/SmartDashboard/dynamic reverse translation": "Command", - "/SmartDashboard/e": "Command", - "/SmartDashboard/elevator up": "Command", - "/SmartDashboard/f": "Command", - "/SmartDashboard/g": "Command", - "/SmartDashboard/h": "Command", - "/SmartDashboard/lintake": "Command", - "/SmartDashboard/open funnel": "Command", - "/SmartDashboard/quasistatic forward steer": "Command", - "/SmartDashboard/quasistatic forward translation": "Command", - "/SmartDashboard/quasistatic reverse steer": "Command", - "/SmartDashboard/quasistatic reverse translation": "Command", - "/SmartDashboard/runme hehe": "Command", - "/SmartDashboard/teleport": "Command", - "/SmartDashboard/test": "Command", - "/SmartDashboard/test hi": "Command" + "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, "windows": { - "/SmartDashboard/April Tag Debug Field": { - "Robot": { - "arrowColor": [ - 0.7735829949378967, - 0.6149299144744873, - 0.9282700419425964, - 255.0 - ], - "color": [ - 0.8979749083518982, - 0.8026491403579712, - 0.9324894547462463, - 255.0 - ], - "length": 0.9440000057220459, - "selectable": false, - "weight": 3.0, - "width": 0.9440000057220459 - }, - "apriltag": { - "arrows": false, - "color": [ - 0.2275988608598709, - 0.23360605537891388, - 0.28691983222961426, - 255.0 - ], - "length": 0.4000000059604645, - "style": "Box/Image", - "width": 0.4000000059604645 - }, - "bottom": 1638, - "builtin": "2025 Reefscape", - "cameras": { - "arrowColor": [ - 1.0, - 1.0, - 1.0, - 255.0 - ], - "arrowSize": 100, - "arrowWeight": 2.0, - "color": [ - 0.21145951747894287, - 0.7805907130241394, - 0.1646815836429596, - 255.0 - ], - "length": 0.20000000298023224, - "style": "Hidden", - "width": 0.20000000298023224 - }, - "estimation": { - "arrows": false, - "color": [ - 0.8665041923522949, - 0.9240506291389465, - 0.5107621550559998, - 255.0 - ], - "length": 0.8999999761581421, - 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"DriveState": { - "ChassisSpeeds##v_/DriveState/Speeds": { - "open": true - }, - "SwerveModuleState[]##v_/DriveState/ModuleTargets": { - "open": true - } - }, "SmartDashboard": { "open": true } @@ -717,110 +113,5 @@ }, "NetworkTables Info": { "visible": true - }, - "Plot": { - "Plot <0>": { - "plots": [ - { - "axis": [ - { - "label": "Axis", - "max": 5.0, - "min": -5.0 - } - ], - "backgroundColor": [ - 0.0, - 0.0, - 0.0, - 0.8500000238418579 - ], - "height": 0, - "name": "Plot", - "series": [ - { - "color": [ - 0.2980392277240753, - 0.44705885648727417, - 0.6901960968971252, - 1.0 - ], - "id": "NT:/SmartDashboard/ri" - }, - { - "color": [ - 0.8666667342185974, - 0.5176470875740051, - 0.32156863808631897, - 1.0 - ], - "id": "NT:/SmartDashboard/ru" - }, - { - "color": [ - 0.3333333432674408, - 0.658823549747467, - 0.4078431725502014, - 1.0 - ], - "id": "NT:/SmartDashboard/du" - } - ] - } - ], - "window": { - "visible": false - } -<<<<<<< HEAD -======= - }, - "Plot <1>": { - "plots": [ - { - "axis": [ - { - "max": 0.1, - "min": -0.1 - } - ], - "backgroundColor": [ - 0.05999999865889549, - 0.05999999865889549, - 0.05999999865889549, - 0.9399999976158142 - ], - "height": 317, - "series": [ - { - "color": [ - 0.2980392277240753, - 0.44705885648727417, - 0.6901960968971252, - 1.0 - ], - "id": "NT:/SmartDashboard/u goal" - }, - { - "color": [ - 0.8666667342185974, - 0.5176470875740051, - 0.32156863808631897, - 1.0 - ], - "id": "NT:/SmartDashboard/i goal" - } - ] - } - ], - "window": { - "visible": false - } - }, - "Plot <2>": { - "window": { - "visible": false - } ->>>>>>> origin/align-v3 - } } } diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 7a5869d0..87765360 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -146,7 +146,7 @@ public static class HeadingPID { private static final Autopilot.Constraints kTightAutopilotConstraintsU = new Autopilot.Constraints() - .withAcceleration(17.0) + .withAcceleration(8.0) .withDecceleration(0.7); private static final Autopilot.Profile kTightProfile = new Autopilot.Profile() @@ -170,8 +170,8 @@ public static class HeadingPID { private static final Autopilot.Profile kLooseProfile = new Autopilot.Profile() .withConstraintsI(kLooseAutopilotConstraintsI) .withConstraintsU(kLooseAutopilotConstraintsU) - .withErrorXY(Centimeters.of(6)) - .withErrorTheta(Degrees.of(5)); + .withErrorXY(Centimeters.of(10)) + .withErrorTheta(Degrees.of(10)); public static final Autopilot kLooseAutopilot = new Autopilot(kLooseProfile); @@ -496,19 +496,16 @@ public static final class ElevatorConstants { public static final double coralMechanismMass = Units.lbsToKilograms(8.173); // includes coral public static final double algaeMechanismMass = Units.lbsToKilograms(8.359); + // Mass of the elevator carriage public static final double netMass = - stage1Mass + stage2Mass + carriageMass + coralMechanismMass + algaeMechanismMass; // Mass of - // the - // elevator - // carriage - public static final double drumRadius = Units.inchesToMeters(2.256 / 2); // Radius of the - // elevator drum - // approx. 0.02865 + stage1Mass + stage2Mass + carriageMass + coralMechanismMass + algaeMechanismMass; - public static final double momentOfInertia = netMass * Math.pow(drumRadius, 2); + // Radius of the elevator drum + // approx. 0.02865 + public static final double drumRadius = Units.inchesToMeters(2.256 / 2); public static final LinearSystem stateSpacePlant = LinearSystemId - .createElevatorSystem(KrakenX60FOCConstants.KrakenX60FOCMotor, netMass, drumRadius, + .createElevatorSystem(KrakenX60Constants.KrakenX60Motor, netMass, drumRadius, gearRatio); public static final double absoluteSensorRange = 0.5; @@ -532,26 +529,18 @@ public static final class ElevatorConstants { public static final double inch = Units.inchesToMeters(1) * metersToRotations; public enum ElevatorState { - Ground(0), - HighGround(12 * inch), - Stow(0.31), - Eject(ElevatorState.Stow.position() + 2 * inch), - Processor(0), - L1(2.63), - SecondaryL1(ElevatorState.L1.position() + 8 * inch), - L2(4.016 + 3 * inch), - L3(7.257 - 4 * inch), - L4(9.757 + 0.3 * inch), - Net(9.31 + 4 * inch), - LowerReef(2.0), - UpperReef(4.5); + Ground(0), HighGround(12 * inch), Stow(0.31), Eject( + ElevatorState.Stow.position() + 2 * inch), Processor(0), L1(2.63), SecondaryL1( + ElevatorState.L1.position() + 8 * inch), L2(4.016 + 3 * inch), L3( + 7.257 - 4 * inch), L4( + 9.757 + 0.3 * inch), Net(9.31 + 4 * inch), LowerReef(2.0), UpperReef(4.5); private final double m_position; private ElevatorState(double position) { m_position = position; } - + public double position() { return m_position; } @@ -889,7 +878,8 @@ public static final class AlgaeRollerConstants { public static final double k_updateObjectPeriodSeconds = 0.200; // 200 milliseconds public static final InvertedValue invertMotor = InvertedValue.Clockwise_Positive; public static final double algaeEjectTime = 0.4; // was 0.6 but i want faster when we're done - public static final double processorScoreTime = 2.0; // was 0.6 but i want faster when we're done + public static final double processorScoreTime = 2.0; // was 0.6 but i want faster when we're + // done public static final double reefPickupSafetyDistance = 1.75; public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() @@ -1117,5 +1107,7 @@ public static class FFConstants { public static final double k_decceleration = 6.0; } - public enum CoralLevel { L1, SecondaryL1, L2, L3, L4 } + public enum CoralLevel { + L1, SecondaryL1, L2, L3, L4 + } } diff --git a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java index 8d420fba..e791ae6d 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java @@ -1,5 +1,6 @@ package frc.robot; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; import edu.wpi.first.wpilibj2.command.Command; @@ -16,10 +17,13 @@ import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.Pivot; import frc.robot.superstructure.Superstructure; +import frc.robot.vision.VisionHandler; public class RobotContainer { private final PowerDistribution m_pdp = new PowerDistribution(1,ModuleType.kRev); + private VisionHandler m_vision; + private final Superstructure m_superstructure = new Superstructure( new AlgaeRollers(), new CoralRollers(), @@ -37,6 +41,12 @@ public RobotContainer() { m_driver.bind(m_superstructure); m_operator.bind(m_superstructure); m_robot.bind(m_superstructure); + m_vision = m_superstructure.buildVision(); + m_vision.startThread(); + + if (Robot.isSimulation()) { + DriverStation.silenceJoystickConnectionWarning(true); + } } public Command getAutonomousCommand() { @@ -46,5 +56,4 @@ public Command getAutonomousCommand() { public void enablePDPSwitch() { m_pdp.setSwitchableChannel(true); } - } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java index 49edb209..d335dd2f 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -31,11 +31,11 @@ public class OperatorBindings implements Binder { private final CommandPS5Controller m_controller = new CommandPS5Controller(ButtonBindingConstants.operatorPort); - private final Trigger m_l1 = m_controller.button(Operator.L1); - private final Trigger m_secondaryL1 = m_controller.button(Operator.secondaryL1); - private final Trigger m_l2 = m_controller.button(Operator.L2); - private final Trigger m_l3 = m_controller.button(Operator.L3); - private final Trigger m_l4 = m_controller.button(Operator.L4); + private final Trigger m_l1 = m_controller.pov(Operator.L1); + private final Trigger m_secondaryL1 = m_controller.pov(Operator.secondaryL1); + private final Trigger m_l2 = m_controller.pov(Operator.L2); + private final Trigger m_l3 = m_controller.pov(Operator.L3); + private final Trigger m_l4 = m_controller.pov(Operator.L4); private final Trigger m_left = m_controller.button(Operator.leftReef); private final Trigger m_right = m_controller.button(Operator.rightReef); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index f7417dcf..3c7f2556 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -393,9 +393,9 @@ public Trigger inReefZone() { public Command teleopDrive(DoubleSupplier x, DoubleSupplier y, DoubleSupplier rot) { return run(() -> { setControl(m_teleopRequest - .withVelocityX(x.getAsDouble()) - .withVelocityY(y.getAsDouble()) - .withRotationalRate(rot.getAsDouble())); + .withVelocityX(x.getAsDouble() * DriveConstants.k_maxTeleopLinearSpeed) + .withVelocityY(y.getAsDouble() * DriveConstants.k_maxTeleopLinearSpeed) + .withRotationalRate(rot.getAsDouble() * DriveConstants.k_maxTeleopAngularSpeed)); }); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java index 0de12984..e7f6d00b 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java @@ -71,7 +71,8 @@ public Elevator() { configMotor(); configCANrange(); configSim(); - SmartDashboard.putData("Lazy Zero Elevator", runOnce(this::calibrateZero).ignoringDisable(true)); + SmartDashboard.putData("Lazy Zero Elevator", + runOnce(this::calibrateZero).ignoringDisable(true)); } private void configCANrange() { @@ -124,8 +125,10 @@ private void setPosition(double goal) { goal = Math.min(goal, ElevatorConstants.forwardSoftLimit); goal = Math.max(goal, ElevatorConstants.reverseSoftLimit); m_elevatorRight.setControl(control - .withPosition(goal).withVelocity(ElevatorConstants.maxSpeedUp) - .withAcceleration(ElevatorConstants.maxAccelerationUp).withJerk(ElevatorConstants.maxJerkUp) + .withPosition(goal) + .withVelocity(ElevatorConstants.maxSpeedUp) + .withAcceleration(ElevatorConstants.maxAccelerationUp) + .withJerk(ElevatorConstants.maxJerkUp) .withSlot(0)); m_reference = goal; } @@ -187,6 +190,9 @@ private void goDownNoStopping() { @Override public void periodic() { m_position = getPositionUncached(); + SmartDashboard.putNumber("Elevator position", m_position); + SmartDashboard.putNumber("Elevator reference", m_reference); + SmartDashboard.putBoolean("prefire?", m_prefireReq.getAsBoolean()); if (m_speedChanged) { m_elevatorRight.setControl(new DutyCycleOut(m_speed)); @@ -196,27 +202,6 @@ public void periodic() { SmartDashboard.putBoolean("ELEVATOR AT POSITION", ready().getAsBoolean()); } - @Override - public void simulationPeriodic() { - // Update the simulation with the motor voltage - double appliedVolts = m_elevatorRight.get() * RobotController.getBatteryVoltage() * 2; - - m_elevatorSim.setInput(appliedVolts); - m_elevatorSim.update(SimConstants.k_simPeriodic); - - m_position = getPositionUncached(); - - // Update the simulated encoder values - m_elevatorRight.getSimState().setRawRotorPosition(m_position); - - m_elevatorArm.setLength(m_position + 0.1); // Offset to avoid overlapping with root - - // Simulate battery voltage - double volts = - BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDrawAmps()); - RoboRioSim.setVInVoltage(volts); - } - /** * Whether or not the elevator is above the "safe" range */ diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java b/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java index 62f73edb..c68a5a01 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java @@ -63,7 +63,7 @@ private Command passiveBehavior() { if (!taken()) { passive(); } - }); + }, this); } /** diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index f16eb3e3..a3d513af 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -1,7 +1,6 @@ package frc.robot.superstructure; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.subsystems.AlgaeRollers; import frc.robot.subsystems.Climber; @@ -10,6 +9,7 @@ import frc.robot.subsystems.Elevator; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.Pivot; +import frc.robot.vision.VisionHandler; public class Superstructure { private final Subsystems m_subsystems; @@ -47,16 +47,18 @@ public Command enter(EnterableState state) { /** * Uses a PassiveModifier to change passive behavior */ - public Command modify(PassiveModifier modifier, Trigger trigger) { - return Commands.runOnce(() -> modifier.modify(m_subsystems, trigger)) - .withName(modifier.toString()) - .ignoringDisable(true); + public void modify(PassiveModifier modifier, Trigger trigger) { + modifier.modify(m_subsystems, trigger); } public void setDrive(Command driveCommand) { m_subsystems.drivetrain().setDefaultCommand(driveCommand); } + public VisionHandler buildVision() { + return new VisionHandler(m_subsystems.drivetrain()); + } + public static record Subsystems( AlgaeRollers algae, CoralRollers coral, diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java index e873e28f..68b0b6f0 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java @@ -1,5 +1,6 @@ package frc.robot.superstructure.states; +import java.util.ArrayList; import java.util.Arrays; import java.util.List; import java.util.Set; @@ -34,8 +35,10 @@ public ReefAlign(ReefSide side) { public Command build(Subsystems subsystems) { return Commands.defer(() -> { + List locations = new ArrayList<>(); + m_locations.forEach(location -> locations.add(FieldUtils.getGlobalPose(location))); Autopilot.Target target = new Autopilot.Target() - .withReference(FieldUtils.getGlobalPose(subsystems.drivetrain().getPose().nearest(m_locations))); + .withReference(subsystems.drivetrain().getPose().nearest(locations)); return subsystems.drivetrain().align(DriveConstants.kTightAutopilot, target); }, Set.of( subsystems.drivetrain())); From 1fd4b1d08907b220b2596b0bb5de2162388235c4 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 3 May 2025 23:11:27 -0400 Subject: [PATCH 013/135] Revert back to basic autopilot I still need to fine-tune the new algorithm, it's not the best right now. --- .../src/main/java/frc/robot/driveassist/Autopilot.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 0ecbb4de..31c3a3bc 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -62,7 +62,10 @@ public Translation2d calculate( double veloU = project(velocity, directionU); // double veloU = 0.0; Translation2d entry = entryDirection.times(-distance); - double entryDistance = project(entry, directionU); + + double entryDistance = 0.0; + // double entryDistance = project(entry, directionU); + // drive towards goal state double adjustedI = approach(distance, veloI, m_profile.getConstraintsI()) + Math.max(project(endVelocity, directionI), 0); double adjustedU = approach(entryDistance, veloU, m_profile.getConstraintsU()); From 8e826a4cd63e4574b110399e680bc8966c1f3670 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 4 May 2025 22:43:49 -0400 Subject: [PATCH 014/135] Started working on named commands Also fixed coral rollers' lack of release() calls --- .../main/java/frc/robot/RobotContainer.java | 17 +++++--- .../robot/binding/NamedCommandBindings.java | 30 ++++++++++++++ .../java/frc/robot/driveassist/Autopilot.java | 2 +- .../java/frc/robot/subsystems/Elevator.java | 41 +------------------ .../states/CompleteCoralIntake.java | 8 +++- .../superstructure/states/CoralEject.java | 3 +- .../superstructure/states/CoralIntake.java | 4 +- .../superstructure/states/CoralScore.java | 3 +- .../superstructure/states/CoralWait.java | 18 ++++++++ 9 files changed, 74 insertions(+), 52 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralWait.java diff --git a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java index e791ae6d..8815d798 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java @@ -1,12 +1,14 @@ package frc.robot; +import com.pathplanner.lib.auto.AutoBuilder; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.binding.Binder; import frc.robot.binding.DriveBindings; +import frc.robot.binding.NamedCommandBindings; import frc.robot.binding.OperatorBindings; import frc.robot.binding.RobotBindings; import frc.robot.generated.TunerConstants; @@ -17,12 +19,11 @@ import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.Pivot; import frc.robot.superstructure.Superstructure; -import frc.robot.vision.VisionHandler; public class RobotContainer { private final PowerDistribution m_pdp = new PowerDistribution(1,ModuleType.kRev); - private VisionHandler m_vision; + private SendableChooser m_autoChooser; private final Superstructure m_superstructure = new Superstructure( new AlgaeRollers(), @@ -36,21 +37,25 @@ public class RobotContainer { private final Binder m_driver = new DriveBindings(); private final Binder m_operator = new OperatorBindings(); private final Binder m_robot = new RobotBindings(); + private final Binder m_namedCommands = new NamedCommandBindings(); public RobotContainer() { m_driver.bind(m_superstructure); m_operator.bind(m_superstructure); m_robot.bind(m_superstructure); - m_vision = m_superstructure.buildVision(); - m_vision.startThread(); + m_namedCommands.bind(m_superstructure); + + m_superstructure.buildVision().startThread(); if (Robot.isSimulation()) { DriverStation.silenceJoystickConnectionWarning(true); } + + m_autoChooser = AutoBuilder.buildAutoChooser(); } public Command getAutonomousCommand() { - return Commands.none(); + return m_autoChooser.getSelected(); } public void enablePDPSwitch() { diff --git a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java new file mode 100644 index 00000000..5e3431dd --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java @@ -0,0 +1,30 @@ +package frc.robot.binding; + +import com.pathplanner.lib.auto.NamedCommands; +import frc.robot.Constants.CoralLevel; +import frc.robot.superstructure.Superstructure; +import frc.robot.superstructure.states.CoralIntake; +import frc.robot.superstructure.states.CoralScore; +import frc.robot.superstructure.states.CoralWait; +import frc.robot.superstructure.states.LowerReefAlgaeIntake; +import frc.robot.superstructure.states.UpperReefAlgaeIntake; + +public class NamedCommandBindings implements Binder { + /** + * Configures PathPlanner's Named Commands + */ + public NamedCommandBindings() {} + + public void bind(Superstructure superstructure) { + /* coral */ + NamedCommands.registerCommand("L4", superstructure.enter(new CoralScore(CoralLevel.L4))); + NamedCommands.registerCommand("L3", superstructure.enter(new CoralScore(CoralLevel.L3))); + NamedCommands.registerCommand("Coral Wait", superstructure.enter(new CoralWait())); + NamedCommands.registerCommand("Intake", superstructure.enter(new CoralIntake())); + + + /* algae */ + NamedCommands.registerCommand("Algae Lower", superstructure.enter(new LowerReefAlgaeIntake())); + NamedCommands.registerCommand("Algae Upper", superstructure.enter(new UpperReefAlgaeIntake())); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 31c3a3bc..112fff04 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -61,7 +61,7 @@ public Translation2d calculate( double veloI = project(velocity, directionI); double veloU = project(velocity, directionU); // double veloU = 0.0; - Translation2d entry = entryDirection.times(-distance); + // Translation2d entry = entryDirection.times(-distance); double entryDistance = 0.0; // double entryDistance = project(entry, directionU); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java index e7f6d00b..5ba94822 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java @@ -17,15 +17,7 @@ import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.math.filter.Debouncer; -import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.RobotBase; -import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj.simulation.BatterySim; -import edu.wpi.first.wpilibj.simulation.ElevatorSim; -import edu.wpi.first.wpilibj.simulation.RoboRioSim; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; -import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; -import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; @@ -34,7 +26,6 @@ import frc.robot.Constants.ElevatorConstants; import frc.robot.Constants.IDConstants; import frc.robot.Constants.RobotConstants; -import frc.robot.Constants.SimConstants; import frc.robot.Constants.ElevatorConstants.ElevatorState; import frc.robot.Robot; import frc.robot.RobotObserver; @@ -54,13 +45,6 @@ public class Elevator extends PassiveSubsystem { private double m_position; private double m_reference; - private ElevatorSim m_elevatorSim; - private final DCMotor m_elevatorGearbox = DCMotor.getKrakenX60Foc(2); // 2 motors (left and right) - - private Mechanism2d m_mechVisual; - private MechanismRoot2d m_mechRoot; - private MechanismLigament2d m_elevatorArm; - private double m_speed; private boolean m_speedChanged; @@ -70,7 +54,6 @@ public Elevator() { super(); configMotor(); configCANrange(); - configSim(); SmartDashboard.putData("Lazy Zero Elevator", runOnce(this::calibrateZero).ignoringDisable(true)); } @@ -91,28 +74,6 @@ private void configMotor() { m_elevatorRight.setPosition(0); } - private void configSim() { - m_elevatorSim = new ElevatorSim( - ElevatorConstants.stateSpacePlant, - m_elevatorGearbox, - ElevatorConstants.reverseSoftLimit, - ElevatorConstants.forwardSoftLimit, - true, - ElevatorConstants.reverseSoftLimit); - - m_mechVisual = new Mechanism2d(1, 12); // Width/height in meters - m_mechRoot = m_mechVisual.getRoot("ElevatorRoot", 0.5, 0.0); // Center at (0.5, 0) - m_elevatorArm = m_mechRoot.append(new MechanismLigament2d("ElevatorArm", 0.0, 90)); // Start at - // 0.1m - // height - SmartDashboard.putData("Elevator Visualization", m_mechVisual); - if (RobotBase.isSimulation()) { - // in simulation, we want to emulate the effect produced by - // using an encoder offset (i.e. we start at 0). - m_elevatorRight.setPosition(0.0); - } - } - private final DynamicMotionMagicVoltage control = new DynamicMotionMagicVoltage(0, 0, 0, 0); private void setPosition(double goal) { @@ -159,7 +120,7 @@ private double getPositionUncached() { if (RobotBase.isReal()) { return m_elevatorRight.getPosition().getValueAsDouble(); } else { - return m_elevatorSim.getPositionMeters(); + return m_reference; // wow, that's an awesome elevator! } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java index e30f29ee..b47369df 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java @@ -6,12 +6,16 @@ public class CompleteCoralIntake implements EnterableState { /** - * A state to complete a coral intake if it can be done + * A state to complete a coral intake if it has been started + *

+ * This is different from the passive behavior on the coral subsystem itself because it also + * requires the elevator, which makes it more of a "blocking" operation. */ public CompleteCoralIntake() {} public Command build(Subsystems subsystems) { return new CoralIntake().build(subsystems) - .onlyIf(subsystems.coral().present()); + .onlyIf(subsystems.coral().present()) + .finallyDo(subsystems.coral()::release); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java index 92ac0a08..33cf41f6 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java @@ -18,6 +18,7 @@ public Command build(Subsystems subsystems) { subsystems.coral().eject()) .onlyIf(subsystems.coral().present()) - .finallyDo(subsystems.elevator()::release); + .finallyDo(subsystems.elevator()::release) + .finallyDo(subsystems.coral()::release); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java index 68854f76..b9ca314a 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java @@ -18,6 +18,8 @@ public Command build(Subsystems subsystems) { subsystems.coral().intake()) .unless(subsystems.coral().holding()) - .finallyDo(subsystems.elevator()::release); + .finallyDo(subsystems.elevator()::release) + .finallyDo(subsystems.coral()::release); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java index a51ad849..e682485b 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java @@ -22,6 +22,7 @@ public Command build(Subsystems subsystems) { subsystems.coral().score(m_level)) .onlyIf(subsystems.coral().holding()) - .finallyDo(subsystems.elevator()::release); + .finallyDo(subsystems.elevator()::release) + .finallyDo(subsystems.coral()::release); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralWait.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralWait.java new file mode 100644 index 00000000..dc3f31fb --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralWait.java @@ -0,0 +1,18 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class CoralWait implements EnterableState { + /** + * A state that puts the robot into a "waiting" state until a coral can be acquired. + * The state is NOT a coral itake state, however. + */ + public CoralWait() {} + + public Command build(Subsystems subsystems) { + return Commands.waitUntil(subsystems.coral().present()); + } +} From ca60431e3042660e07f6d08dbd194460d0f18141 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Mon, 5 May 2025 19:11:07 -0500 Subject: [PATCH 015/135] Recalibrate steer --- .../java/frc/robot/generated/TunerConstants.java | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java index 46a4171d..75f87e54 100644 --- a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java @@ -42,12 +42,18 @@ public class TunerConstants { // The steer motor uses any SwerveModule.SteerRequestType control request with the // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput + + // private static final Slot0Configs steerGains = new Slot0Configs() + // .withKP(49.33).withKI(0).withKD(3.18488) + // .withKS(0.099311).withKV(2.45135).withKA(0.1040918) + // .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); + private static final Slot0Configs steerGains = new Slot0Configs() - .withKP(49.33).withKI(0).withKD(3.18488) - .withKS(0.099311).withKV(2.45135).withKA(0.1040918) - .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); + .withKP(40.0); + // When using closed-loop control, the drive motor uses the control // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput + private static final Slot0Configs driveGains = new Slot0Configs() .withKP(0.182115).withKI(0).withKD(0) .withKS(0.16669).withKV(0.123925).withKA(0.0075743); From e60c6d3e97b177cbe0cd898bc68edaf6c70dd4e0 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Thu, 8 May 2025 20:41:12 -0400 Subject: [PATCH 016/135] made progress --- .../robot/binding/NamedCommandBindings.java | 14 +- .../java/frc/robot/driveassist/Autopilot.java | 463 +++++++++--------- .../robot/superstructure/states/Align.java | 3 + .../superstructure/states/CoralIntake.java | 1 + .../superstructure/states/CoralWait.java | 2 +- 5 files changed, 253 insertions(+), 230 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java index 5e3431dd..91103569 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java @@ -1,8 +1,13 @@ package frc.robot.binding; import com.pathplanner.lib.auto.NamedCommands; +import frc.robot.Constants; import frc.robot.Constants.CoralLevel; +import frc.robot.Constants.DriveConstants; +import frc.robot.Constants.ScoringLocations; +import frc.robot.driveassist.Autopilot; import frc.robot.superstructure.Superstructure; +import frc.robot.superstructure.states.Align; import frc.robot.superstructure.states.CoralIntake; import frc.robot.superstructure.states.CoralScore; import frc.robot.superstructure.states.CoralWait; @@ -21,10 +26,17 @@ public void bind(Superstructure superstructure) { NamedCommands.registerCommand("L3", superstructure.enter(new CoralScore(CoralLevel.L3))); NamedCommands.registerCommand("Coral Wait", superstructure.enter(new CoralWait())); NamedCommands.registerCommand("Intake", superstructure.enter(new CoralIntake())); - /* algae */ NamedCommands.registerCommand("Algae Lower", superstructure.enter(new LowerReefAlgaeIntake())); NamedCommands.registerCommand("Algae Upper", superstructure.enter(new UpperReefAlgaeIntake())); + + /* align */ + for (ScoringLocations location : Constants.ScoringLocations.values()) { + String name = "Align ".concat(location.toString()); + NamedCommands.registerCommand(name, + superstructure.enter(new Align(DriveConstants.kTightAutopilot, + new Autopilot.Target(location.value)))); + } } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 112fff04..5e2e015d 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -16,239 +16,246 @@ import edu.wpi.first.units.measure.Distance; public class Autopilot { - @SuppressWarnings("unused") - private static final Logger m_logger = LoggerFactory.getLogger(Autopilot.class); - private Profile m_profile; + @SuppressWarnings("unused") + private static final Logger m_logger = LoggerFactory.getLogger(Autopilot.class); + private Profile m_profile; + + private final double dt = 0.020; + + public Autopilot(Profile profile) { + m_profile = profile; + } + + /** + * Returns the next field relative velocity for the trajectory + * + * @param current The robot's current position + * @param velocity The robot's current (field relative) velocity + * @param target The target the robot should drive towards + */ + public Translation2d calculate( + Pose2d current, + Translation2d velocity, + Target target) { + Pose2d reference = target.m_reference; + Rotation2d entryAngle = target.m_entryAngle; + // direction and distance to actual target + Translation2d offset = reference.getTranslation().minus(current.getTranslation()); + double distance = offset.getNorm(); + if (distance == 0) + return Translation2d.kZero; + // create new target + Translation2d entryDirection = new Translation2d( + entryAngle.getCos(), + entryAngle.getSin()); + // end velocity + Translation2d endVelocity = entryDirection.times(target.m_velocity); + // calculate directions for i & j + Translation2d directionI = offset.div(distance); + Translation2d directionU = new Translation2d( + directionI.getY(), + -directionI.getX()); + // current velocity (i & j) + double veloI = project(velocity, directionI); + double veloU = project(velocity, directionU); + // double veloU = 0.0; + Translation2d entry = entryDirection.times(-distance); + + double entryDistance = project(entry, directionU); + + // drive towards goal state + double adjustedI = approach(distance, veloI, m_profile.getConstraintsI()) + + Math.max(project(endVelocity, directionI), 0); + double adjustedU = approach(entryDistance, veloU, m_profile.getConstraintsU()); + // combine + Translation2d adjusted = directionI.times(adjustedI).plus( + directionU.times(adjustedU)); + return adjusted; + } + + private double project(Translation2d vector, Translation2d axis) { + double dot = vector.getX() * axis.getX() + vector.getY() * axis.getY(); + return dot / Math.pow(axis.getNorm(), 2); + } + + private double approach(double distance, double initial, Constraints c) { + double goal = Math.sqrt(2 * c.m_decceleration * Math.abs(distance)) * Math.signum(distance); + if (Math.abs(goal - initial) < dt * c.m_acceleration) { + // we're within range, just adjust to what we need. + return goal; + } + // check for a "out-of-bounds" position + if (goal < initial && goal > 0) + return goal; + if (goal > initial && goal < 0) + return goal; + if (goal > initial) { + return initial + dt * c.m_acceleration; + } else { + return initial - dt * c.m_acceleration; + } + } + + public boolean atSetpoint(Pose2d current, Pose2d goal) { + boolean okXY = Math.hypot(current.getX() - goal.getX(), + current.getY() - goal.getY()) <= m_profile.m_errorXY.in(Meters); + boolean okTheta = Math.abs(current.getRotation().minus(goal.getRotation()) + .getRadians()) <= m_profile.m_errorTheta.in(Radians); + return okXY && okTheta; + } + + /* Constraints to limit autopilot */ + public static class Constraints { + private double m_acceleration; + private double m_decceleration; + + public Constraints() {} + + public Constraints(double acceleration, double decceleration) { + m_acceleration = acceleration; + m_decceleration = decceleration; + } + + public Constraints withAcceleration(double acceleration) { + m_acceleration = acceleration; + return this; + } + + public Constraints withDecceleration(double decceleration) { + m_decceleration = decceleration; + return this; + } + } + + /* Profile (how to reach the goal) */ + public static class Profile { + private Constraints m_constraintsI; + private Constraints m_constraintsU; + private Distance m_errorXY; + private Angle m_errorTheta; + + public Profile() { + m_errorXY = Meters.of(0); + m_errorTheta = Rotations.of(0); + } + + public Profile withErrorXY(Distance errorXY) { + m_errorXY = errorXY; + return this; + } + + public Profile withErrorTheta(Angle errorTheta) { + m_errorTheta = errorTheta; + return this; + } + + public Profile withConstraintsI(Constraints constraintsI) { + m_constraintsI = constraintsI; + return this; + } + + public Profile withConstraintsU(Constraints constraintsU) { + m_constraintsU = constraintsU; + return this; + } + + public Distance getErrorXY() { + return m_errorXY; + } + + public Angle getErrorTheta() { + return m_errorTheta; + } + + public Constraints getConstraintsI() { + return m_constraintsI; + } + + public Constraints getConstraintsU() { + return m_constraintsU; + } + } + + /* End States (the goal to reach) */ + public static class Target { + private Pose2d m_reference; + private Rotation2d m_entryAngle; + private double m_velocity; + + /** + * Creates a blank autopilot target with reference (0,0) and rotation of zero. + */ + public Target() { + m_reference = Pose2d.kZero; + m_entryAngle = null; + m_velocity = 0; + } + + /** + * Creates a new autopilot target with the given target pose, no entry angle, and no end + * velocity + */ + public Target(Pose2d pose) { + m_reference = pose; + m_velocity = 0; + m_entryAngle = null; + } + + /** + * Modifies this instance's reference pose and returns itself for easier method chaining. + * NOTE: This also sets, if unset, the entry angle to be the angle of the pose. + */ + public Target withReference(Pose2d reference) { + m_reference = reference; + if (m_entryAngle == null) + m_entryAngle = reference.getRotation(); + return this; + } - private final double dt = 0.020; + /** + * Modifies this instance's entry angle and returns itself for easier method chaining + */ + public Target withEntryAngle(Rotation2d entryAngle) { + m_entryAngle = entryAngle; + return this; + } - public Autopilot(Profile profile) { - m_profile = profile; + /** + * Modifies this instance's end velocity and returns itself for easier method chaining + */ + public Target withVelocity(double velocity) { + m_velocity = velocity; + return this; + } + + /** + * Returns this target's reference pose + */ + public Pose2d getReference() { + return m_reference; + } + + /** + * Returns this target's desired entry angle + */ + public Rotation2d getEntryAngle() { + return m_entryAngle; + } + + /** + * Returns this target/s end velocity + */ + public double getVelocity() { + return m_velocity; } /** - * Returns the next field relative velocity for the trajectory - * - * @param current The robot's current position - * @param velocity The robot's current (field relative) velocity - * @param target The target the robot should drive towards + * Flips a target across the field, preserving relative entry angle and rotation. */ - public Translation2d calculate( - Pose2d current, - Translation2d velocity, - Target target - ) { - Pose2d reference = target.m_reference; - Rotation2d entryAngle = target.m_entryAngle; - // direction and distance to actual target - Translation2d offset = reference.getTranslation().minus(current.getTranslation()); - double distance = offset.getNorm(); - if (distance == 0) return Translation2d.kZero; - // create new target - Translation2d entryDirection = new Translation2d( - entryAngle.getCos(), - entryAngle.getSin() - ); - // end velocity - Translation2d endVelocity = entryDirection.times(target.m_velocity); - // calculate directions for i & j - Translation2d directionI = offset.div(distance); - Translation2d directionU = new Translation2d( - directionI.getY(), - -directionI.getX() - ); - // current velocity (i & j) - double veloI = project(velocity, directionI); - double veloU = project(velocity, directionU); - // double veloU = 0.0; - // Translation2d entry = entryDirection.times(-distance); - - double entryDistance = 0.0; - // double entryDistance = project(entry, directionU); - - // drive towards goal state - double adjustedI = approach(distance, veloI, m_profile.getConstraintsI()) + Math.max(project(endVelocity, directionI), 0); - double adjustedU = approach(entryDistance, veloU, m_profile.getConstraintsU()); - // combine - Translation2d adjusted = directionI.times(adjustedI).plus( - directionU.times(adjustedU)); - return adjusted; - } - - private double project(Translation2d vector, Translation2d axis) { - double dot = vector.getX() * axis.getX() + vector.getY() * axis.getY(); - return dot / Math.pow(axis.getNorm(), 2); - } - - private double approach(double distance, double initial, Constraints c) { - double goal = Math.sqrt(2 * c.m_decceleration * Math.abs(distance)) * Math.signum(distance); - if (Math.abs(goal - initial) < dt * c.m_acceleration) { - // we're within range, just adjust to what we need. - return goal; - } - // check for a "out-of-bounds" position - if (goal < initial && goal > 0) return goal; - if (goal > initial && goal < 0) return goal; - if (goal > initial) { - return initial + dt * c.m_acceleration; - } else { - return initial - dt * c.m_acceleration; - } - } - - public boolean atSetpoint(Pose2d current, Pose2d goal) { - boolean okXY = Math.hypot(current.getX() - goal.getX(), current.getY() - goal.getY()) <= m_profile.m_errorXY.in(Meters); - boolean okTheta = Math.abs(current.getRotation().minus(goal.getRotation()).getRadians()) <= m_profile.m_errorTheta.in(Radians); - return okXY && okTheta; - } - - /* Constraints to limit autopilot */ - public static class Constraints { - private double m_acceleration; - private double m_decceleration; - - public Constraints() {} - - public Constraints(double acceleration, double decceleration) { - m_acceleration = acceleration; - m_decceleration = decceleration; - } - - public Constraints withAcceleration(double acceleration) { - m_acceleration = acceleration; - return this; - } - - public Constraints withDecceleration(double decceleration) { - m_decceleration = decceleration; - return this; - } - } - - /* Profile (how to reach the goal) */ - public static class Profile { - private Constraints m_constraintsI; - private Constraints m_constraintsU; - private Distance m_errorXY; - private Angle m_errorTheta; - - public Profile() { - m_errorXY = Meters.of(0); - m_errorTheta = Rotations.of(0); - } - - public Profile withErrorXY(Distance errorXY) { - m_errorXY = errorXY; - return this; - } - - public Profile withErrorTheta(Angle errorTheta) { - m_errorTheta = errorTheta; - return this; - } - - public Profile withConstraintsI(Constraints constraintsI) { - m_constraintsI = constraintsI; - return this; - } - - public Profile withConstraintsU(Constraints constraintsU) { - m_constraintsU = constraintsU; - return this; - } - - public Distance getErrorXY() { - return m_errorXY; - } - - public Angle getErrorTheta() { - return m_errorTheta; - } - - public Constraints getConstraintsI() { - return m_constraintsI; - } - - public Constraints getConstraintsU() { - return m_constraintsU; - } - } - - /* End States (the goal to reach) */ - public static class Target { - private Pose2d m_reference; - private Rotation2d m_entryAngle; - private double m_velocity; - - /** - * Creates a blank autopilot target with reference (0,0) and rotation - * of zero. - * Note: an entry angle MUST be specified, and this doesn't - * set one. Your code will crash without one. - */ - public Target() { - m_reference = Pose2d.kZero; - m_velocity = 0; - } - - /** - * Modifies this instance's reference pose and returns itself for - * easier method chaining. NOTE: This also sets, if unset, the - * entry angle to be the angle of the pose. - */ - public Target withReference(Pose2d reference) { - m_reference = reference; - if (m_entryAngle == null) m_entryAngle = reference.getRotation(); - return this; - } - - /** - * Modifies this instance's entry angle and returns itself for easier - * method chaining - */ - public Target withEntryAngle(Rotation2d entryAngle) { - m_entryAngle = entryAngle; - return this; - } - - /** - * Modifies this instance's end velocity and returns itself for easier - * method chaining - */ - public Target withVelocity(double velocity) { - m_velocity = velocity; - return this; - } - - /** - * Returns this target's reference pose - */ - public Pose2d getReference() { - return m_reference; - } - - /** - * Returns this target's desired entry angle - */ - public Rotation2d getEntryAngle() { - return m_entryAngle; - } - - /** - * Returns this target/s end velocity - */ - public double getVelocity() { - return m_velocity; - } - - /** - * Flips a target across the field, preserving relative entry angle - * and rotation. - */ - public Target flip() { - m_reference = FlippingUtil.flipFieldPose(m_reference); - m_entryAngle = FlippingUtil.flipFieldRotation(m_entryAngle); - return this; - } + public Target flip() { + m_reference = FlippingUtil.flipFieldPose(m_reference); + m_entryAngle = FlippingUtil.flipFieldRotation(m_entryAngle); + return this; } + } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java index 80fc8c60..17642b33 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java @@ -11,6 +11,9 @@ public class Align implements EnterableState { /** * A state that controls the drivetrain and drives to a certain, given point on the field. + *
+ *
+ * This takes the target to drive towards */ public Align(Autopilot autopilot, Autopilot.Target target) { m_autopilot = autopilot; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java index b9ca314a..9b40d98d 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java @@ -14,6 +14,7 @@ public CoralIntake() {} public Command build(Subsystems subsystems) { return Commands.sequence( + subsystems.elevator().autoZero(), subsystems.elevator().go(ElevatorState.Stow), subsystems.coral().intake()) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralWait.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralWait.java index dc3f31fb..aae780b3 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralWait.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralWait.java @@ -8,7 +8,7 @@ public class CoralWait implements EnterableState { /** * A state that puts the robot into a "waiting" state until a coral can be acquired. - * The state is NOT a coral itake state, however. + * The state is NOT a coral itake state, however, and does not actually change any mechanisms */ public CoralWait() {} From 12614dfde99e30e313cd2c2aa18da6cfabd6b6a8 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 10 May 2025 09:40:18 -0400 Subject: [PATCH 017/135] Add remaining named commands; fix command sequencing When a command has the .onlyIf() and a .finallyDo() the .finallyDo() should come before the .onlyIf(), not after. Otherwise, the .finallyDo() will be called even when the regular action never happened. The command must be declared IN FULL before it's restricted. Adding .finallyDo() modifies the behavior of the command, so it comes before the command is restricted. --- ThriftyTest/simgui.json | 6 ++ .../deploy/pathplanner/autos/4PieceLeft.auto | 12 +-- .../deploy/pathplanner/autos/4PieceRight.auto | 12 +-- .../deploy/pathplanner/autos/CenterBarge.auto | 4 +- .../pathplanner/autos/Processor Center.auto | 79 ------------------- .../deploy/pathplanner/autos/Test Path.auto | 25 ------ .../main/deploy/pathplanner/autos/Test.auto | 25 ------ .../main/deploy/pathplanner/autos/stupid.auto | 31 -------- .../src/main/java/frc/robot/Constants.java | 20 ++++- .../main/java/frc/robot/RobotContainer.java | 3 + .../frc/robot/binding/DashboardBindings.java | 11 +++ .../robot/binding/NamedCommandBindings.java | 25 ++++-- .../frc/robot/binding/OperatorBindings.java | 15 ++-- .../java/frc/robot/driveassist/Autopilot.java | 15 ++-- .../subsystems/CommandSwerveDrivetrain.java | 5 +- .../frc/robot/subsystems/CoralRollers.java | 7 +- .../java/frc/robot/subsystems/Elevator.java | 54 ++++++------- .../superstructure/states/AlgaeStow.java | 24 ++++++ .../robot/superstructure/states/Align.java | 37 +++++++-- .../states/CompleteCoralIntake.java | 8 +- .../states/CompleteCoralScore.java | 22 ++++++ .../superstructure/states/CoralEject.java | 4 +- .../superstructure/states/CoralIntake.java | 8 +- .../superstructure/states/CoralScore.java | 6 +- ...ralScoreReady.java => CoralScorePrep.java} | 8 +- .../superstructure/states/ElevatorZero.java | 6 +- .../states/GroundAlgaeIntake.java | 4 +- .../states/HighGroundAlgaeIntake.java | 7 +- .../states/LowerReefAlgaeIntake.java | 4 +- .../frc/robot/superstructure/states/Net.java | 6 +- .../robot/superstructure/states/NetReady.java | 6 +- .../{FunnelOpened.java => OpenFunnel.java} | 4 +- .../superstructure/states/Processor.java | 4 +- ...ProcessorReady.java => ProcessorPrep.java} | 8 +- .../frc/robot/superstructure/states/Test.java | 22 ++++++ .../states/UpperReefAlgaeIntake.java | 4 +- ThriftyTest/src/main/resources/logback.xml | 1 + 37 files changed, 265 insertions(+), 277 deletions(-) delete mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/Processor Center.auto delete mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/Test Path.auto delete mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/Test.auto delete mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/stupid.auto create mode 100644 ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralScore.java rename ThriftyTest/src/main/java/frc/robot/superstructure/states/{CoralScoreReady.java => CoralScorePrep.java} (69%) rename ThriftyTest/src/main/java/frc/robot/superstructure/states/{FunnelOpened.java => OpenFunnel.java} (81%) rename ThriftyTest/src/main/java/frc/robot/superstructure/states/{ProcessorReady.java => ProcessorPrep.java} (76%) create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/Test.java diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index d7fcb73c..f938099d 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -15,6 +15,7 @@ "types": { "/FMSInfo": "FMSInfo", "/SmartDashboard/Elevator Visualization": "Mechanism2d", + "/SmartDashboard/Enter test state": "Command", "/SmartDashboard/Lazy Zero Elevator": "Command", "/SmartDashboard/PathPlanner": "Alerts", "/SmartDashboard/Pivot Arm Visualization": "Mechanism2d", @@ -22,6 +23,11 @@ "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, "windows": { + "/SmartDashboard/Enter test state": { + "window": { + "visible": true + } + }, "/SmartDashboard/Super Field": { "Pathfind Trajectory": { "arrows": false, diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto index a73b092f..dae7b2ae 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto @@ -33,13 +33,13 @@ { "type": "named", "data": { - "name": "LIntake Align" + "name": "Align LIntake" } }, { "type": "named", "data": { - "name": "Intake Wait" + "name": "Coral Wait" } }, { @@ -77,13 +77,13 @@ { "type": "named", "data": { - "name": "LIntake Align" + "name": "Align LIntake" } }, { "type": "named", "data": { - "name": "Intake Wait" + "name": "Coral Wait" } }, { @@ -121,13 +121,13 @@ { "type": "named", "data": { - "name": "LIntake Align" + "name": "Align LIntake" } }, { "type": "named", "data": { - "name": "Intake Wait" + "name": "Coral Wait" } }, { diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto index 3f95798f..c015a933 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto @@ -33,13 +33,13 @@ { "type": "named", "data": { - "name": "RIntake Align" + "name": "Align RIntake" } }, { "type": "named", "data": { - "name": "Intake Wait" + "name": "Coral Wait" } }, { @@ -77,13 +77,13 @@ { "type": "named", "data": { - "name": "RIntake Align" + "name": "Align RIntake" } }, { "type": "named", "data": { - "name": "Intake Wait" + "name": "Coral Wait" } }, { @@ -121,13 +121,13 @@ { "type": "named", "data": { - "name": "RIntake Align" + "name": "Align RIntake" } }, { "type": "named", "data": { - "name": "Intake Wait" + "name": "Coral Wait" } }, { diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/CenterBarge.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/CenterBarge.auto index ebdd1ebf..1b0b4459 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/CenterBarge.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/CenterBarge.auto @@ -35,7 +35,7 @@ { "type": "named", "data": { - "name": "AlgaeLower" + "name": "Lower Algae" } } ] @@ -72,7 +72,7 @@ { "type": "named", "data": { - "name": "AlgaeUpper" + "name": "Upper Algae" } }, { diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/Processor Center.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/Processor Center.auto deleted file mode 100644 index ee26b21a..00000000 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/Processor Center.auto +++ /dev/null @@ -1,79 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "StartG" - } - }, - { - "type": "named", - "data": { - "name": "Align G" - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - }, - { - "type": "named", - "data": { - "name": "Align GH" - } - }, - { - "type": "named", - "data": { - "name": "AlgaeLower" - } - }, - { - "type": "path", - "data": { - "pathName": "GHProcessor" - } - }, - { - "type": "named", - "data": { - "name": "Process" - } - }, - { - "type": "path", - "data": { - "pathName": "ProcessorEF" - } - }, - { - "type": "named", - "data": { - "name": "AlgaeUpper" - } - }, - { - "type": "path", - "data": { - "pathName": "EFProcessor" - } - }, - { - "type": "named", - "data": { - "name": "Process" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/Test Path.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/Test Path.auto deleted file mode 100644 index 37a19658..00000000 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/Test Path.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Align H" - } - }, - { - "type": "named", - "data": { - "name": "RIntake Align" - } - } - ] - } - }, - "resetOdom": false, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/Test.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/Test.auto deleted file mode 100644 index 8a9fbe1a..00000000 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/Test.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "StartG" - } - }, - { - "type": "named", - "data": { - "name": "Algae End" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/stupid.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/stupid.auto deleted file mode 100644 index 270b761a..00000000 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/stupid.auto +++ /dev/null @@ -1,31 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "EIntake" - } - }, - { - "type": "named", - "data": { - "name": "RIntake Align" - } - }, - { - "type": "path", - "data": { - "pathName": "IntakeB" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 87765360..51bc34ad 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -66,6 +66,7 @@ import edu.wpi.first.units.measure.LinearVelocity; import edu.wpi.first.units.measure.Time; import edu.wpi.first.wpilibj.PS5Controller.Button; +import frc.robot.Constants.ElevatorConstants.ElevatorState; import frc.robot.driveassist.Autopilot; import frc.robot.generated.TunerConstants; import frc.robot.utils.Shape; @@ -1108,6 +1109,23 @@ public static class FFConstants { } public enum CoralLevel { - L1, SecondaryL1, L2, L3, L4 + L1, SecondaryL1, L2, L3, L4; + + public ElevatorState toElevatorState() { + switch (this) { + case L1: + return ElevatorState.L1; + case L2: + return ElevatorState.L2; + case L3: + return ElevatorState.L3; + case L4: + return ElevatorState.L4; + case SecondaryL1: + return ElevatorState.SecondaryL1; + default: + return ElevatorState.Stow; + } + } } } diff --git a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java index 8815d798..c2df5c68 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java @@ -7,6 +7,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.binding.Binder; +import frc.robot.binding.DashboardBindings; import frc.robot.binding.DriveBindings; import frc.robot.binding.NamedCommandBindings; import frc.robot.binding.OperatorBindings; @@ -38,12 +39,14 @@ public class RobotContainer { private final Binder m_operator = new OperatorBindings(); private final Binder m_robot = new RobotBindings(); private final Binder m_namedCommands = new NamedCommandBindings(); + private final Binder m_dashboard = new DashboardBindings(); public RobotContainer() { m_driver.bind(m_superstructure); m_operator.bind(m_superstructure); m_robot.bind(m_superstructure); m_namedCommands.bind(m_superstructure); + m_dashboard.bind(m_superstructure); m_superstructure.buildVision().startThread(); diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java new file mode 100644 index 00000000..b11bcac0 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java @@ -0,0 +1,11 @@ +package frc.robot.binding; + +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.superstructure.Superstructure; +import frc.robot.superstructure.states.Test; + +public class DashboardBindings implements Binder { + public void bind(Superstructure superstructure) { + SmartDashboard.putData("Enter test state", superstructure.enter(new Test())); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java index 91103569..e38c28d6 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java @@ -3,15 +3,17 @@ import com.pathplanner.lib.auto.NamedCommands; import frc.robot.Constants; import frc.robot.Constants.CoralLevel; -import frc.robot.Constants.DriveConstants; +import frc.robot.Constants.FieldConstants; import frc.robot.Constants.ScoringLocations; import frc.robot.driveassist.Autopilot; import frc.robot.superstructure.Superstructure; +import frc.robot.superstructure.states.AlgaeStow; import frc.robot.superstructure.states.Align; import frc.robot.superstructure.states.CoralIntake; import frc.robot.superstructure.states.CoralScore; import frc.robot.superstructure.states.CoralWait; import frc.robot.superstructure.states.LowerReefAlgaeIntake; +import frc.robot.superstructure.states.Net; import frc.robot.superstructure.states.UpperReefAlgaeIntake; public class NamedCommandBindings implements Binder { @@ -28,15 +30,26 @@ public void bind(Superstructure superstructure) { NamedCommands.registerCommand("Intake", superstructure.enter(new CoralIntake())); /* algae */ - NamedCommands.registerCommand("Algae Lower", superstructure.enter(new LowerReefAlgaeIntake())); - NamedCommands.registerCommand("Algae Upper", superstructure.enter(new UpperReefAlgaeIntake())); + NamedCommands.registerCommand("Lower Algae", superstructure.enter(new LowerReefAlgaeIntake())); + NamedCommands.registerCommand("Upper Algae", superstructure.enter(new UpperReefAlgaeIntake())); + NamedCommands.registerCommand("Net", superstructure.enter(new Net())); + NamedCommands.registerCommand("Algae Stow", superstructure.enter(new AlgaeStow())); /* align */ for (ScoringLocations location : Constants.ScoringLocations.values()) { String name = "Align ".concat(location.toString()); - NamedCommands.registerCommand(name, - superstructure.enter(new Align(DriveConstants.kTightAutopilot, - new Autopilot.Target(location.value)))); + NamedCommands.registerCommand(name, superstructure.enter( + new Align(new Autopilot.Target(location.value)))); } + NamedCommands.registerCommand("Align LIntake", superstructure.enter( + new Align(new Autopilot.Target(FieldConstants.kLeftIntake)).allianceRelative())); + NamedCommands.registerCommand("Align RIntake", superstructure.enter( + new Align(new Autopilot.Target(FieldConstants.kRightIntake)).allianceRelative())); + NamedCommands.registerCommand("Align IJ", superstructure.enter( + new Align(new Autopilot.Target(FieldConstants.kIJ)).allianceRelative())); + NamedCommands.registerCommand("Align GH", superstructure.enter( + new Align(new Autopilot.Target(FieldConstants.kGH)).allianceRelative())); + NamedCommands.registerCommand("Align Barge", superstructure.enter( + new Align(new Autopilot.Target(FieldConstants.kBarge1)).allianceRelative())); } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java index d335dd2f..acde1316 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -9,12 +9,13 @@ import frc.robot.superstructure.states.Climb; import frc.robot.superstructure.states.ClimbRaised; import frc.robot.superstructure.states.CompleteCoralIntake; +import frc.robot.superstructure.states.CompleteCoralScore; import frc.robot.superstructure.states.CoralEject; import frc.robot.superstructure.states.CoralIntake; import frc.robot.superstructure.states.CoralScore; -import frc.robot.superstructure.states.CoralScoreReady; +import frc.robot.superstructure.states.CoralScorePrep; import frc.robot.superstructure.states.ElevatorZero; -import frc.robot.superstructure.states.FunnelOpened; +import frc.robot.superstructure.states.OpenFunnel; import frc.robot.superstructure.states.GroundAlgaeIntake; import frc.robot.superstructure.states.HighGroundAlgaeIntake; import frc.robot.superstructure.states.UpperReefAlgaeIntake; @@ -23,7 +24,7 @@ import frc.robot.superstructure.states.Net; import frc.robot.superstructure.states.NetReady; import frc.robot.superstructure.states.Processor; -import frc.robot.superstructure.states.ProcessorReady; +import frc.robot.superstructure.states.ProcessorPrep; import frc.robot.superstructure.states.ReefAlign; import frc.robot.superstructure.states.Stowed; @@ -72,7 +73,7 @@ public void bind(Superstructure superstructure) { m_algae.and(m_algaeHighReef).whileTrue(superstructure.enter(new UpperReefAlgaeIntake())); /* algae score */ - m_algae.and(m_processor).whileTrue(superstructure.enter(new ProcessorReady())); + m_algae.and(m_processor).whileTrue(superstructure.enter(new ProcessorPrep())); m_algae.and(m_processor).onFalse(superstructure.enter(new Processor())); m_algae.and(m_net).whileTrue(superstructure.enter(new NetReady())); m_algae.and(m_net).onFalse(superstructure.enter(new Net())); @@ -98,13 +99,13 @@ public void bind(Superstructure superstructure) { /* misc */ m_zeroElevator.whileTrue(superstructure.enter(new ElevatorZero())); m_stow.whileTrue(superstructure.enter(new Stowed())); - m_funnel.whileTrue(superstructure.enter(new FunnelOpened())); + m_funnel.whileTrue(superstructure.enter(new OpenFunnel())); } private void bindCoral(Trigger trigger, CoralLevel level, Superstructure superstructure) { - trigger.whileTrue(superstructure.enter(new CoralScoreReady(level))); + trigger.whileTrue(superstructure.enter(new CoralScorePrep(level))); trigger.and(superstructure.aligned()).onTrue(superstructure.enter(new CoralScore(level))); - trigger.onFalse(superstructure.enter(new CoralScore(level))); + trigger.onFalse(superstructure.enter(new CompleteCoralScore(level))); } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 5e2e015d..2181535b 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -57,11 +57,14 @@ public Translation2d calculate( -directionI.getX()); // current velocity (i & j) double veloI = project(velocity, directionI); - double veloU = project(velocity, directionU); - // double veloU = 0.0; - Translation2d entry = entryDirection.times(-distance); + double veloU = 0.0; + double entryDistance = 0; + if (target.getEntryAngle() != null) { + veloU = project(velocity, directionU); + Translation2d entry = entryDirection.times(-distance); + entryDistance = project(entry, directionU); + } - double entryDistance = project(entry, directionU); // drive towards goal state double adjustedI = approach(distance, veloI, m_profile.getConstraintsI()) @@ -77,13 +80,13 @@ private double project(Translation2d vector, Translation2d axis) { double dot = vector.getX() * axis.getX() + vector.getY() * axis.getY(); return dot / Math.pow(axis.getNorm(), 2); } - + private double approach(double distance, double initial, Constraints c) { double goal = Math.sqrt(2 * c.m_decceleration * Math.abs(distance)) * Math.signum(distance); if (Math.abs(goal - initial) < dt * c.m_acceleration) { // we're within range, just adjust to what we need. return goal; - } + } // check for a "out-of-bounds" position if (goal < initial && goal > 0) return goal; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index 3c7f2556..da3ea643 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -39,6 +39,7 @@ import edu.wpi.first.wpilibj.RobotController; 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.Subsystem; import edu.wpi.first.wpilibj2.command.button.Trigger; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; @@ -184,7 +185,9 @@ public void zeroPose() { } public Command resetHeading() { - return runOnce(() -> setOperatorPerspectiveForward(getPose().getRotation())); + // this uses Commands.runOnce() as opposed to this.runOnce() because we don't really want to add + // requirements on this subsystem + return Commands.runOnce(() -> setOperatorPerspectiveForward(getPose().getRotation())); } public void setPose(Pose2d pose) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java index 05dcdb18..e608732c 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java @@ -145,7 +145,8 @@ public Command intake() { runOnce(this::setIntake), Commands.waitUntil(holding())) - .finallyDo(this::stop); + .finallyDo(this::stop) + .unless(holding()); } public Command score(CoralLevel level) { @@ -171,8 +172,8 @@ public Command eject() { runOnce(() -> setVoltage(CoralConstants.ejectVoltage)), Commands.waitUntil(present().negate())) - .onlyIf(present()) - .finallyDo(this::stop); + .finallyDo(this::stop) + .onlyIf(present()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java index 5ba94822..b3388b43 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java @@ -43,7 +43,7 @@ public class Elevator extends PassiveSubsystem { new Debouncer(ElevatorConstants.kRangeDebounceTime.in(Seconds)); private double m_position; - private double m_reference; + private ElevatorState m_reference = ElevatorState.Stow; private double m_speed; private boolean m_speedChanged; @@ -76,10 +76,14 @@ private void configMotor() { private final DynamicMotionMagicVoltage control = new DynamicMotionMagicVoltage(0, 0, 0, 0); - private void setPosition(double goal) { + + private void setPosition(ElevatorState state) { take(); + // calculate goal we should go to + double goal = state.position(); if (RobotObserver.getNoElevatorZone() && (m_position > ElevatorConstants.unsafeRange || goal > ElevatorConstants.unsafeRange)) { + // either trying to reach (or already at) a no-go state given our current position return; } // floor values for the goal between our two extrema for their positions @@ -91,36 +95,37 @@ private void setPosition(double goal) { .withAcceleration(ElevatorConstants.maxAccelerationUp) .withJerk(ElevatorConstants.maxJerkUp) .withSlot(0)); - m_reference = goal; - } - - private void setPosition(ElevatorState state) { - setPosition(state.position()); + m_reference = state; } public Trigger ready() { return new Trigger(() -> { if (Robot.isSimulation()) return true; - boolean at = Math.abs(m_reference - m_position) < ElevatorConstants.tolerance; + boolean at = Math.abs(m_reference.position() - m_position) < ElevatorConstants.tolerance; m_logger.debug("Setpoint: {}", at); return at; }); } - public double getReference() { - return m_reference; + public Trigger ready(ElevatorState state) { + return new Trigger(() -> { + if (m_reference.equals(state)) { + return ready().getAsBoolean(); + } + return false; + }); } - public double getPosition() { - return m_position; + public Trigger ready(CoralLevel level) { + return ready(level.toElevatorState()); } private double getPositionUncached() { if (RobotBase.isReal()) { return m_elevatorRight.getPosition().getValueAsDouble(); } else { - return m_reference; // wow, that's an awesome elevator! + return m_reference.position(); // wow, that's an awesome elevator! } } @@ -152,7 +157,7 @@ private void goDownNoStopping() { public void periodic() { m_position = getPositionUncached(); SmartDashboard.putNumber("Elevator position", m_position); - SmartDashboard.putNumber("Elevator reference", m_reference); + SmartDashboard.putString("Elevator reference", m_reference.toString()); SmartDashboard.putBoolean("prefire?", m_prefireReq.getAsBoolean()); if (m_speedChanged) { @@ -167,8 +172,8 @@ public void periodic() { * Whether or not the elevator is above the "safe" range */ public Trigger unsafe() { - return new Trigger(() -> getPosition() > ElevatorConstants.unsafeRange - || m_reference > ElevatorConstants.unsafeRange); + return new Trigger(() -> m_position > ElevatorConstants.unsafeRange + || m_reference.position() > ElevatorConstants.unsafeRange); } protected void passive() { @@ -181,25 +186,12 @@ protected void passive() { public Command go(ElevatorState state) { return Commands.sequence( - runOnce(() -> setPosition(state.position())), + runOnce(() -> setPosition(state)), Commands.waitUntil(ready())); } public Command go(CoralLevel level) { - switch (level) { - case L1: - return go(ElevatorState.L1); - case SecondaryL1: - return go(ElevatorState.SecondaryL1); - case L2: - return go(ElevatorState.L2); - case L3: - return go(ElevatorState.L3); - case L4: - return go(ElevatorState.L4); - default: - return Commands.none(); - } + return go(level.toElevatorState()); } /** diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java new file mode 100644 index 00000000..c7aef548 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java @@ -0,0 +1,24 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class AlgaeStow implements EnterableState { + /** + * A state that holds an algae in a disable-safe position. What this means is that if the robot is + * disabled while in this state, an algae present will not fall out. + */ + public AlgaeStow() {} + + public Command build(Subsystems subsystems) { + return Commands.parallel( + subsystems.elevator().go(ElevatorState.Stow).asProxy(), + subsystems.pivot().ground()) + + .onlyIf(subsystems.algae().holdingAlgae()); + // Neither subsystem is released because this is a "persistent" state. + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java index 17642b33..ed3128c5 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java @@ -1,6 +1,11 @@ package frc.robot.superstructure.states; +import java.util.Set; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.DeferredCommand; +import frc.robot.Constants.DriveConstants; import frc.robot.driveassist.Autopilot; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -8,19 +13,41 @@ public class Align implements EnterableState { private final Autopilot m_autopilot; private final Autopilot.Target m_target; + private boolean m_flip; /** - * A state that controls the drivetrain and drives to a certain, given point on the field. - *
- *
- * This takes the target to drive towards + * A state that controls the drivetrain and drives to a certain, given point on the field */ public Align(Autopilot autopilot, Autopilot.Target target) { m_autopilot = autopilot; m_target = target; } + /** + * A state in which the robot is aligned with a given target + * + * This approach uses the tight Autopilot configuration from DriveConstants + */ + public Align(Autopilot.Target target) { + m_autopilot = DriveConstants.kTightAutopilot; + m_target = target; + } + public Command build(Subsystems subsystems) { - return subsystems.drivetrain().align(m_autopilot, m_target); + return new DeferredCommand(() -> subsystems.drivetrain().align(m_autopilot, target()), + Set.of(subsystems.drivetrain())); + } + + public Align allianceRelative() { + m_flip = true; + return this; + } + + private Autopilot.Target target() { + if (m_flip) { + if (DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Red)) { + } + } + return m_target; } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java index b47369df..a35634cc 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralIntake.java @@ -6,8 +6,8 @@ public class CompleteCoralIntake implements EnterableState { /** - * A state to complete a coral intake if it has been started - *

+ * A state to complete a coral intake if it has been started
+ *
* This is different from the passive behavior on the coral subsystem itself because it also * requires the elevator, which makes it more of a "blocking" operation. */ @@ -15,7 +15,7 @@ public CompleteCoralIntake() {} public Command build(Subsystems subsystems) { return new CoralIntake().build(subsystems) - .onlyIf(subsystems.coral().present()) - .finallyDo(subsystems.coral()::release); + .finallyDo(subsystems.coral()::release) + .onlyIf(subsystems.coral().present()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralScore.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralScore.java new file mode 100644 index 00000000..6187a509 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CompleteCoralScore.java @@ -0,0 +1,22 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants.CoralLevel; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class CompleteCoralScore implements EnterableState { + private final CoralLevel m_level; + + /** + * A state that completes a coral intake cycle, if the robot is actively ready. + */ + public CompleteCoralScore(CoralLevel level) { + m_level = level; + } + + public Command build(Subsystems subsystems) { + return new CoralScore(m_level).build(subsystems) + .onlyIf(subsystems.elevator().ready(m_level)); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java index 33cf41f6..bb30d4c5 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java @@ -17,8 +17,8 @@ public Command build(Subsystems subsystems) { subsystems.elevator().go(ElevatorState.Eject).asProxy(), subsystems.coral().eject()) - .onlyIf(subsystems.coral().present()) .finallyDo(subsystems.elevator()::release) - .finallyDo(subsystems.coral()::release); + .finallyDo(subsystems.coral()::release) + .onlyIf(subsystems.coral().present()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java index 9b40d98d..7ae70195 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java @@ -14,13 +14,13 @@ public CoralIntake() {} public Command build(Subsystems subsystems) { return Commands.sequence( - subsystems.elevator().autoZero(), - subsystems.elevator().go(ElevatorState.Stow), + subsystems.elevator().autoZero().asProxy(), + subsystems.elevator().go(ElevatorState.Stow).asProxy(), subsystems.coral().intake()) - .unless(subsystems.coral().holding()) .finallyDo(subsystems.elevator()::release) - .finallyDo(subsystems.coral()::release); + .finallyDo(subsystems.coral()::release) + .unless(subsystems.coral().holding()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java index e682485b..ec1abb8c 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScore.java @@ -18,11 +18,11 @@ public CoralScore(CoralLevel level) { public Command build(Subsystems subsystems) { return Commands.sequence( - subsystems.elevator().go(m_level), + subsystems.elevator().go(m_level).asProxy(), subsystems.coral().score(m_level)) - .onlyIf(subsystems.coral().holding()) .finallyDo(subsystems.elevator()::release) - .finallyDo(subsystems.coral()::release); + .finallyDo(subsystems.coral()::release) + .onlyIf(subsystems.coral().holding()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScoreReady.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScorePrep.java similarity index 69% rename from ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScoreReady.java rename to ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScorePrep.java index 5f7500c0..ab772b2e 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScoreReady.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralScorePrep.java @@ -5,19 +5,19 @@ import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; -public class CoralScoreReady implements EnterableState { +public class CoralScorePrep implements EnterableState { private final CoralLevel m_level; /** * A state that prepares the robot to score at the desired level */ - public CoralScoreReady(CoralLevel level) { + public CoralScorePrep(CoralLevel level) { m_level = level; } public Command build(Subsystems subsystems) { return subsystems.elevator().go(m_level) - .onlyIf(subsystems.coral().holding()) - .finallyDo(subsystems.elevator()::conditionalRelease); + .finallyDo(subsystems.elevator()::conditionalRelease) + .onlyIf(subsystems.coral().holding()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java index 51633fcc..970827a7 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java @@ -11,8 +11,8 @@ public class ElevatorZero implements EnterableState { public ElevatorZero() {} public Command build(Subsystems subsystems) { - return subsystems.elevator().autoZero() - .unless(subsystems.coral().present()) - .finallyDo(subsystems.elevator()::release); + return subsystems.elevator().autoZero().asProxy() + .finallyDo(subsystems.elevator()::release) + .unless(subsystems.coral().present()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java index a7f87502..269f54ce 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java @@ -18,8 +18,8 @@ public Command build(Subsystems subsystems) { subsystems.pivot().ground(), subsystems.algae().intake()) - .unless(subsystems.algae().holdingAlgae()) .finallyDo(subsystems.elevator()::release) - .finallyDo(subsystems.pivot()::release); + .finallyDo(subsystems.pivot()::release) + .unless(subsystems.algae().holdingAlgae()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java index c7732f05..0b6d6a97 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java @@ -14,12 +14,13 @@ public HighGroundAlgaeIntake() {} public Command build(Subsystems subsystems) { return Commands.parallel( - subsystems.elevator().go(ElevatorState.UpperReef), + subsystems.elevator().go(ElevatorState.UpperReef).asProxy(), subsystems.pivot().ground(), subsystems.algae().intake()) - .unless(subsystems.algae().holdingAlgae()) .finallyDo(subsystems.elevator()::release) - .finallyDo(subsystems.pivot()::release); + .finallyDo(subsystems.pivot()::release) + .unless(subsystems.algae().holdingAlgae()); } } + diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java index 1e015520..4b0cf89f 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java @@ -20,8 +20,8 @@ public Command build(Subsystems subsystems) { subsystems.algae().intake()), subsystems.pivot().reefExtract()) - .unless(subsystems.algae().holdingAlgae()) .finallyDo(subsystems.elevator()::release) - .finallyDo(subsystems.pivot()::release); + .finallyDo(subsystems.pivot()::release) + .unless(subsystems.algae().holdingAlgae()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java index 4c2f165e..e3a82d62 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java @@ -15,12 +15,12 @@ public Net() {} public Command build(Subsystems subsystems) { return Commands.sequence( Commands.parallel( - subsystems.elevator().go(ElevatorState.Net), + subsystems.elevator().go(ElevatorState.Net).asProxy(), subsystems.pivot().net()), subsystems.algae().net()) - .onlyIf(subsystems.algae().holdingAlgae()) .finallyDo(subsystems.elevator()::release) - .finallyDo(subsystems.pivot()::release); + .finallyDo(subsystems.pivot()::release) + .onlyIf(subsystems.algae().holdingAlgae()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java index 00d00058..b74b429d 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java @@ -14,11 +14,11 @@ public NetReady() {} public Command build(Subsystems subsystems) { return Commands.parallel( - subsystems.elevator().go(ElevatorState.Net), + subsystems.elevator().go(ElevatorState.Net).asProxy(), subsystems.pivot().net()) - .onlyIf(subsystems.algae().holdingAlgae()) .finallyDo(subsystems.elevator()::conditionalRelease) - .finallyDo(subsystems.pivot()::conditionalRelease); + .finallyDo(subsystems.pivot()::conditionalRelease) + .onlyIf(subsystems.algae().holdingAlgae()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/FunnelOpened.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/OpenFunnel.java similarity index 81% rename from ThriftyTest/src/main/java/frc/robot/superstructure/states/FunnelOpened.java rename to ThriftyTest/src/main/java/frc/robot/superstructure/states/OpenFunnel.java index 76ea1985..ee953534 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/FunnelOpened.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/OpenFunnel.java @@ -4,11 +4,11 @@ import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; -public class FunnelOpened implements EnterableState { +public class OpenFunnel implements EnterableState { /** * A state that represents the funnel in the open state */ - public FunnelOpened() {} + public OpenFunnel() {} public Command build(Subsystems subsystems) { return subsystems.climber().openFunnel(); diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java index b1ec5885..97000595 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java @@ -19,8 +19,8 @@ public Command build(Subsystems subsystems) { subsystems.pivot().processor()), subsystems.algae().processorScore()) - .onlyIf(subsystems.algae().holdingAlgae()) .finallyDo(subsystems.elevator()::release) - .finallyDo(subsystems.pivot()::release); + .finallyDo(subsystems.pivot()::release) + .onlyIf(subsystems.algae().holdingAlgae()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorReady.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorPrep.java similarity index 76% rename from ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorReady.java rename to ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorPrep.java index 1dba3b29..70bdc8fe 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorReady.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorPrep.java @@ -6,19 +6,19 @@ import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; -public class ProcessorReady implements EnterableState { +public class ProcessorPrep implements EnterableState { /** * A state that prepares the robot for a processor score */ - public ProcessorReady() {} + public ProcessorPrep() {} public Command build(Subsystems subsystems) { return Commands.parallel( subsystems.elevator().go(ElevatorState.Processor).asProxy(), subsystems.pivot().processor()) - .onlyIf(subsystems.algae().holdingAlgae()) .finallyDo(subsystems.elevator()::conditionalRelease) - .finallyDo(subsystems.pivot()::conditionalRelease); + .finallyDo(subsystems.pivot()::conditionalRelease) + .onlyIf(subsystems.algae().holdingAlgae()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Test.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Test.java new file mode 100644 index 00000000..6cef5536 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Test.java @@ -0,0 +1,22 @@ +package frc.robot.superstructure.states; + +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class Test implements EnterableState { + @SuppressWarnings("unused") + private final Logger m_logger = LoggerFactory.getLogger(Test.class); + + /** + * A test state + */ + public Test() {} + + public Command build(Subsystems subsystems) { + return Commands.none(); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java index 048d7f89..762f0e30 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java @@ -21,8 +21,8 @@ public Command build(Subsystems subsystems) { subsystems.algae().intake()), subsystems.pivot().reefExtract()) - .unless(subsystems.algae().holdingAlgae()) + .finallyDo(subsystems.pivot()::release) .finallyDo(subsystems.elevator()::release) - .finallyDo(subsystems.pivot()::release); + .unless(subsystems.algae().holdingAlgae()); } } diff --git a/ThriftyTest/src/main/resources/logback.xml b/ThriftyTest/src/main/resources/logback.xml index 136520ce..5a9e803a 100644 --- a/ThriftyTest/src/main/resources/logback.xml +++ b/ThriftyTest/src/main/resources/logback.xml @@ -11,6 +11,7 @@ + From 815719656b0c1c90d42d69ed4de43b37fc467d8b Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 10 May 2025 12:23:00 -0400 Subject: [PATCH 018/135] Clean autopilot logic --- ThriftyTest/simgui.json | 17 +- .../src/main/java/frc/robot/Constants.java | 58 +--- .../java/frc/robot/binding/DriveBindings.java | 4 +- .../robot/binding/NamedCommandBindings.java | 14 +- .../frc/robot/driveassist/APConstraints.java | 27 ++ .../java/frc/robot/driveassist/APProfile.java | 62 ++++ .../java/frc/robot/driveassist/APTarget.java | 98 ++++++ .../java/frc/robot/driveassist/Autopilot.java | 300 +++++------------- .../subsystems/CommandSwerveDrivetrain.java | 32 +- .../robot/superstructure/states/Align.java | 9 +- .../superstructure/states/ReefAlign.java | 22 +- .../main/java/frc/robot/utils/FieldUtils.java | 4 +- 12 files changed, 347 insertions(+), 300 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java create mode 100644 ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java create mode 100644 ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index f938099d..688d75d0 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -23,11 +23,6 @@ "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, "windows": { - "/SmartDashboard/Enter test state": { - "window": { - "visible": true - } - }, "/SmartDashboard/Super Field": { "Pathfind Trajectory": { "arrows": false, @@ -89,6 +84,18 @@ }, "height": 8.051901817321777, "image": "/Users/rekrab/hackbots/2025_Reefscape/ThriftyTest/2025-field-cropped.png", + "reference": { + "arrows": false, + "color": [ + 0.3678393065929413, + 0.843137264251709, + 0.40977731347084045, + 255.0 + ], + "length": 0.9399999976158142, + "selectable": false, + "width": 0.9399999976158142 + }, "rejected": { "arrows": false, "selectable": false, diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 51bc34ad..b7b50ba5 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -1,5 +1,6 @@ package frc.robot; + import java.util.List; import java.util.Map; import java.util.Set; @@ -67,27 +68,12 @@ import edu.wpi.first.units.measure.Time; import edu.wpi.first.wpilibj.PS5Controller.Button; import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.driveassist.APConstraints; import frc.robot.driveassist.Autopilot; +import frc.robot.driveassist.APProfile; import frc.robot.generated.TunerConstants; import frc.robot.utils.Shape; -/* - * PLEASE READ: - * - * To ensure consistency throughout the code, the same coordinate system is used here as is - * specified in WPILib's documentation. - * - * To read it all, check this out: - * https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html - * - * TL;DR: We use NWU axes convention. This means that, when viewed from above, the North, West, and - * then upwards will correspond to +X, +Y, and +Z respectively. - * - * Example: +X ^ | |-front-| | | +Y <--- | | | | |-------| - * - * And +Z is upwards, so it wouldn't show here. - */ - public class Constants { public static class IDConstants { @@ -140,17 +126,14 @@ public static class HeadingPID { public static final double kD = 0.0; } - private static final Autopilot.Constraints kTightAutopilotConstraintsI = - new Autopilot.Constraints() - .withAcceleration(8.5) + private static final APConstraints kTightAutopilotConstraintsI = + new APConstraints() + .withAcceleration(5.5) .withDecceleration(1.3); - private static final Autopilot.Constraints kTightAutopilotConstraintsU = - new Autopilot.Constraints() - .withAcceleration(8.0) - .withDecceleration(0.7); + private static final APConstraints kTightAutopilotConstraintsU = kTightAutopilotConstraintsI; - private static final Autopilot.Profile kTightProfile = new Autopilot.Profile() + private static final APProfile kTightProfile = new APProfile() .withConstraintsI(kTightAutopilotConstraintsI) .withConstraintsU(kTightAutopilotConstraintsU) .withErrorXY(Centimeters.of(2)) @@ -158,17 +141,17 @@ public static class HeadingPID { public static final Autopilot kTightAutopilot = new Autopilot(kTightProfile); - private static final Autopilot.Constraints kLooseAutopilotConstraintsI = - new Autopilot.Constraints() + private static final APConstraints kLooseAutopilotConstraintsI = + new APConstraints() .withAcceleration(8.5) .withDecceleration(4); - private static final Autopilot.Constraints kLooseAutopilotConstraintsU = - new Autopilot.Constraints() + private static final APConstraints kLooseAutopilotConstraintsU = + new APConstraints() .withAcceleration(8.5) .withDecceleration(3); - private static final Autopilot.Profile kLooseProfile = new Autopilot.Profile() + private static final APProfile kLooseProfile = new APProfile() .withConstraintsI(kLooseAutopilotConstraintsI) .withConstraintsU(kLooseAutopilotConstraintsU) .withErrorXY(Centimeters.of(10)) @@ -198,20 +181,13 @@ public static class HeadingPID { RotationsPerSecondPerSecond.of(1); public static final double k_maxRotationalSpeed = k_maxLinearSpeed.in(MetersPerSecond) - / (TunerConstants.kWheelRadius.in(Meters) * 2 * Math.PI); // lin speed / circumference = rot - // speed + / (TunerConstants.kWheelRadius.in(Meters) * 2 * Math.PI); + + public static final double k_elevatorHeightLinearVelocityGain = -0.357; - public static final double k_elevatorHeightLinearVelocityGain = -0.357; // for every 1 rotation - // elevator up, subtract - // X: 1 mps at max - // elevator public static final double k_elevatorHeightLinearAccelerationGain = k_elevatorHeightLinearVelocityGain * 2; - public static final double k_elevatorHeightAngularVelocityGain = -0.0446; // for every 1 - // rotation elevator - // up, subtract X: - // 0.25 rps at max - // elevator + public static final double k_elevatorHeightAngularVelocityGain = -0.0446; public static final double k_elevatorHeightAngularAccelerationGain = k_elevatorHeightAngularVelocityGain * 2; diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java index 9d4891f3..91d4cf30 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java @@ -7,7 +7,7 @@ import frc.robot.Constants.DriveConstants; import frc.robot.Constants.ButtonBindingConstants.Driver; import frc.robot.Constants.FieldConstants; -import frc.robot.driveassist.Autopilot; +import frc.robot.driveassist.APTarget; import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.states.Align; import frc.robot.superstructure.states.HeadingReset; @@ -34,6 +34,6 @@ public void bind(Superstructure superstructure) { m_resetHeading.onTrue(superstructure.enter(new HeadingReset())); m_processorAlign.whileTrue(superstructure.enter(new Align( DriveConstants.kTightAutopilot, - new Autopilot.Target().withReference(FieldConstants.k_processor)))); + new APTarget().withReference(FieldConstants.k_processor)))); } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java index e38c28d6..b0e00bb0 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java @@ -5,7 +5,7 @@ import frc.robot.Constants.CoralLevel; import frc.robot.Constants.FieldConstants; import frc.robot.Constants.ScoringLocations; -import frc.robot.driveassist.Autopilot; +import frc.robot.driveassist.APTarget; import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.states.AlgaeStow; import frc.robot.superstructure.states.Align; @@ -39,17 +39,17 @@ public void bind(Superstructure superstructure) { for (ScoringLocations location : Constants.ScoringLocations.values()) { String name = "Align ".concat(location.toString()); NamedCommands.registerCommand(name, superstructure.enter( - new Align(new Autopilot.Target(location.value)))); + new Align(new APTarget(location.value)))); } NamedCommands.registerCommand("Align LIntake", superstructure.enter( - new Align(new Autopilot.Target(FieldConstants.kLeftIntake)).allianceRelative())); + new Align(new APTarget(FieldConstants.kLeftIntake)).allianceRelative())); NamedCommands.registerCommand("Align RIntake", superstructure.enter( - new Align(new Autopilot.Target(FieldConstants.kRightIntake)).allianceRelative())); + new Align(new APTarget(FieldConstants.kRightIntake)).allianceRelative())); NamedCommands.registerCommand("Align IJ", superstructure.enter( - new Align(new Autopilot.Target(FieldConstants.kIJ)).allianceRelative())); + new Align(new APTarget(FieldConstants.kIJ)).allianceRelative())); NamedCommands.registerCommand("Align GH", superstructure.enter( - new Align(new Autopilot.Target(FieldConstants.kGH)).allianceRelative())); + new Align(new APTarget(FieldConstants.kGH)).allianceRelative())); NamedCommands.registerCommand("Align Barge", superstructure.enter( - new Align(new Autopilot.Target(FieldConstants.kBarge1)).allianceRelative())); + new Align(new APTarget(FieldConstants.kBarge1)).allianceRelative())); } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java new file mode 100644 index 00000000..fbe6bed1 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java @@ -0,0 +1,27 @@ +package frc.robot.driveassist; + +/** + * A class that holds constrain information for an autopilot action + * Constraints are max acceleration and decelleration. + */ +public class APConstraints { + protected double m_acceleration; + protected double m_decceleration; + + public APConstraints() {} + + public APConstraints(double acceleration, double decceleration) { + m_acceleration = acceleration; + m_decceleration = decceleration; + } + + public APConstraints withAcceleration(double acceleration) { + m_acceleration = acceleration; + return this; + } + + public APConstraints withDecceleration(double decceleration) { + m_decceleration = decceleration; + return this; + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java new file mode 100644 index 00000000..5ced540f --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java @@ -0,0 +1,62 @@ +package frc.robot.driveassist; + +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.Rotations; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; + +/** + * A class representing a profile that completely determines how AP approaches a target. + * + * A profile includes two APConstraints, one for the direction towards the target, and one for the + * direction perpendicular to the target. + * + * A profile also includes a maximum error, in the XY plane as well as rotation. + */ +public class APProfile { + protected APConstraints m_constraintsI; + protected APConstraints m_constraintsU; + protected Distance m_errorXY; + protected Angle m_errorTheta; + + public APProfile() { + m_errorXY = Meters.of(0); + m_errorTheta = Rotations.of(0); + } + + public APProfile withErrorXY(Distance errorXY) { + m_errorXY = errorXY; + return this; + } + + public APProfile withErrorTheta(Angle errorTheta) { + m_errorTheta = errorTheta; + return this; + } + + public APProfile withConstraintsI(APConstraints constraintsI) { + m_constraintsI = constraintsI; + return this; + } + + public APProfile withConstraintsU(APConstraints constraintsU) { + m_constraintsU = constraintsU; + return this; + } + + public Distance getErrorXY() { + return m_errorXY; + } + + public Angle getErrorTheta() { + return m_errorTheta; + } + + public APConstraints getConstraintsI() { + return m_constraintsI; + } + + public APConstraints getConstraintsU() { + return m_constraintsU; + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java new file mode 100644 index 00000000..7e12df05 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java @@ -0,0 +1,98 @@ +package frc.robot.driveassist; + +import java.util.Optional; + +import com.pathplanner.lib.util.FlippingUtil; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; + +/** + * A class representing the goal end state of an autopilot action + * + * A target needs a reference Pose2d, but can optionally have a specified entry angle + * + * The target also may have a desired end velocity. + */ +public class APTarget { + protected Pose2d m_reference; + protected Optional m_entryAngle; + protected double m_velocity; + + /** + * Creates a blank autopilot target with reference (0,0) and rotation of zero. + */ + public APTarget() { + m_reference = Pose2d.kZero; + m_entryAngle = Optional.empty(); + m_velocity = 0; + } + + /** + * Creates a new autopilot target with the given target pose, no entry angle, and no end velocity + */ + public APTarget(Pose2d pose) { + m_reference = pose; + m_velocity = 0; + m_entryAngle = Optional.empty(); + } + + /** + * Modifies this instance's reference pose and returns itself for easier method chaining. + * NOTE: This also sets, if unset, the entry angle to be the angle of the pose. + */ + public APTarget withReference(Pose2d reference) { + m_reference = reference; + if (m_entryAngle == null) { + m_entryAngle = Optional.of(reference.getRotation()); + } + return this; + } + + /** + * Modifies this instance's entry angle and returns itself for easier method chaining + */ + public APTarget withEntryAngle(Rotation2d entryAngle) { + m_entryAngle = Optional.of(entryAngle); + return this; + } + + /** + * Modifies this instance's end velocity and returns itself for easier method chaining + */ + public APTarget withVelocity(double velocity) { + m_velocity = velocity; + return this; + } + + /** + * Returns this target's reference pose + */ + public Pose2d getReference() { + return m_reference; + } + + /** + * Returns this target's desired entry angle + */ + public Optional getEntryAngle() { + return m_entryAngle; + } + + /** + * Returns this target/s end velocity + */ + public double getVelocity() { + return m_velocity; + } + + /** + * Flips a target across the field, preserving relative entry angle and rotation. + */ + public APTarget flip() { + m_reference = FlippingUtil.flipFieldPose(m_reference); + m_entryAngle.ifPresent(rotation -> { + m_entryAngle = Optional.of(FlippingUtil.flipFieldRotation(rotation)); + }); + return this; + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 2181535b..24bac6ca 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -2,27 +2,36 @@ import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.Radians; -import static edu.wpi.first.units.Units.Rotations; import org.slf4j.Logger; import org.slf4j.LoggerFactory; - -import com.pathplanner.lib.util.FlippingUtil; - import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.units.measure.Angle; -import edu.wpi.first.units.measure.Distance; +/** + * Autopilot is a class that tries to drive a target to a goal in 2 dimensional space. + * + * Autopilot is a fast algorithm because it doesn not think ahead. Any and all math is already + * worked out such that a small amount of computation is necessary on the fly. + * + * This means that autopilot is un able to avoid obstacles, because it cannot think ahead. + * + * It also is not guarunteed to provide the fastest path - however, it is well tuned such that it + * gives very close results. + */ public class Autopilot { @SuppressWarnings("unused") private static final Logger m_logger = LoggerFactory.getLogger(Autopilot.class); - private Profile m_profile; + private APProfile m_profile; private final double dt = 0.020; - public Autopilot(Profile profile) { + /** + * Constructs an Autopilot from a given profile. This is the profile that the autopilot will use + * for all actions. + */ + public Autopilot(APProfile profile) { m_profile = profile; } @@ -33,70 +42,78 @@ public Autopilot(Profile profile) { * @param velocity The robot's current (field relative) velocity * @param target The target the robot should drive towards */ - public Translation2d calculate( - Pose2d current, - Translation2d velocity, - Target target) { - Pose2d reference = target.m_reference; - Rotation2d entryAngle = target.m_entryAngle; - // direction and distance to actual target - Translation2d offset = reference.getTranslation().minus(current.getTranslation()); - double distance = offset.getNorm(); - if (distance == 0) + public Translation2d calculate(Pose2d current, Translation2d velocity, APTarget target) { + // this method does not respect entry angle + Translation2d offset = toTargetCoorinateFrame( + target.m_reference.getTranslation().minus(current.getTranslation()), target); + if (offset.equals(Translation2d.kZero)) { return Translation2d.kZero; - // create new target - Translation2d entryDirection = new Translation2d( - entryAngle.getCos(), - entryAngle.getSin()); - // end velocity - Translation2d endVelocity = entryDirection.times(target.m_velocity); - // calculate directions for i & j - Translation2d directionI = offset.div(distance); - Translation2d directionU = new Translation2d( - directionI.getY(), - -directionI.getX()); - // current velocity (i & j) - double veloI = project(velocity, directionI); - double veloU = 0.0; - double entryDistance = 0; - if (target.getEntryAngle() != null) { - veloU = project(velocity, directionU); - Translation2d entry = entryDirection.times(-distance); - entryDistance = project(entry, directionU); } + double dist = offset.getNorm(); + Translation2d towardsTarget = offset.div(dist); + Translation2d initial = toTargetCoorinateFrame(velocity, target); + Translation2d goal = towardsTarget.times(calculateMaxVelocity(dist, target.m_velocity)); + Translation2d out = correct(initial, goal); + return toGlobalCoordinateFrame(out, target); + } + /** + * Turns any other coordinate frame into a coordinate frame with positive x meaning in the + * direction of the target's entry angle, if applicable (otherwise no change to + * angles). + */ + private Translation2d toTargetCoorinateFrame(Translation2d coords, APTarget target) { + Rotation2d entryAngle = target.m_entryAngle.orElse(Rotation2d.kZero); + return coords.rotateBy(entryAngle.unaryMinus()); + } - // drive towards goal state - double adjustedI = approach(distance, veloI, m_profile.getConstraintsI()) - + Math.max(project(endVelocity, directionI), 0); - double adjustedU = approach(entryDistance, veloU, m_profile.getConstraintsU()); - // combine - Translation2d adjusted = directionI.times(adjustedI).plus( - directionU.times(adjustedU)); - return adjusted; + /** + * Turns a translation from a target-relative coordinate frame to a global coordinate frame + */ + private Translation2d toGlobalCoordinateFrame(Translation2d coords, APTarget target) { + Rotation2d entryAngle = target.m_entryAngle.orElse(Rotation2d.kZero); + return coords.rotateBy(entryAngle); + } + + /** + * Determines the maximum velocity required to travel the given distance and end at rest. + * + * This uses constant acceleration, as determined by the value for I decceleration in the profile. + */ + private double calculateMaxVelocity(double dist, double endVelo) { + return Math.sqrt(Math.pow(endVelo, 2) + 2 * m_profile.m_constraintsI.m_decceleration * dist); } - private double project(Translation2d vector, Translation2d axis) { - double dot = vector.getX() * axis.getX() + vector.getY() * axis.getY(); - return dot / Math.pow(axis.getNorm(), 2); + /** + * Attempts to drive the initial translation to the goal translation using the parameters for + * acceleration given in the profile + */ + private Translation2d correct(Translation2d initial, Translation2d goal) { + Rotation2d angleOffset = Rotation2d.kZero; + if (!goal.equals(Translation2d.kZero)) { + angleOffset = new Rotation2d(goal.getX(), goal.getY()); + } + Translation2d adjustedGoal = goal.rotateBy(angleOffset.unaryMinus()); + Translation2d adjustedInitial = initial.rotateBy(angleOffset.unaryMinus()); + double initialI = adjustedInitial.getX(); + double initialU = adjustedInitial.getY(); + double goalI = adjustedGoal.getX(); + // we cap the adjusted I because we'd rather adjust now than overshoot. + double adjustedI = Math.min(goalI, + push(initialI, goalI, m_profile.m_constraintsI.m_acceleration)); + double adjustedU = push(initialU, 0, m_profile.m_constraintsU.m_acceleration); + return new Translation2d(adjustedI, adjustedU).rotateBy(angleOffset); } - - private double approach(double distance, double initial, Constraints c) { - double goal = Math.sqrt(2 * c.m_decceleration * Math.abs(distance)) * Math.signum(distance); - if (Math.abs(goal - initial) < dt * c.m_acceleration) { - // we're within range, just adjust to what we need. - return goal; - } - // check for a "out-of-bounds" position - if (goal < initial && goal > 0) - return goal; - if (goal > initial && goal < 0) - return goal; - if (goal > initial) { - return initial + dt * c.m_acceleration; - } else { - return initial - dt * c.m_acceleration; + + private double push(double start, double end, double accel) { + double maxChange = accel * dt; + if (Math.abs(start - end) < maxChange) { + return end; + } + if (start > end) { + return start - maxChange; } + return start + maxChange; } public boolean atSetpoint(Pose2d current, Pose2d goal) { @@ -106,159 +123,4 @@ public boolean atSetpoint(Pose2d current, Pose2d goal) { .getRadians()) <= m_profile.m_errorTheta.in(Radians); return okXY && okTheta; } - - /* Constraints to limit autopilot */ - public static class Constraints { - private double m_acceleration; - private double m_decceleration; - - public Constraints() {} - - public Constraints(double acceleration, double decceleration) { - m_acceleration = acceleration; - m_decceleration = decceleration; - } - - public Constraints withAcceleration(double acceleration) { - m_acceleration = acceleration; - return this; - } - - public Constraints withDecceleration(double decceleration) { - m_decceleration = decceleration; - return this; - } - } - - /* Profile (how to reach the goal) */ - public static class Profile { - private Constraints m_constraintsI; - private Constraints m_constraintsU; - private Distance m_errorXY; - private Angle m_errorTheta; - - public Profile() { - m_errorXY = Meters.of(0); - m_errorTheta = Rotations.of(0); - } - - public Profile withErrorXY(Distance errorXY) { - m_errorXY = errorXY; - return this; - } - - public Profile withErrorTheta(Angle errorTheta) { - m_errorTheta = errorTheta; - return this; - } - - public Profile withConstraintsI(Constraints constraintsI) { - m_constraintsI = constraintsI; - return this; - } - - public Profile withConstraintsU(Constraints constraintsU) { - m_constraintsU = constraintsU; - return this; - } - - public Distance getErrorXY() { - return m_errorXY; - } - - public Angle getErrorTheta() { - return m_errorTheta; - } - - public Constraints getConstraintsI() { - return m_constraintsI; - } - - public Constraints getConstraintsU() { - return m_constraintsU; - } - } - - /* End States (the goal to reach) */ - public static class Target { - private Pose2d m_reference; - private Rotation2d m_entryAngle; - private double m_velocity; - - /** - * Creates a blank autopilot target with reference (0,0) and rotation of zero. - */ - public Target() { - m_reference = Pose2d.kZero; - m_entryAngle = null; - m_velocity = 0; - } - - /** - * Creates a new autopilot target with the given target pose, no entry angle, and no end - * velocity - */ - public Target(Pose2d pose) { - m_reference = pose; - m_velocity = 0; - m_entryAngle = null; - } - - /** - * Modifies this instance's reference pose and returns itself for easier method chaining. - * NOTE: This also sets, if unset, the entry angle to be the angle of the pose. - */ - public Target withReference(Pose2d reference) { - m_reference = reference; - if (m_entryAngle == null) - m_entryAngle = reference.getRotation(); - return this; - } - - /** - * Modifies this instance's entry angle and returns itself for easier method chaining - */ - public Target withEntryAngle(Rotation2d entryAngle) { - m_entryAngle = entryAngle; - return this; - } - - /** - * Modifies this instance's end velocity and returns itself for easier method chaining - */ - public Target withVelocity(double velocity) { - m_velocity = velocity; - return this; - } - - /** - * Returns this target's reference pose - */ - public Pose2d getReference() { - return m_reference; - } - - /** - * Returns this target's desired entry angle - */ - public Rotation2d getEntryAngle() { - return m_entryAngle; - } - - /** - * Returns this target/s end velocity - */ - public double getVelocity() { - return m_velocity; - } - - /** - * Flips a target across the field, preserving relative entry angle and rotation. - */ - public Target flip() { - m_reference = FlippingUtil.flipFieldPose(m_reference); - m_entryAngle = FlippingUtil.flipFieldRotation(m_entryAngle); - return this; - } - } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index da3ea643..fa0f733c 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -50,6 +50,7 @@ import frc.robot.Constants.SimConstants; import frc.robot.Constants.DriveConstants.HeadingPID; import frc.robot.driveassist.Autopilot; +import frc.robot.driveassist.APTarget; import frc.robot.Robot; import frc.robot.RobotObserver; import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain; @@ -405,16 +406,25 @@ public Command teleopDrive(DoubleSupplier x, DoubleSupplier y, DoubleSupplier ro /** * Drives to a certain point on the field */ - public Command align(Autopilot autopilot, Autopilot.Target target) { - return run(() -> { - Translation2d velocities = getVelocityComponents(); - Translation2d output = autopilot.calculate(m_estimatedPose, velocities, target); - setControl(m_veloRequest - .withVelocityX(output.getX()) - .withVelocityY(output.getY()) - .withTargetDirection(target.getReference().getRotation())); - }).until(() -> { - return autopilot.atSetpoint(m_estimatedPose, target.getReference()); - }).finallyDo(this::stop); + public Command align(Autopilot autopilot, APTarget target) { + return Commands.sequence( + runOnce(() -> { + RobotObserver.getField().getObject("reference").setPose(target.getReference()); + }), + run(() -> { + Translation2d velocities = getVelocityComponents(); + Translation2d output = autopilot.calculate(m_estimatedPose, velocities, target); + setControl(m_veloRequest + .withVelocityX(output.getX()) + .withVelocityY(output.getY()) + .withTargetDirection(target.getReference().getRotation())); + })) + .until(() -> { + return autopilot.atSetpoint(m_estimatedPose, target.getReference()); + }) + .finallyDo(this::stop) + .finallyDo(() -> { + RobotObserver.getField().getObject("reference").setPoses(); + }); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java index ed3128c5..0adb43ea 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java @@ -7,18 +7,19 @@ import edu.wpi.first.wpilibj2.command.DeferredCommand; import frc.robot.Constants.DriveConstants; import frc.robot.driveassist.Autopilot; +import frc.robot.driveassist.APTarget; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; public class Align implements EnterableState { private final Autopilot m_autopilot; - private final Autopilot.Target m_target; + private final APTarget m_target; private boolean m_flip; /** * A state that controls the drivetrain and drives to a certain, given point on the field */ - public Align(Autopilot autopilot, Autopilot.Target target) { + public Align(Autopilot autopilot, APTarget target) { m_autopilot = autopilot; m_target = target; } @@ -28,7 +29,7 @@ public Align(Autopilot autopilot, Autopilot.Target target) { * * This approach uses the tight Autopilot configuration from DriveConstants */ - public Align(Autopilot.Target target) { + public Align(APTarget target) { m_autopilot = DriveConstants.kTightAutopilot; m_target = target; } @@ -43,7 +44,7 @@ public Align allianceRelative() { return this; } - private Autopilot.Target target() { + private APTarget target() { if (m_flip) { if (DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Red)) { } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java index 68b0b6f0..2ea1347b 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java @@ -11,25 +11,26 @@ import frc.robot.Constants.DriveConstants; import frc.robot.Constants.ScoringLocationsLeft; import frc.robot.Constants.ScoringLocationsRight; -import frc.robot.driveassist.Autopilot; +import frc.robot.driveassist.APTarget; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; import frc.robot.utils.FieldUtils; public class ReefAlign implements EnterableState { private List m_locations; + /** * Represents a state where the robot aligns to a reef face */ public ReefAlign(ReefSide side) { if (side == ReefSide.Left) { m_locations = Arrays.stream(ScoringLocationsLeft.values()) - .map(location -> location.value) - .collect(Collectors.toList()); + .map(location -> location.value) + .collect(Collectors.toList()); } else { m_locations = Arrays.stream(ScoringLocationsRight.values()) - .map(location -> location.value) - .collect(Collectors.toList()); + .map(location -> location.value) + .collect(Collectors.toList()); } } @@ -37,12 +38,15 @@ public Command build(Subsystems subsystems) { return Commands.defer(() -> { List locations = new ArrayList<>(); m_locations.forEach(location -> locations.add(FieldUtils.getGlobalPose(location))); - Autopilot.Target target = new Autopilot.Target() - .withReference(subsystems.drivetrain().getPose().nearest(locations)); + Pose2d closest = subsystems.drivetrain().getPose().nearest(locations); + APTarget target = new APTarget(closest) + .withEntryAngle(closest.getRotation()); return subsystems.drivetrain().align(DriveConstants.kTightAutopilot, target); }, Set.of( - subsystems.drivetrain())); + subsystems.drivetrain())); } - public enum ReefSide { Left, Right; } + public enum ReefSide { + Left, Right; + } } diff --git a/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java b/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java index 5975cb5f..8cd46021 100644 --- a/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java +++ b/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java @@ -5,7 +5,7 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; -import frc.robot.driveassist.Autopilot; +import frc.robot.driveassist.APTarget; public class FieldUtils { /** @@ -24,7 +24,7 @@ public static Pose2d getGlobalPose(Pose2d localPose) { } } - public static Autopilot.Target flipPose(Autopilot.Target target) { + public static APTarget flipPose(APTarget target) { if (DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Red)) { return target.flip(); } else { From e89b4cea453aaeae44361f6ee8dbbb66f7d9472c Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 10 May 2025 18:39:52 -0400 Subject: [PATCH 019/135] Create NT groups Separated subsystem SmartDashboard puts and gets by groups For example, there's now a coral group that contains all the coral updates. In the future, a wrapper class could be used, like our Logger (org.slf4j) that would easily enable/disable smart dashboard writes for nonessential stuff. --- ThriftyTest/simgui.json | 14 ++++ .../src/main/java/frc/robot/Constants.java | 9 ++- .../src/main/java/frc/robot/Robot.java | 3 + .../src/main/java/frc/robot/Telemetry.java | 2 +- .../frc/robot/binding/DashboardBindings.java | 9 ++- .../frc/robot/driveassist/APConstraints.java | 17 ++++- .../java/frc/robot/driveassist/Autopilot.java | 66 +++++++++++++++++-- .../stateSpace/StateSpaceController.java | 16 +++-- .../frc/robot/subsystems/AlgaeRollers.java | 6 +- .../java/frc/robot/subsystems/Climber.java | 6 +- .../subsystems/CommandSwerveDrivetrain.java | 9 ++- .../frc/robot/subsystems/CoralRollers.java | 27 ++++---- .../java/frc/robot/subsystems/Elevator.java | 12 ++-- .../robot/subsystems/PassiveSubsystem.java | 1 + .../main/java/frc/robot/subsystems/Pivot.java | 4 +- .../vision/SingleInputPoseEstimator.java | 4 +- 16 files changed, 149 insertions(+), 56 deletions(-) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 688d75d0..de279f1a 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -14,12 +14,17 @@ "NTProvider": { "types": { "/FMSInfo": "FMSInfo", + "/SmartDashboard/Drive To Center": "Command", "/SmartDashboard/Elevator Visualization": "Mechanism2d", + "/SmartDashboard/Elevator/Lazy Zero": "Command", "/SmartDashboard/Enter test state": "Command", "/SmartDashboard/Lazy Zero Elevator": "Command", "/SmartDashboard/PathPlanner": "Alerts", "/SmartDashboard/Pivot Arm Visualization": "Mechanism2d", + "/SmartDashboard/Pivot/Visualization": "Mechanism2d", "/SmartDashboard/Super Field": "Field2d", + "/SmartDashboard/Test/Drive To Center": "Command", + "/SmartDashboard/Test/Enter test state": "Command", "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, "windows": { @@ -120,6 +125,15 @@ }, "transitory": { "SmartDashboard": { + "Coral": { + "open": true + }, + "Swirly length": { + "open": true + }, + "Swirly length ": { + "open": true + }, "open": true } } diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index b7b50ba5..5ee3805b 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -126,12 +126,11 @@ public static class HeadingPID { public static final double kD = 0.0; } - private static final APConstraints kTightAutopilotConstraintsI = - new APConstraints() - .withAcceleration(5.5) - .withDecceleration(1.3); + private static final APConstraints kTightAutopilotConstraintsI = new APConstraints() + .withAcceleration(5.5) + .withDecceleration(1.3); - private static final APConstraints kTightAutopilotConstraintsU = kTightAutopilotConstraintsI; + private static final APConstraints kTightAutopilotConstraintsU = APConstraints.unlimited(); private static final APProfile kTightProfile = new APProfile() .withConstraintsI(kTightAutopilotConstraintsI) diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index 5c0a6f24..99188d7f 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -7,7 +7,9 @@ import com.pathplanner.lib.commands.FollowPathCommand; import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -32,6 +34,7 @@ public void robotInit() { @Override public void robotPeriodic() { CommandScheduler.getInstance().run(); + SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime()); } @Override diff --git a/ThriftyTest/src/main/java/frc/robot/Telemetry.java b/ThriftyTest/src/main/java/frc/robot/Telemetry.java index 7aa2f09c..6d870be1 100644 --- a/ThriftyTest/src/main/java/frc/robot/Telemetry.java +++ b/ThriftyTest/src/main/java/frc/robot/Telemetry.java @@ -107,7 +107,7 @@ public void telemeterize(SwerveDriveState state) { m_moduleDirections[i].setAngle(state.ModuleStates[i].angle); m_moduleSpeeds[i].setLength(state.ModuleStates[i].speedMetersPerSecond / (2 * MaxSpeed)); - SmartDashboard.putData("Module " + i, m_moduleMechanisms[i]); + SmartDashboard.putData("Drivetrain/Module " + i, m_moduleMechanisms[i]); } } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java index b11bcac0..f39d7c00 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java @@ -1,11 +1,18 @@ package frc.robot.binding; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.driveassist.APTarget; import frc.robot.superstructure.Superstructure; +import frc.robot.superstructure.states.Align; import frc.robot.superstructure.states.Test; public class DashboardBindings implements Binder { public void bind(Superstructure superstructure) { - SmartDashboard.putData("Enter test state", superstructure.enter(new Test())); + SmartDashboard.putData("Test/Enter test state", superstructure.enter(new Test())); + SmartDashboard.putData("Test/Drive To Center", superstructure.enter(new Align( + new APTarget(new Pose2d(8, 4, Rotation2d.kZero)) + .withEntryAngle(Rotation2d.kZero)))); } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java index fbe6bed1..c5a3a27d 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java @@ -1,8 +1,8 @@ package frc.robot.driveassist; /** - * A class that holds constrain information for an autopilot action - * Constraints are max acceleration and decelleration. + * A class that holds constrain information for an autopilot action Constraints are max acceleration + * and decelleration. */ public class APConstraints { protected double m_acceleration; @@ -15,11 +15,24 @@ public APConstraints(double acceleration, double decceleration) { m_decceleration = decceleration; } + public static APConstraints unlimited() { + return new APConstraints(Double.POSITIVE_INFINITY, Double.POSITIVE_INFINITY); + } + + /** + * Modifies this constraint's max acceleration value. This affects the maximum acceleration + * that the autopilot action will use to correct initial velocities. + */ public APConstraints withAcceleration(double acceleration) { m_acceleration = acceleration; return this; } + /** + * Modifies this constraint's decceleration value. + * + * This is only necessary if the constraint is used for I control + */ public APConstraints withDecceleration(double decceleration) { m_decceleration = decceleration; return this; diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 24bac6ca..cb184d4f 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -43,24 +43,28 @@ public Autopilot(APProfile profile) { * @param target The target the robot should drive towards */ public Translation2d calculate(Pose2d current, Translation2d velocity, APTarget target) { - // this method does not respect entry angle Translation2d offset = toTargetCoorinateFrame( target.m_reference.getTranslation().minus(current.getTranslation()), target); if (offset.equals(Translation2d.kZero)) { return Translation2d.kZero; } - double dist = offset.getNorm(); - Translation2d towardsTarget = offset.div(dist); Translation2d initial = toTargetCoorinateFrame(velocity, target); - Translation2d goal = towardsTarget.times(calculateMaxVelocity(dist, target.m_velocity)); + if (target.m_entryAngle.isEmpty()) { + double disp = offset.getNorm(); + Translation2d towardsTarget = offset.div(disp); + Translation2d goal = towardsTarget.times(calculateMaxVelocity(disp, target.m_velocity)); + Translation2d out = correct(initial, goal); + return toGlobalCoordinateFrame(out, target); + } + Translation2d goal = calculateSwirlyVelocity(offset, target); Translation2d out = correct(initial, goal); return toGlobalCoordinateFrame(out, target); + } /** * Turns any other coordinate frame into a coordinate frame with positive x meaning in the - * direction of the target's entry angle, if applicable (otherwise no change to - * angles). + * direction of the target's entry angle, if applicable (otherwise no change to angles). */ private Translation2d toTargetCoorinateFrame(Translation2d coords, APTarget target) { Rotation2d entryAngle = target.m_entryAngle.orElse(Rotation2d.kZero); @@ -105,6 +109,11 @@ private Translation2d correct(Translation2d initial, Translation2d goal) { return new Translation2d(adjustedI, adjustedU).rotateBy(angleOffset); } + /** + * Using the provided acceleration, "pushes" the start point towards the end point. + * + * This is used for ensuring that changes in velocity are withing the acceleration threshold + */ private double push(double start, double end, double accel) { double maxChange = accel * dt; if (Math.abs(start - end) < maxChange) { @@ -116,6 +125,51 @@ private double push(double start, double end, double accel) { return start + maxChange; } + /** + * Uses the swirly method to calculate the correct velocities for the robot, respecting entry + * angles + * + * @param offset The offset from the robot to the target, in the target's coordinate frame + */ + private Translation2d calculateSwirlyVelocity(Translation2d offset, APTarget target) { + double disp = offset.getNorm(); + Rotation2d theta = new Rotation2d(offset.getX(), offset.getY()); + // TODO: This could be a problem because rotation2d constructor doesn't like small numbers + double rads = theta.getRadians(); + double dist = calculateSwirlyLength(rads, disp); + double vx = theta.getCos() - rads * theta.getSin(); + double vy = rads * theta.getCos() + theta.getSin(); + return new Translation2d(vx, vy) + .div(Math.hypot(vx, vy)) // normalize + .times(calculateMaxVelocity(dist, target.m_velocity)); // and scale to new length + } + + /** + * Using a precomputed integral, returns the length of the path that the swirly method generates. + * + * More specificallu, this calcualtes the arc length of the polar curve r=theta from the given + * angle to zero, then scales it to match. + */ + private double calculateSwirlyLength(double theta, double radius) { + // Dear other programmer(s): + // I will now apologize for what follows. + // Please just trust it works. I precomputed the integral and this is what it turns out to be. + // Blame Netwon, not me. + if (theta == 0) { + return radius; + } + theta = Math.abs(theta); + double hypot = Math.hypot(theta, 1); + double a = theta / hypot; + // u is for unscaled. + double u1 = 0.5 * hypot * theta; + double u2 = 0.25 * Math.log(1 - a); + double u3 = 0.25 * Math.log(1 + a); + double u = u1 - u2 + u3; + double scaled = radius / theta * u; + return scaled; + } + public boolean atSetpoint(Pose2d current, Pose2d goal) { boolean okXY = Math.hypot(current.getX() - goal.getX(), current.getY() - goal.getY()) <= m_profile.m_errorXY.in(Meters); diff --git a/ThriftyTest/src/main/java/frc/robot/stateSpace/StateSpaceController.java b/ThriftyTest/src/main/java/frc/robot/stateSpace/StateSpaceController.java index a849585e..628ba47f 100644 --- a/ThriftyTest/src/main/java/frc/robot/stateSpace/StateSpaceController.java +++ b/ThriftyTest/src/main/java/frc/robot/stateSpace/StateSpaceController.java @@ -24,7 +24,7 @@ public class StateSpaceController lastMeasurement = m_outputSupplier.get(); m_loop.correct(lastMeasurement); @@ -66,10 +68,10 @@ private void periodic() { // Send new readings to SmartDashboard for logging purposes for (int row = 0; row < lastMeasurement.getNumRows(); row++) { double measurement = lastMeasurement.get(row); - SmartDashboard.putNumber(m_name + " (" + row + ")", measurement); + SmartDashboard.putNumber("statespace - " + m_name + "/" + row, measurement); } - isAtSetpoint = Math.abs(lastMeasurement.get(0) - getReference()) < m_tolerance; + m_atSetpoint = Math.abs(lastMeasurement.get(0) - getReference()) < m_tolerance; } /** @@ -85,8 +87,8 @@ public double getReference() { return m_loop.getNextR(0); } - public boolean isAtSetpoint() { - return isAtSetpoint; + public boolean isM_atSetpoint() { + return m_atSetpoint; } @Override diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java index 45b16585..cd0c2c39 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java @@ -74,15 +74,15 @@ private void updateObjectState() { if (Robot.isReal()) { m_hasAlgae = getTorqueCurrent() >= AlgaeRollerConstants.torqueCurrentThreshold; } else { - m_hasAlgae = SmartDashboard.getBoolean("Algae Held", false); + m_hasAlgae = SmartDashboard.getBoolean("Algae/Held", false); } - SmartDashboard.putBoolean("Algae Held", m_hasAlgae); + SmartDashboard.putBoolean("Algae/Held", m_hasAlgae); } @Override public void periodic() { - SmartDashboard.putNumber("Algae Temp", m_algaeRoller.getDeviceTemp().getValueAsDouble()); + SmartDashboard.putNumber("Algae/Temp", m_algaeRoller.getDeviceTemp().getValueAsDouble()); updateObjectState(); if (m_voltageChanged) { m_algaeRoller.setVoltage(m_voltage); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java index f7896875..a18b8254 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java @@ -88,9 +88,9 @@ public void periodic() { m_leftClimbMotor.setControl(m_request.withOutput(m_voltage)); m_voltageChanged = false; } - SmartDashboard.putBoolean("Climb Ready", raised().getAsBoolean()); - SmartDashboard.putBoolean("Climbed", climbed().getAsBoolean()); - SmartDashboard.putNumber("climber pos", m_encoder.getPosition().getValueAsDouble()); + SmartDashboard.putBoolean("Climb/Ready", raised().getAsBoolean()); + SmartDashboard.putBoolean("Climb/Complete", climbed().getAsBoolean()); + SmartDashboard.putNumber("Climb/Position", m_encoder.getPosition().getValueAsDouble()); } public double getVelocity() { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index fa0f733c..3620ef77 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -220,11 +220,10 @@ public Command applyRequest(Supplier requestSupplier) { @Override public void periodic() { m_estimatedPose = this.getState().Pose; - SmartDashboard.putNumber("x", m_estimatedPose.getTranslation().getX()); - SmartDashboard.putNumber("y", m_estimatedPose.getTranslation().getY()); + SmartDashboard.putNumber("Drivetrain/x", m_estimatedPose.getTranslation().getX()); + SmartDashboard.putNumber("Drivetrain/y", m_estimatedPose.getTranslation().getY()); - SmartDashboard.putBoolean("Drivetrain Aligned", m_aligned); - SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime()); + SmartDashboard.putBoolean("Drivetrain/Aligned", m_aligned); if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) { DriverStation.getAlliance().ifPresent(allianceColor -> { @@ -261,7 +260,7 @@ private void handleVisionToggle() { m_validPose = Utils.getCurrentTimeSeconds() - m_oldVisionTimestamp < Constants.VisionConstants.k_visionTimeout; } - SmartDashboard.putBoolean("VIABLE POSE", m_validPose); + SmartDashboard.putBoolean("Vision/Acceptable Pose", m_validPose); } /* Swerve requests to apply during SysId characterization */ diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java index e608732c..f2ecf586 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java @@ -36,7 +36,6 @@ public class CoralRollers extends PassiveSubsystem { public CoralRollers() { super(); configMotors(); - configDashboard(); configCANrange(); RobotObserver.setPieceHeldSupplier(holding()); } @@ -50,14 +49,6 @@ private void configMotors() { CoralConstants.motorConfig.MotorOutput.withInverted(CoralConstants.kInvertRight))); } - private void configDashboard() { - if (Robot.isReal()) { - // NOTHING YET - } else { - SmartDashboard.putBoolean("Coral Override", false); - } - } - private void configCANrange() { m_frontRange.getConfigurator().apply(CoralConstants.frontRangeConfig); m_upperRange.getConfigurator().apply(CoralConstants.upperRangeConfig); @@ -98,14 +89,23 @@ private void setL1Score() { } private boolean getFrontCANrange() { + if (Robot.isSimulation()) { + return SmartDashboard.getBoolean("Coral/Front CANrange", false); + } return m_frontRange.getIsDetected().getValue(); } private boolean getUpperCANrange() { + if (Robot.isSimulation()) { + return SmartDashboard.getBoolean("Coral/Upper CANrange", false); + } return m_upperRange.getIsDetected().getValue(); } private boolean getInnerCANrange() { + if (Robot.isSimulation()) { + return SmartDashboard.getBoolean("Coral/Inner CANrange", false); + } return m_innerRange.getIsDetected().getValue(); } @@ -123,10 +123,11 @@ public Trigger holding() { @Override public void periodic() { - SmartDashboard.putBoolean("Inner CANrange", getInnerCANrange()); - SmartDashboard.putBoolean("Coral CANrange", getFrontCANrange()); - SmartDashboard.putBoolean("OCS", getUpperCANrange()); - SmartDashboard.putBoolean("HAS CORAL", holding().getAsBoolean()); + SmartDashboard.putBoolean("Coral/Front CANrange", getFrontCANrange()); + SmartDashboard.putBoolean("Coral/Upper CANrange", getUpperCANrange()); + SmartDashboard.putBoolean("Coral/Inner CANrange", getInnerCANrange()); + SmartDashboard.putBoolean("Coral/Holding", holding().getAsBoolean()); + SmartDashboard.putBoolean("Coral/Present", present().getAsBoolean()); } protected void passive() { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java index b3388b43..41313157 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java @@ -54,7 +54,7 @@ public Elevator() { super(); configMotor(); configCANrange(); - SmartDashboard.putData("Lazy Zero Elevator", + SmartDashboard.putData("Elevator/Lazy Zero", runOnce(this::calibrateZero).ignoringDisable(true)); } @@ -149,23 +149,23 @@ private boolean atZero() { private void goDownNoStopping() { m_elevatorRight.setPosition(1); // TODO: Why is this line here? - m_logger.warn("unhandled todo!"); + m_logger.warn("Strange code running & unhandled TODO! Please address"); m_elevatorRight.set(ElevatorConstants.manualDownSpeed); } @Override public void periodic() { m_position = getPositionUncached(); - SmartDashboard.putNumber("Elevator position", m_position); - SmartDashboard.putString("Elevator reference", m_reference.toString()); - SmartDashboard.putBoolean("prefire?", m_prefireReq.getAsBoolean()); + SmartDashboard.putNumber("Elevator/Position", m_position); + SmartDashboard.putString("Elevator/Reference", m_reference.toString()); + SmartDashboard.putBoolean("Elevator/Prefire", m_prefireReq.getAsBoolean()); if (m_speedChanged) { m_elevatorRight.setControl(new DutyCycleOut(m_speed)); m_speedChanged = false; } - SmartDashboard.putBoolean("ELEVATOR AT POSITION", ready().getAsBoolean()); + SmartDashboard.putBoolean("Elevator/Ready", ready().getAsBoolean()); } /** diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java b/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java index c68a5a01..988ce312 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java @@ -18,6 +18,7 @@ public abstract class PassiveSubsystem extends SubsystemBase { private boolean m_taken; protected PassiveSubsystem() { + m_taken = false; enablePassiveBehavior(); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java index 056e9290..b0b91b4b 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java @@ -71,7 +71,7 @@ private void configSim() { m_armLigament = m_mechRoot .append( new MechanismLigament2d("Arm", PivotConstants.armLength, Math.toDegrees(m_position))); - SmartDashboard.putData("Pivot Arm Visualization", m_mechVisual); + SmartDashboard.putData("Pivot/Visualization", m_mechVisual); } MotionMagicVoltage control = new MotionMagicVoltage(0); @@ -140,7 +140,7 @@ public void periodic() { m_speedChanged = false; } - SmartDashboard.putBoolean("PIVOT AT POSITION", ready().getAsBoolean()); + SmartDashboard.putBoolean("Pivot/Ready", ready().getAsBoolean()); } @Override diff --git a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java index 54b104ed..cd0512b2 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java @@ -68,10 +68,10 @@ public SingleInputPoseEstimator( @Override public void run() { if (!m_camera.isConnected()) { - SmartDashboard.putBoolean(m_name + " Connected", false); + SmartDashboard.putBoolean("Vision/" + m_name + " Connected", false); m_logger.error("Unable to read data from {}", m_name); } else { - SmartDashboard.putBoolean(m_name + " Connected", true); + SmartDashboard.putBoolean("Vision/" + m_name + " Connected", true); } // Pull the latest data from the camera. List results = m_camera.getAllUnreadResults(); From 46f96095a9f579d09405568b2ee92062c8f90e1a Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 10 May 2025 19:08:43 -0400 Subject: [PATCH 020/135] Remove Shape class --- .../src/main/java/frc/robot/Constants.java | 94 ---------------- .../frc/robot/subsystems/LedFeedback.java | 5 +- .../src/main/java/frc/robot/utils/Shape.java | 105 ------------------ 3 files changed, 1 insertion(+), 203 deletions(-) delete mode 100644 ThriftyTest/src/main/java/frc/robot/utils/Shape.java diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 5ee3805b..4ef7f7f9 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -1,7 +1,5 @@ package frc.robot; - -import java.util.List; import java.util.Map; import java.util.Set; @@ -72,7 +70,6 @@ import frc.robot.driveassist.Autopilot; import frc.robot.driveassist.APProfile; import frc.robot.generated.TunerConstants; -import frc.robot.utils.Shape; public class Constants { @@ -966,101 +963,10 @@ private ScoringLocationsRight(Pose2d value) { } } - public enum ScoringLocationsMiddle { - AB(ScoringLocations.A.value.interpolate(ScoringLocations.B.value, 0.5)), CD( - ScoringLocations.C.value.interpolate(ScoringLocations.D.value, 0.5)), EF( - ScoringLocations.E.value.interpolate(ScoringLocations.F.value, 0.5)), GH( - ScoringLocations.G.value.interpolate(ScoringLocations.H.value, 0.5)), IJ( - ScoringLocations.I.value.interpolate(ScoringLocations.J.value, 0.5)), KL( - ScoringLocations.K.value.interpolate(ScoringLocations.L.value, 0.5)); - - public Pose2d value; - - private ScoringLocationsMiddle(Pose2d value) { - this.value = value; - } - } - - public enum ClimbLocations { - WALL(new Pose2d(8.5, 7.26, Rotation2d.fromDegrees(0))), MIDDLE( - new Pose2d(8.5, 6.1, Rotation2d.fromDegrees(0))), CENTER( - new Pose2d(8.5, 5.0, Rotation2d.fromDegrees(0))); - - public Pose2d value; - - private ClimbLocations(Pose2d value) { - this.value = value; - } - } - public enum ReefClipLocations { LEFT, RIGHT; } - public static final class CommandBounds { - // 1 robot of space around the entire reef - public static final List reef = List.of( - new Translation2d(2.729, 3.013), - new Translation2d(4.498, 1.975), - new Translation2d(6.242, 3.013), - new Translation2d(6.242, 5.024), - new Translation2d(4.498, 6.010), - new Translation2d(2.729, 5.024)); - public static final Shape reefBounds = Shape.fromUnsortedVertices(reef, "Reef"); - - // 1.5 robot of space away from the opposite alliance barge side intake - public static final List leftIntake = List.of( - new Translation2d(0.0, 1.25), - new Translation2d(1.7, 0.0), - new Translation2d(3.2, 0.0), - new Translation2d(0.0, 2.35)); - public static final Shape leftIntakeBounds = - Shape.fromUnsortedVertices(leftIntake, "Left Intake"); - - // 1.5 robot of space away from the same alliance barge side intake - public static final Shape rightIntakeBounds = - Shape.flipHotdog(leftIntakeBounds, "Right Intake"); - - // processor where we score - public static final List oppositeAllianceProcessor = List.of( - new Translation2d(5.5, 0.0), - new Translation2d(6.5, 0.0), - new Translation2d(6.5, 1), - new Translation2d(5.5, 1)); - public static final Shape processorBounds = - Shape.fromUnsortedVertices(oppositeAllianceProcessor, "Processor"); - - // net where we score - public static final List net = List.of( - new Translation2d(7.2, 4.25), - new Translation2d(10.3, 4.25), - new Translation2d(10.3, 8), - new Translation2d(7.2, 8)); - public static final Shape netBounds = Shape.fromUnsortedVertices(net, "Net"); - - public static final List tooClose = List.of( - new Translation2d(8.6, 4.25), - new Translation2d(11.7, 4.25), - new Translation2d(11.7, 8), - new Translation2d(8.6, 8) - - ); - - public static final Shape netTooCloseBounds = Shape.fromUnsortedVertices(tooClose, "NoNet"); - - public static Map displayBounds = Map.ofEntries( - Map.entry("Blue Alliance Reef", reefBounds), - Map.entry("Blue Alliance Net", netBounds), - Map.entry("Blue Alliance Left Intake", leftIntakeBounds), - Map.entry("Blue Alliance Right Intake", rightIntakeBounds), - Map.entry("Blue Alliance Processor", processorBounds), - Map.entry("Red Alliance Reef", reefBounds.flip()), - Map.entry("Red Alliance Net", netBounds.flip()), - Map.entry("Red Alliance Left Intake", leftIntakeBounds.flip()), - Map.entry("Red Alliance Right Intake", rightIntakeBounds.flip()), - Map.entry("Red Alliance Processor", processorBounds.flip())); - } - public static class LedConstants { public static final int numLED = 133; public static final double flashSpeed = 0.75; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java index 4dd47b02..0332aeef 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java @@ -22,7 +22,6 @@ import edu.wpi.first.wpilibj.DriverStation.MatchType; import edu.wpi.first.wpilibj.util.Color; import frc.robot.Constants.ButtonBindingConstants; -import frc.robot.Constants.CommandBounds; import frc.robot.Constants.IDConstants; import frc.robot.Constants.LedConstants; import frc.robot.RobotObserver; @@ -36,7 +35,6 @@ public class LedFeedback extends PassiveSubsystem { private boolean aligned = false; private boolean climbed = false; private boolean algaeOnBoard = false; - private boolean algaeInRange = false; private boolean noElevatorZoneActive = false; private boolean inAuton = false; private boolean inTeleop = false; @@ -84,7 +82,6 @@ public void passive() { coralOnBoard = RobotObserver.getCoralPieceHeld(); algaeOnBoard = RobotObserver.getAlgaePieceHeld(); aligned = RobotObserver.getAligned(); - algaeInRange = CommandBounds.netBounds.isActive(); noElevatorZoneActive = RobotObserver.getNoElevatorZone(); climbed = RobotObserver.getClimbed(); @@ -137,7 +134,7 @@ public void passive() { } // Check if Algae is On Board and In range to Net - } else if (algaeOnBoard && algaeInRange) { + } else if (algaeOnBoard) { if (mode != LED_MODE.ALGAE_READY) { mode = LED_MODE.ALGAE_READY; setAll(LED_COLOR.BLUE, LED_PATTERN.SOLID); diff --git a/ThriftyTest/src/main/java/frc/robot/utils/Shape.java b/ThriftyTest/src/main/java/frc/robot/utils/Shape.java deleted file mode 100644 index f9990316..00000000 --- a/ThriftyTest/src/main/java/frc/robot/utils/Shape.java +++ /dev/null @@ -1,105 +0,0 @@ -package frc.robot.utils; - -import java.util.ArrayList; -import java.util.Comparator; -import java.util.List; -import java.util.stream.Collectors; - -import edu.wpi.first.math.geometry.Translation2d; - -import static edu.wpi.first.units.Units.Meters; -import frc.robot.Constants.FieldConstants; -import frc.robot.RobotObserver; - -public class Shape { - private final List m_vertices; - private final String m_name; - - public Shape(List vertices, String name) { - this.m_vertices = vertices; - this.m_name = name; - } - - public static Shape fromUnsortedVertices(List unsortedVertices, String name) { - if (unsortedVertices.size() < 3) { - throw new IllegalArgumentException("Polygon must be atleat 3 points."); - } - - List mutableList = new ArrayList<>(unsortedVertices); - - double centerX = 0, centerY = 0; - for (Translation2d vertex : unsortedVertices) { - centerX += vertex.getX(); - centerY += vertex.getY(); - } - - centerX /= unsortedVertices.size(); - centerY /= unsortedVertices.size(); - - final double cx = centerX; - final double cy = centerY; - - mutableList.sort( - Comparator.comparingDouble(point -> Math.atan2(point.getY() - cy, point.getX() - cx))); - - return new Shape(mutableList, name); - } - - // ray cast: if crosses odd times, its inside - public boolean isPointInside(Translation2d point) { - int crossings = 0; - int numVertices = m_vertices.size(); - - // horizontal ray pointing right, counts num vertices it crosses - for (int i = 0; i < numVertices; i++) { - Translation2d start = m_vertices.get(i); - Translation2d end = m_vertices.get((i + 1) % numVertices); // rolls over to 1 after last - // vertex - - // converted to doubles for ez math - double x = point.getX(), y = point.getY(); - double x1 = start.getX(), y1 = start.getY(); - double x2 = end.getX(), y2 = end.getY(); - - if ((y > y1) != (y > y2)) { // if both true? not within y1-y2 bounds - // calculates the x coordinate of where it intersects the line - double intersectionPoint = x1 + (y - y1) * (x2 - x1) / (y2 - y1); - if (x < intersectionPoint) { // we only care if its to the RIGHT (when point less than - // intersection point) - crossings++; - } - } - } - - return (crossings % 2 == 1); - } - - public boolean isActive() { - if (!RobotObserver.getVisionValid()) { // vision off = don't run shape logic - return true; - } - boolean isInside = isPointInside(FieldUtils.getGlobalPose(RobotObserver.getPose()).getTranslation()); - return isInside; - } - - public List getVertices() { - return m_vertices; - } - - // flips hotdog style (up down) - ex. reef pose - public static Shape flipHotdog(Shape shape, String name) { - // flips the y axis by doing field width - old y - return new Shape(shape.getVertices().stream() - .map(oldTranslation -> new Translation2d(oldTranslation.getX(), - FieldConstants.k_fieldWidth.in(Meters) - oldTranslation.getY())) - .collect(Collectors.toList()), name); - } - - public Shape flip() { - return new Shape(this.getVertices().stream() - .map(oldTranslation -> new Translation2d( - FieldConstants.k_fieldLength.in(Meters) - oldTranslation.getX(), - FieldConstants.k_fieldWidth.in(Meters) - oldTranslation.getY())) - .collect(Collectors.toList()), this.m_name); - } -} From 91c5ed13a5f94307e071c12c68d3bf692a7f4872 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 08:33:21 -0400 Subject: [PATCH 021/135] Extract VisionConstants --- .../src/main/java/frc/robot/Constants.java | 103 ---------------- .../main/java/frc/robot/RobotObserver.java | 11 -- .../subsystems/CommandSwerveDrivetrain.java | 35 +----- .../java/frc/robot/vision/LogBuilder.java | 1 - .../frc/robot/vision/MultiInputFilter.java | 1 - .../vision/SingleInputPoseEstimator.java | 1 - .../frc/robot/vision/VisionConstants.java | 111 ++++++++++++++++++ .../java/frc/robot/vision/VisionHandler.java | 1 - .../java/frc/robot/vision/VisionLogger.java | 1 - 9 files changed, 115 insertions(+), 150 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 4ef7f7f9..7293aa80 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -1,8 +1,5 @@ package frc.robot; -import java.util.Map; -import java.util.Set; - import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.CANdiConfiguration; import com.ctre.phoenix6.configs.CANrangeConfiguration; @@ -30,14 +27,9 @@ import com.pathplanner.lib.config.PIDConstants; import com.pathplanner.lib.controllers.PPHolonomicDriveController; -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.apriltag.AprilTagFields; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N2; import edu.wpi.first.math.system.LinearSystem; @@ -307,101 +299,6 @@ public static class ButtonBoardKeyboard { } } - public static class VisionConstants { - public static final boolean enableVision = true; - public static final boolean k_enableLogging = true; - - public static final double k_rotationCoefficient = Math.PI * 20; - public static final double k_translationCoefficient = 0.10; // previously 0.10 - - public static final AprilTagFieldLayout k_layout = - AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded); - - public static final String k_estimationName = "estimation"; - public static final String kRejectedName = "rejected"; - - public static final String k_logPath = "/home/lvuser/logs/vision"; - public static final String k_simLogPath = "logs/vision"; - - private static final double k_moduleHeight = 0.190; - - private static final double k_tightPitch = -Units.degreesToRadians(22.5); - private static final double k_widePitch = -Units.degreesToRadians(25.0); - - private static final double k_tightYaw = Units.degreesToRadians(37.0); // this doesn't seem - // right - private static final double k_wideYaw = Units.degreesToRadians(-7.0); - - // The camera names - public static Map fakecameras = Map.ofEntries( - Map.entry("test", new Transform3d(0, 0, 0, new Rotation3d()))); - public static Map cameras = Map.ofEntries( - Map.entry("cam1", new Transform3d( // left tight - new Translation3d(0.256, 0.289, k_moduleHeight), - new Rotation3d(0, k_tightPitch, -k_tightYaw))), - Map.entry("cam2", new Transform3d( // left wide - new Translation3d(0.337, 0.331, k_moduleHeight), - new Rotation3d(0, k_widePitch, -k_wideYaw))), - Map.entry("cam3", new Transform3d( // right wide - new Translation3d(0.337, -0.331, k_moduleHeight), - new Rotation3d(0, k_widePitch, k_wideYaw))), - Map.entry("cam4", new Transform3d( // right tight - new Translation3d(0.256, -0.289, k_moduleHeight), - new Rotation3d(0, k_tightPitch, k_tightYaw)))); - - public static final String k_leftAlignName = "cam1"; - public static final String k_rightAlignName = "cam4"; - - // The tick time for each pose estimator to run - public static final double k_periodic = 0.02; - // The maximum number of results (per camera) - public static final double k_expectedResults = 10; - // The maximum tolerated latency, in seconds. - public static final double k_latencyThreshold = 0.75; - // The maximum tolerated ambiguity value. - public static final double k_AmbiguityThreshold = 0.2; - // The farthest out off a field a pose estimate can say we are - // (in each dimension separately) - public static final Distance k_XYMargin = Meters.of(0.5); - // The maximum distance from 0 that a camera's pose can report - public static final Distance k_ZMargin = Meters.of(1.5); - - // Some configuration variables: - public static final boolean k_useStdDevs = true; - public static final double k_distanceMultiplier = 5.0; - public static final double k_noisyDistance = 4.0; - public static final double k_ambiguityMultiplier = 0.4; - public static final double k_ambiguityShifter = 0.2; - public static final double k_targetMultiplier = 80; - public static final double k_differenceThreshold = 0.10; - public static final double k_differenceMultiplier = 200.0; - public static final double k_latencyMultiplier = 1.3; - - public static final double k_headingThreshold = Units.degreesToRadians(3); - - // Stats about the camera for simulation - public static final int k_resWidth = 320 * 2; - public static final int k_resHeight = 240 * 2; - public static final Rotation2d k_fov = Rotation2d.fromDegrees(82.0); - public static final Rotation2d kHorizontalFov = Rotation2d.fromDegrees(70.0); - - - // Simulated error: - public static final Time k_avgLatency = Milliseconds.of(18); - public static final Time k_latencyStdDev = Milliseconds.of(2); - public static final double k_avgErr = 0.08; - public static final double k_errStdDev = 0.02; - - // Stop using vision after X time - public static final double k_visionTimeout = 0.5; - - // reef tag ids (single tag only) - public static final Set k_reefIds = Set.of( - 6, 7, 8, 9, 10, 11, // red tags - 17, 18, 19, 20, 21, 22 // blue tags - ); - } - public static class FieldConstants { public static final Distance k_fieldWidth = Meters.of(8.05); public static final Distance k_fieldLength = Meters.of(17.55); diff --git a/ThriftyTest/src/main/java/frc/robot/RobotObserver.java b/ThriftyTest/src/main/java/frc/robot/RobotObserver.java index 7d6db14c..c2222ccc 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotObserver.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotObserver.java @@ -54,17 +54,6 @@ public static Field2d getField() { return getInstance().m_field; } - /* Keeps track of the latest time an april tag was seen */ - private Supplier m_visionValidSupplier; - - public static void setVisionValidSupplier(Supplier visionValidSupplier) { - getInstance().m_visionValidSupplier = visionValidSupplier; - } - - public static boolean getVisionValid() { - return getInstance().m_visionValidSupplier.get(); - } - private Supplier m_elevatorHeightSupplier; public static void setElevatorHeightSupplier(Supplier visionValidSupplier) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index 3620ef77..3f9aaada 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -43,7 +43,6 @@ import edu.wpi.first.wpilibj2.command.Subsystem; import edu.wpi.first.wpilibj2.command.button.Trigger; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; -import frc.robot.Constants; import frc.robot.Constants.DriveConstants; import frc.robot.Constants.FFConstants; import frc.robot.Constants.FieldConstants; @@ -91,10 +90,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su private Pose2d m_estimatedPose = new Pose2d(); - private double m_oldVisionTimestamp = -1; - - private boolean m_validPose = false; - private SwerveSetpointGenerator setpointGenerator; private SwerveSetpoint previousSetpoint; @@ -135,7 +130,6 @@ private void setup() { } m_aligned = false; - RobotObserver.setVisionValidSupplier(this::getVisionValid); RobotObserver.setPoseSupplier(this::getPose); RobotObserver.setVelocitySupplier(this::getVelocity); RobotObserver.setNoElevatorZoneSupplier(noElevatorZone()); @@ -234,8 +228,6 @@ public void periodic() { m_hasAppliedOperatorPerspective = true; }); } - - handleVisionToggle(); } private void startSimThread() { @@ -251,18 +243,6 @@ private void startSimThread() { m_simNotifier.startPeriodic(SimConstants.k_simPeriodic); } - private boolean getVisionValid() { - return m_validPose; - } - - private void handleVisionToggle() { - if (m_oldVisionTimestamp >= 0) { - m_validPose = Utils.getCurrentTimeSeconds() - - m_oldVisionTimestamp < Constants.VisionConstants.k_visionTimeout; - } - SmartDashboard.putBoolean("Vision/Acceptable Pose", m_validPose); - } - /* Swerve requests to apply during SysId characterization */ private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation(); @@ -319,21 +299,14 @@ public void driveRobotRelative(ChassisSpeeds speeds) { } public void addPoseEstimate(TimestampedPoseEstimate estimate) { - m_oldVisionTimestamp = estimate.timestamp(); // This should NOT run in simulation! if (Robot.isSimulation()) return; // Depending on our configs, we should use or not use the std devs - if (Constants.VisionConstants.k_useStdDevs) { - addVisionMeasurement( - estimate.pose(), - estimate.timestamp(), - estimate.stdDevs()); - } else { - addVisionMeasurement( - estimate.pose(), - estimate.timestamp()); - } + addVisionMeasurement( + estimate.pose(), + estimate.timestamp(), + estimate.stdDevs()); } public Command sysIdQuasistaticTranslation(SysIdRoutine.Direction direction) { diff --git a/ThriftyTest/src/main/java/frc/robot/vision/LogBuilder.java b/ThriftyTest/src/main/java/frc/robot/vision/LogBuilder.java index 52a7cbcb..8be1605e 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/LogBuilder.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/LogBuilder.java @@ -4,7 +4,6 @@ import java.util.List; import edu.wpi.first.math.geometry.Pose2d; -import frc.robot.Constants.VisionConstants; import frc.robot.RobotObserver; public class LogBuilder { diff --git a/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java b/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java index ae656881..a9bfee5f 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java @@ -14,7 +14,6 @@ import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Transform3d; -import frc.robot.Constants.VisionConstants; public class MultiInputFilter { private final Logger m_logger = LoggerFactory.getLogger(MultiInputFilter.class); diff --git a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java index cd0512b2..18c3e451 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java @@ -29,7 +29,6 @@ import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Constants.FieldConstants; -import frc.robot.Constants.VisionConstants; import frc.robot.RobotObserver; import frc.robot.vision.TimestampedPoseEstimate.EstimationAlgorithm; diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java new file mode 100644 index 00000000..c008a934 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -0,0 +1,111 @@ +package frc.robot.vision; + +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.Milliseconds; +import java.util.Map; +import java.util.Set; +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.Time; + +public class VisionConstants { + public static final boolean enableVision = true; + public static final boolean k_enableLogging = true; + + public static final double k_rotationCoefficient = Math.PI * 20; + public static final double k_translationCoefficient = 0.10; // previously 0.10 + + public static final AprilTagFieldLayout k_layout = + AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded); + + public static final String k_estimationName = "estimation"; + public static final String kRejectedName = "rejected"; + + public static final String k_logPath = "/home/lvuser/logs/vision"; + public static final String k_simLogPath = "logs/vision"; + + private static final double k_moduleHeight = 0.190; + + private static final double k_tightPitch = -Units.degreesToRadians(22.5); + private static final double k_widePitch = -Units.degreesToRadians(25.0); + + private static final double k_tightYaw = Units.degreesToRadians(37.0); // this doesn't seem + // right + private static final double k_wideYaw = Units.degreesToRadians(-7.0); + + // The camera names + public static Map fakecameras = Map.ofEntries( + Map.entry("test", new Transform3d(0, 0, 0, new Rotation3d()))); + public static Map cameras = Map.ofEntries( + Map.entry("cam1", new Transform3d( // left tight + new Translation3d(0.256, 0.289, k_moduleHeight), + new Rotation3d(0, k_tightPitch, -k_tightYaw))), + Map.entry("cam2", new Transform3d( // left wide + new Translation3d(0.337, 0.331, k_moduleHeight), + new Rotation3d(0, k_widePitch, -k_wideYaw))), + Map.entry("cam3", new Transform3d( // right wide + new Translation3d(0.337, -0.331, k_moduleHeight), + new Rotation3d(0, k_widePitch, k_wideYaw))), + Map.entry("cam4", new Transform3d( // right tight + new Translation3d(0.256, -0.289, k_moduleHeight), + new Rotation3d(0, k_tightPitch, k_tightYaw)))); + + public static final String k_leftAlignName = "cam1"; + public static final String k_rightAlignName = "cam4"; + + // The tick time for each pose estimator to run + public static final double k_periodic = 0.02; + // The maximum number of results (per camera) + public static final double k_expectedResults = 10; + // The maximum tolerated latency, in seconds. + public static final double k_latencyThreshold = 0.75; + // The maximum tolerated ambiguity value. + public static final double k_AmbiguityThreshold = 0.2; + // The farthest out off a field a pose estimate can say we are + // (in each dimension separately) + public static final Distance k_XYMargin = Meters.of(0.5); + // The maximum distance from 0 that a camera's pose can report + public static final Distance k_ZMargin = Meters.of(1.5); + + // Some configuration variables: + public static final boolean k_useStdDevs = true; + public static final double k_distanceMultiplier = 5.0; + public static final double k_noisyDistance = 4.0; + public static final double k_ambiguityMultiplier = 0.4; + public static final double k_ambiguityShifter = 0.2; + public static final double k_targetMultiplier = 80; + public static final double k_differenceThreshold = 0.10; + public static final double k_differenceMultiplier = 200.0; + public static final double k_latencyMultiplier = 1.3; + + public static final double k_headingThreshold = Units.degreesToRadians(3); + + // Stats about the camera for simulation + public static final int k_resWidth = 320 * 2; + public static final int k_resHeight = 240 * 2; + public static final Rotation2d k_fov = Rotation2d.fromDegrees(82.0); + public static final Rotation2d kHorizontalFov = Rotation2d.fromDegrees(70.0); + + + // Simulated error: + public static final Time k_avgLatency = Milliseconds.of(18); + public static final Time k_latencyStdDev = Milliseconds.of(2); + public static final double k_avgErr = 0.08; + public static final double k_errStdDev = 0.02; + + // Stop using vision after X time + public static final double k_visionTimeout = 0.5; + + // reef tag ids (single tag only) + public static final Set k_reefIds = Set.of( + 6, 7, 8, 9, 10, 11, // red tags + 17, 18, 19, 20, 21, 22 // blue tags + ); +} + diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java index bd959e3f..a4b369ba 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java @@ -17,7 +17,6 @@ import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.wpilibj.Notifier; import edu.wpi.first.wpilibj.smartdashboard.Field2d; -import frc.robot.Constants.VisionConstants; import frc.robot.Robot; import frc.robot.RobotObserver; import frc.robot.subsystems.CommandSwerveDrivetrain; diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java index ab5a4fd7..45307fb8 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java @@ -8,7 +8,6 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -import frc.robot.Constants.VisionConstants; import frc.robot.Robot; import frc.robot.vision.LogBuilder.VisionLog; From e5a2f6568953b2673073830eb329afbcc3c88365 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 08:35:12 -0400 Subject: [PATCH 022/135] Remove unused CANrangeConstants --- .../src/main/java/frc/robot/Constants.java | 15 --------------- 1 file changed, 15 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 7293aa80..71b822d6 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -330,21 +330,6 @@ public static final class AutonConstants { public static final double stage2Distance = 1; } - public static final class CANrangeConstants { - - public static final CANrangeConfiguration k_canRangeConfig = new CANrangeConfiguration() - .withFovParams(new FovParamsConfigs() - .withFOVRangeX(7) - .withFOVRangeY(7)) - .withToFParams(new ToFParamsConfigs() - .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - // .withProximityParams(null) - public static final double farAlignedDistanceMeters = 0.18; - public static final double tolerance = 0.2; // 20% tolerance - public static final double closeAlignedDistanceMeters = 0.12; - public static final int k_filterWindow = 5; // 5 measurements - } - public static final class ElevatorConstants { public static final boolean enable = true; From ae2ddec82a0b624ecba369a38159afc4993248ed Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 08:49:06 -0400 Subject: [PATCH 023/135] Extract algae constants This also creates the package frc.robot.subsystems.algae, which contains everythign for algae. --- .../src/main/java/frc/robot/Constants.java | 27 -------------- .../main/java/frc/robot/RobotContainer.java | 2 +- .../subsystems/algae/AlgaeConstants.java | 36 +++++++++++++++++++ .../subsystems/{ => algae}/AlgaeRollers.java | 23 ++++++------ .../robot/superstructure/Superstructure.java | 2 +- 5 files changed, 49 insertions(+), 41 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java rename ThriftyTest/src/main/java/frc/robot/subsystems/{ => algae}/AlgaeRollers.java (79%) diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 71b822d6..e6a95d50 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -720,33 +720,6 @@ public static final class ClimberConstants { public static final double kFunnelOpenTime = 1.5; } - public static final class AlgaeRollerConstants { - public static final double intakeVoltage = 12; - public static final double netEjectVoltage = -3.0; // 3.0 - public static final double processorEjectVoltage = -3.2; - - public static final double torqueCurrentThreshold = 75; - - public static final double supplyCurrentLimit = 25.0; - - public static final double holdVoltage = 2.7; - public static final double k_updateObjectPeriodSeconds = 0.200; // 200 milliseconds - public static final InvertedValue invertMotor = InvertedValue.Clockwise_Positive; - public static final double algaeEjectTime = 0.4; // was 0.6 but i want faster when we're done - public static final double processorScoreTime = 2.0; // was 0.6 but i want faster when we're - // done - public static final double reefPickupSafetyDistance = 1.75; - - public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Brake) - .withInverted(invertMotor)) - - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(supplyCurrentLimit)); - } - public static final class TalonFXConstants { public static final double nominalVoltageVolts = 12.0; // DC Volts public static final double stallTorqueNewtonMeters = 4.69; // Nm diff --git a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java index c2df5c68..49306942 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java @@ -13,12 +13,12 @@ import frc.robot.binding.OperatorBindings; import frc.robot.binding.RobotBindings; import frc.robot.generated.TunerConstants; -import frc.robot.subsystems.AlgaeRollers; import frc.robot.subsystems.Climber; import frc.robot.subsystems.CoralRollers; import frc.robot.subsystems.Elevator; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.Pivot; +import frc.robot.subsystems.algae.AlgaeRollers; import frc.robot.superstructure.Superstructure; public class RobotContainer { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java new file mode 100644 index 00000000..c90513d3 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java @@ -0,0 +1,36 @@ +package frc.robot.subsystems.algae; + +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; +import com.ctre.phoenix6.configs.MotorOutputConfigs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; + +public final class AlgaeConstants { + public static final int kMotorID = 60; + + public static final double kIntakeVoltage = 12; + public static final double kNetEjectVoltage = -3.0; // 3.0 + public static final double kProcessorEjectVoltage = -3.2; + public static final double kHoldVoltage = 2.7; + + public static final double kTorqueCurrentThreshold = 75; + public static final double kSupplyCurrentLimit = 25.0; + + public static final double kUpdateObjectPeriodSeconds = 0.200; + + public static final double kProcessorScoreTime = 2.0; + public static final double kNetScoreTime = 0.4; + + public static final InvertedValue kInvertMotor = InvertedValue.Clockwise_Positive; + + public static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withInverted(kInvertMotor)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withSupplyCurrentLimit(kSupplyCurrentLimit)); +} + diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeRollers.java similarity index 79% rename from ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java rename to ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeRollers.java index cd0c2c39..82154d22 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/AlgaeRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeRollers.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems; +package frc.robot.subsystems.algae; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -10,16 +10,15 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.Constants.AlgaeRollerConstants; -import frc.robot.Constants.IDConstants; import frc.robot.Robot; import frc.robot.RobotObserver; +import frc.robot.subsystems.PassiveSubsystem; public class AlgaeRollers extends PassiveSubsystem implements AutoCloseable { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(AlgaeRollers.class); - private final TalonFX m_algaeRoller = new TalonFX(IDConstants.algae); + private final TalonFX m_algaeRoller = new TalonFX(AlgaeConstants.kMotorID); private double m_voltage; private boolean m_voltageChanged; @@ -36,7 +35,7 @@ public AlgaeRollers() { private void configIntakeMotor() { m_algaeRoller.clearStickyFaults(); - m_algaeRoller.getConfigurator().apply(AlgaeRollerConstants.motorConfig); + m_algaeRoller.getConfigurator().apply(AlgaeConstants.kMotorConfig); } private void setMotor(double voltage) { @@ -64,7 +63,7 @@ private void stop() { */ private void keep(boolean shouldHold) { if (shouldHold) { - setMotor(AlgaeRollerConstants.holdVoltage); + setMotor(AlgaeConstants.kHoldVoltage); } else { stop(); } @@ -72,7 +71,7 @@ private void keep(boolean shouldHold) { private void updateObjectState() { if (Robot.isReal()) { - m_hasAlgae = getTorqueCurrent() >= AlgaeRollerConstants.torqueCurrentThreshold; + m_hasAlgae = getTorqueCurrent() >= AlgaeConstants.kTorqueCurrentThreshold; } else { m_hasAlgae = SmartDashboard.getBoolean("Algae/Held", false); } @@ -102,7 +101,7 @@ protected void passive() {} */ public Command intake() { return Commands.sequence( - runOnce(() -> setMotor(AlgaeRollerConstants.intakeVoltage)), + runOnce(() -> setMotor(AlgaeConstants.kIntakeVoltage)), Commands.waitUntil(holdingAlgae())) .finallyDo(this::keep) @@ -114,8 +113,8 @@ public Command intake() { */ public Command net() { return Commands.sequence( - runOnce(() -> setMotor(AlgaeRollerConstants.netEjectVoltage)), - Commands.waitSeconds(AlgaeRollerConstants.algaeEjectTime)) + runOnce(() -> setMotor(AlgaeConstants.kNetEjectVoltage)), + Commands.waitSeconds(AlgaeConstants.kNetScoreTime)) .finallyDo(this::keep) .onlyIf(holdingAlgae()); @@ -126,8 +125,8 @@ public Command net() { */ public Command processorScore() { return Commands.sequence( - runOnce(() -> setMotor(AlgaeRollerConstants.processorEjectVoltage)), - Commands.waitSeconds(AlgaeRollerConstants.processorScoreTime)) + runOnce(() -> setMotor(AlgaeConstants.kProcessorEjectVoltage)), + Commands.waitSeconds(AlgaeConstants.kProcessorScoreTime)) .finallyDo(this::keep) .onlyIf(holdingAlgae()); diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index a3d513af..532ded66 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -2,13 +2,13 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.subsystems.AlgaeRollers; import frc.robot.subsystems.Climber; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.CoralRollers; import frc.robot.subsystems.Elevator; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.Pivot; +import frc.robot.subsystems.algae.AlgaeRollers; import frc.robot.vision.VisionHandler; public class Superstructure { From 3f215e08a103f0eaf9127c06c3463de2c6e7b67a Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 10:30:11 -0400 Subject: [PATCH 024/135] Extract VisionConstants --- .../src/main/java/frc/robot/Constants.java | 69 +----- ThriftyTest/src/main/java/frc/robot/Main.java | 9 +- .../src/main/java/frc/robot/Robot.java | 116 ++++----- .../main/java/frc/robot/RobotContainer.java | 4 +- .../subsystems/algae/AlgaeConstants.java | 24 +- .../subsystems/{ => climber}/Climber.java | 30 +-- .../subsystems/climber/ClimberConstants.java | 66 +++++ .../robot/superstructure/Superstructure.java | 6 +- .../java/frc/robot/vision/LogBuilder.java | 68 +++--- .../frc/robot/vision/MultiInputFilter.java | 6 +- .../vision/SingleInputPoseEstimator.java | 65 ++--- .../frc/robot/vision/VisionConstants.java | 124 +++++----- .../java/frc/robot/vision/VisionHandler.java | 229 +++++++++--------- .../java/frc/robot/vision/VisionLogger.java | 4 +- 14 files changed, 390 insertions(+), 430 deletions(-) rename ThriftyTest/src/main/java/frc/robot/subsystems/{ => climber}/Climber.java (76%) create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index e6a95d50..dfb658a2 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -84,11 +84,6 @@ public static class IDConstants { public static final int frontIR = 2; public static final int rearIR = 3; - public static final int climbLeft = 1; - public static final int climbRight = 2; - - public static final int algae = 60; - public static final int candle1 = 5; public static final int candle2 = 6; @@ -300,8 +295,8 @@ public static class ButtonBoardKeyboard { } public static class FieldConstants { - public static final Distance k_fieldWidth = Meters.of(8.05); - public static final Distance k_fieldLength = Meters.of(17.55); + public static final Distance kFieldWidth = Meters.of(8.05); + public static final Distance kFieldLength = Meters.of(17.55); public static final Translation2d reefCenter = new Translation2d(4.5, 4.0); public static final double kReefReadyAuton = 2.6; public static final double kReefReady = 2.1; @@ -660,66 +655,6 @@ public static class CoralConstants { public static double intakeTimeout = 1; } - public static final class ClimberConstants { - public static final boolean rightMotorInvert = true; - public static final double climberUpVolts = 12.0; // 12.0 - public static final double climbDownVolts = -12.0; - public static final double climbRollVolts = -4; - - public static final double climberCurrentLimit = 80.0; - public static final InvertedValue invertMotor = InvertedValue.CounterClockwise_Positive; - - public static final double forwardSoftLimit = 0.0; - public static final double reverseSoftLimit = -0.25; - public static final double stowPosition = -0.25; - public static final double climbPosition = -0.110; - public static final double kShakePosition = -0.02; - - public static final double encoderOffset = -0.01318359; - public static final SensorDirectionValue invertEncoder = - SensorDirectionValue.CounterClockwise_Positive; - - public static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() - .withMagnetSensor(new MagnetSensorConfigs() - .withAbsoluteSensorDiscontinuityPoint(0.5) - .withSensorDirection(invertEncoder) - .withMagnetOffset(encoderOffset)); - - public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Brake) - .withInverted(invertMotor)) - - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(climberCurrentLimit)) - - .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() - .withForwardSoftLimitThreshold(forwardSoftLimit) - .withForwardSoftLimitEnable(true) - .withReverseSoftLimitThreshold(reverseSoftLimit) - .withReverseSoftLimitEnable(true)) - - .withFeedback(new FeedbackConfigs() - .withFeedbackRemoteSensorID(IDConstants.climbEncoder) - .withFeedbackSensorSource(FeedbackSensorSourceValue.RemoteCANcoder)); - - public static final double climbReadyRangeValue = 0.08; - public static final double climbedRangeValue = 0.145; - - public static final double climbMaxEncoderValue = 63.833; - public static final double climbReadyMaxEncoderValue = 90; - - public static final double k_openServoPosition = 0.0; - public static final double k_closedServoPosition = 1.0; - public static final double k_servoTolerance = 0.01; - - public static final double climbReadyTolerance = -0.001; - - public static final double kClimbTime = 30.0; - public static final double kFunnelOpenTime = 1.5; - } - public static final class TalonFXConstants { public static final double nominalVoltageVolts = 12.0; // DC Volts public static final double stallTorqueNewtonMeters = 4.69; // Nm diff --git a/ThriftyTest/src/main/java/frc/robot/Main.java b/ThriftyTest/src/main/java/frc/robot/Main.java index 25fa2ae5..fe215d73 100644 --- a/ThriftyTest/src/main/java/frc/robot/Main.java +++ b/ThriftyTest/src/main/java/frc/robot/Main.java @@ -7,10 +7,9 @@ import edu.wpi.first.wpilibj.RobotBase; public final class Main { - private Main() { - } + private Main() {} - public static void main(String... args) { - RobotBase.startRobot(Robot::new); - } + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index 99188d7f..789090dc 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -14,87 +14,77 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler; public class Robot extends TimedRobot { - private Command m_autonomousCommand; + private Command m_autonomousCommand; - private final RobotContainer m_robotContainer; + private final RobotContainer m_robotContainer; - public Robot() { - m_robotContainer = new RobotContainer(); - } + public Robot() { + m_robotContainer = new RobotContainer(); + } - @Override - public void robotInit() { - FollowPathCommand.warmupCommand().schedule(); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(0); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("stream").setNumber(0); - m_robotContainer.enablePDPSwitch(); - } + @Override + public void robotInit() { + FollowPathCommand.warmupCommand().schedule(); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("stream").setNumber(0); + m_robotContainer.enablePDPSwitch(); + } - @Override - public void robotPeriodic() { - CommandScheduler.getInstance().run(); - SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime()); - } + @Override + public void robotPeriodic() { + CommandScheduler.getInstance().run(); + SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime()); + } - @Override - public void disabledInit() { - } + @Override + public void disabledInit() {} - @Override - public void disabledPeriodic() { - } + @Override + public void disabledPeriodic() {} - @Override - public void disabledExit() { - } + @Override + public void disabledExit() {} - @Override - public void autonomousInit() { - m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + @Override + public void autonomousInit() { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); - if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); - } + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); } + } - @Override - public void autonomousPeriodic() { - } + @Override + public void autonomousPeriodic() {} - @Override - public void autonomousExit() { - } + @Override + public void autonomousExit() {} - @Override - public void teleopInit() { - if (m_autonomousCommand != null) { - m_autonomousCommand.cancel(); - } + @Override + public void teleopInit() { + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); } + } - @Override - public void teleopPeriodic() { - } + @Override + public void teleopPeriodic() {} - @Override - public void teleopExit() { - } + @Override + public void teleopExit() {} - @Override - public void testInit() { - CommandScheduler.getInstance().cancelAll(); - } + @Override + public void testInit() { + CommandScheduler.getInstance().cancelAll(); + } - @Override - public void testPeriodic() { - } + @Override + public void testPeriodic() {} - @Override - public void testExit() { - } + @Override + public void testExit() {} - @Override - public void simulationPeriodic() { - } + @Override + public void simulationPeriodic() {} } diff --git a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java index 49306942..473f0cd3 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java @@ -13,7 +13,7 @@ import frc.robot.binding.OperatorBindings; import frc.robot.binding.RobotBindings; import frc.robot.generated.TunerConstants; -import frc.robot.subsystems.Climber; +import frc.robot.subsystems.climber.Climber; import frc.robot.subsystems.CoralRollers; import frc.robot.subsystems.Elevator; import frc.robot.subsystems.LedFeedback; @@ -22,7 +22,7 @@ import frc.robot.superstructure.Superstructure; public class RobotContainer { - private final PowerDistribution m_pdp = new PowerDistribution(1,ModuleType.kRev); + private final PowerDistribution m_pdp = new PowerDistribution(1, ModuleType.kRev); private SendableChooser m_autoChooser; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java index c90513d3..72b36fea 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java @@ -7,24 +7,24 @@ import com.ctre.phoenix6.signals.NeutralModeValue; public final class AlgaeConstants { - public static final int kMotorID = 60; + protected static final int kMotorID = 60; - public static final double kIntakeVoltage = 12; - public static final double kNetEjectVoltage = -3.0; // 3.0 - public static final double kProcessorEjectVoltage = -3.2; - public static final double kHoldVoltage = 2.7; + protected static final double kIntakeVoltage = 12; + protected static final double kNetEjectVoltage = -3.0; // 3.0 + protected static final double kProcessorEjectVoltage = -3.2; + protected static final double kHoldVoltage = 2.7; - public static final double kTorqueCurrentThreshold = 75; - public static final double kSupplyCurrentLimit = 25.0; + protected static final double kTorqueCurrentThreshold = 75; + protected static final double kSupplyCurrentLimit = 25.0; - public static final double kUpdateObjectPeriodSeconds = 0.200; + protected static final double kUpdateObjectPeriodSeconds = 0.200; - public static final double kProcessorScoreTime = 2.0; - public static final double kNetScoreTime = 0.4; + protected static final double kProcessorScoreTime = 2.0; + protected static final double kNetScoreTime = 0.4; - public static final InvertedValue kInvertMotor = InvertedValue.Clockwise_Positive; + protected static final InvertedValue kInvertMotor = InvertedValue.Clockwise_Positive; - public static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() + protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() .withMotorOutput(new MotorOutputConfigs() .withNeutralMode(NeutralModeValue.Brake) .withInverted(kInvertMotor)) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java similarity index 76% rename from ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java rename to ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java index a18b8254..650e9e2a 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Climber.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems; +package frc.robot.subsystems.climber; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -13,14 +13,14 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.Constants.ClimberConstants; import frc.robot.Constants.IDConstants; +import frc.robot.subsystems.PassiveSubsystem; public class Climber extends PassiveSubsystem implements AutoCloseable { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(Climber.class); - private final TalonFX m_leftClimbMotor = new TalonFX(IDConstants.climbLeft); - private final TalonFX m_rightClimbMotor = new TalonFX(IDConstants.climbRight); + private final TalonFX m_leftClimbMotor = new TalonFX(ClimberConstants.kLeftMotorID); + private final TalonFX m_rightClimbMotor = new TalonFX(ClimberConstants.kRightMotorID); private final CANcoder m_encoder = new CANcoder(IDConstants.climbEncoder); private final Servo m_servo = new Servo(IDConstants.servo); @@ -37,16 +37,16 @@ public Climber() { } private void configEncoder() { - m_encoder.getConfigurator().apply(ClimberConstants.encoderConfig); + m_encoder.getConfigurator().apply(ClimberConstants.kEncoderConfig); } private void configMotors() { m_leftClimbMotor.clearStickyFaults(); m_rightClimbMotor.clearStickyFaults(); - m_leftClimbMotor.getConfigurator().apply(ClimberConstants.motorConfig); - m_rightClimbMotor.getConfigurator().apply(ClimberConstants.motorConfig); + m_leftClimbMotor.getConfigurator().apply(ClimberConstants.kMotorConfig); + m_rightClimbMotor.getConfigurator().apply(ClimberConstants.kMotorConfig); m_rightClimbMotor - .setControl(new Follower(IDConstants.climbLeft, ClimberConstants.rightMotorInvert)); + .setControl(new Follower(ClimberConstants.kLeftMotorID, true)); } /* @@ -54,9 +54,9 @@ private void configMotors() { */ public Command openFunnel() { return Commands.sequence( - runOnce(() -> m_servo.set(ClimberConstants.k_openServoPosition)), + runOnce(() -> m_servo.set(ClimberConstants.kOpenServoPosition)), Commands.waitSeconds(ClimberConstants.kFunnelOpenTime), - runOnce(() -> m_servo.set(ClimberConstants.k_closedServoPosition))); + runOnce(() -> m_servo.set(ClimberConstants.kClosedServoPosition))); } private void setMotor(double voltage) { @@ -65,11 +65,11 @@ private void setMotor(double voltage) { } private void setUp() { - setMotor(ClimberConstants.climberUpVolts); + setMotor(ClimberConstants.kUpVolts); } private void setDown() { - setMotor(ClimberConstants.climbDownVolts); + setMotor(ClimberConstants.kDownVolts); } private void stop() { @@ -98,15 +98,15 @@ public double getVelocity() { } public Trigger climbed() { - return new Trigger(() -> getPosition() <= ClimberConstants.climbPosition); + return new Trigger(() -> getPosition() <= ClimberConstants.kClimbPosition); } public Trigger raised() { - return new Trigger(() -> getPosition() > ClimberConstants.climbReadyTolerance); + return new Trigger(() -> getPosition() > ClimberConstants.kClimbReadyTolerance); } public Trigger lowered() { - return new Trigger(() -> getPosition() <= ClimberConstants.stowPosition); + return new Trigger(() -> getPosition() <= ClimberConstants.kStowPosition); } @Override diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java new file mode 100644 index 00000000..5f3de113 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java @@ -0,0 +1,66 @@ +package frc.robot.subsystems.climber; + +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; +import com.ctre.phoenix6.configs.FeedbackConfigs; +import com.ctre.phoenix6.configs.MagnetSensorConfigs; +import com.ctre.phoenix6.configs.MotorOutputConfigs; +import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.ctre.phoenix6.signals.SensorDirectionValue; +import frc.robot.Constants.IDConstants; + +public final class ClimberConstants { + protected static final int kLeftMotorID = 1; + protected static final int kRightMotorID = 2; + + protected static final double kStowPosition = -0.25; + protected static final double kClimbPosition = -0.110; + protected static final double kClimbReadyTolerance = -0.001; + + protected static final double kClimbTime = 30.0; + protected static final double kFunnelOpenTime = 1.5; + + protected static final double kUpVolts = 12.0; + protected static final double kDownVolts = -12.0; + + private static final InvertedValue kMotorInvert = InvertedValue.CounterClockwise_Positive; + + private static final double kSupplyCurrentLimit = 80.0; + + private static final double kForwardSoftLimit = 0.0; + private static final double kReverseSoftLimit = -0.25; + + protected static final double kOpenServoPosition = 0.0; + protected static final double kClosedServoPosition = 1.0; + + private static final double kEncoderOffset = -0.01318359; + private static final SensorDirectionValue kEncoderDirection = + SensorDirectionValue.CounterClockwise_Positive; + + protected static final CANcoderConfiguration kEncoderConfig = new CANcoderConfiguration() + .withMagnetSensor(new MagnetSensorConfigs() + .withAbsoluteSensorDiscontinuityPoint(0.5) + .withSensorDirection(kEncoderDirection) + .withMagnetOffset(kEncoderOffset)); + + protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withInverted(kMotorInvert)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimit(kSupplyCurrentLimit).withSupplyCurrentLimitEnable(true)) + + .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitThreshold(kForwardSoftLimit).withForwardSoftLimitEnable(true) + .withReverseSoftLimitThreshold(kReverseSoftLimit).withReverseSoftLimitEnable(true)) + + .withFeedback(new FeedbackConfigs() + .withFeedbackRemoteSensorID(IDConstants.climbEncoder) + .withFeedbackSensorSource(FeedbackSensorSourceValue.RemoteCANcoder)); +} + diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 532ded66..53eb5482 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -2,13 +2,13 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.subsystems.Climber; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.CoralRollers; import frc.robot.subsystems.Elevator; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.Pivot; import frc.robot.subsystems.algae.AlgaeRollers; +import frc.robot.subsystems.climber.Climber; import frc.robot.vision.VisionHandler; public class Superstructure { @@ -56,7 +56,9 @@ public void setDrive(Command driveCommand) { } public VisionHandler buildVision() { - return new VisionHandler(m_subsystems.drivetrain()); + return new VisionHandler( + m_subsystems.drivetrain()::getPose, + m_subsystems.drivetrain()::addPoseEstimate); } public static record Subsystems( diff --git a/ThriftyTest/src/main/java/frc/robot/vision/LogBuilder.java b/ThriftyTest/src/main/java/frc/robot/vision/LogBuilder.java index 8be1605e..75111738 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/LogBuilder.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/LogBuilder.java @@ -7,43 +7,41 @@ import frc.robot.RobotObserver; public class LogBuilder { - private List m_estimates; - private List m_logs; - - public LogBuilder() { - m_estimates = new ArrayList<>(20); - m_logs = new ArrayList<>(20); + private List m_estimates; + private List m_logs; + + public LogBuilder() { + m_estimates = new ArrayList<>(20); + m_logs = new ArrayList<>(20); + } + + public void addEstimate(TimestampedPoseEstimate estimate) { + m_estimates.add(estimate); + } + + private void buildLogs() { + m_logs.clear(); + for (TimestampedPoseEstimate est : m_estimates) { + Pose2d robot = RobotObserver.getPose(); + double distance = est.pose().minus(robot).getTranslation().getNorm(); + m_logs.add(new VisionLog(est, distance, robot)); } + // consume each processed value + m_estimates.clear(); + } - public void addEstimate(TimestampedPoseEstimate estimate) { - m_estimates.add(estimate); - } - private void buildLogs() { - m_logs.clear(); - for (TimestampedPoseEstimate est : m_estimates) { - Pose2d robot = RobotObserver.getPose(); - double distance = est.pose().minus(robot) - .getTranslation() - .getNorm(); - m_logs.add( - new VisionLog(est, distance, robot) - ); - } - // consume each processed value - m_estimates.clear(); + public void log() { + buildLogs(); + if (VisionConstants.kEnableLogging) { + VisionLogger.record(m_logs); } - - - public void log() { - buildLogs(); - if (VisionConstants.k_enableLogging) VisionLogger.record(m_logs); - } - - /* a helper record to handle logs */ - public record VisionLog( - TimestampedPoseEstimate estimate, - double error, - Pose2d robot - ) {} + } + + /* a helper record to handle logs */ + public record VisionLog( + TimestampedPoseEstimate estimate, + double error, + Pose2d robot) { + } } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java b/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java index a9bfee5f..d4154e39 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java @@ -25,7 +25,7 @@ public class MultiInputFilter { * specified ID, using the known camera horizontal field of view. */ private boolean verifyTarget(Pose2d source, int tag) { - Optional tagPose = VisionConstants.k_layout.getTagPose(tag); + Optional tagPose = VisionConstants.kTagLayout.getTagPose(tag); if (tagPose.isEmpty()) return false; Pose2d tagPose2d = tagPose.get().toPose2d(); Transform2d sourceRelative = tagPose2d.minus(source); @@ -63,11 +63,11 @@ public boolean verify(Pose2d estimate) { for (Entry> entry : m_tags.entrySet()) { String sourceName = entry.getKey(); Set tags = entry.getValue(); - if (!VisionConstants.cameras.containsKey(sourceName)) { + if (!VisionConstants.kCameras.containsKey(sourceName)) { m_logger.warn("Detected target not on field layout, ignoring"); continue; } - Transform3d offset = VisionConstants.cameras.get(sourceName); + Transform3d offset = VisionConstants.kCameras.get(sourceName); Transform2d offset2d = new Transform2d( offset.getX(), offset.getY(), diff --git a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java index 18c3e451..13173d3c 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java @@ -55,7 +55,7 @@ public SingleInputPoseEstimator( m_reporter = updateCallback; m_robotToCamera = robotToCamera; m_estimator = new PhotonPoseEstimator( - VisionConstants.k_layout, + VisionConstants.kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, robotToCamera ); @@ -74,23 +74,6 @@ public void run() { } // Pull the latest data from the camera. List results = m_camera.getAllUnreadResults(); - if (results.size() > VisionConstants.k_expectedResults) { - /* - Rationale for this warning: - This run() method should be running on a loop. It should run fast. - Ideally, it runs WAY faster than the camera and always receives - either 0 or 1 new result. - We may want to know if we are being bombarded with too many results, - i.e. the camera is running faster than we are, which could suggest - that we are running slow. - Also, we assume that the time that we see the result minus the time - the result took to get sent to us is the time that it was sent. - But if we are running slowly, it's possible there would be some - time between when a result was sent and when we "see" it. This would - mess up the timestamping logic. - */ - m_logger.trace("Possibly too many results: {} ({})", results.size(), m_camera.getName()); - } m_estimator.addHeadingData( RobotController.getMeasureTime().in(Seconds), RobotObserver.getPose().getRotation() @@ -123,7 +106,7 @@ private void combinedHandleResult(PhotonPipelineResult result) { } PhotonTrackedTarget target = targets.get(0); int fidId = target.getFiducialId(); - Optional targetPosition = VisionConstants.k_layout + Optional targetPosition = VisionConstants.kTagLayout .getTagPose(fidId); if (targetPosition.isEmpty()) { m_logger.error("Tag {} detected not in field layout", fidId); @@ -155,7 +138,7 @@ private void combinedHandleResult(PhotonPipelineResult result) { double altXYErr = altDiff.getTranslation().getNorm(); Pose3d estimate; - if (Math.abs(bestRotErr - altRotErr) >= VisionConstants.k_headingThreshold) { + if (Math.abs(bestRotErr - altRotErr) >= VisionConstants.kHeadingThreshold) { estimate = (bestRotErr <= altRotErr) ? best : alt; } else { estimate = (bestXYErr <= altXYErr) ? best : alt; @@ -168,7 +151,7 @@ private void combinedHandleResult(PhotonPipelineResult result) { private boolean precheckValidity(PhotonPipelineResult result) { double latency = result.metadata.getLatencyMillis() / 1.0e+3; // too old -> don't count it - if (latency > VisionConstants.k_latencyThreshold) { + if (latency > VisionConstants.kLatencyThreshold) { // this is interesting, so let's report it m_logger.warn("({}) Refused old vision data, latency of {}", m_name, latency); return false; @@ -190,7 +173,7 @@ private Optional process( // if in reef mode, disregard data that doesn't use the reef. if (RobotObserver.getReefMode()) { int id = result.getBestTarget().getFiducialId(); - if (!VisionConstants.k_reefIds.contains(id)) { + if (!VisionConstants.kReefIds.contains(id)) { return Optional.empty(); } } @@ -209,7 +192,7 @@ private boolean checkValidity( Pose3d pose, double ambiguity ) { - if (ambiguity >= VisionConstants.k_AmbiguityThreshold) return false; + if (ambiguity >= VisionConstants.kAmbiguityThreshold) return false; return !isOutsideField(pose); } @@ -217,13 +200,13 @@ private boolean isOutsideField(Pose3d pose) { double x = pose.getX(); double y = pose.getY(); double z = pose.getZ(); - double xMax = VisionConstants.k_XYMargin.magnitude() - + FieldConstants.k_fieldLength.magnitude(); - double yMax = VisionConstants.k_XYMargin.magnitude() - + FieldConstants.k_fieldWidth.magnitude(); - double xyMin = -VisionConstants.k_XYMargin.magnitude(); - double zMax = VisionConstants.k_ZMargin.magnitude(); - double zMin = -VisionConstants.k_ZMargin.magnitude(); + double xMax = VisionConstants.kXYMargin.magnitude() + + FieldConstants.kFieldLength.magnitude(); + double yMax = VisionConstants.kXYMargin.magnitude() + + FieldConstants.kFieldWidth.magnitude(); + double xyMin = -VisionConstants.kXYMargin.magnitude(); + double zMax = VisionConstants.kZMargin.magnitude(); + double zMin = -VisionConstants.kZMargin.magnitude(); return x < xyMin || x > xMax || y < xyMin @@ -239,9 +222,9 @@ private Matrix calculateStdDevs( ) { double multiplier = calculateStdDevMultiplier(result, latency, pose); Matrix stdDevs = VecBuilder.fill( - multiplier * VisionConstants.k_translationCoefficient, - multiplier * VisionConstants.k_translationCoefficient, - multiplier * VisionConstants.k_rotationCoefficient + multiplier * VisionConstants.kTranslationCoefficient, + multiplier * VisionConstants.kTranslationCoefficient, + multiplier * VisionConstants.kRotationCoefficient ); return stdDevs; } @@ -261,28 +244,28 @@ private double calculateStdDevMultiplier( averageTagDistance /= result.getTargets().size(); // calculate tag distance factor double distanceFactor = Math.max(1, - VisionConstants.k_distanceMultiplier - * (averageTagDistance - VisionConstants.k_noisyDistance) + VisionConstants.kDistanceMultiplier + * (averageTagDistance - VisionConstants.kNoisyDistance) ); // calculate an (average) ambiguity real quick: double ambiguity = getAmbiguity(result); // ambiguity factor double ambiguityFactor = Math.max(1, - VisionConstants.k_ambiguityMultiplier * ambiguity - + VisionConstants.k_ambiguityShifter + VisionConstants.kAmbiguityMultiplier * ambiguity + + VisionConstants.kAmbiguityShifter ); // tag divisor double tags = result.getTargets().size(); - double tagDivisor = 1 + (tags - 1) * VisionConstants.k_targetMultiplier; + double tagDivisor = 1 + (tags - 1) * VisionConstants.kTargetMultiplier; // distance from last pose double poseDifferenceError = Math.max(0, RobotObserver.getPose().minus(pose).getTranslation().getNorm() - - VisionConstants.k_differenceThreshold * RobotObserver.getVelocity() + - VisionConstants.kDifferenceThreshold * RobotObserver.getVelocity() ); double diffMultiplier = Math.max(1, - poseDifferenceError * VisionConstants.k_differenceMultiplier + poseDifferenceError * VisionConstants.kDifferenceMultiplier ); - double timeMultiplier = Math.max(1, latency * VisionConstants.k_latencyMultiplier); + double timeMultiplier = Math.max(1, latency * VisionConstants.kLatencyMultiplier); // final calculation double stdDevMultiplier = ambiguityFactor * distanceFactor diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java index c008a934..2c4ace7e 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -15,95 +15,87 @@ import edu.wpi.first.units.measure.Time; public class VisionConstants { - public static final boolean enableVision = true; - public static final boolean k_enableLogging = true; + protected static final boolean kEnableLogging = true; - public static final double k_rotationCoefficient = Math.PI * 20; - public static final double k_translationCoefficient = 0.10; // previously 0.10 + protected static final double kRotationCoefficient = Math.PI * 20; + protected static final double kTranslationCoefficient = 0.10; - public static final AprilTagFieldLayout k_layout = + protected static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded); - public static final String k_estimationName = "estimation"; - public static final String kRejectedName = "rejected"; + protected static final String kEstimationName = "estimation"; + protected static final String kRejectedName = "rejected"; - public static final String k_logPath = "/home/lvuser/logs/vision"; - public static final String k_simLogPath = "logs/vision"; + protected static final String kLogPath = "/home/lvuser/logs/vision"; + protected static final String kSimLogPath = "logs/vision"; - private static final double k_moduleHeight = 0.190; + private static final double kCameraHeight = 0.190; - private static final double k_tightPitch = -Units.degreesToRadians(22.5); - private static final double k_widePitch = -Units.degreesToRadians(25.0); + private static final double kTightPitch = -Units.degreesToRadians(22.5); + private static final double kWidePitch = -Units.degreesToRadians(25.0); - private static final double k_tightYaw = Units.degreesToRadians(37.0); // this doesn't seem - // right - private static final double k_wideYaw = Units.degreesToRadians(-7.0); + private static final double kTightYaw = Units.degreesToRadians(37.0); // this doesn't seem + // right + private static final double kWideYaw = Units.degreesToRadians(-7.0); - // The camera names - public static Map fakecameras = Map.ofEntries( + @SuppressWarnings("unused") + private static Map kFakeCameras = Map.ofEntries( Map.entry("test", new Transform3d(0, 0, 0, new Rotation3d()))); - public static Map cameras = Map.ofEntries( + + private static Map kRealCameras = Map.ofEntries( Map.entry("cam1", new Transform3d( // left tight - new Translation3d(0.256, 0.289, k_moduleHeight), - new Rotation3d(0, k_tightPitch, -k_tightYaw))), + new Translation3d(0.256, 0.289, kCameraHeight), + new Rotation3d(0, kTightPitch, -kTightYaw))), Map.entry("cam2", new Transform3d( // left wide - new Translation3d(0.337, 0.331, k_moduleHeight), - new Rotation3d(0, k_widePitch, -k_wideYaw))), + new Translation3d(0.337, 0.331, kCameraHeight), + new Rotation3d(0, kWidePitch, -kWideYaw))), Map.entry("cam3", new Transform3d( // right wide - new Translation3d(0.337, -0.331, k_moduleHeight), - new Rotation3d(0, k_widePitch, k_wideYaw))), + new Translation3d(0.337, -0.331, kCameraHeight), + new Rotation3d(0, kWidePitch, kWideYaw))), Map.entry("cam4", new Transform3d( // right tight - new Translation3d(0.256, -0.289, k_moduleHeight), - new Rotation3d(0, k_tightPitch, k_tightYaw)))); - - public static final String k_leftAlignName = "cam1"; - public static final String k_rightAlignName = "cam4"; - - // The tick time for each pose estimator to run - public static final double k_periodic = 0.02; - // The maximum number of results (per camera) - public static final double k_expectedResults = 10; - // The maximum tolerated latency, in seconds. - public static final double k_latencyThreshold = 0.75; - // The maximum tolerated ambiguity value. - public static final double k_AmbiguityThreshold = 0.2; - // The farthest out off a field a pose estimate can say we are - // (in each dimension separately) - public static final Distance k_XYMargin = Meters.of(0.5); - // The maximum distance from 0 that a camera's pose can report - public static final Distance k_ZMargin = Meters.of(1.5); + new Translation3d(0.256, -0.289, kCameraHeight), + new Rotation3d(0, kTightPitch, kTightYaw)))); + + protected static Map kCameras = kRealCameras; + + /** The tick time for each pose estimator to run */ + protected static final double kPeriodic = 0.02; + /** The maximum tolerated latency, in seconds. */ + protected static final double kLatencyThreshold = 0.75; + /** The maximum tolerated ambiguity value. */ + protected static final double kAmbiguityThreshold = 0.2; + /** The farthest out off a field a pose estimate can say we are (in each dimension separately) */ + protected static final Distance kXYMargin = Meters.of(0.5); + /** The maximum height from that a camera's pose can reasonably report */ + protected static final Distance kZMargin = Meters.of(1.5); // Some configuration variables: - public static final boolean k_useStdDevs = true; - public static final double k_distanceMultiplier = 5.0; - public static final double k_noisyDistance = 4.0; - public static final double k_ambiguityMultiplier = 0.4; - public static final double k_ambiguityShifter = 0.2; - public static final double k_targetMultiplier = 80; - public static final double k_differenceThreshold = 0.10; - public static final double k_differenceMultiplier = 200.0; - public static final double k_latencyMultiplier = 1.3; - - public static final double k_headingThreshold = Units.degreesToRadians(3); + protected static final double kDistanceMultiplier = 5.0; + protected static final double kNoisyDistance = 4.0; + protected static final double kAmbiguityMultiplier = 0.4; + protected static final double kAmbiguityShifter = 0.2; + protected static final double kTargetMultiplier = 80; + protected static final double kDifferenceThreshold = 0.10; + protected static final double kDifferenceMultiplier = 200.0; + protected static final double kLatencyMultiplier = 1.3; + + protected static final double kHeadingThreshold = Units.degreesToRadians(3); // Stats about the camera for simulation - public static final int k_resWidth = 320 * 2; - public static final int k_resHeight = 240 * 2; - public static final Rotation2d k_fov = Rotation2d.fromDegrees(82.0); - public static final Rotation2d kHorizontalFov = Rotation2d.fromDegrees(70.0); + protected static final int kResWidth = 320 * 2; + protected static final int kResHeight = 240 * 2; + protected static final Rotation2d kFOV = Rotation2d.fromDegrees(82.0); + protected static final Rotation2d kHorizontalFov = Rotation2d.fromDegrees(70.0); // Simulated error: - public static final Time k_avgLatency = Milliseconds.of(18); - public static final Time k_latencyStdDev = Milliseconds.of(2); - public static final double k_avgErr = 0.08; - public static final double k_errStdDev = 0.02; - - // Stop using vision after X time - public static final double k_visionTimeout = 0.5; + protected static final Time kAvgLatency = Milliseconds.of(18); + protected static final Time kLatencyStdDev = Milliseconds.of(2); + protected static final double kAvgErr = 0.08; + protected static final double kErrStdDevs = 0.02; // reef tag ids (single tag only) - public static final Set k_reefIds = Set.of( + protected static final Set kReefIds = Set.of( 6, 7, 8, 9, 10, 11, // red tags 17, 18, 19, 20, 21, 22 // blue tags ); diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java index a4b369ba..049ded8b 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java @@ -5,7 +5,8 @@ import java.util.ArrayList; import java.util.List; import java.util.Map; - +import java.util.function.Consumer; +import java.util.function.Supplier; import org.photonvision.PhotonCamera; import org.photonvision.simulation.PhotonCameraSim; import org.photonvision.simulation.SimCameraProperties; @@ -19,125 +20,119 @@ import edu.wpi.first.wpilibj.smartdashboard.Field2d; import frc.robot.Robot; import frc.robot.RobotObserver; -import frc.robot.subsystems.CommandSwerveDrivetrain; public class VisionHandler implements AutoCloseable { - @SuppressWarnings("unused") - private final Logger m_logger = LoggerFactory.getLogger(VisionHandler.class); - private CommandSwerveDrivetrain m_drivetrain; - private final Notifier m_notifier; - private List m_estimators = new ArrayList<>(); - private List m_estimates = new ArrayList<>(); - - private VisionSystemSim m_visionSim = new VisionSystemSim("main"); - private SimCameraProperties m_simProps = new SimCameraProperties(); - - private final Field2d m_field; - - private LogBuilder m_logBuilder = new LogBuilder(); - - private final MultiInputFilter m_filter = new MultiInputFilter(); - - public VisionHandler(CommandSwerveDrivetrain drivetrain) { - m_drivetrain = drivetrain; - m_visionSim.addAprilTags(VisionConstants.k_layout); - setupProps(); - setupCameras(); - m_notifier = new Notifier(this::updateEstimators); - m_field = m_visionSim.getDebugField(); - RobotObserver.setField(m_field); - } - - /** - * Sets up the simulated camera properties with values that should - * reflect the real world situation. - */ - private void setupProps() { - m_simProps.setCalibration( - VisionConstants.k_resWidth, - VisionConstants.k_resHeight, - VisionConstants.k_fov - ); - m_simProps.setAvgLatencyMs( - VisionConstants.k_avgLatency.in(Milliseconds) - ); - m_simProps.setLatencyStdDevMs( - VisionConstants.k_latencyStdDev.in(Milliseconds) - ); - m_simProps.setCalibError( - VisionConstants.k_avgErr, - VisionConstants.k_errStdDev - ); + @SuppressWarnings("unused") + private final Logger m_logger = LoggerFactory.getLogger(VisionHandler.class); + + private Consumer m_consumer; + private Supplier m_poseSupplier; + + private final Notifier m_notifier; + private List m_estimators = new ArrayList<>(); + private List m_estimates = new ArrayList<>(); + + private VisionSystemSim m_visionSim = new VisionSystemSim("main"); + private SimCameraProperties m_simProps = new SimCameraProperties(); + + private final Field2d m_field; + + private LogBuilder m_logBuilder = new LogBuilder(); + + private final MultiInputFilter m_filter = new MultiInputFilter(); + + public VisionHandler(Supplier poseSupplier, Consumer callback) { + m_consumer = callback; + m_poseSupplier = poseSupplier; + m_visionSim.addAprilTags(VisionConstants.kTagLayout); + setupProps(); + setupCameras(); + m_notifier = new Notifier(this::updateEstimators); + m_field = m_visionSim.getDebugField(); + RobotObserver.setField(m_field); + } + + /** + * Sets up the simulated camera properties with values that should reflect the real world + * situation. + */ + private void setupProps() { + m_simProps.setCalibration( + VisionConstants.kResWidth, + VisionConstants.kResHeight, + VisionConstants.kFOV); + m_simProps.setAvgLatencyMs( VisionConstants.kAvgLatency.in(Milliseconds)); + m_simProps.setLatencyStdDevMs( VisionConstants.kLatencyStdDev.in(Milliseconds)); + m_simProps.setCalibError( VisionConstants.kAvgErr, VisionConstants.kErrStdDevs); + } + + private void setupCameras() { + for (Map.Entry entry : VisionConstants.kCameras.entrySet()) { + // it's easier to read this way: + String cameraName = entry.getKey(); + Transform3d robotToCamera = entry.getValue(); + // initialze both real and simulated cameras + PhotonCamera realCamera = new PhotonCamera(cameraName); + if (Robot.isSimulation()) { + PhotonCameraSim simCamera = new PhotonCameraSim(realCamera, m_simProps); + m_visionSim.addCamera(simCamera, robotToCamera); + + // This is somewhat intensive (especially the first one) so we only + // enable if the robot is in simulation mode. + simCamera.enableDrawWireframe(true); + } + // we always need to add a vision estimator + SingleInputPoseEstimator estimator = new SingleInputPoseEstimator( + realCamera, + robotToCamera, + this::addEstimate); + m_estimators.add(estimator); } - - private void setupCameras() { - for (Map.Entry entry : VisionConstants.cameras.entrySet()) { - // it's easier to read this way: - String cameraName = entry.getKey(); - Transform3d robotToCamera = entry.getValue(); - // initialze both real and simulated cameras - PhotonCamera realCamera = new PhotonCamera(cameraName); - if (Robot.isSimulation()) { - PhotonCameraSim simCamera = new PhotonCameraSim(realCamera, m_simProps); - m_visionSim.addCamera(simCamera, robotToCamera); - - // This is somewhat intensive (especially the first one) so we only - // enable if the robot is in simulation mode. - simCamera.enableDrawWireframe(true); - } - // we always need to add a vision estimator - SingleInputPoseEstimator estimator = new SingleInputPoseEstimator( - realCamera, - robotToCamera, - this::addEstimate - ); - m_estimators.add(estimator); - } + } + + private void updateEstimators() { + m_estimates.clear(); + // clear previous output from the estimators. + m_field.getObject(VisionConstants.kEstimationName).setPoses(); + m_field.getObject("best").setPoses(); + m_field.getObject("alt").setPoses(); + // setup filter + m_filter.clear(); + for (SingleInputPoseEstimator estimator : m_estimators) { + estimator.run(); } - - private void updateEstimators() { - m_estimates.clear(); - // clear previous output from the estimators. - m_field.getObject(VisionConstants.k_estimationName).setPoses(); - m_field.getObject("best").setPoses(); - m_field.getObject("alt").setPoses(); - // setup filter - m_filter.clear(); - for (SingleInputPoseEstimator estimator : m_estimators) { - estimator.run(); - } - List poses = new ArrayList<>(); - List rejected = new ArrayList<>(); - for (TimestampedPoseEstimate estimate : m_estimates) { - if (m_filter.verify(estimate.pose())) { - m_drivetrain.addPoseEstimate(estimate); - poses.add(estimate.pose()); - } else { - rejected.add(estimate.pose()); - } - } - m_field.getObject(VisionConstants.kRejectedName).setPoses(rejected); - m_field.getObject(VisionConstants.k_estimationName).setPoses(poses); - Pose2d currPose = m_drivetrain.getPose(); - m_visionSim.update(currPose); - // finish logging - m_logBuilder.log(); - } - - public void startThread() { - m_notifier.startPeriodic(VisionConstants.k_periodic); - } - - private void addEstimate(TimestampedPoseEstimate estimate) { - m_filter.addEstimate(estimate); - m_estimates.add(estimate); - - // pose logging - m_logBuilder.addEstimate(estimate); - } - - @Override - public void close() { - m_notifier.close(); + List poses = new ArrayList<>(); + List rejected = new ArrayList<>(); + for (TimestampedPoseEstimate estimate : m_estimates) { + if (m_filter.verify(estimate.pose())) { + m_consumer.accept(estimate); + poses.add(estimate.pose()); + } else { + rejected.add(estimate.pose()); + } } + m_field.getObject(VisionConstants.kRejectedName).setPoses(rejected); + m_field.getObject(VisionConstants.kEstimationName).setPoses(poses); + Pose2d currPose = m_poseSupplier.get(); + m_visionSim.update(currPose); + // finish logging + m_logBuilder.log(); + } + + public void startThread() { + m_notifier.startPeriodic(VisionConstants.kPeriodic); + } + + private void addEstimate(TimestampedPoseEstimate estimate) { + m_filter.addEstimate(estimate); + m_estimates.add(estimate); + + // pose logging + m_logBuilder.addEstimate(estimate); + } + + @Override + public void close() { + m_notifier.close(); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java index 45307fb8..5d4eeb61 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java @@ -30,9 +30,9 @@ private synchronized static VisionLogger getInstance() { private VisionLogger() { m_builder = new StringBuilder(); - String filepath = VisionConstants.k_logPath + Long.toHexString(System.currentTimeMillis() / 1000) + ".log"; + String filepath = VisionConstants.kLogPath + Long.toHexString(System.currentTimeMillis() / 1000) + ".log"; if (Robot.isSimulation()) { - filepath = VisionConstants.k_simLogPath + Long.toHexString(System.currentTimeMillis() / 1000) + ".log"; + filepath = VisionConstants.kSimLogPath + Long.toHexString(System.currentTimeMillis() / 1000) + ".log"; } try { m_writer = new FileWriter(filepath); From 4c0789310ea0293624b2e9c24831722378a5d83f Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 11:15:25 -0400 Subject: [PATCH 025/135] Extract CoralConstants create package frc.robot.subsystems.coral --- .../src/main/java/frc/robot/Constants.java | 89 ------------------- .../main/java/frc/robot/RobotContainer.java | 2 +- .../subsystems/coral/CoralConstants.java | 88 ++++++++++++++++++ .../subsystems/{ => coral}/CoralRollers.java | 41 +++++---- .../robot/superstructure/Superstructure.java | 2 +- 5 files changed, 110 insertions(+), 112 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java rename ThriftyTest/src/main/java/frc/robot/subsystems/{ => coral}/CoralRollers.java (74%) diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index dfb658a2..fb88b9cc 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -1,10 +1,8 @@ package frc.robot; import com.ctre.phoenix6.configs.CANcoderConfiguration; -import com.ctre.phoenix6.configs.CANdiConfiguration; import com.ctre.phoenix6.configs.CANrangeConfiguration; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; -import com.ctre.phoenix6.configs.DigitalInputsConfigs; import com.ctre.phoenix6.configs.FeedbackConfigs; import com.ctre.phoenix6.configs.FovParamsConfigs; import com.ctre.phoenix6.configs.MagnetSensorConfigs; @@ -15,15 +13,11 @@ import com.ctre.phoenix6.configs.Slot1Configs; import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.configs.ToFParamsConfigs; import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; import com.ctre.phoenix6.signals.GravityTypeValue; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; -import com.ctre.phoenix6.signals.S1CloseStateValue; -import com.ctre.phoenix6.signals.S2CloseStateValue; import com.ctre.phoenix6.signals.SensorDirectionValue; -import com.ctre.phoenix6.signals.UpdateModeValue; import com.pathplanner.lib.config.PIDConstants; import com.pathplanner.lib.controllers.PPHolonomicDriveController; @@ -75,12 +69,6 @@ public static class IDConstants { public static final int pivot = 57; - public static final int coralLeft = 55; - public static final int coralRight = 56; - public static final int coralCANrange = 59; - public static final int upperCANrange = 58; - public static final int innerCANrange = 54; - public static final int frontIR = 2; public static final int rearIR = 3; @@ -578,83 +566,6 @@ public static final class PivotConstants { public static final double armLength = 0.443; } - public static class CoralConstants { - public static final double intakeVoltage = 2.4; - public static final double retractVoltage = -3.5; - public static final double ejectVoltage = 5; - - public static final double l1EjectVoltage = 2.5; - public static final double l2EjectVoltage = 4.0; // 5.1 - public static final double l3EjectVoltage = 4.0; // 5.1 - public static final double l4EjectVoltage = 5.5; - - public static final double rangeDistanceGain = 13; // how many more volts, per unit of range - - public static final double reverseEjectVoltage = -6; - public static final double fastEjectVoltage = -10; - - public static final double l1LeftEjectVoltage = 2; - public static final double l1RightEjectVoltage = 4; - - public static final boolean rightMotorInvert = true; - - public static final double supplyCurrentLimit = 20.0; - - public static final double IRThreshold = 0.51; - - public static final boolean enableCANRange = true; - - public static final InvertedValue kInvertRight = InvertedValue.Clockwise_Positive; - - public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Coast) - .withInverted(InvertedValue.CounterClockwise_Positive)) - - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(supplyCurrentLimit)); - - public static final CANdiConfiguration candiConfig = new CANdiConfiguration() - .withDigitalInputs(new DigitalInputsConfigs() - .withS1CloseState(S1CloseStateValue.CloseWhenHigh) - .withS2CloseState(S2CloseStateValue.CloseWhenHigh)); - - public static final CANrangeConfiguration frontRangeConfig = new CANrangeConfiguration() - .withFovParams(new FovParamsConfigs() - .withFOVRangeX(6.5) - .withFOVRangeY(6.5)) - .withProximityParams(new ProximityParamsConfigs() - .withMinSignalStrengthForValidMeasurement(15015) - .withProximityThreshold(0.1)) - .withToFParams(new ToFParamsConfigs() - .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - - - public static final CANrangeConfiguration upperRangeConfig = new CANrangeConfiguration() - .withFovParams(new FovParamsConfigs() - .withFOVRangeX(6.5) - .withFOVRangeY(15)) - .withProximityParams(new ProximityParamsConfigs() - .withMinSignalStrengthForValidMeasurement(2500) - .withProximityThreshold(0.65)) - .withToFParams(new ToFParamsConfigs() - .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - - public static final CANrangeConfiguration innerRangeConfig = new CANrangeConfiguration() - .withFovParams(new FovParamsConfigs() - .withFOVRangeX(27) - .withFOVRangeY(27)) - .withProximityParams(new ProximityParamsConfigs() - .withMinSignalStrengthForValidMeasurement(1500) - .withProximityHysteresis(0) - .withProximityThreshold(0.06)) - .withToFParams(new ToFParamsConfigs() - .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - - public static double intakeTimeout = 1; - } - public static final class TalonFXConstants { public static final double nominalVoltageVolts = 12.0; // DC Volts public static final double stallTorqueNewtonMeters = 4.69; // Nm diff --git a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java index 473f0cd3..c69f88b1 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java @@ -14,7 +14,7 @@ import frc.robot.binding.RobotBindings; import frc.robot.generated.TunerConstants; import frc.robot.subsystems.climber.Climber; -import frc.robot.subsystems.CoralRollers; +import frc.robot.subsystems.coral.CoralRollers; import frc.robot.subsystems.Elevator; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.Pivot; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java new file mode 100644 index 00000000..d219779c --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java @@ -0,0 +1,88 @@ +package frc.robot.subsystems.coral; + +import com.ctre.phoenix6.configs.CANrangeConfiguration; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; +import com.ctre.phoenix6.configs.FovParamsConfigs; +import com.ctre.phoenix6.configs.MotorOutputConfigs; +import com.ctre.phoenix6.configs.ProximityParamsConfigs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.configs.ToFParamsConfigs; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.ctre.phoenix6.signals.UpdateModeValue; + +public class CoralConstants { + public static final int kLeftMotorID = 55; + public static final int kRightMotorID = 56; + public static final int kFrontCANrangeID = 59; + public static final int kUpperCANrangeID = 58; + public static final int kInnerCANrangeID = 54; + + protected static final double kIntakeVoltage = 2.4; + protected static final double retractVoltage = -3.5; + protected static final double kEjectVoltage = 5; + + protected static final double l1EjectVoltage = 2.5; + protected static final double kL2EjectVoltage = 4.0; // 5.1 + protected static final double kL3EjectVoltage = 4.0; // 5.1 + protected static final double kL4EjectVoltage = 5.5; + + protected static final double reverseEjectVoltage = -6; + protected static final double fastEjectVoltage = -10; + + protected static final double kL1LeftEjectVoltage = 2; + protected static final double kL1RightEjectVoltage = 4; + + protected static final boolean rightMotorInvert = true; + + protected static final double supplyCurrentLimit = 20.0; + + protected static final double IRThreshold = 0.51; + + protected static final boolean enableCANRange = true; + + protected static final InvertedValue kInvertRight = InvertedValue.Clockwise_Positive; + + protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Coast) + .withInverted(InvertedValue.CounterClockwise_Positive)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withSupplyCurrentLimit(supplyCurrentLimit)); + + protected static final CANrangeConfiguration kFrontRangeConfig = new CANrangeConfiguration() + .withFovParams(new FovParamsConfigs() + .withFOVRangeX(6.5) + .withFOVRangeY(6.5)) + .withProximityParams(new ProximityParamsConfigs() + .withMinSignalStrengthForValidMeasurement(15015) + .withProximityThreshold(0.1)) + .withToFParams(new ToFParamsConfigs() + .withUpdateMode(UpdateModeValue.ShortRange100Hz)); + + + protected static final CANrangeConfiguration kUpperRangeConfig = new CANrangeConfiguration() + .withFovParams(new FovParamsConfigs() + .withFOVRangeX(6.5) + .withFOVRangeY(15)) + .withProximityParams(new ProximityParamsConfigs() + .withMinSignalStrengthForValidMeasurement(2500) + .withProximityThreshold(0.65)) + .withToFParams(new ToFParamsConfigs() + .withUpdateMode(UpdateModeValue.ShortRange100Hz)); + + protected static final CANrangeConfiguration kInnerRangeConfig = new CANrangeConfiguration() + .withFovParams(new FovParamsConfigs() + .withFOVRangeX(27) + .withFOVRangeY(27)) + .withProximityParams(new ProximityParamsConfigs() + .withMinSignalStrengthForValidMeasurement(1500) + .withProximityHysteresis(0) + .withProximityThreshold(0.06)) + .withToFParams(new ToFParamsConfigs() + .withUpdateMode(UpdateModeValue.ShortRange100Hz)); + + protected static double intakeTimeout = 1; +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java similarity index 74% rename from ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java rename to ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java index f2ecf586..7118ec85 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CoralRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package frc.robot.subsystems; +package frc.robot.subsystems.coral; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -14,21 +14,20 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.Constants.CoralConstants; import frc.robot.Constants.CoralLevel; -import frc.robot.Constants.IDConstants; import frc.robot.Robot; import frc.robot.RobotObserver; +import frc.robot.subsystems.PassiveSubsystem; public class CoralRollers extends PassiveSubsystem { private final Logger m_logger = LoggerFactory.getLogger(CoralRollers.class); - private final TalonFX m_coralLeft = new TalonFX(IDConstants.coralLeft); - private final TalonFX m_coralRight = new TalonFX(IDConstants.coralRight); + private final TalonFX m_coralLeft = new TalonFX(CoralConstants.kLeftMotorID); + private final TalonFX m_coralRight = new TalonFX(CoralConstants.kRightMotorID); - private final CANrange m_frontRange = new CANrange(IDConstants.coralCANrange); - private final CANrange m_upperRange = new CANrange(IDConstants.upperCANrange); - private final CANrange m_innerRange = new CANrange(IDConstants.innerCANrange); + private final CANrange m_frontRange = new CANrange(CoralConstants.kFrontCANrangeID); + private final CANrange m_upperRange = new CANrange(CoralConstants.kUpperCANrangeID); + private final CANrange m_innerRange = new CANrange(CoralConstants.kInnerCANrangeID); private double m_voltageLeft; private double m_voltageRight; @@ -44,15 +43,15 @@ private void configMotors() { m_coralLeft.clearStickyFaults(); m_coralRight.clearStickyFaults(); - m_coralLeft.getConfigurator().apply(CoralConstants.motorConfig); - m_coralRight.getConfigurator().apply(CoralConstants.motorConfig.withMotorOutput( - CoralConstants.motorConfig.MotorOutput.withInverted(CoralConstants.kInvertRight))); + m_coralLeft.getConfigurator().apply(CoralConstants.kMotorConfig); + m_coralRight.getConfigurator().apply(CoralConstants.kMotorConfig.withMotorOutput( + CoralConstants.kMotorConfig.MotorOutput.withInverted(CoralConstants.kInvertRight))); } private void configCANrange() { - m_frontRange.getConfigurator().apply(CoralConstants.frontRangeConfig); - m_upperRange.getConfigurator().apply(CoralConstants.upperRangeConfig); - m_innerRange.getConfigurator().apply(CoralConstants.innerRangeConfig); + m_frontRange.getConfigurator().apply(CoralConstants.kFrontRangeConfig); + m_upperRange.getConfigurator().apply(CoralConstants.kUpperRangeConfig); + m_innerRange.getConfigurator().apply(CoralConstants.kInnerRangeConfig); } private void setVoltage(double voltage) { @@ -65,27 +64,27 @@ private void setVoltage(double voltage) { } private void setIntake() { - setVoltage(CoralConstants.intakeVoltage); + setVoltage(CoralConstants.kIntakeVoltage); } private void setL2Score() { m_logger.trace("Setting L2 eject"); - setVoltage(CoralConstants.l2EjectVoltage); + setVoltage(CoralConstants.kL2EjectVoltage); } private void setL3Score() { m_logger.trace("Setting L3 eject"); - setVoltage(CoralConstants.l3EjectVoltage); + setVoltage(CoralConstants.kL3EjectVoltage); } private void setL4Score() { m_logger.trace("Setting L4 eject"); - setVoltage(CoralConstants.l4EjectVoltage); + setVoltage(CoralConstants.kL4EjectVoltage); } private void setL1Score() { - m_coralLeft.setVoltage(CoralConstants.l1LeftEjectVoltage); - m_coralRight.setVoltage(CoralConstants.l1RightEjectVoltage); + m_coralLeft.setVoltage(CoralConstants.kL1LeftEjectVoltage); + m_coralRight.setVoltage(CoralConstants.kL1RightEjectVoltage); } private boolean getFrontCANrange() { @@ -170,7 +169,7 @@ public Command score(CoralLevel level) { */ public Command eject() { return Commands.sequence( - runOnce(() -> setVoltage(CoralConstants.ejectVoltage)), + runOnce(() -> setVoltage(CoralConstants.kEjectVoltage)), Commands.waitUntil(present().negate())) .finallyDo(this::stop) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 53eb5482..b3684c2d 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -3,7 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.subsystems.CommandSwerveDrivetrain; -import frc.robot.subsystems.CoralRollers; +import frc.robot.subsystems.coral.CoralRollers; import frc.robot.subsystems.Elevator; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.Pivot; From 9ff0d373b67b39af49ac14e2013a4d474cb0dce7 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 11:17:12 -0400 Subject: [PATCH 026/135] Create elevator package --- ThriftyTest/src/main/java/frc/robot/RobotContainer.java | 2 +- .../java/frc/robot/subsystems/{ => elevator}/Elevator.java | 3 ++- .../src/main/java/frc/robot/superstructure/Superstructure.java | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) rename ThriftyTest/src/main/java/frc/robot/subsystems/{ => elevator}/Elevator.java (98%) diff --git a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java index c69f88b1..efa99581 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java @@ -15,7 +15,7 @@ import frc.robot.generated.TunerConstants; import frc.robot.subsystems.climber.Climber; import frc.robot.subsystems.coral.CoralRollers; -import frc.robot.subsystems.Elevator; +import frc.robot.subsystems.elevator.Elevator; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.Pivot; import frc.robot.subsystems.algae.AlgaeRollers; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java similarity index 98% rename from ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java rename to ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index 41313157..fb1bd10c 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package frc.robot.subsystems; +package frc.robot.subsystems.elevator; import static edu.wpi.first.units.Units.Seconds; @@ -29,6 +29,7 @@ import frc.robot.Constants.ElevatorConstants.ElevatorState; import frc.robot.Robot; import frc.robot.RobotObserver; +import frc.robot.subsystems.PassiveSubsystem; public class Elevator extends PassiveSubsystem { // we want to have a logger, even if we're not using it... yet diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index b3684c2d..33b98c6f 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -4,7 +4,7 @@ import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.coral.CoralRollers; -import frc.robot.subsystems.Elevator; +import frc.robot.subsystems.elevator.Elevator; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.Pivot; import frc.robot.subsystems.algae.AlgaeRollers; From bf0077b0975d637ff834ca2bf1f29df2f7b8f269 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 12:35:50 -0400 Subject: [PATCH 027/135] Extract elevator constants --- ThriftyTest/simgui.json | 33 +++- .../src/main/java/frc/robot/Constants.java | 169 +----------------- .../subsystems/CommandSwerveDrivetrain.java | 1 + .../robot/subsystems/elevator/Elevator.java | 2 - .../elevator/ElevatorConstants.java | 158 ++++++++++++++++ .../subsystems/elevator/ElevatorState.java | 41 +++++ .../superstructure/states/AlgaeStow.java | 2 +- .../superstructure/states/CoralEject.java | 2 +- .../superstructure/states/CoralIntake.java | 2 +- .../states/GroundAlgaeIntake.java | 2 +- .../states/HighGroundAlgaeIntake.java | 2 +- .../states/LowerReefAlgaeIntake.java | 2 +- .../frc/robot/superstructure/states/Net.java | 2 +- .../robot/superstructure/states/NetReady.java | 2 +- .../superstructure/states/Processor.java | 2 +- .../superstructure/states/ProcessorPrep.java | 2 +- .../robot/superstructure/states/Stowed.java | 2 +- .../states/UpperReefAlgaeIntake.java | 2 +- 18 files changed, 251 insertions(+), 177 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index de279f1a..ed9998e7 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -125,7 +125,7 @@ }, "transitory": { "SmartDashboard": { - "Coral": { + "Drivetrain": { "open": true }, "Swirly length": { @@ -140,5 +140,36 @@ }, "NetworkTables Info": { "visible": true + }, + "Plot": { + "Plot <0>": { + "plots": [ + { + "axis": [ + { + "max": 10.0 + } + ], + "backgroundColor": [ + 0.0, + 0.0, + 0.0, + 0.8500000238418579 + ], + "height": 305, + "series": [ + { + "color": [ + 0.2980392277240753, + 0.44705885648727417, + 0.6901960968971252, + 1.0 + ], + "id": "NT:/SmartDashboard/Drivetrain/velo" + } + ] + } + ] + } } } diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index fb88b9cc..03112a32 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -1,14 +1,11 @@ package frc.robot; import com.ctre.phoenix6.configs.CANcoderConfiguration; -import com.ctre.phoenix6.configs.CANrangeConfiguration; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.configs.FeedbackConfigs; -import com.ctre.phoenix6.configs.FovParamsConfigs; import com.ctre.phoenix6.configs.MagnetSensorConfigs; import com.ctre.phoenix6.configs.MotionMagicConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs; -import com.ctre.phoenix6.configs.ProximityParamsConfigs; import com.ctre.phoenix6.configs.Slot0Configs; import com.ctre.phoenix6.configs.Slot1Configs; import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; @@ -42,7 +39,6 @@ import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond; import static edu.wpi.first.units.Units.RotationsPerSecond; import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond; -import static edu.wpi.first.units.Units.Seconds; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularAcceleration; import edu.wpi.first.units.measure.AngularVelocity; @@ -51,11 +47,11 @@ import edu.wpi.first.units.measure.LinearVelocity; import edu.wpi.first.units.measure.Time; import edu.wpi.first.wpilibj.PS5Controller.Button; -import frc.robot.Constants.ElevatorConstants.ElevatorState; import frc.robot.driveassist.APConstraints; import frc.robot.driveassist.Autopilot; import frc.robot.driveassist.APProfile; import frc.robot.generated.TunerConstants; +import frc.robot.subsystems.elevator.ElevatorState; public class Constants { @@ -313,159 +309,6 @@ public static final class AutonConstants { public static final double stage2Distance = 1; } - public static final class ElevatorConstants { - public static final boolean enable = true; - - public static final boolean invertLeftMotorFollower = true; - - public static final double supplyCurrentLimit = 100; - public static final double k_zeroCurrentThreshold = 23.5; - - public static final double rotorToSensorRatio = 5.2; - public static final double sensorToMechanismRatio = 1; - - public static final InvertedValue motorInverted = InvertedValue.CounterClockwise_Positive; - - public static final double gearRatio = rotorToSensorRatio * sensorToMechanismRatio; - - public static final double stage1Mass = Units.lbsToKilograms(5.402); - public static final double stage2Mass = Units.lbsToKilograms(4.819); - public static final double carriageMass = Units.lbsToKilograms(3.084); - public static final double coralMechanismMass = Units.lbsToKilograms(8.173); // includes coral - public static final double algaeMechanismMass = Units.lbsToKilograms(8.359); - - // Mass of the elevator carriage - public static final double netMass = - stage1Mass + stage2Mass + carriageMass + coralMechanismMass + algaeMechanismMass; - - // Radius of the elevator drum - // approx. 0.02865 - public static final double drumRadius = Units.inchesToMeters(2.256 / 2); - - public static final LinearSystem stateSpacePlant = LinearSystemId - .createElevatorSystem(KrakenX60Constants.KrakenX60Motor, netMass, drumRadius, - gearRatio); - - public static final double absoluteSensorRange = 0.5; - public static final SensorDirectionValue invertEncoder = - SensorDirectionValue.CounterClockwise_Positive; - public static final double encoderOffset = 0.291015625; // 0.490234375 - - public static final double metersToRotations = 1 / (drumRadius * 2 * Math.PI); - // approx 7.96 - - public static final boolean enableCANRange = true; - - public static final double rangeDistanceGain = 64; // how much higher, per unit of range - - /* - * Please note: The maximum height of the elevator (in inches) was calculated to be 80.44 - * inches. Accounting for e rror, we really never should set a setpoint higher than 79 inches - * (how we chose the net height) - */ - - public static final double inch = Units.inchesToMeters(1) * metersToRotations; - - public enum ElevatorState { - Ground(0), HighGround(12 * inch), Stow(0.31), Eject( - ElevatorState.Stow.position() + 2 * inch), Processor(0), L1(2.63), SecondaryL1( - ElevatorState.L1.position() + 8 * inch), L2(4.016 + 3 * inch), L3( - 7.257 - 4 * inch), L4( - 9.757 + 0.3 * inch), Net(9.31 + 4 * inch), LowerReef(2.0), UpperReef(4.5); - - private final double m_position; - - private ElevatorState(double position) { - m_position = position; - } - - public double position() { - return m_position; - } - } - - public static final double forwardSoftLimit = 11.15; - public static final double reverseSoftLimit = 0; - - public static final double unsafeRange = ElevatorState.L2.position() + 2 * inch; - - public static final double tolerance = 0.06; - - public static final double k_maxCanCompensation = 2 * inch; - - public static final double manualUpSpeed = 0.2; - public static final double manualDownSpeed = -0.3; - - public static final double maxSpeedUp = 32; // 16 - public static final double maxAccelerationUp = 48; // 48 - public static final double maxJerkUp = 480; // 480 - - public static final double maxSpeedDown = 10; // 10 - public static final double maxAccelerationDown = 30; // 30 - public static final double maxJerkDown = 300; // 300 - - public static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() - .withMagnetSensor(new MagnetSensorConfigs() - .withAbsoluteSensorDiscontinuityPoint(absoluteSensorRange) - .withSensorDirection(invertEncoder) - .withMagnetOffset(encoderOffset)); - - public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Brake) - .withInverted(motorInverted)) - - .withFeedback(new FeedbackConfigs() - .withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor) - .withSensorToMechanismRatio(gearRatio)) - - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(supplyCurrentLimit)) - - .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() - .withForwardSoftLimitThreshold(forwardSoftLimit) - .withForwardSoftLimitEnable(true) - .withReverseSoftLimitThreshold(reverseSoftLimit) - .withReverseSoftLimitEnable(false)) - - .withSlot0(new Slot0Configs() - .withGravityType(GravityTypeValue.Elevator_Static) - .withKP(20) - .withKI(0) - .withKD(0) - .withKS(0.125) - .withKV(3.59 * (drumRadius * 2 * Math.PI)) - .withKA(0.05 * (drumRadius * 2 * Math.PI)) - .withKG(0.42)) - - .withSlot1(new Slot1Configs() - .withGravityType(GravityTypeValue.Elevator_Static) - .withKP(7) - .withKI(0) - .withKD(0) - .withKS(0) - .withKV(3.59 * (drumRadius * 2 * Math.PI)) - .withKA(0.05 * (drumRadius * 2 * Math.PI)) - .withKG(0.42)) - - .withMotionMagic(new MotionMagicConfigs() - .withMotionMagicCruiseVelocity(maxSpeedUp) - .withMotionMagicAcceleration(maxAccelerationUp) - .withMotionMagicJerk(maxJerkUp)); - - public static final CANrangeConfiguration kCANrangeConfig = new CANrangeConfiguration() - .withFovParams(new FovParamsConfigs() - .withFOVRangeX(6.75) - .withFOVRangeY(6.75)) - .withProximityParams(new ProximityParamsConfigs() - .withMinSignalStrengthForValidMeasurement(3500) - .withProximityThreshold(0.13) - .withProximityHysteresis(0)); - - public static final Time kRangeDebounceTime = Seconds.of(0.06); - } - public static final class PivotConstants { public static final double encoderOffset = 0.665283203125; @@ -630,10 +473,12 @@ public enum ScoringLocations { K(new Pose2d(3.951, 5.236, Rotation2d.fromDegrees(-60))), // GOOD L(new Pose2d(3.696, 5.071, Rotation2d.fromDegrees(-60))), // GOOD - RIGHTHP(new Pose2d(1.227, 1.048, Rotation2d.fromDegrees(55))), LEFTHP( - new Pose2d(1.227, 6.983, Rotation2d.fromDegrees(-55))), PROCESSOR( - new Pose2d(6.0, 0.6, Rotation2d.fromDegrees(-90))), NET( - new Pose2d(7.7, 6.0, Rotation2d.fromDegrees(0))); + RightIntake(new Pose2d(1.227, 1.048, Rotation2d.fromDegrees(55))), // Right intake station + LeftIntake(new Pose2d(1.227, 6.983, Rotation2d.fromDegrees(-55))), // Left intake station + + PROCESSOR(new Pose2d(6.0, 0.6, Rotation2d.fromDegrees(-90))), + + NET(new Pose2d(7.7, 6.0, Rotation2d.fromDegrees(0))); public Pose2d value; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index 3f9aaada..1f2ae3f9 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -216,6 +216,7 @@ public void periodic() { m_estimatedPose = this.getState().Pose; SmartDashboard.putNumber("Drivetrain/x", m_estimatedPose.getTranslation().getX()); SmartDashboard.putNumber("Drivetrain/y", m_estimatedPose.getTranslation().getY()); + SmartDashboard.putNumber("Drivetrain/velo", getVelocity()); SmartDashboard.putBoolean("Drivetrain/Aligned", m_aligned); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index fb1bd10c..c37ab0dc 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -23,10 +23,8 @@ import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.CoralLevel; -import frc.robot.Constants.ElevatorConstants; import frc.robot.Constants.IDConstants; import frc.robot.Constants.RobotConstants; -import frc.robot.Constants.ElevatorConstants.ElevatorState; import frc.robot.Robot; import frc.robot.RobotObserver; import frc.robot.subsystems.PassiveSubsystem; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java new file mode 100644 index 00000000..c797e64c --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java @@ -0,0 +1,158 @@ +package frc.robot.subsystems.elevator; + +import static edu.wpi.first.units.Units.Seconds; +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.CANrangeConfiguration; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; +import com.ctre.phoenix6.configs.FeedbackConfigs; +import com.ctre.phoenix6.configs.FovParamsConfigs; +import com.ctre.phoenix6.configs.MagnetSensorConfigs; +import com.ctre.phoenix6.configs.MotionMagicConfigs; +import com.ctre.phoenix6.configs.MotorOutputConfigs; +import com.ctre.phoenix6.configs.ProximityParamsConfigs; +import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.Slot1Configs; +import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; +import com.ctre.phoenix6.signals.GravityTypeValue; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.ctre.phoenix6.signals.SensorDirectionValue; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.units.measure.Time; +import frc.robot.Constants.KrakenX60Constants; + +public final class ElevatorConstants { + protected static final boolean enable = true; + + protected static final boolean invertLeftMotorFollower = true; + + protected static final double supplyCurrentLimit = 100; + protected static final double k_zeroCurrentThreshold = 23.5; + + protected static final double rotorToSensorRatio = 5.2; + protected static final double sensorToMechanismRatio = 1; + + protected static final InvertedValue motorInverted = InvertedValue.CounterClockwise_Positive; + + protected static final double gearRatio = rotorToSensorRatio * sensorToMechanismRatio; + + protected static final double stage1Mass = Units.lbsToKilograms(5.402); + protected static final double stage2Mass = Units.lbsToKilograms(4.819); + protected static final double carriageMass = Units.lbsToKilograms(3.084); + protected static final double coralMechanismMass = Units.lbsToKilograms(8.173); // includes coral + protected static final double algaeMechanismMass = Units.lbsToKilograms(8.359); + + // Mass of the elevator carriage + protected static final double netMass = + stage1Mass + stage2Mass + carriageMass + coralMechanismMass + algaeMechanismMass; + + // Radius of the elevator drum + // approx. 0.02865 + protected static final double drumRadius = Units.inchesToMeters(2.256 / 2); + + protected static final LinearSystem stateSpacePlant = LinearSystemId + .createElevatorSystem(KrakenX60Constants.KrakenX60Motor, netMass, drumRadius, + gearRatio); + + protected static final double absoluteSensorRange = 0.5; + protected static final SensorDirectionValue invertEncoder = + SensorDirectionValue.CounterClockwise_Positive; + protected static final double encoderOffset = 0.291015625; // 0.490234375 + + protected static final double metersToRotations = 1 / (drumRadius * 2 * Math.PI); + // approx 7.96 + + protected static final boolean enableCANRange = true; + + protected static final double rangeDistanceGain = 64; // how much higher, per unit of range + + protected static final double inch = Units.inchesToMeters(1) * metersToRotations; + + protected static final double forwardSoftLimit = 11.15; + protected static final double reverseSoftLimit = 0; + + protected static final double unsafeRange = ElevatorState.L2.position() + 2 * inch; + + protected static final double tolerance = 0.06; + + protected static final double k_maxCanCompensation = 2 * inch; + + protected static final double manualUpSpeed = 0.2; + protected static final double manualDownSpeed = -0.3; + + protected static final double maxSpeedUp = 32; // 16 + protected static final double maxAccelerationUp = 48; // 48 + protected static final double maxJerkUp = 480; // 480 + + protected static final double maxSpeedDown = 10; // 10 + protected static final double maxAccelerationDown = 30; // 30 + protected static final double maxJerkDown = 300; // 300 + + protected static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() + .withMagnetSensor(new MagnetSensorConfigs() + .withAbsoluteSensorDiscontinuityPoint(absoluteSensorRange) + .withSensorDirection(invertEncoder) + .withMagnetOffset(encoderOffset)); + + protected static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withInverted(motorInverted)) + + .withFeedback(new FeedbackConfigs() + .withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor) + .withSensorToMechanismRatio(gearRatio)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withSupplyCurrentLimit(supplyCurrentLimit)) + + .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitThreshold(forwardSoftLimit) + .withForwardSoftLimitEnable(true) + .withReverseSoftLimitThreshold(reverseSoftLimit) + .withReverseSoftLimitEnable(false)) + + .withSlot0(new Slot0Configs() + .withGravityType(GravityTypeValue.Elevator_Static) + .withKP(20) + .withKI(0) + .withKD(0) + .withKS(0.125) + .withKV(3.59 * (drumRadius * 2 * Math.PI)) + .withKA(0.05 * (drumRadius * 2 * Math.PI)) + .withKG(0.42)) + + .withSlot1(new Slot1Configs() + .withGravityType(GravityTypeValue.Elevator_Static) + .withKP(7) + .withKI(0) + .withKD(0) + .withKS(0) + .withKV(3.59 * (drumRadius * 2 * Math.PI)) + .withKA(0.05 * (drumRadius * 2 * Math.PI)) + .withKG(0.42)) + + .withMotionMagic(new MotionMagicConfigs() + .withMotionMagicCruiseVelocity(maxSpeedUp) + .withMotionMagicAcceleration(maxAccelerationUp) + .withMotionMagicJerk(maxJerkUp)); + + protected static final CANrangeConfiguration kCANrangeConfig = new CANrangeConfiguration() + .withFovParams(new FovParamsConfigs() + .withFOVRangeX(6.75) + .withFOVRangeY(6.75)) + .withProximityParams(new ProximityParamsConfigs() + .withMinSignalStrengthForValidMeasurement(3500) + .withProximityThreshold(0.13) + .withProximityHysteresis(0)); + + protected static final Time kRangeDebounceTime = Seconds.of(0.06); +} + diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java new file mode 100644 index 00000000..c07ccb38 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java @@ -0,0 +1,41 @@ +package frc.robot.subsystems.elevator; + +public enum ElevatorState { + /** Elevator at ground */ + Ground(0), + /** Height for ground algae intake */ + HighGround(12 * ElevatorConstants.inch), + /** Regular "home" position - also intake position */ + Stow(0.31), + /** A little higher than stow to eject a coral */ + Eject(ElevatorState.Stow.position() + 2 * ElevatorConstants.inch), + /** Height to score processor */ + Processor(0), + /** L1 height */ + L1(2.63), + /** Secondary L1 height for when a coral is already present */ + SecondaryL1(ElevatorState.L1.position() + 8 * ElevatorConstants.inch), + /** L2 height */ + L2(4.016 + 3 * ElevatorConstants.inch), + /** L3 height */ + L3(7.257 - 4 * ElevatorConstants.inch), + /** L4 height */ + L4(9.757 + 0.3 * ElevatorConstants.inch), + /** Height to score net */ + Net(9.31 + 4 * ElevatorConstants.inch), + /** Height to intake algae from lower reef */ + LowerReef(2.0), + /** Height to intake algae from upper reef */ + UpperReef(4.5); + + private final double m_position; + + private ElevatorState(double position) { + m_position = position; + } + + protected double position() { + return m_position; + } +} + diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java index c7aef548..f3f8cb8b 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java index bb30d4c5..5aae89e5 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralEject.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java index 7ae70195..584a0fa2 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/CoralIntake.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java index 269f54ce..f5d48ce9 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java index 0b6d6a97..680c3183 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java index 4b0cf89f..45a8ab81 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java index e3a82d62..8f85e858 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java index b74b429d..07774fcf 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java index 97000595..4095cc45 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorPrep.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorPrep.java index 70bdc8fe..bbda40ba 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorPrep.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorPrep.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java index cca72ea4..7328f903 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java index 762f0e30..95695ac1 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java @@ -2,7 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.ElevatorConstants.ElevatorState; +import frc.robot.subsystems.elevator.ElevatorState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; From 9a88e2820b22141fe74f549904d2caeeef1a8d55 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 12:37:50 -0400 Subject: [PATCH 028/135] Remove unused method in drivetrain --- .../java/frc/robot/subsystems/CommandSwerveDrivetrain.java | 5 ----- 1 file changed, 5 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index 1f2ae3f9..fc4b110e 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -3,7 +3,6 @@ import static edu.wpi.first.units.Units.Second; import static edu.wpi.first.units.Units.Volts; import java.util.function.DoubleSupplier; -import java.util.function.Supplier; import org.slf4j.Logger; import org.slf4j.LoggerFactory; @@ -207,10 +206,6 @@ public void stop() { setControl(new SwerveRequest.SwerveDriveBrake()); } - public Command applyRequest(Supplier requestSupplier) { - return run(() -> this.setControl(requestSupplier.get())); - } - @Override public void periodic() { m_estimatedPose = this.getState().Pose; From 82afaf2e41fc2d97144c1bb8bd6a41be5f1ef037 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 12:45:16 -0400 Subject: [PATCH 029/135] Passive behavior should not take itself --- .../src/main/java/frc/robot/subsystems/PassiveSubsystem.java | 1 + 1 file changed, 1 insertion(+) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java b/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java index 988ce312..33808472 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java @@ -63,6 +63,7 @@ private Command passiveBehavior() { return Commands.run(() -> { if (!taken()) { passive(); + release(); } }, this); } From 9c8274343e043e60472378c7418d825a84ca67e2 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 12:53:59 -0400 Subject: [PATCH 030/135] Add call to take() after any setters in subsystems with passive behavior --- ThriftyTest/simgui.json | 1 + ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java | 1 + .../src/main/java/frc/robot/subsystems/coral/CoralRollers.java | 2 ++ 3 files changed, 4 insertions(+) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index ed9998e7..979a3f3b 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -25,6 +25,7 @@ "/SmartDashboard/Super Field": "Field2d", "/SmartDashboard/Test/Drive To Center": "Command", "/SmartDashboard/Test/Enter test state": "Command", + "/SmartDashboard/Test/Intake": "Command", "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, "windows": { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java b/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java index b0b91b4b..8497db03 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java @@ -77,6 +77,7 @@ private void configSim() { MotionMagicVoltage control = new MotionMagicVoltage(0); private void setPosition(double goal) { + take(); if (RobotObserver.getAlgaePieceHeld()) { m_pivot.setControl(control.withPosition(goal).withSlot(1)); } else { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java index 7118ec85..2135f92f 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java @@ -55,6 +55,7 @@ private void configCANrange() { } private void setVoltage(double voltage) { + take(); if (m_voltageLeft != voltage) { m_coralLeft.setVoltage(voltage); } @@ -130,6 +131,7 @@ public void periodic() { } protected void passive() { + m_logger.warn("Passive?"); if (present().getAsBoolean() && !holding().getAsBoolean()) { setIntake(); } else { From a58d0ca8738324aef0e8fa8529a6c9b05050dfcb Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 13:13:28 -0400 Subject: [PATCH 031/135] Add pivot package; extract pivot constants --- .../src/main/java/frc/robot/Constants.java | 121 ------------------ .../main/java/frc/robot/RobotContainer.java | 2 +- .../java/frc/robot/driveassist/Autopilot.java | 1 - .../robot/subsystems/coral/CoralRollers.java | 1 - .../robot/subsystems/{ => pivot}/Pivot.java | 104 +++------------ .../subsystems/pivot/PivotConstants.java | 117 +++++++++++++++++ .../robot/subsystems/pivot/PivotState.java | 26 ++++ .../robot/superstructure/Superstructure.java | 6 +- .../superstructure/states/AlgaeStow.java | 3 +- .../states/GroundAlgaeIntake.java | 3 +- .../states/HighGroundAlgaeIntake.java | 3 +- .../states/LowerReefAlgaeIntake.java | 5 +- .../frc/robot/superstructure/states/Net.java | 3 +- .../robot/superstructure/states/NetReady.java | 3 +- .../superstructure/states/Processor.java | 3 +- .../superstructure/states/ProcessorPrep.java | 3 +- .../robot/superstructure/states/Stowed.java | 3 +- .../states/UpperReefAlgaeIntake.java | 5 +- 18 files changed, 188 insertions(+), 224 deletions(-) rename ThriftyTest/src/main/java/frc/robot/subsystems/{ => pivot}/Pivot.java (61%) create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotConstants.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotState.java diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 03112a32..3dc66245 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -1,31 +1,12 @@ package frc.robot; -import com.ctre.phoenix6.configs.CANcoderConfiguration; -import com.ctre.phoenix6.configs.CurrentLimitsConfigs; -import com.ctre.phoenix6.configs.FeedbackConfigs; -import com.ctre.phoenix6.configs.MagnetSensorConfigs; -import com.ctre.phoenix6.configs.MotionMagicConfigs; -import com.ctre.phoenix6.configs.MotorOutputConfigs; -import com.ctre.phoenix6.configs.Slot0Configs; -import com.ctre.phoenix6.configs.Slot1Configs; -import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; -import com.ctre.phoenix6.signals.GravityTypeValue; -import com.ctre.phoenix6.signals.InvertedValue; -import com.ctre.phoenix6.signals.NeutralModeValue; -import com.ctre.phoenix6.signals.SensorDirectionValue; import com.pathplanner.lib.config.PIDConstants; import com.pathplanner.lib.controllers.PPHolonomicDriveController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.numbers.N1; -import edu.wpi.first.math.numbers.N2; -import edu.wpi.first.math.system.LinearSystem; import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.util.Units; @@ -63,8 +44,6 @@ public static class IDConstants { public static final int elevatorRight = 52; public static final int elevatorCANrange = 53; - public static final int pivot = 57; - public static final int frontIR = 2; public static final int rearIR = 3; @@ -309,106 +288,6 @@ public static final class AutonConstants { public static final double stage2Distance = 1; } - public static final class PivotConstants { - public static final double encoderOffset = 0.665283203125; - - public static final double rotorOffset = 0.344; - - public static final double rotorToSensorRatio = 64.0 / 14.0; - public static final double sensorToMechanismRatio = 32.0 / 14.0; - - public static final InvertedValue invertMotor = InvertedValue.CounterClockwise_Positive; - public static final SensorDirectionValue invertEncoder = - SensorDirectionValue.Clockwise_Positive; - - public static final double forwardSoftLimitThreshold = 0.359; - public static final double reverseSoftLimitThreshold = 0.0; - - public static final double radiansAtMax = forwardSoftLimitThreshold; - public static final double radiansAtZero = 0; - - public static final double absoluteSensorRange = 0.5; - - public static final double supplyCurrentLimit = 40; - - public static final double tolerance = 0.03; - - public static final double groundPickup = 0.0669; - public static final double processor = 0.085; - public static final double reefPickup = 0.2; - public static final double reefExtract = 0.281; - public static final double net = 0.342; - public static final double stow = 0.343; - - public static final double manualUpSpeed = 0.1; - public static final double manualDownSpeed = -0.1; - - public static final double momentOfIntertia = 0.14622; - public static final double gearRatio = rotorToSensorRatio * sensorToMechanismRatio; - - public static final LinearSystem stateSpacePlant = LinearSystemId - .createSingleJointedArmSystem(TalonFXConstants.TalonFXDCMotor, momentOfIntertia, gearRatio); - - public static final double maxSpeed = 1.5; // cancoder rotations per second - public static final double accelerationMultiplier = 2; - - public static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() - .withMagnetSensor(new MagnetSensorConfigs() - .withAbsoluteSensorDiscontinuityPoint(absoluteSensorRange) - .withSensorDirection(invertEncoder) - .withMagnetOffset(encoderOffset)); - - public static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Brake) - .withInverted(invertMotor)) - - // .withFeedback(new FeedbackConfigs() - // .withFeedbackRemoteSensorID(IDConstants.pivotEncoder) - // .withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder) - // .withRotorToSensorRatio(rotorToSensorRatio) - // .withSensorToMechanismRatio(sensorToMechanismRatio)) - .withFeedback(new FeedbackConfigs() - .withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor) - .withSensorToMechanismRatio(gearRatio)) - - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(supplyCurrentLimit)) - - .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() - .withForwardSoftLimitThreshold(forwardSoftLimitThreshold) - .withForwardSoftLimitEnable(true) - .withReverseSoftLimitThreshold(reverseSoftLimitThreshold) - .withReverseSoftLimitEnable(true)) - - .withSlot0(new Slot0Configs() - .withGravityType(GravityTypeValue.Arm_Cosine) - .withKP(25) - .withKI(0) - .withKD(0) - .withKS(0) - .withKV(1.3) - .withKA(0.12) - .withKG(0.625)) - .withSlot1(new Slot1Configs() - .withGravityType(GravityTypeValue.Arm_Cosine) - .withKP(30) - .withKI(0) - .withKD(0) - .withKS(0) - .withKV(1.3) - .withKA(0.12) - .withKG(0.85)) - - .withMotionMagic(new MotionMagicConfigs() - .withMotionMagicCruiseVelocity(maxSpeed) - .withMotionMagicAcceleration(maxSpeed * accelerationMultiplier) - .withMotionMagicJerk(maxSpeed * accelerationMultiplier * 10)); - - public static final double armLength = 0.443; - } - public static final class TalonFXConstants { public static final double nominalVoltageVolts = 12.0; // DC Volts public static final double stallTorqueNewtonMeters = 4.69; // Nm diff --git a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java index efa99581..c6886eb7 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java @@ -17,7 +17,7 @@ import frc.robot.subsystems.coral.CoralRollers; import frc.robot.subsystems.elevator.Elevator; import frc.robot.subsystems.LedFeedback; -import frc.robot.subsystems.Pivot; +import frc.robot.subsystems.pivot.Pivot; import frc.robot.subsystems.algae.AlgaeRollers; import frc.robot.superstructure.Superstructure; diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index cb184d4f..8e7ede99 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -134,7 +134,6 @@ private double push(double start, double end, double accel) { private Translation2d calculateSwirlyVelocity(Translation2d offset, APTarget target) { double disp = offset.getNorm(); Rotation2d theta = new Rotation2d(offset.getX(), offset.getY()); - // TODO: This could be a problem because rotation2d constructor doesn't like small numbers double rads = theta.getRadians(); double dist = calculateSwirlyLength(rads, disp); double vx = theta.getCos() - rads * theta.getSin(); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java index 2135f92f..86cbff5c 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java @@ -131,7 +131,6 @@ public void periodic() { } protected void passive() { - m_logger.warn("Passive?"); if (present().getAsBoolean() && !holding().getAsBoolean()) { setIntake(); } else { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java similarity index 61% rename from ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java rename to ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java index 8497db03..067a3f39 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/Pivot.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -package frc.robot.subsystems; +package frc.robot.subsystems.pivot; import com.ctre.phoenix6.controls.DutyCycleOut; import com.ctre.phoenix6.controls.MotionMagicVoltage; @@ -20,14 +20,13 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.Constants.IDConstants; -import frc.robot.Constants.PivotConstants; import frc.robot.Constants.SimConstants; import frc.robot.Robot; import frc.robot.RobotObserver; +import frc.robot.subsystems.PassiveSubsystem; public class Pivot extends PassiveSubsystem { - private final TalonFX m_pivot = new TalonFX(IDConstants.pivot); + private final TalonFX m_pivot = new TalonFX(PivotConstants.kMotorID); private double m_position; @@ -50,27 +49,27 @@ public Pivot() { } private void configMotor() { - m_pivot.getConfigurator().apply(PivotConstants.motorConfig, 0.2); - m_pivot.setPosition(PivotConstants.rotorOffset); + m_pivot.getConfigurator().apply(PivotConstants.kMotorConfig, 0.2); + m_pivot.setPosition(PivotConstants.kRotorOffset); } private void configSim() { m_armSim = new SingleJointedArmSim( - PivotConstants.stateSpacePlant, + PivotConstants.kPlant, m_gearbox, - PivotConstants.gearRatio, - PivotConstants.armLength, - PivotConstants.radiansAtZero, - PivotConstants.radiansAtMax, + PivotConstants.kGearRatio, + PivotConstants.kArmLength, + PivotConstants.kRadiansAtZero, + PivotConstants.kRadiansAtMax, true, // Add noise for realism - PivotConstants.stow // Starting angle + PivotState.Stow.position() // Starting angle ); m_mechVisual = new Mechanism2d(1.0, 1.0); // Width/height in meters m_mechRoot = m_mechVisual.getRoot("ArmRoot", 0.5, 0.0); // Center at (0.5, 0) m_armLigament = m_mechRoot .append( - new MechanismLigament2d("Arm", PivotConstants.armLength, Math.toDegrees(m_position))); + new MechanismLigament2d("Arm", PivotConstants.kArmLength, Math.toDegrees(m_position))); SmartDashboard.putData("Pivot/Visualization", m_mechVisual); } @@ -86,28 +85,8 @@ private void setPosition(double goal) { m_reference = goal; } - private void setStow() { - setPosition(PivotConstants.stow); - } - - private void setProcessor() { - setPosition(PivotConstants.processor); - } - - private void setNet() { - setPosition(PivotConstants.net); - } - - private void setGroundPickup() { - setPosition(PivotConstants.groundPickup); - } - - private void setReefIntake() { - setPosition(PivotConstants.reefPickup); - } - - private void setReefExtract() { - setPosition(PivotConstants.reefExtract); + private void setPosition(PivotState state) { + setPosition(state.position()); } public double getPosition() { @@ -119,7 +98,7 @@ public double getReference() { } public Trigger ready() { - return new Trigger(() -> Math.abs(getReference() - getPosition()) < PivotConstants.tolerance); + return new Trigger(() -> Math.abs(getReference() - getPosition()) < PivotConstants.kTolerance); } private double getPositionUncached() { @@ -157,60 +136,15 @@ public void simulationPeriodic() { } protected void passive() { - setStow(); - } - - /** - * Stows the pivot - */ - public Command stow() { - return Commands.sequence( - runOnce(this::setStow), - Commands.waitUntil(ready())); - } - - /** - * Sets the pivot to the angle for ground intake (including high ground) - */ - public Command ground() { - return Commands.sequence( - runOnce(this::setGroundPickup), - Commands.waitUntil(ready())); - } - - /** - * Sets the pivot to the angle for the processor - */ - public Command processor() { - return Commands.sequence( - runOnce(this::setProcessor), - Commands.waitUntil(ready())); - } - - /** - * Sets the pivot to the angle for the net - */ - public Command net() { - return Commands.sequence( - runOnce(this::setNet), - Commands.waitUntil(ready())); - } - - /** - * Sets the pivot to the angle for intaking an algae from the reef - */ - public Command reefIntake() { - return Commands.sequence( - runOnce(this::setReefIntake), - Commands.waitUntil(ready())); + setPosition(PivotState.Stow); } /** - * Sets the pivot to the angle for pulling an algae out of the reef + * Drives the pivot to the given PivotState This command ends when the state is reached. */ - public Command reefExtract() { + public Command go(PivotState state) { return Commands.sequence( - runOnce(this::setReefExtract), + runOnce(() -> setPosition(state)), Commands.waitUntil(ready())); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotConstants.java new file mode 100644 index 00000000..1a90edbe --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotConstants.java @@ -0,0 +1,117 @@ +package frc.robot.subsystems.pivot; + +import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; +import com.ctre.phoenix6.configs.FeedbackConfigs; +import com.ctre.phoenix6.configs.MagnetSensorConfigs; +import com.ctre.phoenix6.configs.MotionMagicConfigs; +import com.ctre.phoenix6.configs.MotorOutputConfigs; +import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.Slot1Configs; +import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; +import com.ctre.phoenix6.signals.GravityTypeValue; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.ctre.phoenix6.signals.SensorDirectionValue; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.LinearSystemId; +import frc.robot.Constants.TalonFXConstants; + +public final class PivotConstants { + public static final int kMotorID = 57; + + public static final double encoderOffset = 0.665283203125; + + public static final double kRotorOffset = 0.344; + + public static final double rotorToSensorRatio = 64.0 / 14.0; + public static final double sensorToMechanismRatio = 32.0 / 14.0; + + public static final InvertedValue invertMotor = InvertedValue.CounterClockwise_Positive; + public static final SensorDirectionValue invertEncoder = + SensorDirectionValue.Clockwise_Positive; + + public static final double forwardSoftLimitThreshold = 0.359; + public static final double reverseSoftLimitThreshold = 0.0; + + public static final double kRadiansAtMax = forwardSoftLimitThreshold; + public static final double kRadiansAtZero = 0; + + public static final double absoluteSensorRange = 0.5; + + public static final double supplyCurrentLimit = 40; + + public static final double kTolerance = 0.03; + + public static final double manualUpSpeed = 0.1; + public static final double manualDownSpeed = -0.1; + + public static final double momentOfIntertia = 0.14622; + public static final double kGearRatio = rotorToSensorRatio * sensorToMechanismRatio; + + public static final LinearSystem kPlant = LinearSystemId + .createSingleJointedArmSystem(TalonFXConstants.TalonFXDCMotor, momentOfIntertia, kGearRatio); + + public static final double maxSpeed = 1.5; // cancoder rotations per second + public static final double accelerationMultiplier = 2; + + public static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() + .withMagnetSensor(new MagnetSensorConfigs() + .withAbsoluteSensorDiscontinuityPoint(absoluteSensorRange) + .withSensorDirection(invertEncoder) + .withMagnetOffset(encoderOffset)); + + public static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withInverted(invertMotor)) + + // .withFeedback(new FeedbackConfigs() + // .withFeedbackRemoteSensorID(IDConstants.pivotEncoder) + // .withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder) + // .withRotorToSensorRatio(rotorToSensorRatio) + // .withSensorToMechanismRatio(sensorToMechanismRatio)) + .withFeedback(new FeedbackConfigs() + .withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor) + .withSensorToMechanismRatio(kGearRatio)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withSupplyCurrentLimit(supplyCurrentLimit)) + + .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitThreshold(forwardSoftLimitThreshold) + .withForwardSoftLimitEnable(true) + .withReverseSoftLimitThreshold(reverseSoftLimitThreshold) + .withReverseSoftLimitEnable(true)) + + .withSlot0(new Slot0Configs() + .withGravityType(GravityTypeValue.Arm_Cosine) + .withKP(25) + .withKI(0) + .withKD(0) + .withKS(0) + .withKV(1.3) + .withKA(0.12) + .withKG(0.625)) + .withSlot1(new Slot1Configs() + .withGravityType(GravityTypeValue.Arm_Cosine) + .withKP(30) + .withKI(0) + .withKD(0) + .withKS(0) + .withKV(1.3) + .withKA(0.12) + .withKG(0.85)) + + .withMotionMagic(new MotionMagicConfigs() + .withMotionMagicCruiseVelocity(maxSpeed) + .withMotionMagicAcceleration(maxSpeed * accelerationMultiplier) + .withMotionMagicJerk(maxSpeed * accelerationMultiplier * 10)); + + public static final double kArmLength = 0.443; +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotState.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotState.java new file mode 100644 index 00000000..ce680425 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotState.java @@ -0,0 +1,26 @@ +package frc.robot.subsystems.pivot; + +public enum PivotState { + /** The pivot angle for intaking algae off the ground */ + Ground(0.0669), + /** The angle for scoring in the processor */ + Processor(0.085), + /** The angle for intaking algae off the reef */ + ReefIntake(0.281), + /** The angle for removing algae off the reef after intake */ + ReefExtract(0.281), + /** The angle to score at the net */ + Net(0.342), + /** The "home" angle for the pivot */ + Stow(0.343); + + private double m_position; + + private PivotState(double position) { + m_position = position; + } + + protected double position() { + return m_position; + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 33b98c6f..d3d03d19 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -3,12 +3,12 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.subsystems.CommandSwerveDrivetrain; -import frc.robot.subsystems.coral.CoralRollers; -import frc.robot.subsystems.elevator.Elevator; import frc.robot.subsystems.LedFeedback; -import frc.robot.subsystems.Pivot; import frc.robot.subsystems.algae.AlgaeRollers; import frc.robot.subsystems.climber.Climber; +import frc.robot.subsystems.coral.CoralRollers; +import frc.robot.subsystems.elevator.Elevator; +import frc.robot.subsystems.pivot.Pivot; import frc.robot.vision.VisionHandler; public class Superstructure { diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java index f3f8cb8b..ce8ab188 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/AlgaeStow.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.subsystems.elevator.ElevatorState; +import frc.robot.subsystems.pivot.PivotState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -16,7 +17,7 @@ public AlgaeStow() {} public Command build(Subsystems subsystems) { return Commands.parallel( subsystems.elevator().go(ElevatorState.Stow).asProxy(), - subsystems.pivot().ground()) + subsystems.pivot().go(PivotState.Ground)) .onlyIf(subsystems.algae().holdingAlgae()); // Neither subsystem is released because this is a "persistent" state. diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java index f5d48ce9..750c56ae 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.subsystems.elevator.ElevatorState; +import frc.robot.subsystems.pivot.PivotState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -15,7 +16,7 @@ public GroundAlgaeIntake() {} public Command build(Subsystems subsystems) { return Commands.parallel( subsystems.elevator().go(ElevatorState.Ground).asProxy(), - subsystems.pivot().ground(), + subsystems.pivot().go(PivotState.Ground), subsystems.algae().intake()) .finallyDo(subsystems.elevator()::release) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java index 680c3183..ecc881be 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.subsystems.elevator.ElevatorState; +import frc.robot.subsystems.pivot.PivotState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -15,7 +16,7 @@ public HighGroundAlgaeIntake() {} public Command build(Subsystems subsystems) { return Commands.parallel( subsystems.elevator().go(ElevatorState.UpperReef).asProxy(), - subsystems.pivot().ground(), + subsystems.pivot().go(PivotState.Ground), subsystems.algae().intake()) .finallyDo(subsystems.elevator()::release) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java index 45a8ab81..ba992480 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.subsystems.elevator.ElevatorState; +import frc.robot.subsystems.pivot.PivotState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -16,9 +17,9 @@ public Command build(Subsystems subsystems) { return Commands.sequence( Commands.parallel( subsystems.elevator().go(ElevatorState.LowerReef).asProxy(), - subsystems.pivot().reefIntake(), + subsystems.pivot().go(PivotState.ReefIntake), subsystems.algae().intake()), - subsystems.pivot().reefExtract()) + subsystems.pivot().go(PivotState.ReefExtract)) .finallyDo(subsystems.elevator()::release) .finallyDo(subsystems.pivot()::release) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java index 8f85e858..3f6efbd3 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.subsystems.elevator.ElevatorState; +import frc.robot.subsystems.pivot.PivotState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -16,7 +17,7 @@ public Command build(Subsystems subsystems) { return Commands.sequence( Commands.parallel( subsystems.elevator().go(ElevatorState.Net).asProxy(), - subsystems.pivot().net()), + subsystems.pivot().go(PivotState.Net)), subsystems.algae().net()) .finallyDo(subsystems.elevator()::release) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java index 07774fcf..4289965c 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.subsystems.elevator.ElevatorState; +import frc.robot.subsystems.pivot.PivotState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -15,7 +16,7 @@ public NetReady() {} public Command build(Subsystems subsystems) { return Commands.parallel( subsystems.elevator().go(ElevatorState.Net).asProxy(), - subsystems.pivot().net()) + subsystems.pivot().go(PivotState.Net)) .finallyDo(subsystems.elevator()::conditionalRelease) .finallyDo(subsystems.pivot()::conditionalRelease) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java index 4095cc45..83dcf098 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.subsystems.elevator.ElevatorState; +import frc.robot.subsystems.pivot.PivotState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -16,7 +17,7 @@ public Command build(Subsystems subsystems) { return Commands.sequence( Commands.parallel( subsystems.elevator().go(ElevatorState.Processor).asProxy(), - subsystems.pivot().processor()), + subsystems.pivot().go(PivotState.Processor)), subsystems.algae().processorScore()) .finallyDo(subsystems.elevator()::release) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorPrep.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorPrep.java index bbda40ba..93553a77 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorPrep.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ProcessorPrep.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.subsystems.elevator.ElevatorState; +import frc.robot.subsystems.pivot.PivotState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -15,7 +16,7 @@ public ProcessorPrep() {} public Command build(Subsystems subsystems) { return Commands.parallel( subsystems.elevator().go(ElevatorState.Processor).asProxy(), - subsystems.pivot().processor()) + subsystems.pivot().go(PivotState.Processor)) .finallyDo(subsystems.elevator()::conditionalRelease) .finallyDo(subsystems.pivot()::conditionalRelease) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java index 7328f903..4a804468 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Stowed.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.subsystems.elevator.ElevatorState; +import frc.robot.subsystems.pivot.PivotState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -15,7 +16,7 @@ public Stowed() {} public Command build(Subsystems subsystems) { return Commands.parallel( subsystems.elevator().go(ElevatorState.Stow).asProxy(), - subsystems.pivot().stow()); + subsystems.pivot().go(PivotState.Stow)); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java index 95695ac1..c1d9326c 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.subsystems.elevator.ElevatorState; +import frc.robot.subsystems.pivot.PivotState; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -17,9 +18,9 @@ public Command build(Subsystems subsystems) { Commands.parallel( subsystems.elevator().go(ElevatorState.UpperReef).asProxy(), - subsystems.pivot().reefIntake(), + subsystems.pivot().go(PivotState.ReefIntake), subsystems.algae().intake()), - subsystems.pivot().reefExtract()) + subsystems.pivot().go(PivotState.ReefExtract)) .finallyDo(subsystems.pivot()::release) .finallyDo(subsystems.elevator()::release) From d9f9d92f70f2dd1a3924d5dc85e4a013dbe2795f Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 13:22:54 -0400 Subject: [PATCH 032/135] Add passive behavior and releases for algae --- .../frc/robot/binding/OperatorBindings.java | 4 ++-- .../robot/subsystems/algae/AlgaeRollers.java | 17 ++++++++++------- .../states/GroundAlgaeIntake.java | 1 + .../states/HighGroundAlgaeIntake.java | 1 + .../states/LowerReefAlgaeIntake.java | 1 + .../frc/robot/superstructure/states/Net.java | 1 + .../states/{NetReady.java => NetPrep.java} | 4 ++-- .../robot/superstructure/states/Processor.java | 1 + .../states/UpperReefAlgaeIntake.java | 1 + 9 files changed, 20 insertions(+), 11 deletions(-) rename ThriftyTest/src/main/java/frc/robot/superstructure/states/{NetReady.java => NetPrep.java} (91%) diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java index acde1316..6cf0853f 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -22,7 +22,7 @@ import frc.robot.superstructure.states.ReefAlign.ReefSide; import frc.robot.superstructure.states.LowerReefAlgaeIntake; import frc.robot.superstructure.states.Net; -import frc.robot.superstructure.states.NetReady; +import frc.robot.superstructure.states.NetPrep; import frc.robot.superstructure.states.Processor; import frc.robot.superstructure.states.ProcessorPrep; import frc.robot.superstructure.states.ReefAlign; @@ -75,7 +75,7 @@ public void bind(Superstructure superstructure) { /* algae score */ m_algae.and(m_processor).whileTrue(superstructure.enter(new ProcessorPrep())); m_algae.and(m_processor).onFalse(superstructure.enter(new Processor())); - m_algae.and(m_net).whileTrue(superstructure.enter(new NetReady())); + m_algae.and(m_net).whileTrue(superstructure.enter(new NetPrep())); m_algae.and(m_net).onFalse(superstructure.enter(new Net())); /* coral intake & score */ diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeRollers.java index 82154d22..d68d7d55 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeRollers.java @@ -38,7 +38,8 @@ private void configIntakeMotor() { m_algaeRoller.getConfigurator().apply(AlgaeConstants.kMotorConfig); } - private void setMotor(double voltage) { + private void setVoltage(double voltage) { + take(); if (voltage != m_voltage) { m_voltageChanged = true; } @@ -55,7 +56,7 @@ private double getTorqueCurrent() { } private void stop() { - setMotor(0); + setVoltage(0); } /** @@ -63,7 +64,7 @@ private void stop() { */ private void keep(boolean shouldHold) { if (shouldHold) { - setMotor(AlgaeConstants.kHoldVoltage); + setVoltage(AlgaeConstants.kHoldVoltage); } else { stop(); } @@ -94,14 +95,16 @@ public void close() throws Exception { m_algaeRoller.close(); } - protected void passive() {} + protected void passive() { + keep(holdingAlgae().getAsBoolean()); + } /** * Intakes an algae, then holds it. If an algae is already held, the command does not run. */ public Command intake() { return Commands.sequence( - runOnce(() -> setMotor(AlgaeConstants.kIntakeVoltage)), + runOnce(() -> setVoltage(AlgaeConstants.kIntakeVoltage)), Commands.waitUntil(holdingAlgae())) .finallyDo(this::keep) @@ -113,7 +116,7 @@ public Command intake() { */ public Command net() { return Commands.sequence( - runOnce(() -> setMotor(AlgaeConstants.kNetEjectVoltage)), + runOnce(() -> setVoltage(AlgaeConstants.kNetEjectVoltage)), Commands.waitSeconds(AlgaeConstants.kNetScoreTime)) .finallyDo(this::keep) @@ -125,7 +128,7 @@ public Command net() { */ public Command processorScore() { return Commands.sequence( - runOnce(() -> setMotor(AlgaeConstants.kProcessorEjectVoltage)), + runOnce(() -> setVoltage(AlgaeConstants.kProcessorEjectVoltage)), Commands.waitSeconds(AlgaeConstants.kProcessorScoreTime)) .finallyDo(this::keep) diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java index 750c56ae..6cf1606a 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/GroundAlgaeIntake.java @@ -21,6 +21,7 @@ public Command build(Subsystems subsystems) { .finallyDo(subsystems.elevator()::release) .finallyDo(subsystems.pivot()::release) + .finallyDo(subsystems.algae()::release) .unless(subsystems.algae().holdingAlgae()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java index ecc881be..43a8dd9a 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/HighGroundAlgaeIntake.java @@ -21,6 +21,7 @@ public Command build(Subsystems subsystems) { .finallyDo(subsystems.elevator()::release) .finallyDo(subsystems.pivot()::release) + .finallyDo(subsystems.algae()::release) .unless(subsystems.algae().holdingAlgae()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java index ba992480..fcfec2fd 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/LowerReefAlgaeIntake.java @@ -22,6 +22,7 @@ public Command build(Subsystems subsystems) { subsystems.pivot().go(PivotState.ReefExtract)) .finallyDo(subsystems.elevator()::release) + .finallyDo(subsystems.algae()::release) .finallyDo(subsystems.pivot()::release) .unless(subsystems.algae().holdingAlgae()); } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java index 3f6efbd3..c3f6f055 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Net.java @@ -22,6 +22,7 @@ public Command build(Subsystems subsystems) { .finallyDo(subsystems.elevator()::release) .finallyDo(subsystems.pivot()::release) + .finallyDo(subsystems.algae()::release) .onlyIf(subsystems.algae().holdingAlgae()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetPrep.java similarity index 91% rename from ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java rename to ThriftyTest/src/main/java/frc/robot/superstructure/states/NetPrep.java index 4289965c..2407850f 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetReady.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/NetPrep.java @@ -7,11 +7,11 @@ import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; -public class NetReady implements EnterableState { +public class NetPrep implements EnterableState { /** * A state that sets the robot up to score in the net */ - public NetReady() {} + public NetPrep() {} public Command build(Subsystems subsystems) { return Commands.parallel( diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java index 83dcf098..191eef48 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Processor.java @@ -22,6 +22,7 @@ public Command build(Subsystems subsystems) { .finallyDo(subsystems.elevator()::release) .finallyDo(subsystems.pivot()::release) + .finallyDo(subsystems.algae()::release) .onlyIf(subsystems.algae().holdingAlgae()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java index c1d9326c..e716b09f 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java @@ -24,6 +24,7 @@ public Command build(Subsystems subsystems) { .finallyDo(subsystems.pivot()::release) .finallyDo(subsystems.elevator()::release) + .finallyDo(subsystems.algae()::release) .unless(subsystems.algae().holdingAlgae()); } } From 88fe790ca89d403aa082aefc8008c97287f2de41 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 11 May 2025 14:21:52 -0400 Subject: [PATCH 033/135] Working auto in sim The one thing I don't love rn is that you CANNOT intake w/out autozeroing. that feels like a bad idea to me, and I'd like them separate. --- ThriftyTest/simgui.json | 23 ++++++++++++++++++- .../src/main/java/frc/robot/Robot.java | 1 + .../main/java/frc/robot/RobotContainer.java | 2 ++ .../robot/binding/NamedCommandBindings.java | 16 +++++++++---- .../java/frc/robot/binding/RobotBindings.java | 3 ++- .../java/frc/robot/driveassist/APTarget.java | 9 ++++---- .../robot/subsystems/PassiveSubsystem.java | 2 +- .../robot/subsystems/elevator/Elevator.java | 7 ++++-- .../robot/superstructure/Superstructure.java | 6 ++++- .../robot/superstructure/states/Align.java | 6 +++++ .../java/frc/robot/utils/AutonomousUtil.java | 2 ++ 11 files changed, 62 insertions(+), 15 deletions(-) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 979a3f3b..1e4e3dff 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -14,9 +14,12 @@ "NTProvider": { "types": { "/FMSInfo": "FMSInfo", + "/SmartDashboard/Auton Chooser": "String Chooser", + "/SmartDashboard/Command Scheduler": "Scheduler", "/SmartDashboard/Drive To Center": "Command", "/SmartDashboard/Elevator Visualization": "Mechanism2d", "/SmartDashboard/Elevator/Lazy Zero": "Command", + "/SmartDashboard/Elevator/Subsystem": "Subsystem", "/SmartDashboard/Enter test state": "Command", "/SmartDashboard/Lazy Zero Elevator": "Command", "/SmartDashboard/PathPlanner": "Alerts", @@ -29,6 +32,16 @@ "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, "windows": { + "/SmartDashboard/Auton Chooser": { + "window": { + "visible": true + } + }, + "/SmartDashboard/Command Scheduler": { + "window": { + "visible": true + } + }, "/SmartDashboard/Super Field": { "Pathfind Trajectory": { "arrows": false, @@ -117,6 +130,11 @@ "window": { "visible": true } + }, + "/SmartDashboard/Test/Drive To Center": { + "window": { + "visible": true + } } } }, @@ -126,7 +144,10 @@ }, "transitory": { "SmartDashboard": { - "Drivetrain": { + "Coral": { + "open": true + }, + "Elevator": { "open": true }, "Swirly length": { diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index 789090dc..5021a4b3 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -29,6 +29,7 @@ public void robotInit() { NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); NetworkTableInstance.getDefault().getTable("limelight").getEntry("stream").setNumber(0); m_robotContainer.enablePDPSwitch(); + SmartDashboard.putData("Command Scheduler", CommandScheduler.getInstance()); } @Override diff --git a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java index c6886eb7..c674d411 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java @@ -5,6 +5,7 @@ import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.binding.Binder; import frc.robot.binding.DashboardBindings; @@ -55,6 +56,7 @@ public RobotContainer() { } m_autoChooser = AutoBuilder.buildAutoChooser(); + SmartDashboard.putData("Auton Chooser", m_autoChooser); } public Command getAutonomousCommand() { diff --git a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java index b0e00bb0..b1d941f8 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java @@ -1,6 +1,7 @@ package frc.robot.binding; import com.pathplanner.lib.auto.NamedCommands; +import edu.wpi.first.math.geometry.Rotation2d; import frc.robot.Constants; import frc.robot.Constants.CoralLevel; import frc.robot.Constants.FieldConstants; @@ -39,16 +40,21 @@ public void bind(Superstructure superstructure) { for (ScoringLocations location : Constants.ScoringLocations.values()) { String name = "Align ".concat(location.toString()); NamedCommands.registerCommand(name, superstructure.enter( - new Align(new APTarget(location.value)))); + new Align(new APTarget(location.value).withEntryAngle(location.value.getRotation())) + .allianceRelative())); } NamedCommands.registerCommand("Align LIntake", superstructure.enter( - new Align(new APTarget(FieldConstants.kLeftIntake)).allianceRelative())); + new Align(new APTarget(FieldConstants.kLeftIntake).withEntryAngle(Rotation2d.kPi)) + .allianceRelative())); NamedCommands.registerCommand("Align RIntake", superstructure.enter( - new Align(new APTarget(FieldConstants.kRightIntake)).allianceRelative())); + new Align(new APTarget(FieldConstants.kRightIntake).withEntryAngle(Rotation2d.kPi)) + .allianceRelative())); NamedCommands.registerCommand("Align IJ", superstructure.enter( - new Align(new APTarget(FieldConstants.kIJ)).allianceRelative())); + new Align(new APTarget(FieldConstants.kIJ).withEntryAngle(FieldConstants.kIJ.getRotation())) + .allianceRelative())); NamedCommands.registerCommand("Align GH", superstructure.enter( - new Align(new APTarget(FieldConstants.kGH)).allianceRelative())); + new Align(new APTarget(FieldConstants.kGH).withEntryAngle(FieldConstants.kGH.getRotation())) + .allianceRelative())); NamedCommands.registerCommand("Align Barge", superstructure.enter( new Align(new APTarget(FieldConstants.kBarge1)).allianceRelative())); } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java index 77472f35..7753244e 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java @@ -8,6 +8,7 @@ public RobotBindings() {} public void bind(Superstructure superstructure) { /* elevator prefire */ - superstructure.modify(new ElevatorPrep(), superstructure.inReefZone()); + superstructure.modify(new ElevatorPrep(), + superstructure.inReefZone().and(superstructure.holdingCoral())); } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java index 7e12df05..09585945 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java @@ -1,7 +1,6 @@ package frc.robot.driveassist; import java.util.Optional; - import com.pathplanner.lib.util.FlippingUtil; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; @@ -89,10 +88,12 @@ public double getVelocity() { * Flips a target across the field, preserving relative entry angle and rotation. */ public APTarget flip() { - m_reference = FlippingUtil.flipFieldPose(m_reference); + Pose2d ref = FlippingUtil.flipFieldPose(m_reference); + APTarget target = new APTarget(ref); m_entryAngle.ifPresent(rotation -> { - m_entryAngle = Optional.of(FlippingUtil.flipFieldRotation(rotation)); + Rotation2d entry = FlippingUtil.flipFieldRotation(rotation); + target.withEntryAngle(entry); }); - return this; + return target; } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java b/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java index 33808472..ac6d8bd8 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/PassiveSubsystem.java @@ -65,7 +65,7 @@ private Command passiveBehavior() { passive(); release(); } - }, this); + }, this).withName(getName() + "Passive"); } /** diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index c37ab0dc..85882859 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -55,6 +55,7 @@ public Elevator() { configCANrange(); SmartDashboard.putData("Elevator/Lazy Zero", runOnce(this::calibrateZero).ignoringDisable(true)); + SmartDashboard.putData("Elevator/Subsystem", this); } private void configCANrange() { @@ -186,7 +187,8 @@ protected void passive() { public Command go(ElevatorState state) { return Commands.sequence( runOnce(() -> setPosition(state)), - Commands.waitUntil(ready())); + Commands.waitUntil(ready())) + .withName(state.toString()); } public Command go(CoralLevel level) { @@ -207,7 +209,8 @@ public Command autoZero() { if (!interrupted) { calibrateZero(); } - }); + }) + .withName("Autozero"); } public void setPrefireRequirement(Trigger trigger) { diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index d3d03d19..91fd867a 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -41,7 +41,7 @@ public Superstructure( */ public Command enter(EnterableState state) { return state.build(m_subsystems) - .withName(state.toString()); // avoid poorly named commands + .withName(state.getClass().getSimpleName()); // avoid poorly named commands } /** @@ -78,4 +78,8 @@ public Trigger aligned() { public Trigger inReefZone() { return m_subsystems.drivetrain().inReefZone(); } + + public Trigger holdingCoral() { + return m_subsystems.coral().holding(); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java index 0adb43ea..c6a5fb1e 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java @@ -1,6 +1,8 @@ package frc.robot.superstructure.states; import java.util.Set; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; @@ -12,6 +14,9 @@ import frc.robot.superstructure.Superstructure.Subsystems; public class Align implements EnterableState { + @SuppressWarnings("unused") + private final Logger m_logger = LoggerFactory.getLogger(Align.class); + private final Autopilot m_autopilot; private final APTarget m_target; private boolean m_flip; @@ -47,6 +52,7 @@ public Align allianceRelative() { private APTarget target() { if (m_flip) { if (DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Red)) { + return m_target.flip(); } } return m_target; diff --git a/ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java b/ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java index ee84e041..b8474cfd 100644 --- a/ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java +++ b/ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java @@ -40,6 +40,8 @@ public static void initializePathPlanner(CommandSwerveDrivetrain drivetrain) { }, drivetrain); // Reference to this subsystem to set requirements + drivetrain.initializeSetpointGenerator(config); + PathPlannerLogging.setLogActivePathCallback( poses -> RobotObserver.getField().getObject("Pathfind Trajectory").setPoses(poses)); } catch (IOException | ParseException e) { From 9256ec37f53e47ec539e54d4874adeb8d71a36c1 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Mon, 12 May 2025 16:22:19 -0400 Subject: [PATCH 034/135] Create drivetrain package; Extract drive constants --- .../src/main/java/frc/robot/Constants.java | 122 +---- .../java/frc/robot/binding/DriveBindings.java | 2 +- .../frc/robot/commands/TeleopCommand.java | 104 ---- .../frc/robot/driveassist/ForceField.java | 121 ++--- .../frc/robot/generated/TunerConstants.java | 505 +++++++++--------- .../generated/TunerConstantsThrifty.java | 4 +- .../frc/robot/subsystems/climber/Climber.java | 5 +- .../subsystems/climber/ClimberConstants.java | 5 +- .../CommandSwerveDrivetrain.java | 109 ++-- .../subsystems/drivetrain/DriveConstants.java | 83 +++ .../robot/subsystems/elevator/Elevator.java | 2 +- .../robot/superstructure/Superstructure.java | 2 +- .../robot/superstructure/states/Align.java | 4 +- .../superstructure/states/ReefAlign.java | 2 +- .../java/frc/robot/utils/AutonomousUtil.java | 52 -- 15 files changed, 471 insertions(+), 651 deletions(-) delete mode 100644 ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java rename ThriftyTest/src/main/java/frc/robot/subsystems/{ => drivetrain}/CommandSwerveDrivetrain.java (83%) create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 3dc66245..331e815f 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -1,58 +1,28 @@ package frc.robot; -import com.pathplanner.lib.config.PIDConstants; -import com.pathplanner.lib.controllers.PPHolonomicDriveController; - +import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.Milliseconds; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.util.Units; - -import static edu.wpi.first.units.Units.Centimeters; -import static edu.wpi.first.units.Units.Degrees; -import static edu.wpi.first.units.Units.Meters; -import static edu.wpi.first.units.Units.MetersPerSecond; -import static edu.wpi.first.units.Units.MetersPerSecondPerSecond; -import static edu.wpi.first.units.Units.Milliseconds; -import static edu.wpi.first.units.Units.RadiansPerSecond; -import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond; -import static edu.wpi.first.units.Units.RotationsPerSecond; -import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond; import edu.wpi.first.units.measure.Angle; -import edu.wpi.first.units.measure.AngularAcceleration; -import edu.wpi.first.units.measure.AngularVelocity; import edu.wpi.first.units.measure.Distance; -import edu.wpi.first.units.measure.LinearAcceleration; -import edu.wpi.first.units.measure.LinearVelocity; import edu.wpi.first.units.measure.Time; import edu.wpi.first.wpilibj.PS5Controller.Button; -import frc.robot.driveassist.APConstraints; -import frc.robot.driveassist.Autopilot; -import frc.robot.driveassist.APProfile; -import frc.robot.generated.TunerConstants; import frc.robot.subsystems.elevator.ElevatorState; public class Constants { public static class IDConstants { - public static final int leftRange = 8; - public static final int rightRange = 7; - public static final int elevatorLeft = 51; public static final int elevatorRight = 52; public static final int elevatorCANrange = 53; - public static final int frontIR = 2; - public static final int rearIR = 3; - public static final int candle1 = 5; public static final int candle2 = 6; - - public static final int servo = 7; - - public static final int climbEncoder = 9; } public static class SimConstants { @@ -63,92 +33,6 @@ public static class RobotConstants { public static final Time globalCanTimeout = Milliseconds.of(20); // 20 milliseconds } - public static class DriveConstants { - public static final PIDConstants k_translationPID = new PIDConstants(2, 0.0, 0.0); // 0.18836 - public static final PIDConstants k_rotationPID = new PIDConstants(1.5, 0.0, 0.0); // 0.17119 - - public static class HeadingPID { - public static final double kP = 4.0; - public static final double kI = 0.0; - public static final double kD = 0.0; - } - - private static final APConstraints kTightAutopilotConstraintsI = new APConstraints() - .withAcceleration(5.5) - .withDecceleration(1.3); - - private static final APConstraints kTightAutopilotConstraintsU = APConstraints.unlimited(); - - private static final APProfile kTightProfile = new APProfile() - .withConstraintsI(kTightAutopilotConstraintsI) - .withConstraintsU(kTightAutopilotConstraintsU) - .withErrorXY(Centimeters.of(2)) - .withErrorTheta(Degrees.of(2)); - - public static final Autopilot kTightAutopilot = new Autopilot(kTightProfile); - - private static final APConstraints kLooseAutopilotConstraintsI = - new APConstraints() - .withAcceleration(8.5) - .withDecceleration(4); - - private static final APConstraints kLooseAutopilotConstraintsU = - new APConstraints() - .withAcceleration(8.5) - .withDecceleration(3); - - private static final APProfile kLooseProfile = new APProfile() - .withConstraintsI(kLooseAutopilotConstraintsI) - .withConstraintsU(kLooseAutopilotConstraintsU) - .withErrorXY(Centimeters.of(10)) - .withErrorTheta(Degrees.of(10)); - - public static final Autopilot kLooseAutopilot = new Autopilot(kLooseProfile); - - public static final PPHolonomicDriveController k_pathplannerHolonomicDriveController = - new PPHolonomicDriveController(k_translationPID, k_rotationPID); - - public static final double k_maxTeleopLinearSpeed = - TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); - public static final double k_maxTeleopAngularSpeed = - RotationsPerSecond.of(1.5).in(RadiansPerSecond); - - public static final LinearVelocity k_maxLinearSpeed = MetersPerSecond.of(4); - public static final LinearAcceleration k_maxLinearAcceleration = MetersPerSecondPerSecond.of(3); - public static final AngularVelocity k_maxAngularSpeed = RotationsPerSecond.of(2); - public static final AngularAcceleration k_maxAngularAcceleration = - RotationsPerSecondPerSecond.of(2); - - public static final LinearVelocity k_maxAlignLinearSpeed = MetersPerSecond.of(1.0); - public static final LinearAcceleration k_maxAlignLinearAcceleration = - MetersPerSecondPerSecond.of(1); - public static final AngularVelocity k_maxAlignAngularSpeed = RotationsPerSecond.of(1); - public static final AngularAcceleration k_maxAlignAngularAcceleration = - RotationsPerSecondPerSecond.of(1); - - public static final double k_maxRotationalSpeed = k_maxLinearSpeed.in(MetersPerSecond) - / (TunerConstants.kWheelRadius.in(Meters) * 2 * Math.PI); - - public static final double k_elevatorHeightLinearVelocityGain = -0.357; - - public static final double k_elevatorHeightLinearAccelerationGain = - k_elevatorHeightLinearVelocityGain * 2; - public static final double k_elevatorHeightAngularVelocityGain = -0.0446; - public static final double k_elevatorHeightAngularAccelerationGain = - k_elevatorHeightAngularVelocityGain * 2; - - public static final double k_closedLoopOverrideToleranceTranslation = 0.05; - public static final double k_closedLoopOverrideToleranceRotation = 0.05; - - public static final double rangeZero = 0.175; - public static final double rangeMax = 0.3; - - // This one is as well, however it is only used in auton - public static final Constraints k_rotationConstraints = new Constraints( - k_maxAngularSpeed.in(RadiansPerSecond), - k_maxAngularAcceleration.in(RadiansPerSecondPerSecond)); - } - public static class ButtonBindingConstants { public static enum DriverChoice { DRAGONREINS, BACKUP; diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java index 91d4cf30..00bf5548 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java @@ -4,10 +4,10 @@ import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.ButtonBindingConstants; -import frc.robot.Constants.DriveConstants; import frc.robot.Constants.ButtonBindingConstants.Driver; import frc.robot.Constants.FieldConstants; import frc.robot.driveassist.APTarget; +import frc.robot.subsystems.drivetrain.DriveConstants; import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.states.Align; import frc.robot.superstructure.states.HeadingReset; diff --git a/ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java deleted file mode 100644 index 527dbe90..00000000 --- a/ThriftyTest/src/main/java/frc/robot/commands/TeleopCommand.java +++ /dev/null @@ -1,104 +0,0 @@ -package frc.robot.commands; - -import java.util.function.Supplier; - -import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; -import com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue; -import com.ctre.phoenix6.swerve.SwerveRequest; - -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.wpilibj2.command.Command; - -import frc.robot.Constants.DriveConstants; -import frc.robot.Constants.ButtonBindingConstants.Driver; -import frc.robot.driveassist.ForceField; -import frc.robot.subsystems.CommandSwerveDrivetrain; - -public class TeleopCommand extends Command { - private final CommandSwerveDrivetrain m_drivetrain; - private final Supplier m_xSupplier; - private final Supplier m_ySupplier; - private final Supplier m_rotSupplier; - - private final double maxTranslationalVelocity = DriveConstants.k_maxTeleopLinearSpeed; - private final double maxRotationalVelocity = DriveConstants.k_maxTeleopAngularSpeed; - - private final ForceField m_ff = new ForceField(); - - private final SwerveRequest.FieldCentric driveClosedLoop = new SwerveRequest.FieldCentric() - .withForwardPerspective(ForwardPerspectiveValue.BlueAlliance) - .withDeadband(maxTranslationalVelocity * Driver.deadband) - .withRotationalDeadband(maxRotationalVelocity * Driver.deadband) - .withDriveRequestType(DriveRequestType.Velocity); - - public TeleopCommand( - CommandSwerveDrivetrain drivetrain, - Supplier xSupplier, - Supplier ySupplier, - Supplier rotSupplier - ) { - m_drivetrain = drivetrain; - m_xSupplier = xSupplier; - m_ySupplier = ySupplier; - m_rotSupplier = rotSupplier; - addRequirements(drivetrain); - } - - @Override - public void execute() { - // calculate the field-relative speeds - Transform2d robotRelative = new Transform2d( - new Translation2d( - m_xSupplier.get() * maxTranslationalVelocity, - m_ySupplier.get() * maxTranslationalVelocity - ), - new Rotation2d( - m_rotSupplier.get() * maxRotationalVelocity - ) - ); - if (robotRelative.getTranslation().getNorm() > 0) { - m_drivetrain.setAligned(false); - } - Transform2d fieldRelative = getFieldRelative(robotRelative); - // avoid obstacles using force fields - Translation2d filtered = m_ff.calculate( - fieldRelative.getTranslation(), - m_drivetrain.getPose(), - m_drivetrain.getNearestAntitarget() - ); - Transform2d out = new Transform2d(filtered, fieldRelative.getRotation()); - applyVelocities(out); - } - - /** - * From a robot relative position, returns the field relative pose, using - * the drivetrain's operator perspective - */ - private Transform2d getFieldRelative(Transform2d robotRelative) { - // get the offset - Rotation2d forward = m_drivetrain.getOperatorForwardDirection(); - // get the original position - double x = robotRelative.getX(); - double y = robotRelative.getY(); - Rotation2d theta = robotRelative.getRotation(); - // calculate the new position after rotation - double px = x * forward.getCos() - y * forward.getSin(); - double py = y * forward.getCos() + x * forward.getSin(); - // combine the results - return new Transform2d(new Translation2d(px, py), theta); - } - - /** - * Applies a transform2d with field relative velocities to the drivetrain - */ - private void applyVelocities(Transform2d fieldRelative) { - m_drivetrain.setControl( - driveClosedLoop - .withVelocityX(fieldRelative.getX()) - .withVelocityY(fieldRelative.getY()) - .withRotationalRate(fieldRelative.getRotation().getRadians()) - ); - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java b/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java index 50120fc3..3452ae01 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java @@ -3,77 +3,74 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; - import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Translation2d; -import frc.robot.Constants.DriveConstants; import frc.robot.Constants.FFConstants; import frc.robot.RobotObserver; public class ForceField { - private final Logger m_logger = LoggerFactory.getLogger(ForceField.class); + private final Logger m_logger = LoggerFactory.getLogger(ForceField.class); - /** - * Returns the calculated drive command to apply to the drivetrian - * @param velocity the robot's requested velocity, in field relative - * units. - * @param current The robot's current position on the field - * @param antitarget The closest force field antitarget - * @return the field relative adjusted velocity - */ - public Translation2d calculate( - Translation2d velocity, - Pose2d current, - Pose2d antitarget - ) { - Translation2d x = antitarget.getTranslation().minus(current.getTranslation()); - double xNorm = x.getNorm(); - if (xNorm == 0) { - m_logger.warn("position is exactly ff center"); - return velocity; - } - boolean inside = false; - if (xNorm < FFConstants.k_radius) { - inside = true; - } else { - x = x.times((xNorm - FFConstants.k_radius) / xNorm); - } - Translation2d t = x.times( - Math.sqrt(2 * FFConstants.k_decceleration/ x.getNorm()) - ); - boolean active = t.getNorm() < DriveConstants.k_maxTeleopLinearSpeed - && RobotObserver.getFFEnabled(); - if (!active) { - RobotObserver.getField().getObject("FF").setPoses(); - return velocity; - } - RobotObserver.getField().getObject("FF").setPose(antitarget); - return adjust(velocity, t, inside); - } + private final double m_maxSpeed; - private Translation2d adjust( - Translation2d c, - Translation2d t, - boolean inside - ) { - double d = dot(c, t); - if (d <= 0) { - return c; - } - double magI = d / t.getNorm(); - if (magI <= 0) { - return c; - } - Translation2d i = t.times(magI / t.getNorm()); - Translation2d u = c.minus(i); - Translation2d a = t.times(magI / DriveConstants.k_maxTeleopLinearSpeed); - if (t.getNorm() <= 0 || inside) { - return u; - } - return u.plus(a); + public ForceField(double maxSpeed) { + m_maxSpeed = maxSpeed; + } + + /** + * Returns the calculated drive command to apply to the drivetrian + * + * @param velocity the robot's requested velocity, in field relative units. + * @param current The robot's current position on the field + * @param antitarget The closest force field antitarget + * @return the field relative adjusted velocity + */ + public Translation2d calculate( + Translation2d velocity, + Pose2d current, + Pose2d antitarget) { + Translation2d x = antitarget.getTranslation().minus(current.getTranslation()); + double xNorm = x.getNorm(); + if (xNorm == 0) { + m_logger.warn("position is exactly ff center"); + return velocity; + } + boolean inside = false; + if (xNorm < FFConstants.k_radius) { + inside = true; + } else { + x = x.times((xNorm - FFConstants.k_radius) / xNorm); } + Translation2d t = x.times( + Math.sqrt(2 * FFConstants.k_decceleration / x.getNorm())); + boolean active = t.getNorm() < m_maxSpeed && RobotObserver.getFFEnabled(); + if (!active) { + RobotObserver.getField().getObject("FF").setPoses(); + return velocity; + } + RobotObserver.getField().getObject("FF").setPose(antitarget); + return adjust(velocity, t, inside); + } - private double dot(Translation2d a, Translation2d b) { - return a.getX() * b.getX() + a.getY() * b.getY(); + private Translation2d adjust( + Translation2d c, + Translation2d t, + boolean inside) { + double veloTowardsTarget = dot(c, t); + if (veloTowardsTarget <= 0) { + return c; + } + double magI = veloTowardsTarget / t.getNorm(); + Translation2d towards = t.times(magI / t.getNorm()); + Translation2d remainder = c.minus(towards); + Translation2d adjustedTowards = t.times(magI / m_maxSpeed); + if (t.getNorm() <= 0 || inside) { + return remainder; } + return remainder.plus(adjustedTowards); + } + + private double dot(Translation2d a, Translation2d b) { + return a.getX() * b.getX() + a.getY() * b.getY(); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java index 46a4171d..06c00ba1 100644 --- a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java @@ -33,273 +33,264 @@ import edu.wpi.first.units.measure.LinearVelocity; import edu.wpi.first.units.measure.MomentOfInertia; import edu.wpi.first.units.measure.Voltage; -import frc.robot.subsystems.CommandSwerveDrivetrain; +import frc.robot.subsystems.drivetrain.CommandSwerveDrivetrain; // Generated by the Tuner X Swerve Project Generator // https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html public class TunerConstants { - // Both sets of gains need to be tuned to your individual robot. - - // The steer motor uses any SwerveModule.SteerRequestType control request with the - // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput - private static final Slot0Configs steerGains = new Slot0Configs() - .withKP(49.33).withKI(0).withKD(3.18488) - .withKS(0.099311).withKV(2.45135).withKA(0.1040918) - .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); - // When using closed-loop control, the drive motor uses the control - // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput - private static final Slot0Configs driveGains = new Slot0Configs() - .withKP(0.182115).withKI(0).withKD(0) - .withKS(0.16669).withKV(0.123925).withKA(0.0075743); - - // The closed-loop output type to use for the steer motors; - // This affects the PID/FF gains for the steer motors - private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage; - // The closed-loop output type to use for the drive motors; - // This affects the PID/FF gains for the drive motors - private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage; - - // The type of motor used for the drive motor - private static final DriveMotorArrangement kDriveMotorType = DriveMotorArrangement.TalonFX_Integrated; - // The type of motor used for the drive motor - private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated; - - // The remote sensor feedback type to use for the steer motors; - // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote* - private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder; - - // The stator current at which the wheels start to slip; - // This needs to be tuned to your individual robot - private static final Current kSlipCurrent = Amps.of(120.0); - - // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null. - // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation. - private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration(); - private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration() - .withCurrentLimits( - new CurrentLimitsConfigs() - // Swerve azimuth does not require much torque output, so we can set a relatively low - // stator current limit to help avoid brownouts without impacting performance. - .withStatorCurrentLimit(Amps.of(81)) - .withStatorCurrentLimitEnable(true) - ); - private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration(); - // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs - private static final Pigeon2Configuration pigeonConfigs = null; - - // CAN bus that the devices are located on; - // All swerve devices must share the same CAN bus - public static final CANBus kCANBus = new CANBus("CANivore", "./logs/example.hoot"); - - // Theoretical free speed (m/s) at 12 V applied output; - // This needs to be tuned to your individual robot - public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.724); - - // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns; - // This may need to be tuned to your individual robot - private static final double kCoupleRatio = 0; - - private static final double kDriveGearRatio = 6.75; - private static final double kSteerGearRatio = 25; - public static final Distance kWheelRadius = Inches.of(2); - - private static final boolean kInvertLeftSide = false; - private static final boolean kInvertRightSide = true; - - private static final int kPigeonId = 50; - - // These are only used for simulation - private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01); - private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01); - // Simulated voltage necessary to overcome friction - private static final Voltage kSteerFrictionVoltage = Volts.of(0.2); - private static final Voltage kDriveFrictionVoltage = Volts.of(0.2); - - public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants() - .withCANBusName(kCANBus.getName()) - .withPigeon2Id(kPigeonId) - .withPigeon2Configs(pigeonConfigs); - - private static final SwerveModuleConstantsFactory ConstantCreator = - new SwerveModuleConstantsFactory() - .withDriveMotorGearRatio(kDriveGearRatio) - .withSteerMotorGearRatio(kSteerGearRatio) - .withCouplingGearRatio(kCoupleRatio) - .withWheelRadius(kWheelRadius) - .withSteerMotorGains(steerGains) - .withDriveMotorGains(driveGains) - .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput) - .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput) - .withSlipCurrent(kSlipCurrent) - .withSpeedAt12Volts(kSpeedAt12Volts) - .withDriveMotorType(kDriveMotorType) - .withSteerMotorType(kSteerMotorType) - .withFeedbackSource(kSteerFeedbackType) - .withDriveMotorInitialConfigs(driveInitialConfigs) - .withSteerMotorInitialConfigs(steerInitialConfigs) - .withEncoderInitialConfigs(encoderInitialConfigs) - .withSteerInertia(kSteerInertia) - .withDriveInertia(kDriveInertia) - .withSteerFrictionVoltage(kSteerFrictionVoltage) - .withDriveFrictionVoltage(kDriveFrictionVoltage); - - - // Front Left - private static final int kFrontLeftDriveMotorId = 11; - private static final int kFrontLeftSteerMotorId = 12; - private static final int kFrontLeftEncoderId = 13; - private static final Angle kFrontLeftEncoderOffset = Rotations.of(-0.1201171875); - private static final boolean kFrontLeftSteerMotorInverted = false; - private static final boolean kFrontLeftEncoderInverted = false; - - private static final Distance kFrontLeftXPos = Inches.of(12.25); - private static final Distance kFrontLeftYPos = Inches.of(12.25); - - // Front Right - private static final int kFrontRightDriveMotorId = 21; - private static final int kFrontRightSteerMotorId = 22; - private static final int kFrontRightEncoderId = 23; - private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.30517578125); - private static final boolean kFrontRightSteerMotorInverted = false; - private static final boolean kFrontRightEncoderInverted = false; - - private static final Distance kFrontRightXPos = Inches.of(12.25); - private static final Distance kFrontRightYPos = Inches.of(-12.25); - - // Back Left - private static final int kBackLeftDriveMotorId = 31; - private static final int kBackLeftSteerMotorId = 32; - private static final int kBackLeftEncoderId = 33; - private static final Angle kBackLeftEncoderOffset = Rotations.of(-0.1318359375); - private static final boolean kBackLeftSteerMotorInverted = false; - private static final boolean kBackLeftEncoderInverted = false; - - private static final Distance kBackLeftXPos = Inches.of(-12.25); - private static final Distance kBackLeftYPos = Inches.of(12.25); - - // Back Right - private static final int kBackRightDriveMotorId = 41; - private static final int kBackRightSteerMotorId = 42; - private static final int kBackRightEncoderId = 43; - private static final Angle kBackRightEncoderOffset = Rotations.of(-0.429443359375); - private static final boolean kBackRightSteerMotorInverted = false; - private static final boolean kBackRightEncoderInverted = false; - - private static final Distance kBackRightXPos = Inches.of(-12.25); - private static final Distance kBackRightYPos = Inches.of(-12.25); - - - public static final SwerveModuleConstants FrontLeft = - ConstantCreator.createModuleConstants( - kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, kFrontLeftEncoderOffset, - kFrontLeftXPos, kFrontLeftYPos, kInvertLeftSide, kFrontLeftSteerMotorInverted, kFrontLeftEncoderInverted - ); - public static final SwerveModuleConstants FrontRight = - ConstantCreator.createModuleConstants( - kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset, - kFrontRightXPos, kFrontRightYPos, kInvertRightSide, kFrontRightSteerMotorInverted, kFrontRightEncoderInverted - ); - public static final SwerveModuleConstants BackLeft = - ConstantCreator.createModuleConstants( - kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset, - kBackLeftXPos, kBackLeftYPos, kInvertLeftSide, kBackLeftSteerMotorInverted, kBackLeftEncoderInverted - ); - public static final SwerveModuleConstants BackRight = - ConstantCreator.createModuleConstants( - kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, kBackRightEncoderOffset, - kBackRightXPos, kBackRightYPos, kInvertRightSide, kBackRightSteerMotorInverted, kBackRightEncoderInverted - ); - + // Both sets of gains need to be tuned to your individual robot. + + // The steer motor uses any SwerveModule.SteerRequestType control request with the + // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput + private static final Slot0Configs steerGains = new Slot0Configs() + .withKP(49.33).withKI(0).withKD(3.18488) + .withKS(0.099311).withKV(2.45135).withKA(0.1040918) + .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); + // When using closed-loop control, the drive motor uses the control + // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput + private static final Slot0Configs driveGains = new Slot0Configs() + .withKP(0.182115).withKI(0).withKD(0) + .withKS(0.16669).withKV(0.123925).withKA(0.0075743); + + // The closed-loop output type to use for the steer motors; + // This affects the PID/FF gains for the steer motors + private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage; + // The closed-loop output type to use for the drive motors; + // This affects the PID/FF gains for the drive motors + private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage; + + // The type of motor used for the drive motor + private static final DriveMotorArrangement kDriveMotorType = + DriveMotorArrangement.TalonFX_Integrated; + // The type of motor used for the drive motor + private static final SteerMotorArrangement kSteerMotorType = + SteerMotorArrangement.TalonFX_Integrated; + + // The remote sensor feedback type to use for the steer motors; + // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote* + private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder; + + // The stator current at which the wheels start to slip; + // This needs to be tuned to your individual robot + private static final Current kSlipCurrent = Amps.of(120.0); + + // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null. + // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation. + private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration(); + private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration() + .withCurrentLimits( + new CurrentLimitsConfigs() + // Swerve azimuth does not require much torque output, so we can set a relatively low + // stator current limit to help avoid brownouts without impacting performance. + .withStatorCurrentLimit(Amps.of(81)) + .withStatorCurrentLimitEnable(true)); + private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration(); + // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs + private static final Pigeon2Configuration pigeonConfigs = null; + + // CAN bus that the devices are located on; + // All swerve devices must share the same CAN bus + public static final CANBus kCANBus = new CANBus("CANivore", "./logs/example.hoot"); + + // Theoretical free speed (m/s) at 12 V applied output; + // This needs to be tuned to your individual robot + public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.724); + + // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns; + // This may need to be tuned to your individual robot + private static final double kCoupleRatio = 0; + + private static final double kDriveGearRatio = 6.75; + private static final double kSteerGearRatio = 25; + public static final Distance kWheelRadius = Inches.of(2); + + private static final boolean kInvertLeftSide = false; + private static final boolean kInvertRightSide = true; + + private static final int kPigeonId = 50; + + // These are only used for simulation + private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01); + private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01); + // Simulated voltage necessary to overcome friction + private static final Voltage kSteerFrictionVoltage = Volts.of(0.2); + private static final Voltage kDriveFrictionVoltage = Volts.of(0.2); + + public static final SwerveDrivetrainConstants DrivetrainConstants = + new SwerveDrivetrainConstants() + .withCANBusName(kCANBus.getName()) + .withPigeon2Id(kPigeonId) + .withPigeon2Configs(pigeonConfigs); + + private static final SwerveModuleConstantsFactory ConstantCreator = + new SwerveModuleConstantsFactory() + .withDriveMotorGearRatio(kDriveGearRatio) + .withSteerMotorGearRatio(kSteerGearRatio) + .withCouplingGearRatio(kCoupleRatio) + .withWheelRadius(kWheelRadius) + .withSteerMotorGains(steerGains) + .withDriveMotorGains(driveGains) + .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput) + .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput) + .withSlipCurrent(kSlipCurrent) + .withSpeedAt12Volts(kSpeedAt12Volts) + .withDriveMotorType(kDriveMotorType) + .withSteerMotorType(kSteerMotorType) + .withFeedbackSource(kSteerFeedbackType) + .withDriveMotorInitialConfigs(driveInitialConfigs) + .withSteerMotorInitialConfigs(steerInitialConfigs) + .withEncoderInitialConfigs(encoderInitialConfigs) + .withSteerInertia(kSteerInertia) + .withDriveInertia(kDriveInertia) + .withSteerFrictionVoltage(kSteerFrictionVoltage) + .withDriveFrictionVoltage(kDriveFrictionVoltage); + + + // Front Left + private static final int kFrontLeftDriveMotorId = 11; + private static final int kFrontLeftSteerMotorId = 12; + private static final int kFrontLeftEncoderId = 13; + private static final Angle kFrontLeftEncoderOffset = Rotations.of(-0.1201171875); + private static final boolean kFrontLeftSteerMotorInverted = false; + private static final boolean kFrontLeftEncoderInverted = false; + + private static final Distance kFrontLeftXPos = Inches.of(12.25); + private static final Distance kFrontLeftYPos = Inches.of(12.25); + + // Front Right + private static final int kFrontRightDriveMotorId = 21; + private static final int kFrontRightSteerMotorId = 22; + private static final int kFrontRightEncoderId = 23; + private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.30517578125); + private static final boolean kFrontRightSteerMotorInverted = false; + private static final boolean kFrontRightEncoderInverted = false; + + private static final Distance kFrontRightXPos = Inches.of(12.25); + private static final Distance kFrontRightYPos = Inches.of(-12.25); + + // Back Left + private static final int kBackLeftDriveMotorId = 31; + private static final int kBackLeftSteerMotorId = 32; + private static final int kBackLeftEncoderId = 33; + private static final Angle kBackLeftEncoderOffset = Rotations.of(-0.1318359375); + private static final boolean kBackLeftSteerMotorInverted = false; + private static final boolean kBackLeftEncoderInverted = false; + + private static final Distance kBackLeftXPos = Inches.of(-12.25); + private static final Distance kBackLeftYPos = Inches.of(12.25); + + // Back Right + private static final int kBackRightDriveMotorId = 41; + private static final int kBackRightSteerMotorId = 42; + private static final int kBackRightEncoderId = 43; + private static final Angle kBackRightEncoderOffset = Rotations.of(-0.429443359375); + private static final boolean kBackRightSteerMotorInverted = false; + private static final boolean kBackRightEncoderInverted = false; + + private static final Distance kBackRightXPos = Inches.of(-12.25); + private static final Distance kBackRightYPos = Inches.of(-12.25); + + + public static final SwerveModuleConstants FrontLeft = + ConstantCreator.createModuleConstants( + kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, + kFrontLeftEncoderOffset, + kFrontLeftXPos, kFrontLeftYPos, kInvertLeftSide, kFrontLeftSteerMotorInverted, + kFrontLeftEncoderInverted); + public static final SwerveModuleConstants FrontRight = + ConstantCreator.createModuleConstants( + kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, + kFrontRightEncoderOffset, + kFrontRightXPos, kFrontRightYPos, kInvertRightSide, kFrontRightSteerMotorInverted, + kFrontRightEncoderInverted); + public static final SwerveModuleConstants BackLeft = + ConstantCreator.createModuleConstants( + kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset, + kBackLeftXPos, kBackLeftYPos, kInvertLeftSide, kBackLeftSteerMotorInverted, + kBackLeftEncoderInverted); + public static final SwerveModuleConstants BackRight = + ConstantCreator.createModuleConstants( + kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, + kBackRightEncoderOffset, + kBackRightXPos, kBackRightYPos, kInvertRightSide, kBackRightSteerMotorInverted, + kBackRightEncoderInverted); + + /** + * Creates a CommandSwerveDrivetrain instance. This should only be called once in your robot + * program,. + */ + public static CommandSwerveDrivetrain createDrivetrain() { + return new CommandSwerveDrivetrain( + DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight); + } + + + /** + * Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types. + */ + public static class TunerSwerveDrivetrain extends SwerveDrivetrain { /** - * Creates a CommandSwerveDrivetrain instance. - * This should only be called once in your robot program,. + * Constructs a CTRE SwerveDrivetrain using the specified constants. + *

+ * This constructs the underlying hardware devices, so users should not construct the devices + * themselves. If they need the devices, they can access them through getters in the classes. + * + * @param drivetrainConstants Drivetrain-wide constants for the swerve drive + * @param modules Constants for each specific module */ - public static CommandSwerveDrivetrain createDrivetrain() { - return new CommandSwerveDrivetrain( - DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight - ); + public TunerSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, + SwerveModuleConstants... modules) { + super( + TalonFX::new, TalonFX::new, CANcoder::new, + drivetrainConstants, modules); } + /** + * Constructs a CTRE SwerveDrivetrain using the specified constants. + *

+ * This constructs the underlying hardware devices, so users should not construct the devices + * themselves. If they need the devices, they can access them through getters in the classes. + * + * @param drivetrainConstants Drivetrain-wide constants for the swerve drive + * @param odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set + * to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0. + * @param modules Constants for each specific module + */ + public TunerSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, + double odometryUpdateFrequency, + SwerveModuleConstants... modules) { + super( + TalonFX::new, TalonFX::new, CANcoder::new, + drivetrainConstants, odometryUpdateFrequency, modules); + } /** - * Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types. + * Constructs a CTRE SwerveDrivetrain using the specified constants. + *

+ * This constructs the underlying hardware devices, so users should not construct the devices + * themselves. If they need the devices, they can access them through getters in the classes. + * + * @param drivetrainConstants Drivetrain-wide constants for the swerve drive + * @param odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set + * to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0. + * @param odometryStandardDeviation The standard deviation for odometry calculation in the form + * [x, y, theta]áµ€, with units in meters and radians + * @param visionStandardDeviation The standard deviation for vision calculation in the form [x, + * y, theta]áµ€, with units in meters and radians + * @param modules Constants for each specific module */ - public static class TunerSwerveDrivetrain extends SwerveDrivetrain { - /** - * Constructs a CTRE SwerveDrivetrain using the specified constants. - *

- * This constructs the underlying hardware devices, so users should not construct - * the devices themselves. If they need the devices, they can access them through - * getters in the classes. - * - * @param drivetrainConstants Drivetrain-wide constants for the swerve drive - * @param modules Constants for each specific module - */ - public TunerSwerveDrivetrain( - SwerveDrivetrainConstants drivetrainConstants, - SwerveModuleConstants... modules - ) { - super( - TalonFX::new, TalonFX::new, CANcoder::new, - drivetrainConstants, modules - ); - } - - /** - * Constructs a CTRE SwerveDrivetrain using the specified constants. - *

- * This constructs the underlying hardware devices, so users should not construct - * the devices themselves. If they need the devices, they can access them through - * getters in the classes. - * - * @param drivetrainConstants Drivetrain-wide constants for the swerve drive - * @param odometryUpdateFrequency The frequency to run the odometry loop. If - * unspecified or set to 0 Hz, this is 250 Hz on - * CAN FD, and 100 Hz on CAN 2.0. - * @param modules Constants for each specific module - */ - public TunerSwerveDrivetrain( - SwerveDrivetrainConstants drivetrainConstants, - double odometryUpdateFrequency, - SwerveModuleConstants... modules - ) { - super( - TalonFX::new, TalonFX::new, CANcoder::new, - drivetrainConstants, odometryUpdateFrequency, modules - ); - } - - /** - * Constructs a CTRE SwerveDrivetrain using the specified constants. - *

- * This constructs the underlying hardware devices, so users should not construct - * the devices themselves. If they need the devices, they can access them through - * getters in the classes. - * - * @param drivetrainConstants Drivetrain-wide constants for the swerve drive - * @param odometryUpdateFrequency The frequency to run the odometry loop. If - * unspecified or set to 0 Hz, this is 250 Hz on - * CAN FD, and 100 Hz on CAN 2.0. - * @param odometryStandardDeviation The standard deviation for odometry calculation - * in the form [x, y, theta]áµ€, with units in meters - * and radians - * @param visionStandardDeviation The standard deviation for vision calculation - * in the form [x, y, theta]áµ€, with units in meters - * and radians - * @param modules Constants for each specific module - */ - public TunerSwerveDrivetrain( - SwerveDrivetrainConstants drivetrainConstants, - double odometryUpdateFrequency, - Matrix odometryStandardDeviation, - Matrix visionStandardDeviation, - SwerveModuleConstants... modules - ) { - super( - TalonFX::new, TalonFX::new, CANcoder::new, - drivetrainConstants, odometryUpdateFrequency, - odometryStandardDeviation, visionStandardDeviation, modules - ); - } + public TunerSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, + double odometryUpdateFrequency, + Matrix odometryStandardDeviation, + Matrix visionStandardDeviation, + SwerveModuleConstants... modules) { + super( + TalonFX::new, TalonFX::new, CANcoder::new, + drivetrainConstants, odometryUpdateFrequency, + odometryStandardDeviation, visionStandardDeviation, modules); } + } } diff --git a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstantsThrifty.java b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstantsThrifty.java index c29b2dfa..c08e649c 100644 --- a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstantsThrifty.java +++ b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstantsThrifty.java @@ -34,7 +34,7 @@ import edu.wpi.first.units.measure.LinearVelocity; import edu.wpi.first.units.measure.MomentOfInertia; import edu.wpi.first.units.measure.Voltage; -import frc.robot.subsystems.CommandSwerveDrivetrain; +import frc.robot.subsystems.drivetrain.CommandSwerveDrivetrain; // Generated by the Tuner X Swerve Project Generator // https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html @@ -308,4 +308,4 @@ public TunerSwerveDrivetrain( ); } } -} \ No newline at end of file +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java index 650e9e2a..b1b4424a 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java @@ -13,7 +13,6 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.Constants.IDConstants; import frc.robot.subsystems.PassiveSubsystem; public class Climber extends PassiveSubsystem implements AutoCloseable { @@ -21,9 +20,9 @@ public class Climber extends PassiveSubsystem implements AutoCloseable { private final Logger m_logger = LoggerFactory.getLogger(Climber.class); private final TalonFX m_leftClimbMotor = new TalonFX(ClimberConstants.kLeftMotorID); private final TalonFX m_rightClimbMotor = new TalonFX(ClimberConstants.kRightMotorID); - private final CANcoder m_encoder = new CANcoder(IDConstants.climbEncoder); + private final CANcoder m_encoder = new CANcoder(ClimberConstants.kEncoderID); - private final Servo m_servo = new Servo(IDConstants.servo); + private final Servo m_servo = new Servo(ClimberConstants.kServoID); private double m_voltage; private boolean m_voltageChanged; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java index 5f3de113..616eb319 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java @@ -11,11 +11,12 @@ import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.SensorDirectionValue; -import frc.robot.Constants.IDConstants; public final class ClimberConstants { protected static final int kLeftMotorID = 1; protected static final int kRightMotorID = 2; + protected static final int kServoID = 7; + protected static final int kEncoderID = 9; protected static final double kStowPosition = -0.25; protected static final double kClimbPosition = -0.110; @@ -60,7 +61,7 @@ public final class ClimberConstants { .withReverseSoftLimitThreshold(kReverseSoftLimit).withReverseSoftLimitEnable(true)) .withFeedback(new FeedbackConfigs() - .withFeedbackRemoteSensorID(IDConstants.climbEncoder) + .withFeedbackRemoteSensorID(ClimberConstants.kEncoderID) .withFeedbackSensorSource(FeedbackSensorSourceValue.RemoteCANcoder)); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java similarity index 83% rename from ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java rename to ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index fc4b110e..40db0ec9 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -1,36 +1,34 @@ -package frc.robot.subsystems; +package frc.robot.subsystems.drivetrain; import static edu.wpi.first.units.Units.Second; import static edu.wpi.first.units.Units.Volts; +import java.io.IOException; import java.util.function.DoubleSupplier; - +import org.json.simple.parser.ParseException; import org.slf4j.Logger; import org.slf4j.LoggerFactory; - import com.ctre.phoenix6.SignalLogger; import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants; import com.ctre.phoenix6.swerve.SwerveModule; +import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveModuleConstants; import com.ctre.phoenix6.swerve.SwerveRequest; -import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveRequest.ApplyRobotSpeeds; import com.ctre.phoenix6.swerve.SwerveRequest.FieldCentric; import com.ctre.phoenix6.swerve.SwerveRequest.FieldCentricFacingAngle; import com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue; +import com.pathplanner.lib.auto.AutoBuilder; import com.pathplanner.lib.config.RobotConfig; import com.pathplanner.lib.util.DriveFeedforwards; +import com.pathplanner.lib.util.PathPlannerLogging; import com.pathplanner.lib.util.swerve.SwerveSetpoint; import com.pathplanner.lib.util.swerve.SwerveSetpointGenerator; - -import edu.wpi.first.math.Matrix; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveModuleState; -import edu.wpi.first.math.numbers.N1; -import edu.wpi.first.math.numbers.N3; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; @@ -42,17 +40,15 @@ import edu.wpi.first.wpilibj2.command.Subsystem; import edu.wpi.first.wpilibj2.command.button.Trigger; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; -import frc.robot.Constants.DriveConstants; import frc.robot.Constants.FFConstants; import frc.robot.Constants.FieldConstants; import frc.robot.Constants.SimConstants; -import frc.robot.Constants.DriveConstants.HeadingPID; -import frc.robot.driveassist.Autopilot; -import frc.robot.driveassist.APTarget; import frc.robot.Robot; import frc.robot.RobotObserver; +import frc.robot.driveassist.APTarget; +import frc.robot.driveassist.Autopilot; +import frc.robot.driveassist.ForceField; import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain; -import frc.robot.utils.AutonomousUtil; import frc.robot.utils.FieldUtils; import frc.robot.vision.TimestampedPoseEstimate; @@ -69,12 +65,14 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su private boolean m_aligned; + private ForceField m_forceField; + private FieldCentric m_teleopRequest = new FieldCentric() .withForwardPerspective(ForwardPerspectiveValue.OperatorPerspective) .withDriveRequestType(DriveRequestType.Velocity); private FieldCentricFacingAngle m_veloRequest = new FieldCentricFacingAngle() - .withHeadingPID(HeadingPID.kP, HeadingPID.kI, HeadingPID.kD) + .withHeadingPID(DriveConstants.HeadingPID.kP, 0, 0) .withForwardPerspective(ForwardPerspectiveValue.BlueAlliance) .withDriveRequestType(DriveRequestType.Velocity); @@ -90,7 +88,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su private Pose2d m_estimatedPose = new Pose2d(); private SwerveSetpointGenerator setpointGenerator; - private SwerveSetpoint previousSetpoint; private final ApplyRobotSpeeds autoRequest = @@ -103,27 +100,39 @@ public CommandSwerveDrivetrain( setup(); } - public CommandSwerveDrivetrain( - SwerveDrivetrainConstants drivetrainConstants, - double odometryUpdateFrequency, - SwerveModuleConstants... modules) { - super(drivetrainConstants, odometryUpdateFrequency, modules); - setup(); - } + public void initializePathPlanner() { + RobotConfig config; + try { + config = RobotConfig.fromGUISettings(); + AutoBuilder.configure( + this::getPose, // Robot pose supplier + this::resetPose, // Method to reset odometry (will be called if your auto has a + // starting pose) + this::getRobotRelativeSpeeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE + (speeds, feedforwards) -> driveWithChassisSpeeds(speeds), + DriveConstants.k_pathplannerHolonomicDriveController, + config, // The robot configuration + () -> { + var alliance = DriverStation.getAlliance(); + if (alliance.isPresent()) { + return alliance.get() == DriverStation.Alliance.Red; + } + return false; + }, + this); // Reference to this subsystem to set requirements - public CommandSwerveDrivetrain( - SwerveDrivetrainConstants drivetrainConstants, - double odometryUpdateFrequency, - Matrix odometryStandardDeviation, Matrix visionStandardDeviation, - SwerveModuleConstants... modules) { - super(drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, - visionStandardDeviation, - modules); - setup(); + initializeSetpointGenerator(config); + + PathPlannerLogging.setLogActivePathCallback( + poses -> RobotObserver.getField().getObject("Pathfind Trajectory").setPoses(poses)); + } catch (IOException | ParseException e) { + e.printStackTrace(); + System.exit(1); + } } private void setup() { - AutonomousUtil.initializePathPlanner(this); + initializePathPlanner(); if (Robot.isSimulation()) { startSimThread(); } @@ -131,22 +140,25 @@ private void setup() { RobotObserver.setPoseSupplier(this::getPose); RobotObserver.setVelocitySupplier(this::getVelocity); - RobotObserver.setNoElevatorZoneSupplier(noElevatorZone()); + RobotObserver.setNoElevatorZoneSupplier(dangerZone()); RobotObserver.setReefReadySupplier(inReefZone()); RobotObserver.setAlginedSupplier(aligned()); + + m_forceField = new ForceField(DriveConstants.k_maxTeleopLinearSpeed); } public void initializeSetpointGenerator(RobotConfig config) { setpointGenerator = new SwerveSetpointGenerator(config, Units.rotationsToRadians(DriveConstants.k_maxRotationalSpeed)); + // TODO: is this causing problems when the previous setpoint doesn't match the robot speeds? ChassisSpeeds currSpeeds = getRobotRelativeSpeeds(); SwerveModuleState[] currStates = getState().ModuleStates; previousSetpoint = new SwerveSetpoint(currSpeeds, currStates, DriveFeedforwards.zeros(config.numModules)); } - public Translation2d getVelocityComponents() { + private Translation2d getVelocityComponents() { double vx = getRobotRelativeSpeeds().vxMetersPerSecond; double vy = getRobotRelativeSpeeds().vyMetersPerSecond; Rotation2d theta = getPose().getRotation(); @@ -154,7 +166,7 @@ public Translation2d getVelocityComponents() { } - public double getVelocity() { + private double getVelocity() { Translation2d velo = getVelocityComponents(); return velo.getNorm(); } @@ -163,7 +175,7 @@ public Pose2d getPose() { return m_estimatedPose; } - public Pose2d getNearestAntitarget() { + private Pose2d getNearestAntitarget() { return new Pose2d(FFConstants.k_bargeX, m_estimatedPose.getY(), new Rotation2d()); } @@ -184,15 +196,15 @@ public Command resetHeading() { return Commands.runOnce(() -> setOperatorPerspectiveForward(getPose().getRotation())); } - public void setPose(Pose2d pose) { + private void setPose(Pose2d pose) { resetPose(pose); } - public ChassisSpeeds getRobotRelativeSpeeds() { + private ChassisSpeeds getRobotRelativeSpeeds() { return getState().Speeds; } - public void driveWithChassisSpeeds(ChassisSpeeds speeds) { + private void driveWithChassisSpeeds(ChassisSpeeds speeds) { previousSetpoint = setpointGenerator.generateSetpoint( previousSetpoint, // The previous setpoint speeds, // The desired target speeds @@ -202,7 +214,7 @@ public void driveWithChassisSpeeds(ChassisSpeeds speeds) { setControl(autoRequest.withSpeeds(previousSetpoint.robotRelativeSpeeds())); } - public void stop() { + private void stop() { setControl(new SwerveRequest.SwerveDriveBrake()); } @@ -329,7 +341,7 @@ public Command sysIdDynamicRotation(SysIdRoutine.Direction direction) { return m_sysIdRoutineRotation.dynamic(direction); } - private Trigger noElevatorZone() { + private Trigger dangerZone() { return new Trigger(() -> { double distance = getNearestAntitarget() .getTranslation() @@ -364,10 +376,19 @@ public Trigger inReefZone() { */ public Command teleopDrive(DoubleSupplier x, DoubleSupplier y, DoubleSupplier rot) { return run(() -> { + double vx = x.getAsDouble() * DriveConstants.k_maxTeleopLinearSpeed; + double vy = y.getAsDouble() * DriveConstants.k_maxTeleopLinearSpeed; + double omega = rot.getAsDouble() * DriveConstants.k_maxTeleopAngularSpeed; + + Translation2d adjusted = m_forceField.calculate( + new Translation2d(vx, vy), + m_estimatedPose, + getNearestAntitarget()); + setControl(m_teleopRequest - .withVelocityX(x.getAsDouble() * DriveConstants.k_maxTeleopLinearSpeed) - .withVelocityY(y.getAsDouble() * DriveConstants.k_maxTeleopLinearSpeed) - .withRotationalRate(rot.getAsDouble() * DriveConstants.k_maxTeleopAngularSpeed)); + .withVelocityX(adjusted.getX()) + .withVelocityY(adjusted.getY()) + .withRotationalRate(omega)); }); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java new file mode 100644 index 00000000..9f7d7bff --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java @@ -0,0 +1,83 @@ +package frc.robot.subsystems.drivetrain; + +import static edu.wpi.first.units.Units.Centimeters; +import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.MetersPerSecond; +import static edu.wpi.first.units.Units.MetersPerSecondPerSecond; +import static edu.wpi.first.units.Units.RadiansPerSecond; +import static edu.wpi.first.units.Units.RotationsPerSecond; +import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond; +import com.pathplanner.lib.config.PIDConstants; +import com.pathplanner.lib.controllers.PPHolonomicDriveController; +import edu.wpi.first.units.measure.AngularAcceleration; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.LinearAcceleration; +import edu.wpi.first.units.measure.LinearVelocity; +import frc.robot.driveassist.APConstraints; +import frc.robot.driveassist.APProfile; +import frc.robot.driveassist.Autopilot; +import frc.robot.generated.TunerConstants; + +public class DriveConstants { + protected static final PIDConstants kTranslationPID = new PIDConstants(2, 0.0, 0.0); + protected static final PIDConstants kRotationPID = new PIDConstants(1.5, 0.0, 0.0); + + public static class HeadingPID { + protected static final double kP = 4.0; + } + + private static final APConstraints kTightAutopilotConstraintsI = new APConstraints() + .withAcceleration(5.5) + .withDecceleration(1.3); + + private static final APConstraints kTightAutopilotConstraintsU = APConstraints.unlimited(); + + private static final APProfile kTightProfile = new APProfile() + .withConstraintsI(kTightAutopilotConstraintsI) + .withConstraintsU(kTightAutopilotConstraintsU) + .withErrorXY(Centimeters.of(2)) + .withErrorTheta(Degrees.of(2)); + + public static final Autopilot kTightAutopilot = new Autopilot(kTightProfile); + + private static final APConstraints kLooseAutopilotConstraintsI = + new APConstraints() + .withAcceleration(8.5) + .withDecceleration(4); + + private static final APConstraints kLooseAutopilotConstraintsU = + new APConstraints() + .withAcceleration(8.5) + .withDecceleration(3); + + private static final APProfile kLooseProfile = new APProfile() + .withConstraintsI(kLooseAutopilotConstraintsI) + .withConstraintsU(kLooseAutopilotConstraintsU) + .withErrorXY(Centimeters.of(10)) + .withErrorTheta(Degrees.of(10)); + + protected static final Autopilot kLooseAutopilot = new Autopilot(kLooseProfile); + + protected static final PPHolonomicDriveController k_pathplannerHolonomicDriveController = + new PPHolonomicDriveController(kTranslationPID, kRotationPID); + + protected static final double k_maxTeleopLinearSpeed = + TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); + protected static final double k_maxTeleopAngularSpeed = + RotationsPerSecond.of(1.5).in(RadiansPerSecond); + + protected static final LinearVelocity k_maxLinearSpeed = MetersPerSecond.of(4); + protected static final LinearAcceleration k_maxLinearAcceleration = + MetersPerSecondPerSecond.of(3); + protected static final AngularVelocity k_maxAngularSpeed = RotationsPerSecond.of(2); + protected static final AngularAcceleration k_maxAngularAcceleration = + RotationsPerSecondPerSecond.of(2); + + protected static final double k_maxRotationalSpeed = k_maxLinearSpeed.in(MetersPerSecond) + / (TunerConstants.kWheelRadius.in(Meters) * 2 * Math.PI); + + protected static final double k_closedLoopOverrideToleranceTranslation = 0.05; + protected static final double k_closedLoopOverrideToleranceRotation = 0.05; +} + diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index 85882859..03ba314e 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -136,7 +136,7 @@ private void prepZero() { } private void calibrateZero() { - m_elevatorRight.setPosition(0.0, 0.2); + m_elevatorRight.setPosition(0.02); } private void enableLimits() { diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 91fd867a..24becbaa 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -2,8 +2,8 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.subsystems.CommandSwerveDrivetrain; import frc.robot.subsystems.LedFeedback; +import frc.robot.subsystems.drivetrain.CommandSwerveDrivetrain; import frc.robot.subsystems.algae.AlgaeRollers; import frc.robot.subsystems.climber.Climber; import frc.robot.subsystems.coral.CoralRollers; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java index c6a5fb1e..5afd69a4 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java @@ -7,9 +7,9 @@ import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.DeferredCommand; -import frc.robot.Constants.DriveConstants; -import frc.robot.driveassist.Autopilot; import frc.robot.driveassist.APTarget; +import frc.robot.driveassist.Autopilot; +import frc.robot.subsystems.drivetrain.DriveConstants; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java index 2ea1347b..724cde46 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java @@ -8,10 +8,10 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import frc.robot.Constants.DriveConstants; import frc.robot.Constants.ScoringLocationsLeft; import frc.robot.Constants.ScoringLocationsRight; import frc.robot.driveassist.APTarget; +import frc.robot.subsystems.drivetrain.DriveConstants; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; import frc.robot.utils.FieldUtils; diff --git a/ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java b/ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java deleted file mode 100644 index b8474cfd..00000000 --- a/ThriftyTest/src/main/java/frc/robot/utils/AutonomousUtil.java +++ /dev/null @@ -1,52 +0,0 @@ -package frc.robot.utils; - -import java.io.IOException; - -import org.json.simple.parser.ParseException; -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; - -import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.config.RobotConfig; -import com.pathplanner.lib.util.PathPlannerLogging; - -import edu.wpi.first.wpilibj.DriverStation; -import frc.robot.Constants.DriveConstants; -import frc.robot.RobotObserver; -import frc.robot.subsystems.CommandSwerveDrivetrain; - -public class AutonomousUtil { - @SuppressWarnings("unused") - private static final Logger m_logger = LoggerFactory.getLogger(AutonomousUtil.class); - - public static void initializePathPlanner(CommandSwerveDrivetrain drivetrain) { - RobotConfig config; - try { - config = RobotConfig.fromGUISettings(); - AutoBuilder.configure( - drivetrain::getPose, // Robot pose supplier - drivetrain::resetPose, // Method to reset odometry (will be called if your auto has a - // starting pose) - drivetrain::getRobotRelativeSpeeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE - (speeds, feedforwards) -> drivetrain.driveWithChassisSpeeds(speeds), - DriveConstants.k_pathplannerHolonomicDriveController, - config, // The robot configuration - () -> { - var alliance = DriverStation.getAlliance(); - if (alliance.isPresent()) { - return alliance.get() == DriverStation.Alliance.Red; - } - return false; - }, - drivetrain); // Reference to this subsystem to set requirements - - drivetrain.initializeSetpointGenerator(config); - - PathPlannerLogging.setLogActivePathCallback( - poses -> RobotObserver.getField().getObject("Pathfind Trajectory").setPoses(poses)); - } catch (IOException | ParseException e) { - e.printStackTrace(); - System.exit(1); - } - } -} From ffb22fbf01434ba405116c4d32a91077a8032835 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Mon, 12 May 2025 16:29:46 -0400 Subject: [PATCH 035/135] Unbreak force field It should be untied to a robotobserver thing and instead tied to a trigger tho --- ThriftyTest/src/main/java/frc/robot/RobotObserver.java | 1 + .../main/java/frc/robot/superstructure/Superstructure.java | 4 ++++ 2 files changed, 5 insertions(+) diff --git a/ThriftyTest/src/main/java/frc/robot/RobotObserver.java b/ThriftyTest/src/main/java/frc/robot/RobotObserver.java index c2222ccc..a716a192 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotObserver.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotObserver.java @@ -161,4 +161,5 @@ public static void setAlginedSupplier(BooleanSupplier alignedSupplier) { public static boolean getAligned() { return getInstance().m_alignedSupplier.getAsBoolean(); } + } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 24becbaa..583f2cdb 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -1,7 +1,9 @@ package frc.robot.superstructure; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.RobotObserver; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.drivetrain.CommandSwerveDrivetrain; import frc.robot.subsystems.algae.AlgaeRollers; @@ -34,6 +36,8 @@ public Superstructure( climber, drivetrain, leds); + + RobotObserver.setFFEnabledSupplier(elevator.unsafe().and(() -> !DriverStation.isAutonomous())); } /** From e0e7a46a965eee9ca9fc3001a2d10dafd0b3b3df Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Mon, 12 May 2025 19:20:01 -0400 Subject: [PATCH 036/135] attempting to improve align jitter --- ThriftyTest/src/main/java/frc/robot/Constants.java | 4 ++-- .../main/java/frc/robot/commands/DriveToPointCommand.java | 8 +++++++- .../frc/robot/subsystems/CommandSwerveDrivetrain.java | 3 ++- 3 files changed, 11 insertions(+), 4 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 15e58127..a944b97f 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -142,8 +142,8 @@ public static class DriveConstants { public static final PIDConstants k_rotationPID = new PIDConstants(1.5, 0.0, 0.0); // 0.17119 public static final PIDConstants k_driveToPointRotationPID = new PIDConstants(4, 0.0, 0.0); // 0.17119 - public static final double kMaxAccelerationPerpendicularToTarget = 3.5; // 5.0 - public static double kMaxAccelerationTowardsTarget = 3.5; // 5.0 + public static final double kMaxAccelerationPerpendicularToTarget = 1.5; // 5.0 + public static double kMaxAccelerationTowardsTarget = 1.5; // 5.0 public static final PPHolonomicDriveController k_pathplannerHolonomicDriveController = new PPHolonomicDriveController(k_translationPID, k_rotationPID); diff --git a/ThriftyTest/src/main/java/frc/robot/commands/DriveToPointCommand.java b/ThriftyTest/src/main/java/frc/robot/commands/DriveToPointCommand.java index 8ddfc844..655684b0 100644 --- a/ThriftyTest/src/main/java/frc/robot/commands/DriveToPointCommand.java +++ b/ThriftyTest/src/main/java/frc/robot/commands/DriveToPointCommand.java @@ -11,6 +11,8 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + import static edu.wpi.first.units.Units.Radians; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants.AutonConstants; @@ -75,7 +77,6 @@ public void execute() { } private Translation2d adjust(Pose2d current, Pose2d goal) { - Translation2d robotToTarget = goal.getTranslation().minus(current.getTranslation()); double distance = robotToTarget.getNorm(); @@ -85,8 +86,10 @@ private Translation2d adjust(Pose2d current, Pose2d goal) { } double theoreticalMaxVelocity = Math.sqrt(2 * distance * DriveConstants.kMaxAccelerationTowardsTarget); + // SmartDashboard.putNumber("Theoretical Max Velocity", theoreticalMaxVelocity); Translation2d currentVelocity = m_drivetrain.getVelocityComponents(); + // SmartDashboard.putNumber("Current Velocity", currentVelocity.getNorm()); Translation2d direction = robotToTarget.div(distance); @@ -114,6 +117,7 @@ private Translation2d adjust(Pose2d current, Pose2d goal) { } double currentVelocityTowardsTarget = Math.pow(currentVelocity.getNorm(), 2) / dot; + // SmartDashboard.putNumber("Current V towards target", currentVelocityTowardsTarget); Translation2d currentVeloI = direction.times(currentVelocityTowardsTarget); Translation2d currentVeloU = currentVelocity.minus(currentVeloI); @@ -128,6 +132,8 @@ private Translation2d adjust(Pose2d current, Pose2d goal) { Translation2d directionU = currentVeloU.div(currentVelocityPerpendicularToTarget); veloU = currentVeloU.minus(directionU.times(adjustmentU)); } + + // SmartDashboard.putNumber("Adjusted Velocity", veloI.getNorm()); Translation2d r = veloI.plus(veloU); m_logger.trace("Adjust() returns {}" , r); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index b930533c..3f436b40 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -188,8 +188,9 @@ public Command applyRequest(Supplier requestSupplier) { public void periodic() { m_estimatedPose = this.getState().Pose; - SmartDashboard.putBoolean("Drivetrain Aligned", m_aligned); + SmartDashboard.putBoolean("Drivetrain/Aligned", m_aligned); SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime()); + SmartDashboard.putNumber("Drivetrain/Velocity", getVelocity()); if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) { DriverStation.getAlliance().ifPresent(allianceColor -> { From c82c9f567bb55635cdfe5d3e7a2d45905d76033a Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Mon, 12 May 2025 20:27:59 -0400 Subject: [PATCH 037/135] fix intake --- .../main/java/frc/robot/subsystems/coral/CoralConstants.java | 2 +- .../src/main/java/frc/robot/subsystems/coral/CoralRollers.java | 2 ++ .../java/frc/robot/subsystems/drivetrain/DriveConstants.java | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java index d219779c..54c36f18 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java @@ -20,7 +20,7 @@ public class CoralConstants { protected static final double kIntakeVoltage = 2.4; protected static final double retractVoltage = -3.5; - protected static final double kEjectVoltage = 5; + protected static final double kEjectVoltage = -5; protected static final double l1EjectVoltage = 2.5; protected static final double kL2EjectVoltage = 4.0; // 5.1 diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java index 86cbff5c..a0239686 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java @@ -58,8 +58,10 @@ private void setVoltage(double voltage) { take(); if (m_voltageLeft != voltage) { m_coralLeft.setVoltage(voltage); + m_voltageLeft = voltage; } if (m_voltageRight != voltage) { + m_voltageRight = voltage; m_coralRight.setVoltage(voltage); } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java index 9f7d7bff..3ade44cb 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java @@ -36,7 +36,7 @@ public static class HeadingPID { private static final APProfile kTightProfile = new APProfile() .withConstraintsI(kTightAutopilotConstraintsI) .withConstraintsU(kTightAutopilotConstraintsU) - .withErrorXY(Centimeters.of(2)) + .withErrorXY(Centimeters.of(1)) .withErrorTheta(Degrees.of(2)); public static final Autopilot kTightAutopilot = new Autopilot(kTightProfile); From ec7e785beb1dd0a271f6b42d5b4f6b617af049d7 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Mon, 12 May 2025 23:23:24 -0400 Subject: [PATCH 038/135] Fully track applied voltage --- .../robot/subsystems/coral/CoralRollers.java | 23 +++++++++++++------ 1 file changed, 16 insertions(+), 7 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java index a0239686..d62e1a2e 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java @@ -54,16 +54,25 @@ private void configCANrange() { m_innerRange.getConfigurator().apply(CoralConstants.kInnerRangeConfig); } - private void setVoltage(double voltage) { + private void setRightVoltage(double voltage) { + take(); + if (m_voltageRight != voltage) { + m_coralRight.setVoltage(voltage); + m_voltageRight = voltage; + } + } + + private void setLeftVoltage(double voltage) { take(); if (m_voltageLeft != voltage) { m_coralLeft.setVoltage(voltage); m_voltageLeft = voltage; } - if (m_voltageRight != voltage) { - m_voltageRight = voltage; - m_coralRight.setVoltage(voltage); - } + } + + private void setVoltage(double voltage) { + setLeftVoltage(voltage); + setRightVoltage(voltage); } private void setIntake() { @@ -86,8 +95,8 @@ private void setL4Score() { } private void setL1Score() { - m_coralLeft.setVoltage(CoralConstants.kL1LeftEjectVoltage); - m_coralRight.setVoltage(CoralConstants.kL1RightEjectVoltage); + setLeftVoltage(CoralConstants.kL1LeftEjectVoltage); + setRightVoltage(CoralConstants.kL1RightEjectVoltage); } private boolean getFrontCANrange() { From 6743de519af3029e13e25cc560569aa8510f9787 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Tue, 13 May 2025 17:02:53 -0400 Subject: [PATCH 039/135] Improve autozero logic This also means autozero works in sim now! --- ThriftyTest/simgui.json | 3 ++- .../java/frc/robot/generated/TunerConstants.java | 1 - .../java/frc/robot/subsystems/elevator/Elevator.java | 12 ++++++++---- .../frc/robot/subsystems/elevator/ElevatorState.java | 4 +++- 4 files changed, 13 insertions(+), 7 deletions(-) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 1e4e3dff..f9260d45 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -27,6 +27,7 @@ "/SmartDashboard/Pivot/Visualization": "Mechanism2d", "/SmartDashboard/Super Field": "Field2d", "/SmartDashboard/Test/Drive To Center": "Command", + "/SmartDashboard/Test/ElevatorZero": "Command", "/SmartDashboard/Test/Enter test state": "Command", "/SmartDashboard/Test/Intake": "Command", "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" @@ -131,7 +132,7 @@ "visible": true } }, - "/SmartDashboard/Test/Drive To Center": { + "/SmartDashboard/Test/ElevatorZero": { "window": { "visible": true } diff --git a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java index f40099ab..1cf08b11 100644 --- a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java @@ -8,7 +8,6 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.StaticFeedforwardSignValue; import com.ctre.phoenix6.swerve.SwerveDrivetrain; import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants; import com.ctre.phoenix6.swerve.SwerveModuleConstants; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index 03ba314e..435cf6e9 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -144,6 +144,9 @@ private void enableLimits() { } private boolean atZero() { + if (Robot.isSimulation()) { + return m_position == 0; + } return m_debouncer.calculate(m_CANrange.getIsDetected().getValue()); } @@ -199,10 +202,11 @@ public Command go(CoralLevel level) { * Automatically zeroes the elevator. */ public Command autoZero() { - return Commands.sequence( - runOnce(this::prepZero), - runOnce(this::goDownNoStopping), - Commands.waitUntil(this::atZero)) + return Commands.waitUntil(this::atZero).deadlineFor( + Commands.sequence( + go(ElevatorState.Zero), + runOnce(this::prepZero), + runOnce(this::goDownNoStopping))) .finallyDo(this::enableLimits) .finallyDo(interrupted -> { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java index c07ccb38..8d28cc94 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java @@ -1,7 +1,9 @@ package frc.robot.subsystems.elevator; public enum ElevatorState { - /** Elevator at ground */ + /** Elevator at lowest position */ + Zero(0), + /** Elevator at ground algae intake height*/ Ground(0), /** Height for ground algae intake */ HighGround(12 * ElevatorConstants.inch), From b353ba69b90e087ba60b876c7321101d2b3cd94a Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Tue, 13 May 2025 17:37:24 -0400 Subject: [PATCH 040/135] Reformat constant files to match kConvention --- .../src/main/java/frc/robot/Constants.java | 15 --- .../subsystems/algae/AlgaeConstants.java | 8 +- .../subsystems/climber/ClimberConstants.java | 5 +- .../subsystems/coral/CoralConstants.java | 30 ++--- .../drivetrain/CommandSwerveDrivetrain.java | 12 +- .../subsystems/drivetrain/DriveConstants.java | 14 +-- .../robot/subsystems/elevator/Elevator.java | 40 +++--- .../elevator/ElevatorConstants.java | 119 +++++------------- .../subsystems/elevator/ElevatorState.java | 14 +-- .../frc/robot/subsystems/pivot/Pivot.java | 4 +- .../subsystems/pivot/PivotConstants.java | 75 ++++------- 11 files changed, 109 insertions(+), 227 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 331e815f..c1be62b8 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -1,6 +1,5 @@ package frc.robot; -import static edu.wpi.first.units.Units.Degrees; import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.Milliseconds; import edu.wpi.first.math.geometry.Pose2d; @@ -8,7 +7,6 @@ import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.math.util.Units; -import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.Time; import edu.wpi.first.wpilibj.PS5Controller.Button; @@ -17,10 +15,6 @@ public class Constants { public static class IDConstants { - public static final int elevatorLeft = 51; - public static final int elevatorRight = 52; - public static final int elevatorCANrange = 53; - public static final int candle1 = 5; public static final int candle2 = 6; } @@ -163,15 +157,6 @@ public static final class StateSpaceConstants { public static final double k_maxVoltage = 12.0; } - public static final class AutonConstants { - public static final double translationTolerance = 0.03; // 0.04 - public static Angle rotationTolerance = Degrees.of(2); - - public static final double driveToPointMaxDistance = 1.5; // beyond X meters, command will insta - // end - public static final double stage2Distance = 1; - } - public static final class TalonFXConstants { public static final double nominalVoltageVolts = 12.0; // DC Volts public static final double stallTorqueNewtonMeters = 4.69; // Nm diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java index 72b36fea..9686e01a 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeConstants.java @@ -10,24 +10,20 @@ public final class AlgaeConstants { protected static final int kMotorID = 60; protected static final double kIntakeVoltage = 12; - protected static final double kNetEjectVoltage = -3.0; // 3.0 + protected static final double kNetEjectVoltage = -3.0; protected static final double kProcessorEjectVoltage = -3.2; protected static final double kHoldVoltage = 2.7; protected static final double kTorqueCurrentThreshold = 75; protected static final double kSupplyCurrentLimit = 25.0; - protected static final double kUpdateObjectPeriodSeconds = 0.200; - protected static final double kProcessorScoreTime = 2.0; protected static final double kNetScoreTime = 0.4; - protected static final InvertedValue kInvertMotor = InvertedValue.Clockwise_Positive; - protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() .withMotorOutput(new MotorOutputConfigs() .withNeutralMode(NeutralModeValue.Brake) - .withInverted(kInvertMotor)) + .withInverted(InvertedValue.Clockwise_Positive)) .withCurrentLimits(new CurrentLimitsConfigs() .withSupplyCurrentLimitEnable(true) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java index 616eb319..bcb8e61b 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java @@ -22,14 +22,11 @@ public final class ClimberConstants { protected static final double kClimbPosition = -0.110; protected static final double kClimbReadyTolerance = -0.001; - protected static final double kClimbTime = 30.0; protected static final double kFunnelOpenTime = 1.5; protected static final double kUpVolts = 12.0; protected static final double kDownVolts = -12.0; - private static final InvertedValue kMotorInvert = InvertedValue.CounterClockwise_Positive; - private static final double kSupplyCurrentLimit = 80.0; private static final double kForwardSoftLimit = 0.0; @@ -51,7 +48,7 @@ public final class ClimberConstants { protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() .withMotorOutput(new MotorOutputConfigs() .withNeutralMode(NeutralModeValue.Brake) - .withInverted(kMotorInvert)) + .withInverted(InvertedValue.CounterClockwise_Positive)) .withCurrentLimits(new CurrentLimitsConfigs() .withSupplyCurrentLimit(kSupplyCurrentLimit).withSupplyCurrentLimitEnable(true)) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java index 54c36f18..7d322a95 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java @@ -12,34 +12,24 @@ import com.ctre.phoenix6.signals.UpdateModeValue; public class CoralConstants { - public static final int kLeftMotorID = 55; - public static final int kRightMotorID = 56; - public static final int kFrontCANrangeID = 59; - public static final int kUpperCANrangeID = 58; - public static final int kInnerCANrangeID = 54; + protected static final int kLeftMotorID = 55; + protected static final int kRightMotorID = 56; + protected static final int kFrontCANrangeID = 59; + protected static final int kUpperCANrangeID = 58; + protected static final int kInnerCANrangeID = 54; protected static final double kIntakeVoltage = 2.4; - protected static final double retractVoltage = -3.5; - protected static final double kEjectVoltage = -5; + protected static final double kEjectVoltage = -6; - protected static final double l1EjectVoltage = 2.5; + protected static final double kL1EjectVoltage = 2.5; protected static final double kL2EjectVoltage = 4.0; // 5.1 protected static final double kL3EjectVoltage = 4.0; // 5.1 protected static final double kL4EjectVoltage = 5.5; - protected static final double reverseEjectVoltage = -6; - protected static final double fastEjectVoltage = -10; - protected static final double kL1LeftEjectVoltage = 2; protected static final double kL1RightEjectVoltage = 4; - protected static final boolean rightMotorInvert = true; - - protected static final double supplyCurrentLimit = 20.0; - - protected static final double IRThreshold = 0.51; - - protected static final boolean enableCANRange = true; + protected static final double kSupplyCurrentLimit = 20.0; protected static final InvertedValue kInvertRight = InvertedValue.Clockwise_Positive; @@ -50,7 +40,7 @@ public class CoralConstants { .withCurrentLimits(new CurrentLimitsConfigs() .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(supplyCurrentLimit)); + .withSupplyCurrentLimit(kSupplyCurrentLimit)); protected static final CANrangeConfiguration kFrontRangeConfig = new CANrangeConfiguration() .withFovParams(new FovParamsConfigs() @@ -83,6 +73,4 @@ public class CoralConstants { .withProximityThreshold(0.06)) .withToFParams(new ToFParamsConfigs() .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - - protected static double intakeTimeout = 1; } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index 40db0ec9..1573bea7 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -144,14 +144,16 @@ private void setup() { RobotObserver.setReefReadySupplier(inReefZone()); RobotObserver.setAlginedSupplier(aligned()); - m_forceField = new ForceField(DriveConstants.k_maxTeleopLinearSpeed); + m_forceField = new ForceField(DriveConstants.kMaxTeleopLinearSpeed); } public void initializeSetpointGenerator(RobotConfig config) { setpointGenerator = new SwerveSetpointGenerator(config, - Units.rotationsToRadians(DriveConstants.k_maxRotationalSpeed)); + Units.rotationsToRadians(DriveConstants.kMaxRotationalSpeed)); // TODO: is this causing problems when the previous setpoint doesn't match the robot speeds? + // We saw issues where it would try to drive the wrong way. This could easily be the cause if + // I'm understanding this system correctly ChassisSpeeds currSpeeds = getRobotRelativeSpeeds(); SwerveModuleState[] currStates = getState().ModuleStates; previousSetpoint = @@ -376,9 +378,9 @@ public Trigger inReefZone() { */ public Command teleopDrive(DoubleSupplier x, DoubleSupplier y, DoubleSupplier rot) { return run(() -> { - double vx = x.getAsDouble() * DriveConstants.k_maxTeleopLinearSpeed; - double vy = y.getAsDouble() * DriveConstants.k_maxTeleopLinearSpeed; - double omega = rot.getAsDouble() * DriveConstants.k_maxTeleopAngularSpeed; + double vx = x.getAsDouble() * DriveConstants.kMaxTeleopLinearSpeed; + double vy = y.getAsDouble() * DriveConstants.kMaxTeleopLinearSpeed; + double omega = rot.getAsDouble() * DriveConstants.kMaxTeleopAngularSpeed; Translation2d adjusted = m_forceField.calculate( new Translation2d(vx, vy), diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java index 3ade44cb..1cab5127 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java @@ -62,19 +62,19 @@ public static class HeadingPID { protected static final PPHolonomicDriveController k_pathplannerHolonomicDriveController = new PPHolonomicDriveController(kTranslationPID, kRotationPID); - protected static final double k_maxTeleopLinearSpeed = + protected static final double kMaxTeleopLinearSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); - protected static final double k_maxTeleopAngularSpeed = + protected static final double kMaxTeleopAngularSpeed = RotationsPerSecond.of(1.5).in(RadiansPerSecond); - protected static final LinearVelocity k_maxLinearSpeed = MetersPerSecond.of(4); - protected static final LinearAcceleration k_maxLinearAcceleration = + protected static final LinearVelocity kMaxLinearSpeed = MetersPerSecond.of(4); + protected static final LinearAcceleration kMaxLinearAcceleration = MetersPerSecondPerSecond.of(3); - protected static final AngularVelocity k_maxAngularSpeed = RotationsPerSecond.of(2); - protected static final AngularAcceleration k_maxAngularAcceleration = + protected static final AngularVelocity kMaxAngularSpeed = RotationsPerSecond.of(2); + protected static final AngularAcceleration kMaxAngularAcceleration = RotationsPerSecondPerSecond.of(2); - protected static final double k_maxRotationalSpeed = k_maxLinearSpeed.in(MetersPerSecond) + protected static final double kMaxRotationalSpeed = kMaxLinearSpeed.in(MetersPerSecond) / (TunerConstants.kWheelRadius.in(Meters) * 2 * Math.PI); protected static final double k_closedLoopOverrideToleranceTranslation = 0.05; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index 435cf6e9..839021c1 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -23,7 +23,6 @@ import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.CoralLevel; -import frc.robot.Constants.IDConstants; import frc.robot.Constants.RobotConstants; import frc.robot.Robot; import frc.robot.RobotObserver; @@ -33,10 +32,10 @@ public class Elevator extends PassiveSubsystem { // we want to have a logger, even if we're not using it... yet private final Logger m_logger = LoggerFactory.getLogger(Elevator.class); - private final TalonFX m_elevatorLeft = new TalonFX(IDConstants.elevatorLeft, "*"); - private final TalonFX m_elevatorRight = new TalonFX(IDConstants.elevatorRight, "*"); + private final TalonFX m_elevatorLeft = new TalonFX(ElevatorConstants.kLeftMotorID, "*"); + private final TalonFX m_elevatorRight = new TalonFX(ElevatorConstants.kRightMotorID, "*"); - private final CANrange m_CANrange = new CANrange(IDConstants.elevatorCANrange); + private final CANrange m_CANrange = new CANrange(ElevatorConstants.kCANrangeID); private final Debouncer m_debouncer = new Debouncer(ElevatorConstants.kRangeDebounceTime.in(Seconds)); @@ -65,11 +64,11 @@ private void configCANrange() { } private void configMotor() { - m_elevatorRight.getConfigurator().apply(ElevatorConstants.motorConfig, 0.2); - m_elevatorLeft.getConfigurator().apply(ElevatorConstants.motorConfig, 0.2); + m_elevatorRight.getConfigurator().apply(ElevatorConstants.kMotorConfig, 0.2); + m_elevatorLeft.getConfigurator().apply(ElevatorConstants.kMotorConfig, 0.2); Follower follower = new Follower( - IDConstants.elevatorRight, - ElevatorConstants.invertLeftMotorFollower); + ElevatorConstants.kRightMotorID, + ElevatorConstants.kInvertLeft); m_elevatorLeft.setControl(follower); m_elevatorRight.setPosition(0); } @@ -82,18 +81,18 @@ private void setPosition(ElevatorState state) { // calculate goal we should go to double goal = state.position(); if (RobotObserver.getNoElevatorZone() - && (m_position > ElevatorConstants.unsafeRange || goal > ElevatorConstants.unsafeRange)) { + && (m_position > ElevatorConstants.kUnsafeRange || goal > ElevatorConstants.kUnsafeRange)) { // either trying to reach (or already at) a no-go state given our current position return; } // floor values for the goal between our two extrema for their positions - goal = Math.min(goal, ElevatorConstants.forwardSoftLimit); - goal = Math.max(goal, ElevatorConstants.reverseSoftLimit); + goal = Math.min(goal, ElevatorConstants.kForwardSoftLimit); + goal = Math.max(goal, ElevatorConstants.kReverseSoftLimit); m_elevatorRight.setControl(control .withPosition(goal) - .withVelocity(ElevatorConstants.maxSpeedUp) - .withAcceleration(ElevatorConstants.maxAccelerationUp) - .withJerk(ElevatorConstants.maxJerkUp) + .withVelocity(ElevatorConstants.kMaxSpeedUp) + .withAcceleration(ElevatorConstants.kMaxAccelerationUp) + .withJerk(ElevatorConstants.kMaxJerkUp) .withSlot(0)); m_reference = state; } @@ -102,7 +101,7 @@ public Trigger ready() { return new Trigger(() -> { if (Robot.isSimulation()) return true; - boolean at = Math.abs(m_reference.position() - m_position) < ElevatorConstants.tolerance; + boolean at = Math.abs(m_reference.position() - m_position) < ElevatorConstants.kTolerance; m_logger.debug("Setpoint: {}", at); return at; }); @@ -131,7 +130,8 @@ private double getPositionUncached() { private void prepZero() { m_elevatorRight.getConfigurator().apply(new SoftwareLimitSwitchConfigs()); - m_elevatorRight.setControl(new DutyCycleOut(ElevatorConstants.manualDownSpeed) + // TODO: can this go? + m_elevatorRight.setControl(new DutyCycleOut(ElevatorConstants.kZeroVoltage) .withLimitReverseMotion(false).withIgnoreHardwareLimits(true)); } @@ -140,7 +140,7 @@ private void calibrateZero() { } private void enableLimits() { - m_elevatorRight.getConfigurator().apply(ElevatorConstants.motorConfig.SoftwareLimitSwitch); + m_elevatorRight.getConfigurator().apply(ElevatorConstants.kMotorConfig.SoftwareLimitSwitch); } private boolean atZero() { @@ -153,7 +153,7 @@ private boolean atZero() { private void goDownNoStopping() { m_elevatorRight.setPosition(1); // TODO: Why is this line here? m_logger.warn("Strange code running & unhandled TODO! Please address"); - m_elevatorRight.set(ElevatorConstants.manualDownSpeed); + m_elevatorRight.set(ElevatorConstants.kZeroVoltage); } @Override @@ -175,8 +175,8 @@ public void periodic() { * Whether or not the elevator is above the "safe" range */ public Trigger unsafe() { - return new Trigger(() -> m_position > ElevatorConstants.unsafeRange - || m_reference.position() > ElevatorConstants.unsafeRange); + return new Trigger(() -> m_position > ElevatorConstants.kUnsafeRange + || m_reference.position() > ElevatorConstants.kUnsafeRange); } protected void passive() { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java index c797e64c..7ab966fd 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java @@ -1,122 +1,73 @@ package frc.robot.subsystems.elevator; import static edu.wpi.first.units.Units.Seconds; -import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.CANrangeConfiguration; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.configs.FeedbackConfigs; import com.ctre.phoenix6.configs.FovParamsConfigs; -import com.ctre.phoenix6.configs.MagnetSensorConfigs; import com.ctre.phoenix6.configs.MotionMagicConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.ProximityParamsConfigs; import com.ctre.phoenix6.configs.Slot0Configs; -import com.ctre.phoenix6.configs.Slot1Configs; import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; import com.ctre.phoenix6.signals.GravityTypeValue; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; -import com.ctre.phoenix6.signals.SensorDirectionValue; -import edu.wpi.first.math.numbers.N1; -import edu.wpi.first.math.numbers.N2; -import edu.wpi.first.math.system.LinearSystem; -import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.math.util.Units; import edu.wpi.first.units.measure.Time; -import frc.robot.Constants.KrakenX60Constants; public final class ElevatorConstants { - protected static final boolean enable = true; + protected static final int kLeftMotorID = 51; + protected static final int kRightMotorID = 52; + protected static final int kCANrangeID = 53; - protected static final boolean invertLeftMotorFollower = true; + protected static final boolean kInvertLeft = true; - protected static final double supplyCurrentLimit = 100; - protected static final double k_zeroCurrentThreshold = 23.5; + protected static final double kSupplyCurrentLimit = 100; - protected static final double rotorToSensorRatio = 5.2; - protected static final double sensorToMechanismRatio = 1; + protected static final double kRotorToSensorRatio = 5.2; + protected static final double kSensorToMechanismRatio = 1; - protected static final InvertedValue motorInverted = InvertedValue.CounterClockwise_Positive; + protected static final double kGearRatio = kRotorToSensorRatio * kSensorToMechanismRatio; - protected static final double gearRatio = rotorToSensorRatio * sensorToMechanismRatio; + private static final double kDrumRadius = Units.inchesToMeters(2.256 / 2); - protected static final double stage1Mass = Units.lbsToKilograms(5.402); - protected static final double stage2Mass = Units.lbsToKilograms(4.819); - protected static final double carriageMass = Units.lbsToKilograms(3.084); - protected static final double coralMechanismMass = Units.lbsToKilograms(8.173); // includes coral - protected static final double algaeMechanismMass = Units.lbsToKilograms(8.359); + protected static final double kMetersToRotations = 1 / (kDrumRadius * 2 * Math.PI); - // Mass of the elevator carriage - protected static final double netMass = - stage1Mass + stage2Mass + carriageMass + coralMechanismMass + algaeMechanismMass; + protected static final double kInch = Units.inchesToMeters(1) * kMetersToRotations; - // Radius of the elevator drum - // approx. 0.02865 - protected static final double drumRadius = Units.inchesToMeters(2.256 / 2); + protected static final double kForwardSoftLimit = 11.15; + protected static final double kReverseSoftLimit = 0; - protected static final LinearSystem stateSpacePlant = LinearSystemId - .createElevatorSystem(KrakenX60Constants.KrakenX60Motor, netMass, drumRadius, - gearRatio); + protected static final double kZeroVoltage = -0.3; - protected static final double absoluteSensorRange = 0.5; - protected static final SensorDirectionValue invertEncoder = - SensorDirectionValue.CounterClockwise_Positive; - protected static final double encoderOffset = 0.291015625; // 0.490234375 + protected static final double kUnsafeRange = ElevatorState.L2.position() + 2 * kInch; - protected static final double metersToRotations = 1 / (drumRadius * 2 * Math.PI); - // approx 7.96 + protected static final double kTolerance = 0.06; - protected static final boolean enableCANRange = true; + protected static final double kMaxSpeedUp = 32; + protected static final double kMaxAccelerationUp = 48; + protected static final double kMaxJerkUp = 480; - protected static final double rangeDistanceGain = 64; // how much higher, per unit of range - - protected static final double inch = Units.inchesToMeters(1) * metersToRotations; - - protected static final double forwardSoftLimit = 11.15; - protected static final double reverseSoftLimit = 0; - - protected static final double unsafeRange = ElevatorState.L2.position() + 2 * inch; - - protected static final double tolerance = 0.06; - - protected static final double k_maxCanCompensation = 2 * inch; - - protected static final double manualUpSpeed = 0.2; - protected static final double manualDownSpeed = -0.3; - - protected static final double maxSpeedUp = 32; // 16 - protected static final double maxAccelerationUp = 48; // 48 - protected static final double maxJerkUp = 480; // 480 - - protected static final double maxSpeedDown = 10; // 10 - protected static final double maxAccelerationDown = 30; // 30 - protected static final double maxJerkDown = 300; // 300 - - protected static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() - .withMagnetSensor(new MagnetSensorConfigs() - .withAbsoluteSensorDiscontinuityPoint(absoluteSensorRange) - .withSensorDirection(invertEncoder) - .withMagnetOffset(encoderOffset)); - - protected static final TalonFXConfiguration motorConfig = new TalonFXConfiguration() + protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() .withMotorOutput(new MotorOutputConfigs() .withNeutralMode(NeutralModeValue.Brake) - .withInverted(motorInverted)) + .withInverted(InvertedValue.CounterClockwise_Positive)) .withFeedback(new FeedbackConfigs() .withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor) - .withSensorToMechanismRatio(gearRatio)) + .withSensorToMechanismRatio(kGearRatio)) .withCurrentLimits(new CurrentLimitsConfigs() .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(supplyCurrentLimit)) + .withSupplyCurrentLimit(kSupplyCurrentLimit)) .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() - .withForwardSoftLimitThreshold(forwardSoftLimit) + .withForwardSoftLimitThreshold(kForwardSoftLimit) .withForwardSoftLimitEnable(true) - .withReverseSoftLimitThreshold(reverseSoftLimit) + .withReverseSoftLimitThreshold(kReverseSoftLimit) .withReverseSoftLimitEnable(false)) .withSlot0(new Slot0Configs() @@ -125,24 +76,14 @@ public final class ElevatorConstants { .withKI(0) .withKD(0) .withKS(0.125) - .withKV(3.59 * (drumRadius * 2 * Math.PI)) - .withKA(0.05 * (drumRadius * 2 * Math.PI)) - .withKG(0.42)) - - .withSlot1(new Slot1Configs() - .withGravityType(GravityTypeValue.Elevator_Static) - .withKP(7) - .withKI(0) - .withKD(0) - .withKS(0) - .withKV(3.59 * (drumRadius * 2 * Math.PI)) - .withKA(0.05 * (drumRadius * 2 * Math.PI)) + .withKV(3.59 * (kDrumRadius * 2 * Math.PI)) + .withKA(0.05 * (kDrumRadius * 2 * Math.PI)) .withKG(0.42)) .withMotionMagic(new MotionMagicConfigs() - .withMotionMagicCruiseVelocity(maxSpeedUp) - .withMotionMagicAcceleration(maxAccelerationUp) - .withMotionMagicJerk(maxJerkUp)); + .withMotionMagicCruiseVelocity(kMaxSpeedUp) + .withMotionMagicAcceleration(kMaxAccelerationUp) + .withMotionMagicJerk(kMaxJerkUp)); protected static final CANrangeConfiguration kCANrangeConfig = new CANrangeConfiguration() .withFovParams(new FovParamsConfigs() diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java index 8d28cc94..8fe09152 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorState.java @@ -6,25 +6,25 @@ public enum ElevatorState { /** Elevator at ground algae intake height*/ Ground(0), /** Height for ground algae intake */ - HighGround(12 * ElevatorConstants.inch), + HighGround(12 * ElevatorConstants.kInch), /** Regular "home" position - also intake position */ Stow(0.31), /** A little higher than stow to eject a coral */ - Eject(ElevatorState.Stow.position() + 2 * ElevatorConstants.inch), + Eject(ElevatorState.Stow.position() + 2 * ElevatorConstants.kInch), /** Height to score processor */ Processor(0), /** L1 height */ L1(2.63), /** Secondary L1 height for when a coral is already present */ - SecondaryL1(ElevatorState.L1.position() + 8 * ElevatorConstants.inch), + SecondaryL1(ElevatorState.L1.position() + 8 * ElevatorConstants.kInch), /** L2 height */ - L2(4.016 + 3 * ElevatorConstants.inch), + L2(4.016 + 3 * ElevatorConstants.kInch), /** L3 height */ - L3(7.257 - 4 * ElevatorConstants.inch), + L3(7.257 - 4 * ElevatorConstants.kInch), /** L4 height */ - L4(9.757 + 0.3 * ElevatorConstants.inch), + L4(9.757 + 0.3 * ElevatorConstants.kInch), /** Height to score net */ - Net(9.31 + 4 * ElevatorConstants.inch), + Net(9.31 + 4 * ElevatorConstants.kInch), /** Height to intake algae from lower reef */ LowerReef(2.0), /** Height to intake algae from upper reef */ diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java index 067a3f39..949f6194 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -59,8 +59,8 @@ private void configSim() { m_gearbox, PivotConstants.kGearRatio, PivotConstants.kArmLength, - PivotConstants.kRadiansAtZero, - PivotConstants.kRadiansAtMax, + PivotConstants.kReverseSoftLimit, + PivotConstants.kForwardSoftLimit, true, // Add noise for realism PivotState.Stow.position() // Starting angle ); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotConstants.java index 1a90edbe..8ac291ac 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotConstants.java @@ -1,9 +1,7 @@ package frc.robot.subsystems.pivot; -import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.configs.FeedbackConfigs; -import com.ctre.phoenix6.configs.MagnetSensorConfigs; import com.ctre.phoenix6.configs.MotionMagicConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.Slot0Configs; @@ -14,7 +12,6 @@ import com.ctre.phoenix6.signals.GravityTypeValue; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; -import com.ctre.phoenix6.signals.SensorDirectionValue; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N2; import edu.wpi.first.math.system.LinearSystem; @@ -22,71 +19,47 @@ import frc.robot.Constants.TalonFXConstants; public final class PivotConstants { - public static final int kMotorID = 57; + protected static final int kMotorID = 57; - public static final double encoderOffset = 0.665283203125; + protected static final double kRotorOffset = 0.344; - public static final double kRotorOffset = 0.344; + protected static final double kRotorToSensorRatio = 64.0 / 14.0; + protected static final double kSensorToMechanismRatio = 32.0 / 14.0; - public static final double rotorToSensorRatio = 64.0 / 14.0; - public static final double sensorToMechanismRatio = 32.0 / 14.0; + protected static final double kForwardSoftLimit = 0.359; + protected static final double kReverseSoftLimit = 0.0; - public static final InvertedValue invertMotor = InvertedValue.CounterClockwise_Positive; - public static final SensorDirectionValue invertEncoder = - SensorDirectionValue.Clockwise_Positive; + protected static final double kSupplyCurrentLimit = 40; - public static final double forwardSoftLimitThreshold = 0.359; - public static final double reverseSoftLimitThreshold = 0.0; + protected static final double kTolerance = 0.03; - public static final double kRadiansAtMax = forwardSoftLimitThreshold; - public static final double kRadiansAtZero = 0; + protected static final double kMomentOfIntertia = 0.14622; + protected static final double kGearRatio = kRotorToSensorRatio * kSensorToMechanismRatio; - public static final double absoluteSensorRange = 0.5; + protected static final LinearSystem kPlant = LinearSystemId + .createSingleJointedArmSystem(TalonFXConstants.TalonFXDCMotor, kMomentOfIntertia, kGearRatio); - public static final double supplyCurrentLimit = 40; + protected static final double kMaxSpeed = 1.5; // cancoder rotations per secon + protected static final double kMaxAcceleration = 3.0; + protected static final double kMaxJerk = 30.0; - public static final double kTolerance = 0.03; - - public static final double manualUpSpeed = 0.1; - public static final double manualDownSpeed = -0.1; - - public static final double momentOfIntertia = 0.14622; - public static final double kGearRatio = rotorToSensorRatio * sensorToMechanismRatio; - - public static final LinearSystem kPlant = LinearSystemId - .createSingleJointedArmSystem(TalonFXConstants.TalonFXDCMotor, momentOfIntertia, kGearRatio); - - public static final double maxSpeed = 1.5; // cancoder rotations per second - public static final double accelerationMultiplier = 2; - - public static final CANcoderConfiguration encoderConfig = new CANcoderConfiguration() - .withMagnetSensor(new MagnetSensorConfigs() - .withAbsoluteSensorDiscontinuityPoint(absoluteSensorRange) - .withSensorDirection(invertEncoder) - .withMagnetOffset(encoderOffset)); - - public static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() + protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() .withMotorOutput(new MotorOutputConfigs() .withNeutralMode(NeutralModeValue.Brake) - .withInverted(invertMotor)) + .withInverted(InvertedValue.CounterClockwise_Positive)) - // .withFeedback(new FeedbackConfigs() - // .withFeedbackRemoteSensorID(IDConstants.pivotEncoder) - // .withFeedbackSensorSource(FeedbackSensorSourceValue.FusedCANcoder) - // .withRotorToSensorRatio(rotorToSensorRatio) - // .withSensorToMechanismRatio(sensorToMechanismRatio)) .withFeedback(new FeedbackConfigs() .withFeedbackSensorSource(FeedbackSensorSourceValue.RotorSensor) .withSensorToMechanismRatio(kGearRatio)) .withCurrentLimits(new CurrentLimitsConfigs() .withSupplyCurrentLimitEnable(true) - .withSupplyCurrentLimit(supplyCurrentLimit)) + .withSupplyCurrentLimit(kSupplyCurrentLimit)) .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() - .withForwardSoftLimitThreshold(forwardSoftLimitThreshold) + .withForwardSoftLimitThreshold(kForwardSoftLimit) .withForwardSoftLimitEnable(true) - .withReverseSoftLimitThreshold(reverseSoftLimitThreshold) + .withReverseSoftLimitThreshold(kReverseSoftLimit) .withReverseSoftLimitEnable(true)) .withSlot0(new Slot0Configs() @@ -109,9 +82,9 @@ public final class PivotConstants { .withKG(0.85)) .withMotionMagic(new MotionMagicConfigs() - .withMotionMagicCruiseVelocity(maxSpeed) - .withMotionMagicAcceleration(maxSpeed * accelerationMultiplier) - .withMotionMagicJerk(maxSpeed * accelerationMultiplier * 10)); + .withMotionMagicCruiseVelocity(kMaxSpeed) + .withMotionMagicAcceleration(kMaxAcceleration) + .withMotionMagicJerk(kMaxJerk)); - public static final double kArmLength = 0.443; + protected static final double kArmLength = 0.443; } From a98b9068e2e77cd6743b5c7d0d0b30906c9c8c2c Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Tue, 13 May 2025 18:39:23 -0400 Subject: [PATCH 041/135] Implement super coral This commit preps --- ThriftyTest/simgui.json | 3 - .../main/java/frc/robot/RobotContainer.java | 8 +- .../algae/{AlgaeRollers.java => Algae.java} | 6 +- .../frc/robot/subsystems/coral/Coral.java | 130 ++++++++++++ .../subsystems/coral/CoralConstants.java | 6 +- .../frc/robot/subsystems/coral/CoralIO.java | 39 ++++ .../subsystems/coral/CoralIOHardware.java | 87 ++++++++ .../robot/subsystems/coral/CoralIOSim.java | 49 +++++ .../robot/subsystems/coral/CoralRollers.java | 191 ------------------ .../robot/superstructure/Superstructure.java | 12 +- 10 files changed, 321 insertions(+), 210 deletions(-) rename ThriftyTest/src/main/java/frc/robot/subsystems/algae/{AlgaeRollers.java => Algae.java} (95%) create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java delete mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index f9260d45..b725b2f1 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -148,9 +148,6 @@ "Coral": { "open": true }, - "Elevator": { - "open": true - }, "Swirly length": { "open": true }, diff --git a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java index c674d411..597d3921 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotContainer.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotContainer.java @@ -15,11 +15,11 @@ import frc.robot.binding.RobotBindings; import frc.robot.generated.TunerConstants; import frc.robot.subsystems.climber.Climber; -import frc.robot.subsystems.coral.CoralRollers; +import frc.robot.subsystems.coral.Coral; import frc.robot.subsystems.elevator.Elevator; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.pivot.Pivot; -import frc.robot.subsystems.algae.AlgaeRollers; +import frc.robot.subsystems.algae.Algae; import frc.robot.superstructure.Superstructure; public class RobotContainer { @@ -28,8 +28,8 @@ public class RobotContainer { private SendableChooser m_autoChooser; private final Superstructure m_superstructure = new Superstructure( - new AlgaeRollers(), - new CoralRollers(), + new Algae(), + new Coral(), new Pivot(), new Elevator(), new Climber(), diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java similarity index 95% rename from ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeRollers.java rename to ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java index d68d7d55..a57e6fe2 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeRollers.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java @@ -14,9 +14,9 @@ import frc.robot.RobotObserver; import frc.robot.subsystems.PassiveSubsystem; -public class AlgaeRollers extends PassiveSubsystem implements AutoCloseable { +public class Algae extends PassiveSubsystem implements AutoCloseable { @SuppressWarnings("unused") - private final Logger m_logger = LoggerFactory.getLogger(AlgaeRollers.class); + private final Logger m_logger = LoggerFactory.getLogger(Algae.class); private final TalonFX m_algaeRoller = new TalonFX(AlgaeConstants.kMotorID); @@ -27,7 +27,7 @@ public class AlgaeRollers extends PassiveSubsystem implements AutoCloseable { private MedianFilter m_filter = new MedianFilter(10); - public AlgaeRollers() { + public Algae() { super(); configIntakeMotor(); RobotObserver.setAlgaePieceHeldSupplier(this.holdingAlgae()); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java new file mode 100644 index 00000000..906b54a2 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java @@ -0,0 +1,130 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems.coral; + +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +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.Trigger; +import frc.robot.Constants.CoralLevel; +import frc.robot.Robot; +import frc.robot.RobotObserver; +import frc.robot.subsystems.PassiveSubsystem; +import frc.robot.subsystems.coral.CoralIO.CoralIOInputs; + +public class Coral extends PassiveSubsystem { + private final Logger m_logger = LoggerFactory.getLogger(Coral.class); + + private final CoralIO m_io; + private CoralIOInputs m_inputs = new CoralIOInputs(); + + public Coral() { + super(); + if (Robot.isReal()) { + m_io = new CoralIOHardware(); + } else { + m_io = new CoralIOSim(); + } + RobotObserver.setPieceHeldSupplier(holding()); + } + + private void setIntake() { + m_io.setVoltage(CoralConstants.kIntakeVoltage); + } + + private void setL2Score() { + m_logger.trace("Setting L2 eject"); + m_io.setVoltage(CoralConstants.kL2EjectVoltage); + } + + private void setL3Score() { + m_logger.trace("Setting L3 eject"); + m_io.setVoltage(CoralConstants.kL3EjectVoltage); + } + + private void setL4Score() { + m_logger.trace("Setting L4 eject"); + m_io.setVoltage(CoralConstants.kL4EjectVoltage); + } + + private void setL1Score() { + m_io.setLeftVoltage(CoralConstants.kL1LeftEjectVoltage); + m_io.setRightVoltage(CoralConstants.kL1RightEjectVoltage); + } + + private void stop() { + m_io.setVoltage(0); + } + + public Trigger present() { + return new Trigger( + () -> m_inputs.upperDetected || m_inputs.innerDetected || m_inputs.frontDetected); + } + + public Trigger holding() { + return new Trigger(() -> m_inputs.frontDetected && !m_inputs.upperDetected); + } + + @Override + public void periodic() { + m_io.updateInputs(m_inputs); + SmartDashboard.putBoolean("Coral/Front CANrange", m_inputs.frontDetected); + SmartDashboard.putBoolean("Coral/Upper CANrange", m_inputs.upperDetected); + SmartDashboard.putBoolean("Coral/Inner CANrange", m_inputs.innerDetected); + SmartDashboard.putBoolean("Coral/Holding", holding().getAsBoolean()); + SmartDashboard.putBoolean("Coral/Present", present().getAsBoolean()); + } + + protected void passive() { + if (present().getAsBoolean() && !holding().getAsBoolean()) { + setIntake(); + } else { + stop(); + } + } + + /** + * Intakes a game piece. The command ends when the piece is fully in the robot. + */ + public Command intake() { + return Commands.sequence( + runOnce(this::setIntake), + Commands.waitUntil(holding())) + + .finallyDo(this::stop) + .unless(holding()); + } + + public Command score(CoralLevel level) { + return Commands.sequence( + runOnce(() -> { + switch (level) { + case L1, SecondaryL1 -> setL1Score(); + case L2 -> setL2Score(); + case L3 -> setL3Score(); + case L4 -> setL4Score(); + } + }), + Commands.waitUntil(holding().negate())) + + .onlyIf(holding()); + } + + /** + * Ejects a coral piece + */ + public Command eject() { + return Commands.sequence( + runOnce(() -> m_io.setVoltage(CoralConstants.kEjectVoltage)), + Commands.waitUntil(present().negate())) + + .finallyDo(this::stop) + .onlyIf(present()); + } + +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java index 7d322a95..d13ec950 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralConstants.java @@ -42,7 +42,7 @@ public class CoralConstants { .withSupplyCurrentLimitEnable(true) .withSupplyCurrentLimit(kSupplyCurrentLimit)); - protected static final CANrangeConfiguration kFrontRangeConfig = new CANrangeConfiguration() + protected static final CANrangeConfiguration kFrontCANrangeConfig = new CANrangeConfiguration() .withFovParams(new FovParamsConfigs() .withFOVRangeX(6.5) .withFOVRangeY(6.5)) @@ -53,7 +53,7 @@ public class CoralConstants { .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - protected static final CANrangeConfiguration kUpperRangeConfig = new CANrangeConfiguration() + protected static final CANrangeConfiguration kUpperCANrangeConfig = new CANrangeConfiguration() .withFovParams(new FovParamsConfigs() .withFOVRangeX(6.5) .withFOVRangeY(15)) @@ -63,7 +63,7 @@ public class CoralConstants { .withToFParams(new ToFParamsConfigs() .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - protected static final CANrangeConfiguration kInnerRangeConfig = new CANrangeConfiguration() + protected static final CANrangeConfiguration kInnerCANrangeConfig = new CANrangeConfiguration() .withFovParams(new FovParamsConfigs() .withFOVRangeX(27) .withFOVRangeY(27)) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java new file mode 100644 index 00000000..3ca62568 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java @@ -0,0 +1,39 @@ +package frc.robot.subsystems.coral; + +public interface CoralIO { + void updateInputs(CoralIOInputs inputs); + + class CoralIOInputs { + public boolean leftMotorConnected = true; + public boolean rightMotorConnected = true; + public boolean frontCANrangeConnected = true; + public boolean upperCANrangeConnected = true; + public boolean innerCANrangeConnected = true; + public double leftVoltage = 0.0; + public double rightVoltage = 0.0; + public double leftCurrent = 0.0; + public double rightCurrent = 0.0; + public double leftTemperature = 0.0; + public double rightTemperature = 0.0; + public double leftVelocity = 0.0; + public double rightVelocity = 0.0; + public boolean frontDetected = false; + public boolean upperDetected = false; + public boolean innerDetected = false; + public double frontDistance = 0.0; + public double upperDistance = 0.0; + public double innerDistance = 0.0; + public double frontStrength = 0.0; + public double upperStrength = 0.0; + public double innerStrength = 0.0; + } + + void setLeftVoltage(double voltage); + void setRightVoltage(double voltage); + + default void setVoltage(double voltage) { + setRightVoltage(voltage); + setLeftVoltage(voltage); + } +} + diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java new file mode 100644 index 00000000..5a27c34e --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java @@ -0,0 +1,87 @@ +package frc.robot.subsystems.coral; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.hardware.CANrange; +import com.ctre.phoenix6.hardware.TalonFX; + +public class CoralIOHardware implements CoralIO { + private final TalonFX m_leftMotor; + private final TalonFX m_rightMotor; + + private final CANrange m_frontCANrange; + private final CANrange m_upperCANrange; + private final CANrange m_innerCANrange; + + private double m_leftVoltage; + private double m_rightVoltage; + + public CoralIOHardware() { + m_leftMotor = new TalonFX(CoralConstants.kLeftMotorID); + m_rightMotor = new TalonFX(CoralConstants.kRightMotorID); + + m_frontCANrange = new CANrange(CoralConstants.kFrontCANrangeID); + m_upperCANrange = new CANrange(CoralConstants.kUpperCANrangeID); + m_innerCANrange = new CANrange(CoralConstants.kInnerCANrangeID); + + m_leftMotor.getConfigurator().apply(CoralConstants.kMotorConfig); + m_rightMotor.getConfigurator().apply(CoralConstants.kMotorConfig); + + m_frontCANrange.getConfigurator().apply(CoralConstants.kFrontCANrangeConfig); + m_upperCANrange.getConfigurator().apply(CoralConstants.kUpperCANrangeConfig); + m_innerCANrange.getConfigurator().apply(CoralConstants.kInnerCANrangeConfig); + } + + public void updateInputs(CoralIOInputs inputs) { + inputs.rightMotorConnected = BaseStatusSignal.refreshAll( + m_rightMotor.getMotorVoltage(), + m_rightMotor.getSupplyCurrent(), + m_rightMotor.getDeviceTemp(), + m_rightMotor.getVelocity()).isOK(); + inputs.leftMotorConnected = BaseStatusSignal.refreshAll( + m_leftMotor.getMotorVoltage(), + m_leftMotor.getSupplyCurrent(), + m_leftMotor.getDeviceTemp(), + m_leftMotor.getVelocity()).isOK(); + inputs.rightVoltage = m_rightMotor.getMotorVoltage().getValueAsDouble(); + inputs.leftVoltage = m_leftMotor.getMotorVoltage().getValueAsDouble(); + inputs.rightCurrent = m_rightMotor.getSupplyCurrent().getValueAsDouble(); + inputs.leftCurrent = m_leftMotor.getSupplyCurrent().getValueAsDouble(); + inputs.rightTemperature = m_rightMotor.getDeviceTemp().getValueAsDouble(); + inputs.leftTemperature = m_leftMotor.getDeviceTemp().getValueAsDouble(); + inputs.frontCANrangeConnected = BaseStatusSignal.refreshAll( + m_frontCANrange.getIsDetected(), + m_frontCANrange.getDistance(), + m_frontCANrange.getSignalStrength()).isOK(); + inputs.upperCANrangeConnected = BaseStatusSignal.refreshAll( + m_upperCANrange.getIsDetected(), + m_upperCANrange.getDistance(), + m_upperCANrange.getSignalStrength()).isOK(); + inputs.innerCANrangeConnected = BaseStatusSignal.refreshAll( + m_innerCANrange.getIsDetected(), + m_innerCANrange.getDistance(), + m_upperCANrange.getSignalStrength()).isOK(); + inputs.frontDetected = m_frontCANrange.getIsDetected().getValue(); + inputs.upperDetected = m_upperCANrange.getIsDetected().getValue(); + inputs.innerDetected = m_innerCANrange.getIsDetected().getValue(); + inputs.frontDistance = m_frontCANrange.getDistance().getValueAsDouble(); + inputs.upperDistance = m_upperCANrange.getDistance().getValueAsDouble(); + inputs.innerDistance = m_innerCANrange.getDistance().getValueAsDouble(); + inputs.frontStrength = m_frontCANrange.getSignalStrength().getValueAsDouble(); + inputs.upperStrength = m_upperCANrange.getSignalStrength().getValueAsDouble(); + inputs.innerStrength = m_innerCANrange.getSignalStrength().getValueAsDouble(); + } + + public void setLeftVoltage(double voltage) { + if (m_leftVoltage != voltage) { + m_leftVoltage = voltage; + m_leftMotor.setVoltage(voltage); + } + } + + public void setRightVoltage(double voltage) { + if (m_rightVoltage != voltage) { + m_rightVoltage = voltage; + m_rightMotor.setVoltage(voltage); + } + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java new file mode 100644 index 00000000..f03de44c --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java @@ -0,0 +1,49 @@ +package frc.robot.subsystems.coral; + +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.Robot; + +public class CoralIOSim implements CoralIO { + private final DCMotorSim m_leftMotorSim; + private final DCMotorSim m_rightMotorSim; + + private double m_leftVoltage; + private double m_rightVoltage; + + public CoralIOSim() { + m_leftMotorSim = + new DCMotorSim(LinearSystemId.createDCMotorSystem(DCMotor.getKrakenX60(1), 1, 1), + DCMotor.getKrakenX60(1), 1, 0.1); + m_rightMotorSim = + new DCMotorSim(LinearSystemId.createDCMotorSystem(DCMotor.getKrakenX60(1), 1, 1), + DCMotor.getKrakenX60(1), 1, 0.1); + } + + public void updateInputs(CoralIOInputs inputs) { + m_leftMotorSim.update(Robot.kDefaultPeriod); + m_rightMotorSim.update(Robot.kDefaultPeriod); + inputs.leftCurrent = m_leftMotorSim.getCurrentDrawAmps(); + inputs.rightCurrent = m_rightMotorSim.getCurrentDrawAmps(); + inputs.leftTemperature = 0.0; + inputs.rightTemperature = 0.0; + inputs.leftVoltage = m_leftVoltage; + inputs.rightVoltage = m_rightVoltage; + // TODO: Can i just use m_rightMotorSim.getInputVoltage() instead? + inputs.frontDetected = SmartDashboard.getBoolean("Coral/Front CANrange", false); + inputs.upperDetected = SmartDashboard.getBoolean("Coral/Upper CANrange", false); + inputs.innerDetected = SmartDashboard.getBoolean("Coral/Inner CANrange", false); + } + + public void setLeftVoltage(double voltage) { + m_leftVoltage = voltage; + m_leftMotorSim.setInputVoltage(voltage); + } + + public void setRightVoltage(double voltage) { + m_rightVoltage = voltage; + m_rightMotorSim.setInputVoltage(voltage); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java deleted file mode 100644 index d62e1a2e..00000000 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralRollers.java +++ /dev/null @@ -1,191 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package frc.robot.subsystems.coral; - -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; - -import com.ctre.phoenix6.hardware.CANrange; -import com.ctre.phoenix6.hardware.TalonFX; - -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.Trigger; -import frc.robot.Constants.CoralLevel; -import frc.robot.Robot; -import frc.robot.RobotObserver; -import frc.robot.subsystems.PassiveSubsystem; - -public class CoralRollers extends PassiveSubsystem { - private final Logger m_logger = LoggerFactory.getLogger(CoralRollers.class); - - private final TalonFX m_coralLeft = new TalonFX(CoralConstants.kLeftMotorID); - private final TalonFX m_coralRight = new TalonFX(CoralConstants.kRightMotorID); - - private final CANrange m_frontRange = new CANrange(CoralConstants.kFrontCANrangeID); - private final CANrange m_upperRange = new CANrange(CoralConstants.kUpperCANrangeID); - private final CANrange m_innerRange = new CANrange(CoralConstants.kInnerCANrangeID); - - private double m_voltageLeft; - private double m_voltageRight; - - public CoralRollers() { - super(); - configMotors(); - configCANrange(); - RobotObserver.setPieceHeldSupplier(holding()); - } - - private void configMotors() { - m_coralLeft.clearStickyFaults(); - m_coralRight.clearStickyFaults(); - - m_coralLeft.getConfigurator().apply(CoralConstants.kMotorConfig); - m_coralRight.getConfigurator().apply(CoralConstants.kMotorConfig.withMotorOutput( - CoralConstants.kMotorConfig.MotorOutput.withInverted(CoralConstants.kInvertRight))); - } - - private void configCANrange() { - m_frontRange.getConfigurator().apply(CoralConstants.kFrontRangeConfig); - m_upperRange.getConfigurator().apply(CoralConstants.kUpperRangeConfig); - m_innerRange.getConfigurator().apply(CoralConstants.kInnerRangeConfig); - } - - private void setRightVoltage(double voltage) { - take(); - if (m_voltageRight != voltage) { - m_coralRight.setVoltage(voltage); - m_voltageRight = voltage; - } - } - - private void setLeftVoltage(double voltage) { - take(); - if (m_voltageLeft != voltage) { - m_coralLeft.setVoltage(voltage); - m_voltageLeft = voltage; - } - } - - private void setVoltage(double voltage) { - setLeftVoltage(voltage); - setRightVoltage(voltage); - } - - private void setIntake() { - setVoltage(CoralConstants.kIntakeVoltage); - } - - private void setL2Score() { - m_logger.trace("Setting L2 eject"); - setVoltage(CoralConstants.kL2EjectVoltage); - } - - private void setL3Score() { - m_logger.trace("Setting L3 eject"); - setVoltage(CoralConstants.kL3EjectVoltage); - } - - private void setL4Score() { - m_logger.trace("Setting L4 eject"); - setVoltage(CoralConstants.kL4EjectVoltage); - } - - private void setL1Score() { - setLeftVoltage(CoralConstants.kL1LeftEjectVoltage); - setRightVoltage(CoralConstants.kL1RightEjectVoltage); - } - - private boolean getFrontCANrange() { - if (Robot.isSimulation()) { - return SmartDashboard.getBoolean("Coral/Front CANrange", false); - } - return m_frontRange.getIsDetected().getValue(); - } - - private boolean getUpperCANrange() { - if (Robot.isSimulation()) { - return SmartDashboard.getBoolean("Coral/Upper CANrange", false); - } - return m_upperRange.getIsDetected().getValue(); - } - - private boolean getInnerCANrange() { - if (Robot.isSimulation()) { - return SmartDashboard.getBoolean("Coral/Inner CANrange", false); - } - return m_innerRange.getIsDetected().getValue(); - } - - private void stop() { - setVoltage(0); - } - - public Trigger present() { - return new Trigger(() -> getUpperCANrange() || getInnerCANrange() || getFrontCANrange()); - } - - public Trigger holding() { - return new Trigger(() -> getFrontCANrange() && !getUpperCANrange()); - } - - @Override - public void periodic() { - SmartDashboard.putBoolean("Coral/Front CANrange", getFrontCANrange()); - SmartDashboard.putBoolean("Coral/Upper CANrange", getUpperCANrange()); - SmartDashboard.putBoolean("Coral/Inner CANrange", getInnerCANrange()); - SmartDashboard.putBoolean("Coral/Holding", holding().getAsBoolean()); - SmartDashboard.putBoolean("Coral/Present", present().getAsBoolean()); - } - - protected void passive() { - if (present().getAsBoolean() && !holding().getAsBoolean()) { - setIntake(); - } else { - stop(); - } - } - - /** - * Intakes a game piece. The command ends when the piece is fully in the robot. - */ - public Command intake() { - return Commands.sequence( - runOnce(this::setIntake), - Commands.waitUntil(holding())) - - .finallyDo(this::stop) - .unless(holding()); - } - - public Command score(CoralLevel level) { - return Commands.sequence( - runOnce(() -> { - switch (level) { - case L1, SecondaryL1 -> setL1Score(); - case L2 -> setL2Score(); - case L3 -> setL3Score(); - case L4 -> setL4Score(); - } - }), - Commands.waitUntil(holding().negate())) - - .onlyIf(holding()); - } - - /** - * Ejects a coral piece - */ - public Command eject() { - return Commands.sequence( - runOnce(() -> setVoltage(CoralConstants.kEjectVoltage)), - Commands.waitUntil(present().negate())) - - .finallyDo(this::stop) - .onlyIf(present()); - } - -} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 583f2cdb..55c49a20 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -6,9 +6,9 @@ import frc.robot.RobotObserver; import frc.robot.subsystems.LedFeedback; import frc.robot.subsystems.drivetrain.CommandSwerveDrivetrain; -import frc.robot.subsystems.algae.AlgaeRollers; +import frc.robot.subsystems.algae.Algae; import frc.robot.subsystems.climber.Climber; -import frc.robot.subsystems.coral.CoralRollers; +import frc.robot.subsystems.coral.Coral; import frc.robot.subsystems.elevator.Elevator; import frc.robot.subsystems.pivot.Pivot; import frc.robot.vision.VisionHandler; @@ -20,8 +20,8 @@ public class Superstructure { * Constructs a new superstructure given the individual subsystems */ public Superstructure( - AlgaeRollers algaeRollers, - CoralRollers coralRollers, + Algae algaeRollers, + Coral coralRollers, Pivot pivot, Elevator elevator, Climber climber, @@ -66,8 +66,8 @@ public VisionHandler buildVision() { } public static record Subsystems( - AlgaeRollers algae, - CoralRollers coral, + Algae algae, + Coral coral, Pivot pivot, Elevator elevator, Climber climber, From 109cd84332a84c36cdfeaafc69af3c252c89dcb4 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Tue, 13 May 2025 22:17:40 -0400 Subject: [PATCH 042/135] Update CTRE to latest; build IO for algae --- ThriftyTest/simgui.json | 3 +- .../frc/robot/subsystems/algae/Algae.java | 57 ++++-------- .../frc/robot/subsystems/algae/AlgaeIO.java | 16 ++++ .../subsystems/algae/AlgaeIOHardware.java | 35 +++++++ .../robot/subsystems/algae/AlgaeIOSim.java | 30 ++++++ .../frc/robot/subsystems/coral/Coral.java | 17 ++-- ....2.6.json => PathplannerLib-2025.2.7.json} | 8 +- ....3.2.json => Phoenix6-frc2025-latest.json} | 92 ++++++++++++------- ThriftyTest/vendordeps/photonlib.json | 12 +-- 9 files changed, 183 insertions(+), 87 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIO.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java rename ThriftyTest/vendordeps/{PathplannerLib-2025.2.6.json => PathplannerLib-2025.2.7.json} (87%) rename ThriftyTest/vendordeps/{Phoenix6-25.3.2.json => Phoenix6-frc2025-latest.json} (86%) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index b725b2f1..5d07ce26 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -23,6 +23,7 @@ "/SmartDashboard/Enter test state": "Command", "/SmartDashboard/Lazy Zero Elevator": "Command", "/SmartDashboard/PathPlanner": "Alerts", + "/SmartDashboard/PhotonAlerts": "Alerts", "/SmartDashboard/Pivot Arm Visualization": "Mechanism2d", "/SmartDashboard/Pivot/Visualization": "Mechanism2d", "/SmartDashboard/Super Field": "Field2d", @@ -145,7 +146,7 @@ }, "transitory": { "SmartDashboard": { - "Coral": { + "Algae": { "open": true }, "Swirly length": { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java index a57e6fe2..6f32cf07 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java @@ -3,8 +3,6 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -import com.ctre.phoenix6.hardware.TalonFX; - import edu.wpi.first.math.filter.MedianFilter; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -13,15 +11,14 @@ import frc.robot.Robot; import frc.robot.RobotObserver; import frc.robot.subsystems.PassiveSubsystem; +import frc.robot.subsystems.algae.AlgaeIO.AlgaeIOInputs; -public class Algae extends PassiveSubsystem implements AutoCloseable { +public class Algae extends PassiveSubsystem { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(Algae.class); - private final TalonFX m_algaeRoller = new TalonFX(AlgaeConstants.kMotorID); - - private double m_voltage; - private boolean m_voltageChanged; + private final AlgaeIO m_io; + private AlgaeIOInputs m_inputs; private boolean m_hasAlgae; @@ -29,21 +26,18 @@ public class Algae extends PassiveSubsystem implements AutoCloseable { public Algae() { super(); - configIntakeMotor(); + if (Robot.isReal()) { + m_io = new AlgaeIOHardware(); + } else { + m_io = new AlgaeIOSim(); + } + m_inputs = new AlgaeIOInputs(); RobotObserver.setAlgaePieceHeldSupplier(this.holdingAlgae()); } - private void configIntakeMotor() { - m_algaeRoller.clearStickyFaults(); - m_algaeRoller.getConfigurator().apply(AlgaeConstants.kMotorConfig); - } - private void setVoltage(double voltage) { take(); - if (voltage != m_voltage) { - m_voltageChanged = true; - } - m_voltage = voltage; + m_io.setVoltage(voltage); } public Trigger holdingAlgae() { @@ -51,8 +45,7 @@ public Trigger holdingAlgae() { } private double getTorqueCurrent() { - double measurement = m_algaeRoller.getTorqueCurrent().getValueAsDouble(); - return m_filter.calculate(measurement); + return m_filter.calculate(m_inputs.torque); } private void stop() { @@ -70,29 +63,15 @@ private void keep(boolean shouldHold) { } } - private void updateObjectState() { - if (Robot.isReal()) { - m_hasAlgae = getTorqueCurrent() >= AlgaeConstants.kTorqueCurrentThreshold; - } else { - m_hasAlgae = SmartDashboard.getBoolean("Algae/Held", false); - } - - SmartDashboard.putBoolean("Algae/Held", m_hasAlgae); - } @Override public void periodic() { - SmartDashboard.putNumber("Algae/Temp", m_algaeRoller.getDeviceTemp().getValueAsDouble()); - updateObjectState(); - if (m_voltageChanged) { - m_algaeRoller.setVoltage(m_voltage); - m_voltageChanged = false; - } - } - - @Override - public void close() throws Exception { - m_algaeRoller.close(); + m_io.updateInputs(m_inputs); + m_hasAlgae = getTorqueCurrent() >= AlgaeConstants.kTorqueCurrentThreshold; + SmartDashboard.putBoolean("Algae/Held", m_hasAlgae); + SmartDashboard.putNumber("Algae/Torque", m_inputs.torque); + SmartDashboard.putNumber("Algae/Voltage", m_inputs.voltage); + SmartDashboard.putNumber("Algae/Temperature", m_inputs.temperature); } protected void passive() { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIO.java new file mode 100644 index 00000000..e1082a9d --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIO.java @@ -0,0 +1,16 @@ +package frc.robot.subsystems.algae; + +public interface AlgaeIO { + void updateInputs(AlgaeIOInputs inputs); + + class AlgaeIOInputs { + public boolean motorConnected = true; + public double current = 0.0; + public double torque = 0.0; + public double voltage = 0.0; + public double temperature = 0.0; + public double velocityRPS = 0.0; + } + + void setVoltage(double voltage); +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java new file mode 100644 index 00000000..4ca37359 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java @@ -0,0 +1,35 @@ +package frc.robot.subsystems.algae; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.hardware.TalonFX; + +public class AlgaeIOHardware implements AlgaeIO { + private final TalonFX m_motor; + + private double m_voltage; + + public AlgaeIOHardware() { + m_motor = new TalonFX(AlgaeConstants.kMotorID); + } + + public void updateInputs(AlgaeIOInputs inputs) { + inputs.motorConnected = BaseStatusSignal.refreshAll( + m_motor.getMotorVoltage(), + m_motor.getSupplyCurrent(), + m_motor.getTorqueCurrent(), + m_motor.getDeviceTemp(), + m_motor.getVelocity()).isOK(); + inputs.current = m_motor.getSupplyCurrent().getValueAsDouble(); + inputs.torque = m_motor.getTorqueCurrent().getValueAsDouble(); + inputs.temperature = m_motor.getDeviceTemp().getValueAsDouble(); + inputs.voltage = m_voltage; + inputs.velocityRPS = m_motor.getVelocity().getValueAsDouble(); + } + + public void setVoltage(double voltage) { + if (voltage != m_voltage) { + m_voltage = voltage; + m_motor.setVoltage(voltage); + } + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java new file mode 100644 index 00000000..f13da5e7 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java @@ -0,0 +1,30 @@ +package frc.robot.subsystems.algae; + +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.Robot; + +public class AlgaeIOSim implements AlgaeIO { + private final DCMotorSim m_motorSim; + + private double m_voltage; + + public AlgaeIOSim() { + m_motorSim = new DCMotorSim(LinearSystemId.createDCMotorSystem(DCMotor.getKrakenX60(1), 1, 1), + DCMotor.getKrakenX60(1), 0.1, 0.1); + } + + public void updateInputs(AlgaeIOInputs inputs) { + m_motorSim.update(Robot.kDefaultPeriod); + inputs.voltage = m_voltage; + inputs.current = m_motorSim.getCurrentDrawAmps(); + inputs.torque = SmartDashboard.getNumber("Algae/Torque", 0.0); + } + + public void setVoltage(double voltage) { + m_voltage = voltage; + m_motorSim.setInputVoltage(voltage); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java index 906b54a2..963232ab 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java @@ -33,23 +33,28 @@ public Coral() { RobotObserver.setPieceHeldSupplier(holding()); } + private void setVoltage(double voltage) { + take(); + m_io.setVoltage(voltage); + } + private void setIntake() { - m_io.setVoltage(CoralConstants.kIntakeVoltage); + setVoltage(CoralConstants.kIntakeVoltage); } private void setL2Score() { m_logger.trace("Setting L2 eject"); - m_io.setVoltage(CoralConstants.kL2EjectVoltage); + setVoltage(CoralConstants.kL2EjectVoltage); } private void setL3Score() { m_logger.trace("Setting L3 eject"); - m_io.setVoltage(CoralConstants.kL3EjectVoltage); + setVoltage(CoralConstants.kL3EjectVoltage); } private void setL4Score() { m_logger.trace("Setting L4 eject"); - m_io.setVoltage(CoralConstants.kL4EjectVoltage); + setVoltage(CoralConstants.kL4EjectVoltage); } private void setL1Score() { @@ -58,7 +63,7 @@ private void setL1Score() { } private void stop() { - m_io.setVoltage(0); + setVoltage(0); } public Trigger present() { @@ -120,7 +125,7 @@ public Command score(CoralLevel level) { */ public Command eject() { return Commands.sequence( - runOnce(() -> m_io.setVoltage(CoralConstants.kEjectVoltage)), + runOnce(() -> setVoltage(CoralConstants.kEjectVoltage)), Commands.waitUntil(present().negate())) .finallyDo(this::stop) diff --git a/ThriftyTest/vendordeps/PathplannerLib-2025.2.6.json b/ThriftyTest/vendordeps/PathplannerLib-2025.2.7.json similarity index 87% rename from ThriftyTest/vendordeps/PathplannerLib-2025.2.6.json rename to ThriftyTest/vendordeps/PathplannerLib-2025.2.7.json index 95ba2033..d3f84e53 100644 --- a/ThriftyTest/vendordeps/PathplannerLib-2025.2.6.json +++ b/ThriftyTest/vendordeps/PathplannerLib-2025.2.7.json @@ -1,7 +1,7 @@ { - "fileName": "PathplannerLib-2025.2.6.json", + "fileName": "PathplannerLib-2025.2.7.json", "name": "PathplannerLib", - "version": "2025.2.6", + "version": "2025.2.7", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", "frcYear": "2025", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2025.2.6" + "version": "2025.2.7" } ], "jniDependencies": [], @@ -20,7 +20,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2025.2.6", + "version": "2025.2.7", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/ThriftyTest/vendordeps/Phoenix6-25.3.2.json b/ThriftyTest/vendordeps/Phoenix6-frc2025-latest.json similarity index 86% rename from ThriftyTest/vendordeps/Phoenix6-25.3.2.json rename to ThriftyTest/vendordeps/Phoenix6-frc2025-latest.json index 29187a8b..6f40c840 100644 --- a/ThriftyTest/vendordeps/Phoenix6-25.3.2.json +++ b/ThriftyTest/vendordeps/Phoenix6-frc2025-latest.json @@ -1,7 +1,7 @@ { - "fileName": "Phoenix6-25.3.2.json", + "fileName": "Phoenix6-frc2025-latest.json", "name": "CTRE-Phoenix (v6)", - "version": "25.3.2", + "version": "25.4.0", "frcYear": "2025", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.3.2" + "version": "25.4.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +208,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.3.2", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -224,7 +238,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -240,7 +254,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -256,7 +270,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -272,7 +286,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -288,7 +302,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -304,7 +318,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -320,7 +334,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -336,7 +350,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -352,7 +366,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -368,7 +382,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -384,7 +398,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -400,7 +414,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -416,7 +430,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -432,7 +446,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -444,6 +458,22 @@ "osxuniversal" ], "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" } ] } \ No newline at end of file diff --git a/ThriftyTest/vendordeps/photonlib.json b/ThriftyTest/vendordeps/photonlib.json index 1219919e..2d7b1d8e 100644 --- a/ThriftyTest/vendordeps/photonlib.json +++ b/ThriftyTest/vendordeps/photonlib.json @@ -1,7 +1,7 @@ { "fileName": "photonlib.json", "name": "photonlib", - "version": "v2025.2.1", + "version": "v2025.3.1", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", "frcYear": "2025", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2025.2.1", + "version": "v2025.3.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -28,7 +28,7 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-cpp", - "version": "v2025.2.1", + "version": "v2025.3.1", "libName": "photonlib", "headerClassifier": "headers", "sharedLibrary": true, @@ -43,7 +43,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2025.2.1", + "version": "v2025.3.1", "libName": "photontargeting", "headerClassifier": "headers", "sharedLibrary": true, @@ -60,12 +60,12 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-java", - "version": "v2025.2.1" + "version": "v2025.3.1" }, { "groupId": "org.photonvision", "artifactId": "photontargeting-java", - "version": "v2025.2.1" + "version": "v2025.3.1" } ] } \ No newline at end of file From badd489a359ca3649fb3584abbbe1bd326a73f23 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Wed, 14 May 2025 14:10:24 -0400 Subject: [PATCH 043/135] Add IO interfacing to remaining subsystems Simulation works like a charm! --- ThriftyTest/simgui.json | 19 ++- .../frc/robot/binding/DashboardBindings.java | 3 + .../subsystems/algae/AlgaeIOHardware.java | 2 + .../robot/subsystems/algae/AlgaeIOSim.java | 1 + .../frc/robot/subsystems/climber/Climber.java | 82 ++++-------- .../subsystems/climber/ClimberConstants.java | 11 +- .../robot/subsystems/climber/ClimberIO.java | 22 ++++ .../subsystems/climber/ClimberIOHardware.java | 66 ++++++++++ .../subsystems/climber/ClimberIOSim.java | 39 ++++++ .../subsystems/coral/CoralIOHardware.java | 5 +- .../robot/subsystems/coral/CoralIOSim.java | 3 +- .../robot/subsystems/elevator/Elevator.java | 123 ++++-------------- .../elevator/ElevatorConstants.java | 20 ++- .../robot/subsystems/elevator/ElevatorIO.java | 34 +++++ .../elevator/ElevatorIOHardware.java | 95 ++++++++++++++ .../subsystems/elevator/ElevatorIOSim.java | 21 +++ .../frc/robot/subsystems/pivot/Pivot.java | 120 +++-------------- .../frc/robot/subsystems/pivot/PivotIO.java | 16 +++ .../subsystems/pivot/PivotIOHardware.java | 37 ++++++ .../robot/subsystems/pivot/PivotIOSim.java | 13 ++ 20 files changed, 456 insertions(+), 276 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIO.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIO.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 5d07ce26..9786aca0 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -31,6 +31,7 @@ "/SmartDashboard/Test/ElevatorZero": "Command", "/SmartDashboard/Test/Enter test state": "Command", "/SmartDashboard/Test/Intake": "Command", + "/SmartDashboard/Test/LowReefAlgaeIntake": "Command", "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, "windows": { @@ -133,7 +134,7 @@ "visible": true } }, - "/SmartDashboard/Test/ElevatorZero": { + "/SmartDashboard/Test/LowReefAlgaeIntake": { "window": { "visible": true } @@ -149,6 +150,12 @@ "Algae": { "open": true }, + "Elevator": { + "open": true + }, + "Pivot": { + "open": true + }, "Swirly length": { "open": true }, @@ -190,7 +197,15 @@ } ] } - ] + ], + "window": { + "name": "Velocity Plot" + } + }, + "Plot <1>": { + "window": { + "visible": false + } } } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java index f39d7c00..9fe13dbc 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java @@ -6,10 +6,13 @@ import frc.robot.driveassist.APTarget; import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.states.Align; +import frc.robot.superstructure.states.LowerReefAlgaeIntake; import frc.robot.superstructure.states.Test; public class DashboardBindings implements Binder { public void bind(Superstructure superstructure) { + SmartDashboard.putData("Test/LowReefAlgaeIntake", + superstructure.enter(new LowerReefAlgaeIntake())); SmartDashboard.putData("Test/Enter test state", superstructure.enter(new Test())); SmartDashboard.putData("Test/Drive To Center", superstructure.enter(new Align( new APTarget(new Pose2d(8, 4, Rotation2d.kZero)) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java index 4ca37359..e850ccab 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java @@ -10,6 +10,8 @@ public class AlgaeIOHardware implements AlgaeIO { public AlgaeIOHardware() { m_motor = new TalonFX(AlgaeConstants.kMotorID); + m_motor.clearStickyFaults(); + m_motor.getConfigurator().apply(AlgaeConstants.kMotorConfig); } public void updateInputs(AlgaeIOInputs inputs) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java index f13da5e7..945a886b 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java @@ -21,6 +21,7 @@ public void updateInputs(AlgaeIOInputs inputs) { inputs.voltage = m_voltage; inputs.current = m_motorSim.getCurrentDrawAmps(); inputs.torque = SmartDashboard.getNumber("Algae/Torque", 0.0); + inputs.velocityRPS = m_motorSim.getAngularVelocityRPM() / 60.0; } public void setVoltage(double voltage) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java index b1b4424a..6f429142 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java @@ -3,49 +3,29 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -import com.ctre.phoenix6.controls.Follower; -import com.ctre.phoenix6.controls.VoltageOut; -import com.ctre.phoenix6.hardware.CANcoder; -import com.ctre.phoenix6.hardware.TalonFX; - -import edu.wpi.first.wpilibj.Servo; 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.Trigger; +import frc.robot.Robot; import frc.robot.subsystems.PassiveSubsystem; +import frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs; -public class Climber extends PassiveSubsystem implements AutoCloseable { +public class Climber extends PassiveSubsystem { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(Climber.class); - private final TalonFX m_leftClimbMotor = new TalonFX(ClimberConstants.kLeftMotorID); - private final TalonFX m_rightClimbMotor = new TalonFX(ClimberConstants.kRightMotorID); - private final CANcoder m_encoder = new CANcoder(ClimberConstants.kEncoderID); - - private final Servo m_servo = new Servo(ClimberConstants.kServoID); - private double m_voltage; - private boolean m_voltageChanged; - - private final VoltageOut m_request = new VoltageOut(0); + private final ClimberIO m_io; + private ClimberIOInputs m_inputs; public Climber() { super(); - configMotors(); - configEncoder(); - } - - private void configEncoder() { - m_encoder.getConfigurator().apply(ClimberConstants.kEncoderConfig); - } - - private void configMotors() { - m_leftClimbMotor.clearStickyFaults(); - m_rightClimbMotor.clearStickyFaults(); - m_leftClimbMotor.getConfigurator().apply(ClimberConstants.kMotorConfig); - m_rightClimbMotor.getConfigurator().apply(ClimberConstants.kMotorConfig); - m_rightClimbMotor - .setControl(new Follower(ClimberConstants.kLeftMotorID, true)); + if (Robot.isReal()) { + m_io = new ClimberIOHardware(); + } else { + m_io = new ClimberIOSim(); + } + m_inputs = new ClimberIOInputs(); } /* @@ -53,14 +33,14 @@ private void configMotors() { */ public Command openFunnel() { return Commands.sequence( - runOnce(() -> m_servo.set(ClimberConstants.kOpenServoPosition)), + runOnce(() -> m_io.setServo(ClimberConstants.kOpenServoPosition)), Commands.waitSeconds(ClimberConstants.kFunnelOpenTime), - runOnce(() -> m_servo.set(ClimberConstants.kClosedServoPosition))); + runOnce(() -> m_io.setServo(ClimberConstants.kClosedServoPosition))); } private void setMotor(double voltage) { - m_voltageChanged = (m_voltage != voltage); - m_voltage = voltage; + take(); + m_io.setVoltage(voltage); } private void setUp() { @@ -72,46 +52,28 @@ private void setDown() { } private void stop() { - m_leftClimbMotor.stopMotor(); - m_voltage = 0.0; - m_voltageChanged = false; - } - - public double getPosition() { - return m_leftClimbMotor.getPosition().getValueAsDouble(); + setMotor(0); } @Override public void periodic() { - if (m_voltageChanged) { - m_leftClimbMotor.setControl(m_request.withOutput(m_voltage)); - m_voltageChanged = false; - } + m_io.updateInputs(m_inputs); SmartDashboard.putBoolean("Climb/Ready", raised().getAsBoolean()); SmartDashboard.putBoolean("Climb/Complete", climbed().getAsBoolean()); - SmartDashboard.putNumber("Climb/Position", m_encoder.getPosition().getValueAsDouble()); - } - - public double getVelocity() { - return m_leftClimbMotor.getVelocity().getValueAsDouble(); + SmartDashboard.putNumber("Climb/Position", m_inputs.position); + SmartDashboard.putNumber("Climb/Voltage", m_inputs.leftVoltage); } public Trigger climbed() { - return new Trigger(() -> getPosition() <= ClimberConstants.kClimbPosition); + return new Trigger(() -> m_inputs.position <= ClimberConstants.kClimbPosition); } public Trigger raised() { - return new Trigger(() -> getPosition() > ClimberConstants.kClimbReadyTolerance); + return new Trigger(() -> m_inputs.position > ClimberConstants.kClimbReadyTolerance); } public Trigger lowered() { - return new Trigger(() -> getPosition() <= ClimberConstants.kStowPosition); - } - - @Override - public void close() throws Exception { - m_leftClimbMotor.close(); - m_rightClimbMotor.close(); + return new Trigger(() -> m_inputs.position <= ClimberConstants.kStowPosition); } protected void passive() {} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java index bcb8e61b..6605e4c1 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java @@ -11,6 +11,11 @@ import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.SensorDirectionValue; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; public final class ClimberConstants { protected static final int kLeftMotorID = 1; @@ -60,5 +65,9 @@ public final class ClimberConstants { .withFeedback(new FeedbackConfigs() .withFeedbackRemoteSensorID(ClimberConstants.kEncoderID) .withFeedbackSensorSource(FeedbackSensorSourceValue.RemoteCANcoder)); -} + + // Linear system plant for simulation (NOT ACCURATE YET) + protected static final LinearSystem kPlant = + LinearSystemId.createSingleJointedArmSystem(DCMotor.getKrakenX60(1), 50, 40); +}; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIO.java new file mode 100644 index 00000000..16d7039d --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIO.java @@ -0,0 +1,22 @@ +package frc.robot.subsystems.climber; + +public interface ClimberIO { + void updateInputs(ClimberIOInputs inputs); + + public class ClimberIOInputs { + public boolean leftConnected = true; + public boolean rightConnected = true; + public double leftCurrent = 0.0; + public double rightCurrent = 0.0; + public double leftVoltage = 0.0; + public double rightVoltage = 0.0; + public double leftTemp = 0.0; + public double rightTemp = 0.0; + public double leftVelocityRPS = 0.0; + public double rightVelocityRPS = 0.0; + public double position = 0.0; + } + + void setVoltage(double voltage); + void setServo(double position); +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java new file mode 100644 index 00000000..bacca0d7 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java @@ -0,0 +1,66 @@ +package frc.robot.subsystems.climber; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.controls.Follower; +import com.ctre.phoenix6.hardware.CANcoder; +import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.wpilibj.Servo; + +public class ClimberIOHardware implements ClimberIO { + private final TalonFX m_leftMotor; + private final TalonFX m_rightMotor; + + private final CANcoder m_CANcoder; + + private final Servo m_servo; + + private double m_voltage; + + public ClimberIOHardware() { + m_leftMotor = new TalonFX(ClimberConstants.kLeftMotorID); + m_rightMotor = new TalonFX(ClimberConstants.kRightMotorID); + m_leftMotor.clearStickyFaults(); + m_rightMotor.clearStickyFaults(); + m_leftMotor.getConfigurator().apply(ClimberConstants.kMotorConfig); + m_rightMotor.getConfigurator().apply(ClimberConstants.kMotorConfig); + m_rightMotor.setControl(new Follower(ClimberConstants.kLeftMotorID, true)); + + m_CANcoder = new CANcoder(ClimberConstants.kEncoderID); + m_CANcoder.getConfigurator().apply(ClimberConstants.kEncoderConfig); + + m_servo = new Servo(ClimberConstants.kServoID); + } + + public void updateInputs(ClimberIOInputs inputs) { + inputs.leftConnected = BaseStatusSignal.refreshAll( + m_leftMotor.getMotorVoltage(), + m_leftMotor.getSupplyCurrent(), + m_leftMotor.getDeviceTemp(), + m_leftMotor.getVelocity()).isOK(); + inputs.rightConnected = BaseStatusSignal.refreshAll( + m_rightMotor.getMotorVoltage(), + m_rightMotor.getSupplyCurrent(), + m_rightMotor.getDeviceTemp(), + m_rightMotor.getVelocity()).isOK(); + inputs.leftVoltage = m_leftMotor.getMotorVoltage().getValueAsDouble(); + inputs.rightVoltage = m_rightMotor.getMotorVoltage().getValueAsDouble(); + inputs.leftCurrent = m_leftMotor.getSupplyCurrent().getValueAsDouble(); + inputs.rightCurrent = m_rightMotor.getSupplyCurrent().getValueAsDouble(); + inputs.leftTemp = m_leftMotor.getDeviceTemp().getValueAsDouble(); + inputs.rightTemp = m_rightMotor.getDeviceTemp().getValueAsDouble(); + inputs.leftVelocityRPS = m_leftMotor.getVelocity().getValueAsDouble(); + inputs.rightVelocityRPS = m_rightMotor.getVelocity().getValueAsDouble(); + inputs.position = m_CANcoder.getPosition().getValueAsDouble(); + } + + public void setVoltage(double voltage) { + if (m_voltage != voltage) { + m_voltage = voltage; + m_leftMotor.setVoltage(voltage); + } + } + + public void setServo(double position) { + m_servo.setPosition(position); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java new file mode 100644 index 00000000..dd524dbc --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java @@ -0,0 +1,39 @@ +package frc.robot.subsystems.climber; + +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.simulation.DCMotorSim; +import frc.robot.Robot; + +public class ClimberIOSim implements ClimberIO { + private final DCMotorSim m_lefMotorSim; + private final DCMotorSim m_rightMotorSim; + + private double m_voltage; + + public ClimberIOSim() { + m_lefMotorSim = new DCMotorSim(ClimberConstants.kPlant, DCMotor.getKrakenX60(1), 0.1, 0.1); + m_rightMotorSim = new DCMotorSim(ClimberConstants.kPlant, DCMotor.getKrakenX60(1), 0.1, 0.1); + m_lefMotorSim.setAngle(Units.rotationsToRadians(ClimberConstants.kStowPosition)); + } + + public void updateInputs(ClimberIOInputs inputs) { + m_lefMotorSim.update(Robot.kDefaultPeriod); + m_rightMotorSim.update(Robot.kDefaultPeriod); + inputs.leftVoltage = m_voltage; + inputs.rightVoltage = m_voltage; + inputs.leftCurrent = m_lefMotorSim.getCurrentDrawAmps(); + inputs.rightCurrent = m_rightMotorSim.getCurrentDrawAmps(); + inputs.leftVelocityRPS = m_lefMotorSim.getAngularVelocityRPM() / 60.0; + inputs.rightVelocityRPS = m_rightMotorSim.getAngularVelocityRPM() / 60.0; + inputs.position = m_lefMotorSim.getAngularPositionRotations(); + } + + public void setVoltage(double voltage) { + m_voltage = voltage; + m_lefMotorSim.setInputVoltage(voltage); + m_rightMotorSim.setInputVoltage(voltage); + } + + public void setServo(double position) {} +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java index 5a27c34e..665fca24 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java @@ -12,7 +12,7 @@ public class CoralIOHardware implements CoralIO { private final CANrange m_upperCANrange; private final CANrange m_innerCANrange; - private double m_leftVoltage; + private double m_leftVoltage; private double m_rightVoltage; public CoralIOHardware() { @@ -24,7 +24,8 @@ public CoralIOHardware() { m_innerCANrange = new CANrange(CoralConstants.kInnerCANrangeID); m_leftMotor.getConfigurator().apply(CoralConstants.kMotorConfig); - m_rightMotor.getConfigurator().apply(CoralConstants.kMotorConfig); + m_rightMotor.getConfigurator().apply(CoralConstants.kMotorConfig.withMotorOutput( + CoralConstants.kMotorConfig.MotorOutput.withInverted(CoralConstants.kInvertRight))); m_frontCANrange.getConfigurator().apply(CoralConstants.kFrontCANrangeConfig); m_upperCANrange.getConfigurator().apply(CoralConstants.kUpperCANrangeConfig); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java index f03de44c..8eb294c8 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java @@ -31,10 +31,11 @@ public void updateInputs(CoralIOInputs inputs) { inputs.rightTemperature = 0.0; inputs.leftVoltage = m_leftVoltage; inputs.rightVoltage = m_rightVoltage; - // TODO: Can i just use m_rightMotorSim.getInputVoltage() instead? inputs.frontDetected = SmartDashboard.getBoolean("Coral/Front CANrange", false); inputs.upperDetected = SmartDashboard.getBoolean("Coral/Upper CANrange", false); inputs.innerDetected = SmartDashboard.getBoolean("Coral/Inner CANrange", false); + inputs.leftVelocity = m_leftMotorSim.getAngularVelocityRPM() / 60.0; + inputs.rightVelocity = m_rightMotorSim.getAngularVelocityRPM() / 60.0; } public void setLeftVoltage(double voltage) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index 839021c1..b6c903ba 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -9,102 +9,63 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; -import com.ctre.phoenix6.controls.DutyCycleOut; -import com.ctre.phoenix6.controls.DynamicMotionMagicVoltage; -import com.ctre.phoenix6.controls.Follower; -import com.ctre.phoenix6.hardware.CANrange; -import com.ctre.phoenix6.hardware.TalonFX; - import edu.wpi.first.math.filter.Debouncer; -import edu.wpi.first.wpilibj.RobotBase; 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.Trigger; import frc.robot.Constants.CoralLevel; -import frc.robot.Constants.RobotConstants; import frc.robot.Robot; import frc.robot.RobotObserver; import frc.robot.subsystems.PassiveSubsystem; +import frc.robot.subsystems.elevator.ElevatorIO.ElevatorIOInputs; public class Elevator extends PassiveSubsystem { // we want to have a logger, even if we're not using it... yet + @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(Elevator.class); - private final TalonFX m_elevatorLeft = new TalonFX(ElevatorConstants.kLeftMotorID, "*"); - private final TalonFX m_elevatorRight = new TalonFX(ElevatorConstants.kRightMotorID, "*"); - - private final CANrange m_CANrange = new CANrange(ElevatorConstants.kCANrangeID); + private final ElevatorIO m_io; + private ElevatorIOInputs m_inputs; private final Debouncer m_debouncer = new Debouncer(ElevatorConstants.kRangeDebounceTime.in(Seconds)); - private double m_position; private ElevatorState m_reference = ElevatorState.Stow; - private double m_speed; - private boolean m_speedChanged; - private Trigger m_prefireReq = new Trigger(() -> false); public Elevator() { super(); - configMotor(); - configCANrange(); + if (Robot.isReal()) { + m_io = new ElevatorIOHardware(); + } else { + m_io = new ElevatorIOSim(); + } + m_inputs = new ElevatorIOInputs(); SmartDashboard.putData("Elevator/Lazy Zero", - runOnce(this::calibrateZero).ignoringDisable(true)); - SmartDashboard.putData("Elevator/Subsystem", this); - } - - private void configCANrange() { - m_CANrange.getConfigurator().apply( - ElevatorConstants.kCANrangeConfig, - RobotConstants.globalCanTimeout.in(Seconds)); + runOnce(m_io::calibrateZero).ignoringDisable(true)); } - private void configMotor() { - m_elevatorRight.getConfigurator().apply(ElevatorConstants.kMotorConfig, 0.2); - m_elevatorLeft.getConfigurator().apply(ElevatorConstants.kMotorConfig, 0.2); - Follower follower = new Follower( - ElevatorConstants.kRightMotorID, - ElevatorConstants.kInvertLeft); - m_elevatorLeft.setControl(follower); - m_elevatorRight.setPosition(0); - } - - private final DynamicMotionMagicVoltage control = new DynamicMotionMagicVoltage(0, 0, 0, 0); - - private void setPosition(ElevatorState state) { take(); // calculate goal we should go to double goal = state.position(); if (RobotObserver.getNoElevatorZone() - && (m_position > ElevatorConstants.kUnsafeRange || goal > ElevatorConstants.kUnsafeRange)) { + && (m_inputs.position > ElevatorConstants.kUnsafeRange || goal > ElevatorConstants.kUnsafeRange)) { // either trying to reach (or already at) a no-go state given our current position return; } // floor values for the goal between our two extrema for their positions goal = Math.min(goal, ElevatorConstants.kForwardSoftLimit); goal = Math.max(goal, ElevatorConstants.kReverseSoftLimit); - m_elevatorRight.setControl(control - .withPosition(goal) - .withVelocity(ElevatorConstants.kMaxSpeedUp) - .withAcceleration(ElevatorConstants.kMaxAccelerationUp) - .withJerk(ElevatorConstants.kMaxJerkUp) - .withSlot(0)); + m_io.setPosition(goal); m_reference = state; } public Trigger ready() { - return new Trigger(() -> { - if (Robot.isSimulation()) - return true; - boolean at = Math.abs(m_reference.position() - m_position) < ElevatorConstants.kTolerance; - m_logger.debug("Setpoint: {}", at); - return at; - }); + return new Trigger( + () -> Math.abs(m_reference.position() - m_inputs.position) < ElevatorConstants.kTolerance); } public Trigger ready(ElevatorState state) { @@ -120,54 +81,16 @@ public Trigger ready(CoralLevel level) { return ready(level.toElevatorState()); } - private double getPositionUncached() { - if (RobotBase.isReal()) { - return m_elevatorRight.getPosition().getValueAsDouble(); - } else { - return m_reference.position(); // wow, that's an awesome elevator! - } - } - - private void prepZero() { - m_elevatorRight.getConfigurator().apply(new SoftwareLimitSwitchConfigs()); - // TODO: can this go? - m_elevatorRight.setControl(new DutyCycleOut(ElevatorConstants.kZeroVoltage) - .withLimitReverseMotion(false).withIgnoreHardwareLimits(true)); - } - - private void calibrateZero() { - m_elevatorRight.setPosition(0.02); - } - - private void enableLimits() { - m_elevatorRight.getConfigurator().apply(ElevatorConstants.kMotorConfig.SoftwareLimitSwitch); - } - private boolean atZero() { - if (Robot.isSimulation()) { - return m_position == 0; - } - return m_debouncer.calculate(m_CANrange.getIsDetected().getValue()); - } - - private void goDownNoStopping() { - m_elevatorRight.setPosition(1); // TODO: Why is this line here? - m_logger.warn("Strange code running & unhandled TODO! Please address"); - m_elevatorRight.set(ElevatorConstants.kZeroVoltage); + return m_debouncer.calculate(m_inputs.zeroCANrangeDetected); } @Override public void periodic() { - m_position = getPositionUncached(); - SmartDashboard.putNumber("Elevator/Position", m_position); + m_io.updateInputs(m_inputs); + SmartDashboard.putNumber("Elevator/Position", m_inputs.position); SmartDashboard.putString("Elevator/Reference", m_reference.toString()); SmartDashboard.putBoolean("Elevator/Prefire", m_prefireReq.getAsBoolean()); - - if (m_speedChanged) { - m_elevatorRight.setControl(new DutyCycleOut(m_speed)); - m_speedChanged = false; - } - SmartDashboard.putBoolean("Elevator/Ready", ready().getAsBoolean()); } @@ -175,7 +98,7 @@ public void periodic() { * Whether or not the elevator is above the "safe" range */ public Trigger unsafe() { - return new Trigger(() -> m_position > ElevatorConstants.kUnsafeRange + return new Trigger(() -> m_inputs.position > ElevatorConstants.kUnsafeRange || m_reference.position() > ElevatorConstants.kUnsafeRange); } @@ -205,13 +128,13 @@ public Command autoZero() { return Commands.waitUntil(this::atZero).deadlineFor( Commands.sequence( go(ElevatorState.Zero), - runOnce(this::prepZero), - runOnce(this::goDownNoStopping))) + runOnce(m_io::disableLimits), + runOnce(() -> m_io.setVoltage(ElevatorConstants.kZeroVoltage)))) - .finallyDo(this::enableLimits) + .finallyDo(m_io::enableLimits) .finallyDo(interrupted -> { if (!interrupted) { - calibrateZero(); + m_io.calibrateZero(); } }) .withName("Autozero"); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java index 7ab966fd..d6776cf9 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java @@ -15,6 +15,11 @@ import com.ctre.phoenix6.signals.GravityTypeValue; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.DCMotor; +import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.math.util.Units; import edu.wpi.first.units.measure.Time; @@ -47,9 +52,9 @@ public final class ElevatorConstants { protected static final double kTolerance = 0.06; - protected static final double kMaxSpeedUp = 32; - protected static final double kMaxAccelerationUp = 48; - protected static final double kMaxJerkUp = 480; + protected static final double kMaxSpeed = 32; + protected static final double kMaxAcceleration = 48; + protected static final double kMaxJerk = 480; protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() .withMotorOutput(new MotorOutputConfigs() @@ -81,9 +86,9 @@ public final class ElevatorConstants { .withKG(0.42)) .withMotionMagic(new MotionMagicConfigs() - .withMotionMagicCruiseVelocity(kMaxSpeedUp) - .withMotionMagicAcceleration(kMaxAccelerationUp) - .withMotionMagicJerk(kMaxJerkUp)); + .withMotionMagicCruiseVelocity(kMaxSpeed) + .withMotionMagicAcceleration(kMaxAcceleration) + .withMotionMagicJerk(kMaxJerk)); protected static final CANrangeConfiguration kCANrangeConfig = new CANrangeConfiguration() .withFovParams(new FovParamsConfigs() @@ -95,5 +100,8 @@ public final class ElevatorConstants { .withProximityHysteresis(0)); protected static final Time kRangeDebounceTime = Seconds.of(0.06); + + protected static final LinearSystem kPlant = + LinearSystemId.createElevatorSystem(DCMotor.getKrakenX60(1), 1, 1, 1); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java new file mode 100644 index 00000000..411ab6c9 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java @@ -0,0 +1,34 @@ +package frc.robot.subsystems.elevator; + +public interface ElevatorIO { + void updateInputs(ElevatorIOInputs inputs); + + public class ElevatorIOInputs { + public boolean leftMotorConnected = true; + public boolean rightMotorConnected = true; + public double leftVoltage = 0.0; + public double rightVoltage = 0.0; + public double leftCurrent = 0.0; + public double rightCurrent = 0.0; + public double leftTemp = 0.0; + public double rightTemp = 0.0; + public double leftVelocityRPS = 0.0; + public double rightVelocityRPS = 0.0; + public double leftPosition = 0.0; + public double rightPosition = 0.0; + public double position = 0.0; + public boolean zeroCANrangeConnected = true; + public boolean zeroCANrangeDetected = false; + public double zeroCANrangeDistance = 0.0; + public double zeroCANrangeStrength = 0.0; + } + + void setPosition(double position); + + void setVoltage(double voltage); + + void disableLimits(); + void enableLimits(); + + void calibrateZero(); +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java new file mode 100644 index 00000000..2343be09 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java @@ -0,0 +1,95 @@ +package frc.robot.subsystems.elevator; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; +import com.ctre.phoenix6.controls.DynamicMotionMagicVoltage; +import com.ctre.phoenix6.controls.Follower; +import com.ctre.phoenix6.hardware.CANrange; +import com.ctre.phoenix6.hardware.TalonFX; + +public class ElevatorIOHardware implements ElevatorIO { + private final TalonFX m_leftMotor; + private final TalonFX m_rightMotor; + + private final CANrange m_CANrange; + + private final DynamicMotionMagicVoltage m_control; + + public ElevatorIOHardware() { + m_rightMotor = new TalonFX(ElevatorConstants.kRightMotorID, "*"); + m_leftMotor = new TalonFX(ElevatorConstants.kLeftMotorID, "*"); + m_rightMotor.getConfigurator().apply(ElevatorConstants.kMotorConfig); + m_leftMotor.getConfigurator().apply(ElevatorConstants.kMotorConfig); + m_leftMotor + .setControl(new Follower(ElevatorConstants.kRightMotorID, ElevatorConstants.kInvertLeft)); + m_rightMotor.setPosition(0.0); + m_leftMotor.setPosition(0.0); + + m_CANrange = new CANrange(ElevatorConstants.kCANrangeID); + m_CANrange.getConfigurator().apply(ElevatorConstants.kCANrangeConfig); + + m_control = new DynamicMotionMagicVoltage( + 0, // no position setpoint yet + ElevatorConstants.kMaxSpeed, + ElevatorConstants.kMaxAcceleration, + ElevatorConstants.kMaxJerk); + } + + public void updateInputs(ElevatorIOInputs inputs) { + inputs.leftMotorConnected = BaseStatusSignal.refreshAll( + m_leftMotor.getMotorVoltage(), + m_leftMotor.getSupplyCurrent(), + m_leftMotor.getDeviceTemp(), + m_leftMotor.getVelocity(), + m_leftMotor.getPosition()).isOK(); + inputs.rightMotorConnected = BaseStatusSignal.refreshAll( + m_rightMotor.getMotorVoltage(), + m_rightMotor.getSupplyCurrent(), + m_rightMotor.getDeviceTemp(), + m_rightMotor.getVelocity(), + m_rightMotor.getPosition()).isOK(); + inputs.leftVoltage = m_leftMotor.getMotorVoltage().getValueAsDouble(); + inputs.rightVoltage = m_rightMotor.getMotorVoltage().getValueAsDouble(); + inputs.leftCurrent = m_leftMotor.getSupplyCurrent().getValueAsDouble(); + inputs.rightCurrent = m_rightMotor.getSupplyCurrent().getValueAsDouble(); + inputs.leftTemp = m_leftMotor.getDeviceTemp().getValueAsDouble(); + inputs.rightTemp = m_rightMotor.getDeviceTemp().getValueAsDouble(); + inputs.leftVelocityRPS = m_leftMotor.getVelocity().getValueAsDouble(); + inputs.rightVelocityRPS = m_rightMotor.getVelocity().getValueAsDouble(); + inputs.leftPosition = m_leftMotor.getPosition().getValueAsDouble(); + inputs.rightPosition = m_rightMotor.getPosition().getValueAsDouble(); + inputs.position = inputs.rightPosition; + + inputs.zeroCANrangeConnected = BaseStatusSignal.refreshAll( + m_CANrange.getIsDetected(), + m_CANrange.getDistance(), + m_CANrange.getSignalStrength()).isOK(); + inputs.zeroCANrangeDetected = m_CANrange.getIsDetected().getValue(); + inputs.zeroCANrangeDistance = m_CANrange.getDistance().getValueAsDouble(); + inputs.zeroCANrangeStrength = m_CANrange.getSignalStrength().getValueAsDouble(); + } + + public void setPosition(double position) { + m_rightMotor.setControl(m_control.withPosition(position)); + } + + public void setVoltage(double voltage) { + m_rightMotor.setVoltage(voltage); + } + + public void enableLimits() { + m_rightMotor.getConfigurator().apply(ElevatorConstants.kMotorConfig.SoftwareLimitSwitch); + m_leftMotor.getConfigurator().apply(ElevatorConstants.kMotorConfig.SoftwareLimitSwitch); + } + + public void disableLimits() { + SoftwareLimitSwitchConfigs noLimits = new SoftwareLimitSwitchConfigs(); + m_rightMotor.getConfigurator().apply(noLimits); + m_leftMotor.getConfigurator().apply(noLimits); + } + + public void calibrateZero() { + m_rightMotor.setPosition(0.0); + m_leftMotor.setPosition(0.0); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java new file mode 100644 index 00000000..7ed06a84 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java @@ -0,0 +1,21 @@ +package frc.robot.subsystems.elevator; + +public class ElevatorIOSim implements ElevatorIO { + private double m_position; + + public void updateInputs(ElevatorIOInputs inputs) { + inputs.position = m_position; + } + + public void setPosition(double position) { + m_position = position; // that's an awesome elevator! it's instant! + } + + public void setVoltage(double voltage) {} + + public void enableLimits() {} + public void disableLimits() {} + + public void calibrateZero() {} + +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java index 949f6194..0aefb668 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -4,135 +4,48 @@ package frc.robot.subsystems.pivot; -import com.ctre.phoenix6.controls.DutyCycleOut; -import com.ctre.phoenix6.controls.MotionMagicVoltage; -import com.ctre.phoenix6.hardware.TalonFX; - -import edu.wpi.first.math.system.plant.DCMotor; -import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj.simulation.BatterySim; -import edu.wpi.first.wpilibj.simulation.RoboRioSim; -import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim; -import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; -import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; -import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d; 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.Trigger; -import frc.robot.Constants.SimConstants; import frc.robot.Robot; import frc.robot.RobotObserver; import frc.robot.subsystems.PassiveSubsystem; +import frc.robot.subsystems.pivot.PivotIO.PivotIOInputs; public class Pivot extends PassiveSubsystem { - private final TalonFX m_pivot = new TalonFX(PivotConstants.kMotorID); - - private double m_position; - - private double m_reference; - - private SingleJointedArmSim m_armSim; - private final DCMotor m_gearbox = DCMotor.getKrakenX60(1); // 2 motors (left and right) - - private Mechanism2d m_mechVisual; - private MechanismRoot2d m_mechRoot; - private MechanismLigament2d m_armLigament; + private final PivotIO m_io; + private PivotIOInputs m_inputs; - private double m_speed; - private boolean m_speedChanged; + private PivotState m_reference; public Pivot() { super(); - configSim(); - configMotor(); - } - - private void configMotor() { - m_pivot.getConfigurator().apply(PivotConstants.kMotorConfig, 0.2); - m_pivot.setPosition(PivotConstants.kRotorOffset); - } - - private void configSim() { - m_armSim = new SingleJointedArmSim( - PivotConstants.kPlant, - m_gearbox, - PivotConstants.kGearRatio, - PivotConstants.kArmLength, - PivotConstants.kReverseSoftLimit, - PivotConstants.kForwardSoftLimit, - true, // Add noise for realism - PivotState.Stow.position() // Starting angle - ); - - m_mechVisual = new Mechanism2d(1.0, 1.0); // Width/height in meters - m_mechRoot = m_mechVisual.getRoot("ArmRoot", 0.5, 0.0); // Center at (0.5, 0) - m_armLigament = m_mechRoot - .append( - new MechanismLigament2d("Arm", PivotConstants.kArmLength, Math.toDegrees(m_position))); - SmartDashboard.putData("Pivot/Visualization", m_mechVisual); - } - - MotionMagicVoltage control = new MotionMagicVoltage(0); - - private void setPosition(double goal) { - take(); - if (RobotObserver.getAlgaePieceHeld()) { - m_pivot.setControl(control.withPosition(goal).withSlot(1)); + if (Robot.isReal()) { + m_io = new PivotIOHardware(); } else { - m_pivot.setControl(control.withPosition(goal).withSlot(0)); + m_io = new PivotIOSim(); } - m_reference = goal; + m_inputs = new PivotIOInputs(); + m_reference = PivotState.Stow; } - private void setPosition(PivotState state) { - setPosition(state.position()); - } - public double getPosition() { - return m_position; - } - - public double getReference() { - return m_reference; + private void setPosition(PivotState state) { + take(); + m_io.setPosition(state.position(), RobotObserver.getAlgaePieceHeld()); + m_reference = state; } public Trigger ready() { - return new Trigger(() -> Math.abs(getReference() - getPosition()) < PivotConstants.kTolerance); - } - - private double getPositionUncached() { - if (Robot.isReal()) { - return m_pivot.getPosition().getValueAsDouble(); - } else { - return m_armSim.getAngleRads(); - } + return new Trigger(() -> Math.abs(m_reference.position() - m_inputs.position) < PivotConstants.kTolerance); } @Override public void periodic() { - m_armLigament.setAngle(Math.toDegrees(m_position)); - - m_position = getPositionUncached(); - - if (m_speedChanged) { - m_pivot.setControl(new DutyCycleOut(m_speed)); - m_speedChanged = false; - } - + m_io.updateInputs(m_inputs); SmartDashboard.putBoolean("Pivot/Ready", ready().getAsBoolean()); - } - - @Override - public void simulationPeriodic() { - // Update the simulation with the motor voltage - double appliedVolts = m_pivot.get() * RobotController.getBatteryVoltage(); - m_armSim.setInput(appliedVolts); - m_armSim.update(SimConstants.k_simPeriodic); - - // Simulate battery voltage - RoboRioSim.setVInVoltage( - BatterySim.calculateDefaultBatteryLoadedVoltage(m_armSim.getCurrentDrawAmps())); + SmartDashboard.putString("Pivot/Reference", m_reference.toString()); } protected void passive() { @@ -147,5 +60,4 @@ public Command go(PivotState state) { runOnce(() -> setPosition(state)), Commands.waitUntil(ready())); } - } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIO.java new file mode 100644 index 00000000..cfd73159 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIO.java @@ -0,0 +1,16 @@ +package frc.robot.subsystems.pivot; + +public interface PivotIO { + void updateInputs(PivotIOInputs inputs); + + class PivotIOInputs { + public boolean motorConnected = true; + public double current = 0.0; + public double voltage = 0.0; + public double temperatue = 0.0; + public double velocityRPS = 0.0; + public double position = 0.0; + } + + void setPosition(double position, boolean holdingAlgae); +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java new file mode 100644 index 00000000..e6951362 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java @@ -0,0 +1,37 @@ +package frc.robot.subsystems.pivot; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.controls.MotionMagicVoltage; +import com.ctre.phoenix6.hardware.TalonFX; + +public class PivotIOHardware implements PivotIO { + private final TalonFX m_motor; + + private final MotionMagicVoltage m_control; + + public PivotIOHardware() { + m_motor = new TalonFX(PivotConstants.kMotorID); + m_motor.getConfigurator().apply(PivotConstants.kMotorConfig); + m_motor.setPosition(PivotConstants.kRotorOffset); + + m_control = new MotionMagicVoltage(0.0); + } + + public void updateInputs(PivotIOInputs inputs) { + inputs.motorConnected = BaseStatusSignal.refreshAll( + m_motor.getMotorVoltage(), + m_motor.getSupplyCurrent(), + m_motor.getDeviceTemp(), + m_motor.getVelocity(), + m_motor.getPosition()).isOK(); + inputs.voltage = m_motor.getMotorVoltage().getValueAsDouble(); + inputs.current = m_motor.getSupplyCurrent().getValueAsDouble(); + inputs.temperatue = m_motor.getDeviceTemp().getValueAsDouble(); + inputs.velocityRPS = m_motor.getVelocity().getValueAsDouble(); + inputs.position = m_motor.getPosition().getValueAsDouble(); + } + + public void setPosition(double position, boolean holdingAlgae) { + m_motor.setControl(m_control.withPosition(position).withSlot(holdingAlgae ? 1 : 0)); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java new file mode 100644 index 00000000..0204f72d --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java @@ -0,0 +1,13 @@ +package frc.robot.subsystems.pivot; + +public class PivotIOSim implements PivotIO { + private double m_position; + + public void updateInputs(PivotIOInputs inputs) { + inputs.position = m_position; + } + + public void setPosition(double position, boolean holdingAlgae) { + m_position = position; + } +} From a2770c62dbe0965a79d313df22fadfa905430e93 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Wed, 14 May 2025 15:38:49 -0400 Subject: [PATCH 044/135] Add javadoc to APProfile and replace I/U with path/correction This is more intuitive --- .../java/frc/robot/driveassist/APProfile.java | 44 ++++++++++++++----- .../java/frc/robot/driveassist/Autopilot.java | 6 +-- .../subsystems/drivetrain/DriveConstants.java | 19 ++++---- 3 files changed, 45 insertions(+), 24 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java index 5ced540f..3bd6587b 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java @@ -14,8 +14,8 @@ * A profile also includes a maximum error, in the XY plane as well as rotation. */ public class APProfile { - protected APConstraints m_constraintsI; - protected APConstraints m_constraintsU; + protected APConstraints m_pathConstraints; + protected APConstraints m_correctionConstraints; protected Distance m_errorXY; protected Angle m_errorTheta; @@ -24,39 +24,63 @@ public APProfile() { m_errorTheta = Rotations.of(0); } + /** + * Modifies this profile's tolerated error in the XY plane and returns itself + */ public APProfile withErrorXY(Distance errorXY) { m_errorXY = errorXY; return this; } + /** + * Modifies this profile's tolerated angular error and returns itself + */ public APProfile withErrorTheta(Angle errorTheta) { m_errorTheta = errorTheta; return this; } - public APProfile withConstraintsI(APConstraints constraintsI) { - m_constraintsI = constraintsI; + /** + * Modifies this profile's path generation constraints and returns itself + */ + public APProfile withPathConstraints(APConstraints constraintsI) { + m_pathConstraints = constraintsI; return this; } - public APProfile withConstraintsU(APConstraints constraintsU) { - m_constraintsU = constraintsU; + /** + * Modifies this profile's correction constraints and returns itself + */ + public APProfile withCorrectionConstraints(APConstraints constraintsU) { + m_correctionConstraints = constraintsU; return this; } + /** + * Returns the tolerated translation error for this profile + */ public Distance getErrorXY() { return m_errorXY; } + /** + * Returns the tolerated angular error for this profile + */ public Angle getErrorTheta() { return m_errorTheta; } - public APConstraints getConstraintsI() { - return m_constraintsI; + /** + * Returns the path generation constraints for this profile + */ + public APConstraints getPathConstraints() { + return m_pathConstraints; } - public APConstraints getConstraintsU() { - return m_constraintsU; + /** + * Returns the correction constraints for this profile + */ + public APConstraints getCorrectionConstraints() { + return m_correctionConstraints; } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 8e7ede99..8c8e8357 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -85,7 +85,7 @@ private Translation2d toGlobalCoordinateFrame(Translation2d coords, APTarget tar * This uses constant acceleration, as determined by the value for I decceleration in the profile. */ private double calculateMaxVelocity(double dist, double endVelo) { - return Math.sqrt(Math.pow(endVelo, 2) + 2 * m_profile.m_constraintsI.m_decceleration * dist); + return Math.sqrt(Math.pow(endVelo, 2) + 2 * m_profile.m_pathConstraints.m_decceleration * dist); } /** @@ -104,8 +104,8 @@ private Translation2d correct(Translation2d initial, Translation2d goal) { double goalI = adjustedGoal.getX(); // we cap the adjusted I because we'd rather adjust now than overshoot. double adjustedI = Math.min(goalI, - push(initialI, goalI, m_profile.m_constraintsI.m_acceleration)); - double adjustedU = push(initialU, 0, m_profile.m_constraintsU.m_acceleration); + push(initialI, goalI, m_profile.m_pathConstraints.m_acceleration)); + double adjustedU = push(initialU, 0, m_profile.m_correctionConstraints.m_acceleration); return new Translation2d(adjustedI, adjustedU).rotateBy(angleOffset); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java index 1cab5127..47fa6f73 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java @@ -27,33 +27,30 @@ public static class HeadingPID { protected static final double kP = 4.0; } - private static final APConstraints kTightAutopilotConstraintsI = new APConstraints() + private static final APConstraints kTightAutopilotPathConstraints = new APConstraints() .withAcceleration(5.5) .withDecceleration(1.3); - private static final APConstraints kTightAutopilotConstraintsU = APConstraints.unlimited(); + private static final APConstraints kTightAutopilotCorrectionConstraints = APConstraints.unlimited(); private static final APProfile kTightProfile = new APProfile() - .withConstraintsI(kTightAutopilotConstraintsI) - .withConstraintsU(kTightAutopilotConstraintsU) + .withPathConstraints(kTightAutopilotPathConstraints) + .withCorrectionConstraints(kTightAutopilotCorrectionConstraints) .withErrorXY(Centimeters.of(1)) .withErrorTheta(Degrees.of(2)); public static final Autopilot kTightAutopilot = new Autopilot(kTightProfile); - private static final APConstraints kLooseAutopilotConstraintsI = + private static final APConstraints kLooseAutopilotPathConstraints = new APConstraints() .withAcceleration(8.5) .withDecceleration(4); - private static final APConstraints kLooseAutopilotConstraintsU = - new APConstraints() - .withAcceleration(8.5) - .withDecceleration(3); + private static final APConstraints kLooseAutopilotCorrectionConstraints = APConstraints.unlimited(); private static final APProfile kLooseProfile = new APProfile() - .withConstraintsI(kLooseAutopilotConstraintsI) - .withConstraintsU(kLooseAutopilotConstraintsU) + .withPathConstraints(kLooseAutopilotPathConstraints) + .withCorrectionConstraints(kLooseAutopilotCorrectionConstraints) .withErrorXY(Centimeters.of(10)) .withErrorTheta(Degrees.of(10)); From ba405abb91dc445b4aef595bc02a9cee753ea35d Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 14 May 2025 18:01:35 -0400 Subject: [PATCH 045/135] fix lots of real life errors --- .../src/main/java/frc/robot/binding/OperatorBindings.java | 8 ++++---- .../src/main/java/frc/robot/subsystems/algae/Algae.java | 2 +- .../main/java/frc/robot/subsystems/elevator/Elevator.java | 1 + .../frc/robot/subsystems/elevator/ElevatorConstants.java | 2 +- .../frc/robot/subsystems/elevator/ElevatorIOHardware.java | 2 +- .../main/java/frc/robot/subsystems/pivot/PivotState.java | 2 +- 6 files changed, 9 insertions(+), 8 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java index 6cf0853f..2c4d0434 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -46,13 +46,13 @@ public class OperatorBindings implements Binder { private final Trigger m_algae = m_controller.button(Operator.algaeModeButton); - private final Trigger m_algaeGround = m_controller.button(Operator.ground); - private final Trigger m_algaeHighGround = m_controller.button(Operator.highGround); + private final Trigger m_algaeGround = m_controller.pov(Operator.ground); + private final Trigger m_algaeHighGround = m_controller.pov(Operator.highGround); private final Trigger m_algaeLowReef = m_controller.button(Operator.lowAlgae); private final Trigger m_algaeHighReef = m_controller.button(Operator.highAlgae); - private final Trigger m_processor = m_controller.button(Operator.processor); - private final Trigger m_net = m_controller.button(Operator.net); + private final Trigger m_processor = m_controller.pov(Operator.processor); + private final Trigger m_net = m_controller.pov(Operator.net); private final Trigger m_climberUp = m_controller.button(Operator.climbUp); private final Trigger m_climb = m_controller.button(Operator.climb); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java index 6f32cf07..920e4d01 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java @@ -86,7 +86,7 @@ public Command intake() { runOnce(() -> setVoltage(AlgaeConstants.kIntakeVoltage)), Commands.waitUntil(holdingAlgae())) - .finallyDo(this::keep) + .finallyDo(() -> keep(holdingAlgae().getAsBoolean())) .unless(holdingAlgae()); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index b6c903ba..6ce748c9 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -129,6 +129,7 @@ public Command autoZero() { Commands.sequence( go(ElevatorState.Zero), runOnce(m_io::disableLimits), + runOnce(() -> m_io.setPosition(1)), runOnce(() -> m_io.setVoltage(ElevatorConstants.kZeroVoltage)))) .finallyDo(m_io::enableLimits) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java index d6776cf9..2e26e171 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java @@ -46,7 +46,7 @@ public final class ElevatorConstants { protected static final double kForwardSoftLimit = 11.15; protected static final double kReverseSoftLimit = 0; - protected static final double kZeroVoltage = -0.3; + protected static final double kZeroVoltage = -2.0; protected static final double kUnsafeRange = ElevatorState.L2.position() + 2 * kInch; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java index 2343be09..61cf0a09 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java @@ -83,7 +83,7 @@ public void enableLimits() { } public void disableLimits() { - SoftwareLimitSwitchConfigs noLimits = new SoftwareLimitSwitchConfigs(); + SoftwareLimitSwitchConfigs noLimits = new SoftwareLimitSwitchConfigs().withForwardSoftLimitEnable(false).withReverseSoftLimitEnable(false); m_rightMotor.getConfigurator().apply(noLimits); m_leftMotor.getConfigurator().apply(noLimits); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotState.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotState.java index ce680425..aba17398 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotState.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotState.java @@ -6,7 +6,7 @@ public enum PivotState { /** The angle for scoring in the processor */ Processor(0.085), /** The angle for intaking algae off the reef */ - ReefIntake(0.281), + ReefIntake(0.2), /** The angle for removing algae off the reef after intake */ ReefExtract(0.281), /** The angle to score at the net */ From 8462ce19445d3b37873dae3cf558a94e0581261d Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 14 May 2025 20:10:57 -0400 Subject: [PATCH 046/135] liking the auton --- .../deploy/pathplanner/autos/4PieceRight.auto | 23 ++++++++++++------- .../src/main/java/frc/robot/Constants.java | 1 + .../java/frc/robot/binding/RobotBindings.java | 1 + .../java/frc/robot/driveassist/Autopilot.java | 5 ++-- .../frc/robot/subsystems/coral/CoralIO.java | 8 ------- .../subsystems/coral/CoralIOHardware.java | 6 ----- .../robot/subsystems/coral/CoralIOSim.java | 2 -- .../drivetrain/CommandSwerveDrivetrain.java | 11 +++++++-- .../subsystems/drivetrain/DriveConstants.java | 8 +++---- .../robot/subsystems/elevator/Elevator.java | 1 - .../elevator/ElevatorConstants.java | 4 +++- .../superstructure/states/ElevatorZero.java | 2 +- .../frc/robot/vision/VisionConstants.java | 4 ++-- 13 files changed, 39 insertions(+), 37 deletions(-) diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto index c015a933..2c5da2c0 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto @@ -31,15 +31,22 @@ "data": { "commands": [ { - "type": "named", - "data": { - "name": "Align RIntake" - } - }, - { - "type": "named", + "type": "race", "data": { - "name": "Coral Wait" + "commands": [ + { + "type": "named", + "data": { + "name": "Coral Wait" + } + }, + { + "type": "named", + "data": { + "name": "Align RIntake" + } + } + ] } }, { diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index c1be62b8..c356f718 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -4,6 +4,7 @@ import static edu.wpi.first.units.Units.Milliseconds; 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.system.plant.DCMotor; import edu.wpi.first.math.util.Units; diff --git a/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java index 7753244e..d573eff5 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java @@ -2,6 +2,7 @@ import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.modifiers.ElevatorPrep; +import frc.robot.superstructure.states.CoralScore; public class RobotBindings implements Binder { public RobotBindings() {} diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 8c8e8357..3a1142ac 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -49,7 +49,7 @@ public Translation2d calculate(Pose2d current, Translation2d velocity, APTarget return Translation2d.kZero; } Translation2d initial = toTargetCoorinateFrame(velocity, target); - if (target.m_entryAngle.isEmpty()) { + if (target.m_entryAngle.isEmpty() || offset.getNorm() < 0.1) { double disp = offset.getNorm(); Translation2d towardsTarget = offset.div(disp); Translation2d goal = towardsTarget.times(calculateMaxVelocity(disp, target.m_velocity)); @@ -169,7 +169,8 @@ private double calculateSwirlyLength(double theta, double radius) { return scaled; } - public boolean atSetpoint(Pose2d current, Pose2d goal) { + public boolean atSetpoint(Pose2d current, APTarget target) { + Pose2d goal = target.getReference(); boolean okXY = Math.hypot(current.getX() - goal.getX(), current.getY() - goal.getY()) <= m_profile.m_errorXY.in(Meters); boolean okTheta = Math.abs(current.getRotation().minus(goal.getRotation()) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java index 3ca62568..995c5ce2 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java @@ -15,17 +15,9 @@ class CoralIOInputs { public double rightCurrent = 0.0; public double leftTemperature = 0.0; public double rightTemperature = 0.0; - public double leftVelocity = 0.0; - public double rightVelocity = 0.0; public boolean frontDetected = false; public boolean upperDetected = false; public boolean innerDetected = false; - public double frontDistance = 0.0; - public double upperDistance = 0.0; - public double innerDistance = 0.0; - public double frontStrength = 0.0; - public double upperStrength = 0.0; - public double innerStrength = 0.0; } void setLeftVoltage(double voltage); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java index 665fca24..35e0a663 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java @@ -64,12 +64,6 @@ public void updateInputs(CoralIOInputs inputs) { inputs.frontDetected = m_frontCANrange.getIsDetected().getValue(); inputs.upperDetected = m_upperCANrange.getIsDetected().getValue(); inputs.innerDetected = m_innerCANrange.getIsDetected().getValue(); - inputs.frontDistance = m_frontCANrange.getDistance().getValueAsDouble(); - inputs.upperDistance = m_upperCANrange.getDistance().getValueAsDouble(); - inputs.innerDistance = m_innerCANrange.getDistance().getValueAsDouble(); - inputs.frontStrength = m_frontCANrange.getSignalStrength().getValueAsDouble(); - inputs.upperStrength = m_upperCANrange.getSignalStrength().getValueAsDouble(); - inputs.innerStrength = m_innerCANrange.getSignalStrength().getValueAsDouble(); } public void setLeftVoltage(double voltage) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java index 8eb294c8..c4280437 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java @@ -34,8 +34,6 @@ public void updateInputs(CoralIOInputs inputs) { inputs.frontDetected = SmartDashboard.getBoolean("Coral/Front CANrange", false); inputs.upperDetected = SmartDashboard.getBoolean("Coral/Upper CANrange", false); inputs.innerDetected = SmartDashboard.getBoolean("Coral/Inner CANrange", false); - inputs.leftVelocity = m_leftMotorSim.getAngularVelocityRPM() / 60.0; - inputs.rightVelocity = m_rightMotorSim.getAngularVelocityRPM() / 60.0; } public void setLeftVoltage(double voltage) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index 1573bea7..e9421240 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -30,6 +30,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; +import edu.wpi.first.units.measure.Velocity; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.Notifier; @@ -225,7 +226,8 @@ public void periodic() { m_estimatedPose = this.getState().Pose; SmartDashboard.putNumber("Drivetrain/x", m_estimatedPose.getTranslation().getX()); SmartDashboard.putNumber("Drivetrain/y", m_estimatedPose.getTranslation().getY()); - SmartDashboard.putNumber("Drivetrain/velo", getVelocity()); + double velo = getVelocity(); + SmartDashboard.putNumber("Drivetrain/velo", velo); SmartDashboard.putBoolean("Drivetrain/Aligned", m_aligned); @@ -382,6 +384,10 @@ public Command teleopDrive(DoubleSupplier x, DoubleSupplier y, DoubleSupplier ro double vy = y.getAsDouble() * DriveConstants.kMaxTeleopLinearSpeed; double omega = rot.getAsDouble() * DriveConstants.kMaxTeleopAngularSpeed; + if (Math.hypot(vx, vy) > 1e-3 || Math.abs(omega) > 1e-2) { + setAligned(false); + } + Translation2d adjusted = m_forceField.calculate( new Translation2d(vx, vy), m_estimatedPose, @@ -411,9 +417,10 @@ public Command align(Autopilot autopilot, APTarget target) { .withTargetDirection(target.getReference().getRotation())); })) .until(() -> { - return autopilot.atSetpoint(m_estimatedPose, target.getReference()); + return autopilot.atSetpoint(m_estimatedPose, target); }) .finallyDo(this::stop) + .finallyDo(interrupted -> setAligned(!interrupted)) .finallyDo(() -> { RobotObserver.getField().getObject("reference").setPoses(); }); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java index 47fa6f73..dde182db 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java @@ -24,12 +24,12 @@ public class DriveConstants { protected static final PIDConstants kRotationPID = new PIDConstants(1.5, 0.0, 0.0); public static class HeadingPID { - protected static final double kP = 4.0; + protected static final double kP = 8.0; } private static final APConstraints kTightAutopilotPathConstraints = new APConstraints() - .withAcceleration(5.5) - .withDecceleration(1.3); + .withAcceleration(TunerConstants.) + .withDecceleration(3.5); private static final APConstraints kTightAutopilotCorrectionConstraints = APConstraints.unlimited(); @@ -37,7 +37,7 @@ public static class HeadingPID { .withPathConstraints(kTightAutopilotPathConstraints) .withCorrectionConstraints(kTightAutopilotCorrectionConstraints) .withErrorXY(Centimeters.of(1)) - .withErrorTheta(Degrees.of(2)); + .withErrorTheta(Degrees.of(1)); public static final Autopilot kTightAutopilot = new Autopilot(kTightProfile); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index 6ce748c9..b6c903ba 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -129,7 +129,6 @@ public Command autoZero() { Commands.sequence( go(ElevatorState.Zero), runOnce(m_io::disableLimits), - runOnce(() -> m_io.setPosition(1)), runOnce(() -> m_io.setVoltage(ElevatorConstants.kZeroVoltage)))) .finallyDo(m_io::enableLimits) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java index 2e26e171..ed440477 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java @@ -43,10 +43,12 @@ public final class ElevatorConstants { protected static final double kInch = Units.inchesToMeters(1) * kMetersToRotations; + protected static final double kReefOffset = 3 * kInch; + protected static final double kForwardSoftLimit = 11.15; protected static final double kReverseSoftLimit = 0; - protected static final double kZeroVoltage = -2.0; + protected static final double kZeroVoltage = -4.0; protected static final double kUnsafeRange = ElevatorState.L2.position() + 2 * kInch; diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java index 970827a7..afba6f2e 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java @@ -13,6 +13,6 @@ public ElevatorZero() {} public Command build(Subsystems subsystems) { return subsystems.elevator().autoZero().asProxy() .finallyDo(subsystems.elevator()::release) - .unless(subsystems.coral().present()); + .unless(subsystems.coral().holding()); } } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java index 2c4ace7e..22cee8a0 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -17,7 +17,7 @@ public class VisionConstants { protected static final boolean kEnableLogging = true; - protected static final double kRotationCoefficient = Math.PI * 20; + protected static final double kRotationCoefficient = Math.PI * 0.5; protected static final double kTranslationCoefficient = 0.10; protected static final AprilTagFieldLayout kTagLayout = @@ -45,7 +45,7 @@ public class VisionConstants { private static Map kRealCameras = Map.ofEntries( Map.entry("cam1", new Transform3d( // left tight new Translation3d(0.256, 0.289, kCameraHeight), - new Rotation3d(0, kTightPitch, -kTightYaw))), + new Rotation3d(0, kTightPitch, -kTightYaw + Units.degreesToRadians(0.9)))), Map.entry("cam2", new Transform3d( // left wide new Translation3d(0.337, 0.331, kCameraHeight), new Rotation3d(0, kWidePitch, -kWideYaw))), From 9cf44ac9ad5063210c04603178229fc569f6201b Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Thu, 15 May 2025 06:37:39 -0400 Subject: [PATCH 047/135] Working on getting better vision handling This should hopefully be less work for the RIO as well --- .../vision/SingleInputPoseEstimator.java | 427 +++++++++--------- .../frc/robot/vision/VisionConstants.java | 11 +- .../java/frc/robot/vision/VisionHandler.java | 60 +-- ...{LogBuilder.java => VisionLogBuilder.java} | 4 +- .../java/frc/robot/vision/VisionLogger.java | 2 +- .../frc/robot/vision/VisionNetworkLogger.java | 46 ++ 6 files changed, 284 insertions(+), 266 deletions(-) rename ThriftyTest/src/main/java/frc/robot/vision/{LogBuilder.java => VisionLogBuilder.java} (94%) create mode 100644 ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java diff --git a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java index 13173d3c..2fa07f6c 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java @@ -17,7 +17,6 @@ import com.ctre.phoenix6.Utils; import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Transform2d; @@ -25,7 +24,6 @@ import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; import static edu.wpi.first.units.Units.Seconds; -import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Constants.FieldConstants; @@ -33,250 +31,229 @@ import frc.robot.vision.TimestampedPoseEstimate.EstimationAlgorithm; public class SingleInputPoseEstimator implements Runnable { - private final Logger m_logger = LoggerFactory.getLogger(SingleInputPoseEstimator.class); + private final Logger m_logger = LoggerFactory.getLogger(SingleInputPoseEstimator.class); - private final PhotonCamera m_camera; - private final Consumer m_reporter; + private final PhotonCamera m_camera; + private final Consumer m_reporter; - // Estimators - private final PhotonPoseEstimator m_estimator; + // Estimators + private final PhotonPoseEstimator m_estimator; - private final String m_name; + private final String m_name; - private final Transform3d m_robotToCamera; + private final Transform3d m_robotToCamera; - public SingleInputPoseEstimator( - PhotonCamera camera, - Transform3d robotToCamera, - Consumer updateCallback - ) { - m_camera = camera; - m_name = camera.getName(); - m_reporter = updateCallback; - m_robotToCamera = robotToCamera; - m_estimator = new PhotonPoseEstimator( - VisionConstants.kTagLayout, - PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, - robotToCamera - ); - m_estimator.setMultiTagFallbackStrategy( - PoseStrategy.PNP_DISTANCE_TRIG_SOLVE - ); - } + public SingleInputPoseEstimator( + PhotonCamera camera, + Transform3d robotToCamera, + Consumer updateCallback) { + m_camera = camera; + m_name = camera.getName(); + m_reporter = updateCallback; + m_robotToCamera = robotToCamera; + m_estimator = new PhotonPoseEstimator( + VisionConstants.kTagLayout, + PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, + robotToCamera); + m_estimator.setMultiTagFallbackStrategy( + PoseStrategy.PNP_DISTANCE_TRIG_SOLVE); + } - @Override - public void run() { - if (!m_camera.isConnected()) { - SmartDashboard.putBoolean("Vision/" + m_name + " Connected", false); - m_logger.error("Unable to read data from {}", m_name); - } else { - SmartDashboard.putBoolean("Vision/" + m_name + " Connected", true); - } - // Pull the latest data from the camera. - List results = m_camera.getAllUnreadResults(); - m_estimator.addHeadingData( - RobotController.getMeasureTime().in(Seconds), - RobotObserver.getPose().getRotation() - ); - /* take many */ - for (PhotonPipelineResult result : results) { - //headingHandleResult(result); - //handleResult(result); - combinedHandleResult(result); - } + @Override + public void run() { + if (!m_camera.isConnected()) { + SmartDashboard.putBoolean("Vision/" + m_name + " Connected", false); + m_logger.error("Unable to read data from {}", m_name); + } else { + SmartDashboard.putBoolean("Vision/" + m_name + " Connected", true); + } + // Pull the latest data from the camera. + List results = m_camera.getAllUnreadResults(); + m_estimator.addHeadingData( + RobotController.getMeasureTime().in(Seconds), + RobotObserver.getPose().getRotation()); + /* take many */ + for (PhotonPipelineResult result : results) { + // headingHandleResult(result); + // handleResult(result); + combinedHandleResult(result); } + } - private void combinedHandleResult(PhotonPipelineResult result) { - // some prechecks before we do anything - if (!precheckValidity(result)) return; - // we can now assume that we have targets - List targets = result.getTargets(); - // use solvePnP every time - EstimationAlgorithm algorithm = (targets.size() > 1) ? - EstimationAlgorithm.PnP - : EstimationAlgorithm.Trig; + private void combinedHandleResult(PhotonPipelineResult result) { + // some prechecks before we do anything + if (!precheckValidity(result)) + return; + // we can now assume that we have targets + List targets = result.getTargets(); + // use solvePnP every time + EstimationAlgorithm algorithm = (targets.size() > 1) ? EstimationAlgorithm.PnP + : EstimationAlgorithm.Trig; - Optional est = m_estimator.update(result); - if (est.isPresent()) { - Optional processed = process(result, est.get().estimatedPose, algorithm); - if (processed.isPresent()) { - m_reporter.accept(processed.get()); - return; - } - } - PhotonTrackedTarget target = targets.get(0); - int fidId = target.getFiducialId(); - Optional targetPosition = VisionConstants.kTagLayout - .getTagPose(fidId); - if (targetPosition.isEmpty()) { - m_logger.error("Tag {} detected not in field layout", fidId); - return; - } + Optional est = m_estimator.update(result); + if (est.isPresent()) { + Optional processed = + process(result, est.get().estimatedPose, algorithm); + if (processed.isPresent()) { + m_reporter.accept(processed.get()); + return; + } + } + PhotonTrackedTarget target = targets.get(0); + int fidId = target.getFiducialId(); + Optional targetPosition = VisionConstants.kTagLayout + .getTagPose(fidId); + if (targetPosition.isEmpty()) { + m_logger.error("Tag {} detected not in field layout", fidId); + return; + } - Pose3d targetPosition3d = targetPosition.get(); - Transform3d best3d = target.getBestCameraToTarget(); - Transform3d alt3d = target.getAlternateCameraToTarget(); - Pose3d best = targetPosition3d - .plus(best3d.inverse()) - .plus(m_robotToCamera.inverse()); - Pose3d alt = targetPosition3d - .plus(alt3d.inverse()) - .plus(m_robotToCamera.inverse()); - if (RobotBase.isSimulation()) { - RobotObserver.getField().getObject("alt").setPose(alt.toPose2d()); - RobotObserver.getField().getObject("best").setPose(best.toPose2d()); - } - double bestHeading = best.getRotation().getZ(); - double altHeading = alt.getRotation().getZ(); - Pose2d pose = RobotObserver.getPose(); - double heading = pose.getRotation().getRadians(); - Transform2d bestDiff = best.toPose2d().minus(pose); - Transform2d altDiff = alt.toPose2d().minus(pose); - double bestRotErr = Math.abs(bestHeading - heading); - double altRotErr = Math.abs(altHeading - heading); - double bestXYErr = bestDiff.getTranslation().getNorm(); - double altXYErr = altDiff.getTranslation().getNorm(); - Pose3d estimate; + Pose3d targetPosition3d = targetPosition.get(); + Transform3d best3d = target.getBestCameraToTarget(); + Transform3d alt3d = target.getAlternateCameraToTarget(); + Pose3d best = targetPosition3d + .plus(best3d.inverse()) + .plus(m_robotToCamera.inverse()); + Pose3d alt = targetPosition3d + .plus(alt3d.inverse()) + .plus(m_robotToCamera.inverse()); + double bestHeading = best.getRotation().getZ(); + double altHeading = alt.getRotation().getZ(); + Pose2d pose = RobotObserver.getPose(); + double heading = pose.getRotation().getRadians(); + Transform2d bestDiff = best.toPose2d().minus(pose); + Transform2d altDiff = alt.toPose2d().minus(pose); + double bestRotErr = Math.abs(bestHeading - heading); + double altRotErr = Math.abs(altHeading - heading); + double bestXYErr = bestDiff.getTranslation().getNorm(); + double altXYErr = altDiff.getTranslation().getNorm(); + Pose3d estimate; - if (Math.abs(bestRotErr - altRotErr) >= VisionConstants.kHeadingThreshold) { - estimate = (bestRotErr <= altRotErr) ? best : alt; - } else { - estimate = (bestXYErr <= altXYErr) ? best : alt; - } + if (Math.abs(bestRotErr - altRotErr) >= VisionConstants.kHeadingThreshold) { + estimate = (bestRotErr <= altRotErr) ? best : alt; + } else { + estimate = (bestXYErr <= altXYErr) ? best : alt; + } - process(result, estimate, EstimationAlgorithm.Heading).ifPresent(m_reporter); + process(result, estimate, EstimationAlgorithm.Heading).ifPresent(m_reporter); - } - - private boolean precheckValidity(PhotonPipelineResult result) { - double latency = result.metadata.getLatencyMillis() / 1.0e+3; - // too old -> don't count it - if (latency > VisionConstants.kLatencyThreshold) { - // this is interesting, so let's report it - m_logger.warn("({}) Refused old vision data, latency of {}", m_name, latency); - return false; - } - // no targets -> no pose - return result.hasTargets(); - } + } - private Optional process( - PhotonPipelineResult result, - Pose3d pose, - EstimationAlgorithm algorithm - ) { - double latency = result.metadata.getLatencyMillis() / 1.0e+3; - double timestamp = Utils.getCurrentTimeSeconds() - latency; - double ambiguity = getAmbiguity(result); - Pose2d flatPose = pose.toPose2d(); - Matrix stdDevs = calculateStdDevs(result, latency, flatPose); - // if in reef mode, disregard data that doesn't use the reef. - if (RobotObserver.getReefMode()) { - int id = result.getBestTarget().getFiducialId(); - if (!VisionConstants.kReefIds.contains(id)) { - return Optional.empty(); - } - } - // check validity again - if (!checkValidity(pose, ambiguity)) return Optional.empty(); - List tags = new ArrayList<>(); - for (PhotonTrackedTarget target : result.getTargets()) { - tags.add(target.getFiducialId()); - } - return Optional.of( - new TimestampedPoseEstimate(flatPose, m_name, timestamp, stdDevs, algorithm, tags) - ); + private boolean precheckValidity(PhotonPipelineResult result) { + double latency = result.metadata.getLatencyMillis() * 1e-3; + // too old -> don't count it + if (latency > VisionConstants.kLatencyThreshold) { + // this is interesting, so let's report it + m_logger.warn("({}) Refused old vision data, latency of {}", m_name, latency); + return false; } + // no targets -> no pose + return result.hasTargets(); + } - private boolean checkValidity( - Pose3d pose, - double ambiguity - ) { - if (ambiguity >= VisionConstants.kAmbiguityThreshold) return false; - return !isOutsideField(pose); + private Optional process( + PhotonPipelineResult result, + Pose3d pose, + EstimationAlgorithm algorithm) { + double latency = result.metadata.getLatencyMillis() / 1.0e+3; + double timestamp = Utils.getCurrentTimeSeconds() - latency; + double ambiguity = getAmbiguity(result); + Pose2d flatPose = pose.toPose2d(); + Matrix stdDevs = calculateStdDevs(result, flatPose); + // if in reef mode, disregard data that doesn't use the reef. + if (RobotObserver.getReefMode()) { + int id = result.getBestTarget().getFiducialId(); + if (!VisionConstants.kReefIds.contains(id)) { + return Optional.empty(); + } } - - private boolean isOutsideField(Pose3d pose) { - double x = pose.getX(); - double y = pose.getY(); - double z = pose.getZ(); - double xMax = VisionConstants.kXYMargin.magnitude() - + FieldConstants.kFieldLength.magnitude(); - double yMax = VisionConstants.kXYMargin.magnitude() - + FieldConstants.kFieldWidth.magnitude(); - double xyMin = -VisionConstants.kXYMargin.magnitude(); - double zMax = VisionConstants.kZMargin.magnitude(); - double zMin = -VisionConstants.kZMargin.magnitude(); - return x < xyMin - || x > xMax - || y < xyMin - || y > yMax - || z > zMax - || z < zMin; + // check validity again + if (!checkValidity(pose, ambiguity)) + return Optional.empty(); + List tags = new ArrayList<>(); + for (PhotonTrackedTarget target : result.getTargets()) { + tags.add(target.getFiducialId()); } + return Optional.of( + new TimestampedPoseEstimate(flatPose, m_name, timestamp, stdDevs, algorithm, tags)); + } - private Matrix calculateStdDevs( - PhotonPipelineResult result, - double latency, - Pose2d pose - ) { - double multiplier = calculateStdDevMultiplier(result, latency, pose); - Matrix stdDevs = VecBuilder.fill( - multiplier * VisionConstants.kTranslationCoefficient, - multiplier * VisionConstants.kTranslationCoefficient, - multiplier * VisionConstants.kRotationCoefficient - ); - return stdDevs; - } + private boolean checkValidity( + Pose3d pose, + double ambiguity) { + if (ambiguity >= VisionConstants.kAmbiguityThreshold) + return false; + return !isOutsideField(pose); + } - private double calculateStdDevMultiplier( - PhotonPipelineResult result, - double latency, - Pose2d pose - ) { - double averageTagDistance = 0; - for (PhotonTrackedTarget tag : result.getTargets()) { - averageTagDistance += tag - .getBestCameraToTarget() - .getTranslation() - .getNorm(); - } - averageTagDistance /= result.getTargets().size(); - // calculate tag distance factor - double distanceFactor = Math.max(1, - VisionConstants.kDistanceMultiplier - * (averageTagDistance - VisionConstants.kNoisyDistance) - ); - // calculate an (average) ambiguity real quick: - double ambiguity = getAmbiguity(result); - // ambiguity factor - double ambiguityFactor = Math.max(1, - VisionConstants.kAmbiguityMultiplier * ambiguity - + VisionConstants.kAmbiguityShifter - ); - // tag divisor - double tags = result.getTargets().size(); - double tagDivisor = 1 + (tags - 1) * VisionConstants.kTargetMultiplier; - // distance from last pose - double poseDifferenceError = Math.max(0, - RobotObserver.getPose().minus(pose).getTranslation().getNorm() - - VisionConstants.kDifferenceThreshold * RobotObserver.getVelocity() - ); - double diffMultiplier = Math.max(1, - poseDifferenceError * VisionConstants.kDifferenceMultiplier - ); - double timeMultiplier = Math.max(1, latency * VisionConstants.kLatencyMultiplier); - // final calculation - double stdDevMultiplier = ambiguityFactor - * distanceFactor - * diffMultiplier - * timeMultiplier - / tagDivisor; - return stdDevMultiplier; - } + private boolean isOutsideField(Pose3d pose) { + double x = pose.getX(); + double y = pose.getY(); + double z = pose.getZ(); + double xMax = VisionConstants.kXYMargin.magnitude() + + FieldConstants.kFieldLength.magnitude(); + double yMax = VisionConstants.kXYMargin.magnitude() + + FieldConstants.kFieldWidth.magnitude(); + double xyMin = -VisionConstants.kXYMargin.magnitude(); + double zMax = VisionConstants.kZMargin.magnitude(); + double zMin = -VisionConstants.kZMargin.magnitude(); + return x < xyMin + || x > xMax + || y < xyMin + || y > yMax + || z > zMax + || z < zMin; + } - private double getAmbiguity(PhotonPipelineResult result) { - return result.getBestTarget().getPoseAmbiguity(); + private Matrix calculateStdDevs(PhotonPipelineResult result, Pose2d pose) { + double latency = result.metadata.getLatencyMillis() * 1e-3; + double multiplier = calculateStdDevMultiplier(result, latency, pose); + return VisionConstants.kBaseStdDevs.times(multiplier); + } + + private double calculateStdDevMultiplier( + PhotonPipelineResult result, + double latency, + Pose2d pose) { + double averageTagDistance = 0; + for (PhotonTrackedTarget tag : result.getTargets()) { + averageTagDistance += tag + .getBestCameraToTarget() + .getTranslation() + .getNorm(); } + averageTagDistance /= result.getTargets().size(); + // calculate tag distance factor + double distanceFactor = Math.max(1, + VisionConstants.kDistanceMultiplier + * (averageTagDistance - VisionConstants.kNoisyDistance)); + // calculate an (average) ambiguity real quick: + double ambiguity = getAmbiguity(result); + // ambiguity factor + double ambiguityFactor = Math.max(1, + VisionConstants.kAmbiguityMultiplier * ambiguity + + VisionConstants.kAmbiguityShifter); + // tag divisor + double tags = result.getTargets().size(); + double tagDivisor = 1 + (tags - 1) * VisionConstants.kTargetMultiplier; + // distance from last pose + double poseDifferenceError = Math.max(0, + RobotObserver.getPose().minus(pose).getTranslation().getNorm() + - VisionConstants.kDifferenceThreshold * RobotObserver.getVelocity()); + double diffMultiplier = Math.max(1, + poseDifferenceError * VisionConstants.kDifferenceMultiplier); + double timeMultiplier = Math.max(1, latency * VisionConstants.kLatencyMultiplier); + // final calculation + double stdDevMultiplier = ambiguityFactor + * distanceFactor + * diffMultiplier + * timeMultiplier + / tagDivisor; + return stdDevMultiplier; + } + + private double getAmbiguity(PhotonPipelineResult result) { + return result.getBestTarget().getPoseAmbiguity(); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java index 2c4ace7e..5542aa78 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -6,19 +6,26 @@ import java.util.Set; import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.apriltag.AprilTagFields; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.Vector; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.numbers.N3; import edu.wpi.first.math.util.Units; import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.Time; public class VisionConstants { protected static final boolean kEnableLogging = true; + protected static final boolean kEnableNetworkLogging = false; + + private static final double kRotationCoefficient = Math.PI * 20; + private static final double kTranslationCoefficient = 0.10; + protected static final Vector kBaseStdDevs = + VecBuilder.fill(kTranslationCoefficient, kTranslationCoefficient, kRotationCoefficient); - protected static final double kRotationCoefficient = Math.PI * 20; - protected static final double kTranslationCoefficient = 0.10; protected static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded); diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java index 049ded8b..5518530f 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java @@ -25,21 +25,18 @@ public class VisionHandler implements AutoCloseable { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(VisionHandler.class); - private Consumer m_consumer; - private Supplier m_poseSupplier; + private final Consumer m_consumer; + private final Supplier m_poseSupplier; private final Notifier m_notifier; - private List m_estimators = new ArrayList<>(); - private List m_estimates = new ArrayList<>(); + private final List m_estimators = new ArrayList<>(); - private VisionSystemSim m_visionSim = new VisionSystemSim("main"); - private SimCameraProperties m_simProps = new SimCameraProperties(); + private final VisionSystemSim m_visionSim = new VisionSystemSim("main"); + private final SimCameraProperties m_simProps = new SimCameraProperties(); private final Field2d m_field; - private LogBuilder m_logBuilder = new LogBuilder(); - - private final MultiInputFilter m_filter = new MultiInputFilter(); + private final VisionLogBuilder m_logBuilder; public VisionHandler(Supplier poseSupplier, Consumer callback) { m_consumer = callback; @@ -48,8 +45,13 @@ public VisionHandler(Supplier poseSupplier, Consumer poses = new ArrayList<>(); - List rejected = new ArrayList<>(); - for (TimestampedPoseEstimate estimate : m_estimates) { - if (m_filter.verify(estimate.pose())) { - m_consumer.accept(estimate); - poses.add(estimate.pose()); - } else { - rejected.add(estimate.pose()); - } + + if (Robot.isSimulation()) { + Pose2d currPose = m_poseSupplier.get(); + m_visionSim.update(currPose); } - m_field.getObject(VisionConstants.kRejectedName).setPoses(rejected); - m_field.getObject(VisionConstants.kEstimationName).setPoses(poses); - Pose2d currPose = m_poseSupplier.get(); - m_visionSim.update(currPose); // finish logging m_logBuilder.log(); } @@ -124,9 +114,7 @@ public void startThread() { } private void addEstimate(TimestampedPoseEstimate estimate) { - m_filter.addEstimate(estimate); - m_estimates.add(estimate); - + m_consumer.accept(estimate); // pose logging m_logBuilder.addEstimate(estimate); } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/LogBuilder.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionLogBuilder.java similarity index 94% rename from ThriftyTest/src/main/java/frc/robot/vision/LogBuilder.java rename to ThriftyTest/src/main/java/frc/robot/vision/VisionLogBuilder.java index 75111738..0113435d 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/LogBuilder.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionLogBuilder.java @@ -6,11 +6,11 @@ import edu.wpi.first.math.geometry.Pose2d; import frc.robot.RobotObserver; -public class LogBuilder { +public class VisionLogBuilder { private List m_estimates; private List m_logs; - public LogBuilder() { + public VisionLogBuilder() { m_estimates = new ArrayList<>(20); m_logs = new ArrayList<>(20); } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java index 5d4eeb61..19e37cdf 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java @@ -9,7 +9,7 @@ import org.slf4j.LoggerFactory; import frc.robot.Robot; -import frc.robot.vision.LogBuilder.VisionLog; +import frc.robot.vision.VisionLogBuilder.VisionLog; public class VisionLogger implements AutoCloseable { private static VisionLogger instance; diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java new file mode 100644 index 00000000..bef12b2e --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java @@ -0,0 +1,46 @@ +package frc.robot.vision; + +import java.util.ArrayList; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.RobotObserver; + +public class VisionNetworkLogger { + private final boolean m_enableLogging; + + private final ArrayList m_estimates; + private final ArrayList m_rejected; + + public VisionNetworkLogger(boolean enable) { + m_enableLogging = enable; + m_estimates = new ArrayList<>(); + m_rejected = new ArrayList<>(); + } + + public void registerValidEstimate(TimestampedPoseEstimate estimate) { + m_estimates.add(estimate.pose()); + } + + public void registerRejectedEstimate(TimestampedPoseEstimate estimate) { + m_rejected.add(estimate.pose()); + } + + public void update() { + if (m_enableLogging) { + RobotObserver.getField().getObject(VisionConstants.kEstimationName).setPoses(m_estimates); + RobotObserver.getField().getObject(VisionConstants.kRejectedName).setPoses(m_rejected); + double estimates = m_estimates.size(); + double rejected = m_rejected.size(); + SmartDashboard.putNumber("Vision/Estimates", estimates); + SmartDashboard.putNumber("Vision/Rejected", rejected); + if (estimates > 0) { + SmartDashboard.putNumber("Rejection rate", rejected / estimates); + } else { + SmartDashboard.putNumber("Rejection rate", Double.NaN); + } + } + // clean up after ourselves + m_estimates.clear(); + m_rejected.clear(); + } +} From 85503d9fbe6d63be70bf82ee6705e3950231ae5e Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Thu, 15 May 2025 17:16:23 -0400 Subject: [PATCH 048/135] Add jerk control to autopilot This also moves a race group to a deadline group, which is how it should be for the auto --- ThriftyTest/simgui.json | 8 ++-- .../deploy/pathplanner/autos/4PieceRight.auto | 48 ++++++++++++------- .../src/main/java/frc/robot/Constants.java | 1 - .../java/frc/robot/binding/RobotBindings.java | 1 - .../frc/robot/driveassist/APConstraints.java | 25 ++++++---- .../java/frc/robot/driveassist/Autopilot.java | 3 +- .../drivetrain/CommandSwerveDrivetrain.java | 1 - .../subsystems/drivetrain/DriveConstants.java | 6 +-- 8 files changed, 53 insertions(+), 40 deletions(-) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 9786aca0..daecbc92 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -147,10 +147,7 @@ }, "transitory": { "SmartDashboard": { - "Algae": { - "open": true - }, - "Elevator": { + "Coral": { "open": true }, "Pivot": { @@ -175,7 +172,8 @@ { "axis": [ { - "max": 10.0 + "max": 10.0, + "min": -0.1 } ], "backgroundColor": [ diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto index 2c5da2c0..93d558e6 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto @@ -31,7 +31,7 @@ "data": { "commands": [ { - "type": "race", + "type": "deadline", "data": { "commands": [ { @@ -82,15 +82,22 @@ "data": { "commands": [ { - "type": "named", - "data": { - "name": "Align RIntake" - } - }, - { - "type": "named", + "type": "deadline", "data": { - "name": "Coral Wait" + "commands": [ + { + "type": "named", + "data": { + "name": "Coral Wait" + } + }, + { + "type": "named", + "data": { + "name": "Align RIntake" + } + } + ] } }, { @@ -126,15 +133,22 @@ "data": { "commands": [ { - "type": "named", - "data": { - "name": "Align RIntake" - } - }, - { - "type": "named", + "type": "deadline", "data": { - "name": "Coral Wait" + "commands": [ + { + "type": "named", + "data": { + "name": "Coral Wait" + } + }, + { + "type": "named", + "data": { + "name": "Align RIntake" + } + } + ] } }, { diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index c356f718..c1be62b8 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -4,7 +4,6 @@ import static edu.wpi.first.units.Units.Milliseconds; 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.system.plant.DCMotor; import edu.wpi.first.math.util.Units; diff --git a/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java index d573eff5..7753244e 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java @@ -2,7 +2,6 @@ import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.modifiers.ElevatorPrep; -import frc.robot.superstructure.states.CoralScore; public class RobotBindings implements Binder { public RobotBindings() {} diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java index c5a3a27d..dc2add28 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java @@ -6,22 +6,26 @@ */ public class APConstraints { protected double m_acceleration; - protected double m_decceleration; + protected double m_jerk; + /** Creates a blank APConstraints */ public APConstraints() {} - public APConstraints(double acceleration, double decceleration) { + /** + * Creates a new APCosntraints with given acceleration and deceleration */ + public APConstraints(double acceleration, double deceleration) { m_acceleration = acceleration; - m_decceleration = decceleration; + m_jerk = deceleration; } + /** Unlimited constraints */ public static APConstraints unlimited() { return new APConstraints(Double.POSITIVE_INFINITY, Double.POSITIVE_INFINITY); } /** - * Modifies this constraint's max acceleration value. This affects the maximum acceleration - * that the autopilot action will use to correct initial velocities. + * Modifies this constraint's max acceleration value and returns itself. This affects the maximum + * acceleration that the autopilot action will use to correct initial velocities. */ public APConstraints withAcceleration(double acceleration) { m_acceleration = acceleration; @@ -29,12 +33,13 @@ public APConstraints withAcceleration(double acceleration) { } /** - * Modifies this constraint's decceleration value. - * - * This is only necessary if the constraint is used for I control + * Modifies this constraint's max jerk value and returns itself. Higher values mean a faster + * deceleration. + * + * This is only used at the end of an autopilot action, not the beginning. */ - public APConstraints withDecceleration(double decceleration) { - m_decceleration = decceleration; + public APConstraints withJerk(double decceleration) { + m_jerk = decceleration; return this; } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 3a1142ac..f5e5d377 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -82,10 +82,9 @@ private Translation2d toGlobalCoordinateFrame(Translation2d coords, APTarget tar /** * Determines the maximum velocity required to travel the given distance and end at rest. * - * This uses constant acceleration, as determined by the value for I decceleration in the profile. */ private double calculateMaxVelocity(double dist, double endVelo) { - return Math.sqrt(Math.pow(endVelo, 2) + 2 * m_profile.m_pathConstraints.m_decceleration * dist); + return Math.pow((4.5 * Math.pow(dist, 2.0)) * m_profile.m_pathConstraints.m_jerk, 1.0 / 3.0) + endVelo; } /** diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index e9421240..05d80d76 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -30,7 +30,6 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; -import edu.wpi.first.units.measure.Velocity; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.Notifier; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java index dde182db..1b6c35ae 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java @@ -28,8 +28,8 @@ public static class HeadingPID { } private static final APConstraints kTightAutopilotPathConstraints = new APConstraints() - .withAcceleration(TunerConstants.) - .withDecceleration(3.5); + .withAcceleration(15.0) + .withJerk(1.5); private static final APConstraints kTightAutopilotCorrectionConstraints = APConstraints.unlimited(); @@ -44,7 +44,7 @@ public static class HeadingPID { private static final APConstraints kLooseAutopilotPathConstraints = new APConstraints() .withAcceleration(8.5) - .withDecceleration(4); + .withJerk(4); private static final APConstraints kLooseAutopilotCorrectionConstraints = APConstraints.unlimited(); From bbf98835293c34fbd8de00d624bba74c67d6658b Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Thu, 15 May 2025 18:25:50 -0400 Subject: [PATCH 049/135] Add rotation radius to autopilot and useful in auton --- ThriftyTest/simgui.json | 2 +- .../robot/binding/NamedCommandBindings.java | 14 +++++--- .../java/frc/robot/driveassist/APTarget.java | 25 ++++++++++++- .../java/frc/robot/driveassist/Autopilot.java | 36 +++++++++++++------ .../drivetrain/CommandSwerveDrivetrain.java | 5 +-- .../subsystems/drivetrain/DriveConstants.java | 20 +++++------ .../robot/superstructure/states/Align.java | 7 +++- 7 files changed, 80 insertions(+), 29 deletions(-) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index daecbc92..99209a4e 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -150,7 +150,7 @@ "Coral": { "open": true }, - "Pivot": { + "Elevator": { "open": true }, "Swirly length": { diff --git a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java index b1d941f8..90c2363f 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java @@ -44,11 +44,17 @@ public void bind(Superstructure superstructure) { .allianceRelative())); } NamedCommands.registerCommand("Align LIntake", superstructure.enter( - new Align(new APTarget(FieldConstants.kLeftIntake).withEntryAngle(Rotation2d.kPi)) - .allianceRelative())); + new Align(new APTarget(FieldConstants.kLeftIntake) + .withEntryAngle(Rotation2d.kPi) + .withRotationRadius(2.0)) + .allianceRelative() + .fast())); NamedCommands.registerCommand("Align RIntake", superstructure.enter( - new Align(new APTarget(FieldConstants.kRightIntake).withEntryAngle(Rotation2d.kPi)) - .allianceRelative())); + new Align(new APTarget(FieldConstants.kRightIntake) + .withEntryAngle(Rotation2d.kPi) + .withRotationRadius(2.0)) + .allianceRelative() + .fast())); NamedCommands.registerCommand("Align IJ", superstructure.enter( new Align(new APTarget(FieldConstants.kIJ).withEntryAngle(FieldConstants.kIJ.getRotation())) .allianceRelative())); diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java index 09585945..51076e84 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java @@ -16,6 +16,7 @@ public class APTarget { protected Pose2d m_reference; protected Optional m_entryAngle; protected double m_velocity; + protected Optional m_rotationRadius; /** * Creates a blank autopilot target with reference (0,0) and rotation of zero. @@ -24,6 +25,7 @@ public APTarget() { m_reference = Pose2d.kZero; m_entryAngle = Optional.empty(); m_velocity = 0; + m_rotationRadius = Optional.empty(); } /** @@ -33,6 +35,7 @@ public APTarget(Pose2d pose) { m_reference = pose; m_velocity = 0; m_entryAngle = Optional.empty(); + m_rotationRadius = Optional.empty(); } /** @@ -63,6 +66,18 @@ public APTarget withVelocity(double velocity) { return this; } + /** + * Modifies this instance's rotation radius and returns itself for easier method chaining + * + * Rotation radius is the distance from the target pose that rotation goals are respected. By + * default, rotation goals are always respected, but if autopilot shouldn't reorient the robot + * until X distance from setpoint, this can be used to make that change. + */ + public APTarget withRotationRadius(double radius) { + m_rotationRadius = Optional.of(radius); + return this; + } + /** * Returns this target's reference pose */ @@ -78,12 +93,19 @@ public Optional getEntryAngle() { } /** - * Returns this target/s end velocity + * Returns this target's end velocity */ public double getVelocity() { return m_velocity; } + /** + * Returns this target's rotation radius + */ + public Optional getRotationRadius() { + return m_rotationRadius; + } + /** * Flips a target across the field, preserving relative entry angle and rotation. */ @@ -94,6 +116,7 @@ public APTarget flip() { Rotation2d entry = FlippingUtil.flipFieldRotation(rotation); target.withEntryAngle(entry); }); + target.m_rotationRadius = m_rotationRadius; return target; } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index f5e5d377..236a7015 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -2,11 +2,11 @@ import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.Radians; - import org.slf4j.Logger; import org.slf4j.LoggerFactory; 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; /** @@ -42,24 +42,27 @@ public Autopilot(APProfile profile) { * @param velocity The robot's current (field relative) velocity * @param target The target the robot should drive towards */ - public Translation2d calculate(Pose2d current, Translation2d velocity, APTarget target) { + public Transform2d calculate(Pose2d current, Translation2d velocity, APTarget target) { Translation2d offset = toTargetCoorinateFrame( target.m_reference.getTranslation().minus(current.getTranslation()), target); if (offset.equals(Translation2d.kZero)) { - return Translation2d.kZero; + return new Transform2d(Translation2d.kZero, target.m_reference.getRotation()); } Translation2d initial = toTargetCoorinateFrame(velocity, target); - if (target.m_entryAngle.isEmpty() || offset.getNorm() < 0.1) { - double disp = offset.getNorm(); + double disp = offset.getNorm(); + if (target.m_entryAngle.isEmpty() || disp < 0.1) { Translation2d towardsTarget = offset.div(disp); Translation2d goal = towardsTarget.times(calculateMaxVelocity(disp, target.m_velocity)); Translation2d out = correct(initial, goal); - return toGlobalCoordinateFrame(out, target); + Translation2d velo = toGlobalCoordinateFrame(out, target); + Rotation2d rot = getRotationTarget(current.getRotation(), target, disp); + return new Transform2d(velo, rot); } Translation2d goal = calculateSwirlyVelocity(offset, target); Translation2d out = correct(initial, goal); - return toGlobalCoordinateFrame(out, target); - + Translation2d velo = toGlobalCoordinateFrame(out, target); + Rotation2d rot = getRotationTarget(current.getRotation(), target, disp); + return new Transform2d(velo, rot); } /** @@ -84,7 +87,8 @@ private Translation2d toGlobalCoordinateFrame(Translation2d coords, APTarget tar * */ private double calculateMaxVelocity(double dist, double endVelo) { - return Math.pow((4.5 * Math.pow(dist, 2.0)) * m_profile.m_pathConstraints.m_jerk, 1.0 / 3.0) + endVelo; + return Math.pow((4.5 * Math.pow(dist, 2.0)) * m_profile.m_pathConstraints.m_jerk, 1.0 / 3.0) + + endVelo; } /** @@ -168,8 +172,20 @@ private double calculateSwirlyLength(double theta, double radius) { return scaled; } + private Rotation2d getRotationTarget(Rotation2d current, APTarget target, double dist) { + if (target.m_rotationRadius.isEmpty()) { + return target.m_reference.getRotation(); + } + double radius = target.m_rotationRadius.get(); + if (radius > dist) { + return target.m_reference.getRotation(); + } else { + return current; + } + } + public boolean atSetpoint(Pose2d current, APTarget target) { - Pose2d goal = target.getReference(); + Pose2d goal = target.m_reference; boolean okXY = Math.hypot(current.getX() - goal.getX(), current.getY() - goal.getY()) <= m_profile.m_errorXY.in(Meters); boolean okTheta = Math.abs(current.getRotation().minus(goal.getRotation()) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index 05d80d76..3e4a3a28 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -26,6 +26,7 @@ import com.pathplanner.lib.util.swerve.SwerveSetpointGenerator; 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.kinematics.SwerveModuleState; @@ -409,11 +410,11 @@ public Command align(Autopilot autopilot, APTarget target) { }), run(() -> { Translation2d velocities = getVelocityComponents(); - Translation2d output = autopilot.calculate(m_estimatedPose, velocities, target); + Transform2d output = autopilot.calculate(m_estimatedPose, velocities, target); setControl(m_veloRequest .withVelocityX(output.getX()) .withVelocityY(output.getY()) - .withTargetDirection(target.getReference().getRotation())); + .withTargetDirection(output.getRotation())); })) .until(() -> { return autopilot.atSetpoint(m_estimatedPose, target); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java index 1b6c35ae..bc967977 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java @@ -41,20 +41,20 @@ public static class HeadingPID { public static final Autopilot kTightAutopilot = new Autopilot(kTightProfile); - private static final APConstraints kLooseAutopilotPathConstraints = + private static final APConstraints kFastAutopilotPathConstraints = new APConstraints() - .withAcceleration(8.5) - .withJerk(4); + .withAcceleration(20) + .withJerk(8); - private static final APConstraints kLooseAutopilotCorrectionConstraints = APConstraints.unlimited(); + private static final APConstraints kFastAutopilotCorrectionConstraints = APConstraints.unlimited(); - private static final APProfile kLooseProfile = new APProfile() - .withPathConstraints(kLooseAutopilotPathConstraints) - .withCorrectionConstraints(kLooseAutopilotCorrectionConstraints) - .withErrorXY(Centimeters.of(10)) - .withErrorTheta(Degrees.of(10)); + private static final APProfile kFastProfile = new APProfile() + .withPathConstraints(kFastAutopilotPathConstraints) + .withCorrectionConstraints(kFastAutopilotCorrectionConstraints) + .withErrorXY(Centimeters.of(5)) + .withErrorTheta(Degrees.of(5)); - protected static final Autopilot kLooseAutopilot = new Autopilot(kLooseProfile); + public static final Autopilot kFastAutopilot = new Autopilot(kFastProfile); protected static final PPHolonomicDriveController k_pathplannerHolonomicDriveController = new PPHolonomicDriveController(kTranslationPID, kRotationPID); diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java index 5afd69a4..14ae94f6 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/Align.java @@ -17,7 +17,7 @@ public class Align implements EnterableState { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(Align.class); - private final Autopilot m_autopilot; + private Autopilot m_autopilot; private final APTarget m_target; private boolean m_flip; @@ -48,6 +48,11 @@ public Align allianceRelative() { m_flip = true; return this; } + + public Align fast() { + m_autopilot = DriveConstants.kFastAutopilot; + return this; + } private APTarget target() { if (m_flip) { From 6a46ff2ac3a1a3bbbe613e43d8257f08f0120e22 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Thu, 15 May 2025 19:20:23 -0400 Subject: [PATCH 050/135] Cache status signals and only refresh once per loop Caching the status signals avoids calling refresh() except for BaseStatusSignal.refreshAll(), which is supposed to perform better. --- ThriftyTest/simgui.json | 7 +- .../src/main/java/frc/robot/Robot.java | 3 - .../frc/robot/binding/DashboardBindings.java | 16 +-- .../subsystems/algae/AlgaeIOHardware.java | 37 +++++-- .../robot/subsystems/climber/ClimberIO.java | 1 + .../subsystems/climber/ClimberIOHardware.java | 64 ++++++++--- .../frc/robot/subsystems/coral/CoralIO.java | 6 ++ .../subsystems/coral/CoralIOHardware.java | 102 +++++++++++++----- .../elevator/ElevatorIOHardware.java | 93 +++++++++++----- .../subsystems/pivot/PivotIOHardware.java | 38 +++++-- 10 files changed, 254 insertions(+), 113 deletions(-) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 99209a4e..88133b4c 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -14,6 +14,7 @@ "NTProvider": { "types": { "/FMSInfo": "FMSInfo", + "/SmartDashboard/Alerts": "Alerts", "/SmartDashboard/Auton Chooser": "String Chooser", "/SmartDashboard/Command Scheduler": "Scheduler", "/SmartDashboard/Drive To Center": "Command", @@ -27,6 +28,7 @@ "/SmartDashboard/Pivot Arm Visualization": "Mechanism2d", "/SmartDashboard/Pivot/Visualization": "Mechanism2d", "/SmartDashboard/Super Field": "Field2d", + "/SmartDashboard/Superstructure": "Alerts", "/SmartDashboard/Test/Drive To Center": "Command", "/SmartDashboard/Test/ElevatorZero": "Command", "/SmartDashboard/Test/Enter test state": "Command", @@ -133,11 +135,6 @@ "window": { "visible": true } - }, - "/SmartDashboard/Test/LowReefAlgaeIntake": { - "window": { - "visible": true - } } } }, diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index 5021a4b3..15291ed2 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -4,8 +4,6 @@ package frc.robot; -import com.pathplanner.lib.commands.FollowPathCommand; - import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; @@ -24,7 +22,6 @@ public Robot() { @Override public void robotInit() { - FollowPathCommand.warmupCommand().schedule(); NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(0); NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); NetworkTableInstance.getDefault().getTable("limelight").getEntry("stream").setNumber(0); diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java index 9fe13dbc..07bd8f3c 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java @@ -1,21 +1,7 @@ package frc.robot.binding; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import frc.robot.driveassist.APTarget; import frc.robot.superstructure.Superstructure; -import frc.robot.superstructure.states.Align; -import frc.robot.superstructure.states.LowerReefAlgaeIntake; -import frc.robot.superstructure.states.Test; public class DashboardBindings implements Binder { - public void bind(Superstructure superstructure) { - SmartDashboard.putData("Test/LowReefAlgaeIntake", - superstructure.enter(new LowerReefAlgaeIntake())); - SmartDashboard.putData("Test/Enter test state", superstructure.enter(new Test())); - SmartDashboard.putData("Test/Drive To Center", superstructure.enter(new Align( - new APTarget(new Pose2d(8, 4, Rotation2d.kZero)) - .withEntryAngle(Rotation2d.kZero)))); - } + public void bind(Superstructure superstructure) {} } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java index e850ccab..52c4aeb4 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java @@ -1,31 +1,48 @@ package frc.robot.subsystems.algae; import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Temperature; +import edu.wpi.first.units.measure.Voltage; public class AlgaeIOHardware implements AlgaeIO { private final TalonFX m_motor; private double m_voltage; + private final StatusSignal m_voltageSignal; + private final StatusSignal m_currentSignal; + private final StatusSignal m_torqueSignal; + private final StatusSignal m_tempSignal; + private final StatusSignal m_velocitySignal; + public AlgaeIOHardware() { m_motor = new TalonFX(AlgaeConstants.kMotorID); m_motor.clearStickyFaults(); m_motor.getConfigurator().apply(AlgaeConstants.kMotorConfig); + + m_voltageSignal = m_motor.getMotorVoltage(); + m_currentSignal = m_motor.getSupplyCurrent(); + m_torqueSignal = m_motor.getTorqueCurrent(); + m_tempSignal = m_motor.getDeviceTemp(); + m_velocitySignal = m_motor.getVelocity(); } public void updateInputs(AlgaeIOInputs inputs) { inputs.motorConnected = BaseStatusSignal.refreshAll( - m_motor.getMotorVoltage(), - m_motor.getSupplyCurrent(), - m_motor.getTorqueCurrent(), - m_motor.getDeviceTemp(), - m_motor.getVelocity()).isOK(); - inputs.current = m_motor.getSupplyCurrent().getValueAsDouble(); - inputs.torque = m_motor.getTorqueCurrent().getValueAsDouble(); - inputs.temperature = m_motor.getDeviceTemp().getValueAsDouble(); - inputs.voltage = m_voltage; - inputs.velocityRPS = m_motor.getVelocity().getValueAsDouble(); + m_voltageSignal, + m_currentSignal, + m_torqueSignal, + m_tempSignal, + m_velocitySignal).isOK(); + inputs.voltage = m_voltageSignal.getValueAsDouble(); + inputs.current = m_currentSignal.getValueAsDouble(); + inputs.torque = m_torqueSignal.getValueAsDouble(); + inputs.temperature = m_tempSignal.getValueAsDouble(); + inputs.velocityRPS = m_velocitySignal.getValueAsDouble(); } public void setVoltage(double voltage) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIO.java index 16d7039d..523046db 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIO.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIO.java @@ -14,6 +14,7 @@ public class ClimberIOInputs { public double rightTemp = 0.0; public double leftVelocityRPS = 0.0; public double rightVelocityRPS = 0.0; + public boolean encoderConnected = true; public double position = 0.0; } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java index bacca0d7..56b4aeef 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java @@ -1,9 +1,15 @@ package frc.robot.subsystems.climber; import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.controls.Follower; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Temperature; +import edu.wpi.first.units.measure.Voltage; import edu.wpi.first.wpilibj.Servo; public class ClimberIOHardware implements ClimberIO { @@ -16,6 +22,17 @@ public class ClimberIOHardware implements ClimberIO { private double m_voltage; + private final StatusSignal m_leftVoltageSignal; + private final StatusSignal m_rightVoltageSignal; + private final StatusSignal m_leftCurrentSignal; + private final StatusSignal m_rightCurrentSignal; + private final StatusSignal m_leftTempSignal; + private final StatusSignal m_rightTempSignal; + private final StatusSignal m_leftVelocitySignal; + private final StatusSignal m_rightVelocitySignal; + + private final StatusSignal m_positionSignal; + public ClimberIOHardware() { m_leftMotor = new TalonFX(ClimberConstants.kLeftMotorID); m_rightMotor = new TalonFX(ClimberConstants.kRightMotorID); @@ -29,28 +46,41 @@ public ClimberIOHardware() { m_CANcoder.getConfigurator().apply(ClimberConstants.kEncoderConfig); m_servo = new Servo(ClimberConstants.kServoID); + + m_leftVoltageSignal = m_leftMotor.getMotorVoltage(); + m_rightVoltageSignal = m_rightMotor.getMotorVoltage(); + m_leftCurrentSignal = m_leftMotor.getSupplyCurrent(); + m_rightCurrentSignal = m_rightMotor.getSupplyCurrent(); + m_leftTempSignal = m_leftMotor.getDeviceTemp(); + m_rightTempSignal = m_rightMotor.getDeviceTemp(); + m_leftVelocitySignal = m_leftMotor.getVelocity(); + m_rightVelocitySignal = m_rightMotor.getVelocity(); + + m_positionSignal = m_CANcoder.getPosition(); } public void updateInputs(ClimberIOInputs inputs) { inputs.leftConnected = BaseStatusSignal.refreshAll( - m_leftMotor.getMotorVoltage(), - m_leftMotor.getSupplyCurrent(), - m_leftMotor.getDeviceTemp(), - m_leftMotor.getVelocity()).isOK(); + m_leftVoltageSignal, + m_leftCurrentSignal, + m_leftTempSignal, + m_leftVelocitySignal).isOK(); inputs.rightConnected = BaseStatusSignal.refreshAll( - m_rightMotor.getMotorVoltage(), - m_rightMotor.getSupplyCurrent(), - m_rightMotor.getDeviceTemp(), - m_rightMotor.getVelocity()).isOK(); - inputs.leftVoltage = m_leftMotor.getMotorVoltage().getValueAsDouble(); - inputs.rightVoltage = m_rightMotor.getMotorVoltage().getValueAsDouble(); - inputs.leftCurrent = m_leftMotor.getSupplyCurrent().getValueAsDouble(); - inputs.rightCurrent = m_rightMotor.getSupplyCurrent().getValueAsDouble(); - inputs.leftTemp = m_leftMotor.getDeviceTemp().getValueAsDouble(); - inputs.rightTemp = m_rightMotor.getDeviceTemp().getValueAsDouble(); - inputs.leftVelocityRPS = m_leftMotor.getVelocity().getValueAsDouble(); - inputs.rightVelocityRPS = m_rightMotor.getVelocity().getValueAsDouble(); - inputs.position = m_CANcoder.getPosition().getValueAsDouble(); + m_rightVoltageSignal, + m_rightCurrentSignal, + m_rightTempSignal, + m_rightVelocitySignal).isOK(); + inputs.leftVoltage = m_leftVoltageSignal.getValueAsDouble(); + inputs.rightVoltage = m_rightVoltageSignal.getValueAsDouble(); + inputs.leftCurrent = m_leftCurrentSignal.getValueAsDouble(); + inputs.rightCurrent = m_rightCurrentSignal.getValueAsDouble(); + inputs.leftTemp = m_leftTempSignal.getValueAsDouble(); + inputs.rightTemp = m_rightTempSignal.getValueAsDouble(); + inputs.leftVelocityRPS = m_leftVelocitySignal.getValueAsDouble(); + inputs.rightVelocityRPS = m_rightVelocitySignal.getValueAsDouble(); + inputs.encoderConnected = BaseStatusSignal.refreshAll( + m_positionSignal).isOK(); + inputs.position = m_positionSignal.getValueAsDouble(); } public void setVoltage(double voltage) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java index 995c5ce2..1b17dc59 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java @@ -18,6 +18,12 @@ class CoralIOInputs { public boolean frontDetected = false; public boolean upperDetected = false; public boolean innerDetected = false; + public double frontDistance = 0.0; + public double upperDistance = 0.0; + public double innerDistance = 0.0; + public double frontStrength = 0.0; + public double upperStreingth = 0.0; + public double innerStrength = 0.0; // INNER STRENGTH!!! } void setLeftVoltage(double voltage); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java index 35e0a663..1f4d21e1 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java @@ -1,8 +1,14 @@ package frc.robot.subsystems.coral; import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.hardware.CANrange; import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.Temperature; +import edu.wpi.first.units.measure.Voltage; public class CoralIOHardware implements CoralIO { private final TalonFX m_leftMotor; @@ -15,6 +21,25 @@ public class CoralIOHardware implements CoralIO { private double m_leftVoltage; private double m_rightVoltage; + private final StatusSignal m_leftVoltageSignal; + private final StatusSignal m_rightVoltageSignal; + private final StatusSignal m_leftCurrentSignal; + private final StatusSignal m_rightCurrentSignal; + private final StatusSignal m_leftTempSignal; + private final StatusSignal m_rightTempSignal; + private final StatusSignal m_leftVelocitySignal; + private final StatusSignal m_rightVelocitySignal; + + private final StatusSignal m_frontDistanceSignal; + private final StatusSignal m_upperDistanceSignal; + private final StatusSignal m_innerDistanceSignal; + private final StatusSignal m_frontDetectedSignal; + private final StatusSignal m_upperDetectedSignal; + private final StatusSignal m_innerDetectedSignal; + private final StatusSignal m_frontStrengthSignal; + private final StatusSignal m_upperStrengthSignal; + private final StatusSignal m_innerStrengthSignal; + public CoralIOHardware() { m_leftMotor = new TalonFX(CoralConstants.kLeftMotorID); m_rightMotor = new TalonFX(CoralConstants.kRightMotorID); @@ -30,40 +55,65 @@ public CoralIOHardware() { m_frontCANrange.getConfigurator().apply(CoralConstants.kFrontCANrangeConfig); m_upperCANrange.getConfigurator().apply(CoralConstants.kUpperCANrangeConfig); m_innerCANrange.getConfigurator().apply(CoralConstants.kInnerCANrangeConfig); + + m_leftVoltageSignal = m_leftMotor.getMotorVoltage(); + m_rightVoltageSignal = m_rightMotor.getMotorVoltage(); + m_leftCurrentSignal = m_leftMotor.getSupplyCurrent(); + m_rightCurrentSignal = m_rightMotor.getSupplyCurrent(); + m_leftTempSignal = m_leftMotor.getDeviceTemp(); + m_rightTempSignal = m_rightMotor.getDeviceTemp(); + m_leftVelocitySignal = m_leftMotor.getVelocity(); + m_rightVelocitySignal = m_rightMotor.getVelocity(); + + m_frontDistanceSignal = m_frontCANrange.getDistance(); + m_upperDistanceSignal = m_upperCANrange.getDistance(); + m_innerDistanceSignal = m_innerCANrange.getDistance(); + m_frontStrengthSignal = m_frontCANrange.getSignalStrength(); + m_upperStrengthSignal = m_upperCANrange.getSignalStrength(); + m_innerStrengthSignal = m_innerCANrange.getSignalStrength(); + m_frontDetectedSignal = m_frontCANrange.getIsDetected(); + m_upperDetectedSignal = m_upperCANrange.getIsDetected(); + m_innerDetectedSignal = m_innerCANrange.getIsDetected(); } public void updateInputs(CoralIOInputs inputs) { inputs.rightMotorConnected = BaseStatusSignal.refreshAll( - m_rightMotor.getMotorVoltage(), - m_rightMotor.getSupplyCurrent(), - m_rightMotor.getDeviceTemp(), - m_rightMotor.getVelocity()).isOK(); + m_rightVoltageSignal, + m_rightCurrentSignal, + m_rightTempSignal, + m_rightVelocitySignal).isOK(); inputs.leftMotorConnected = BaseStatusSignal.refreshAll( - m_leftMotor.getMotorVoltage(), - m_leftMotor.getSupplyCurrent(), - m_leftMotor.getDeviceTemp(), - m_leftMotor.getVelocity()).isOK(); - inputs.rightVoltage = m_rightMotor.getMotorVoltage().getValueAsDouble(); - inputs.leftVoltage = m_leftMotor.getMotorVoltage().getValueAsDouble(); - inputs.rightCurrent = m_rightMotor.getSupplyCurrent().getValueAsDouble(); - inputs.leftCurrent = m_leftMotor.getSupplyCurrent().getValueAsDouble(); - inputs.rightTemperature = m_rightMotor.getDeviceTemp().getValueAsDouble(); - inputs.leftTemperature = m_leftMotor.getDeviceTemp().getValueAsDouble(); + m_leftVoltageSignal, + m_leftCurrentSignal, + m_leftTempSignal, + m_leftVelocitySignal).isOK(); + inputs.rightVoltage = m_rightVoltageSignal.getValueAsDouble(); + inputs.leftVoltage = m_leftVoltageSignal.getValueAsDouble(); + inputs.rightCurrent = m_rightCurrentSignal.getValueAsDouble(); + inputs.leftCurrent = m_leftCurrentSignal.getValueAsDouble(); + inputs.rightTemperature = m_rightTempSignal.getValueAsDouble(); + inputs.leftTemperature = m_leftTempSignal.getValueAsDouble(); inputs.frontCANrangeConnected = BaseStatusSignal.refreshAll( - m_frontCANrange.getIsDetected(), - m_frontCANrange.getDistance(), - m_frontCANrange.getSignalStrength()).isOK(); + m_frontDetectedSignal, + m_frontDistanceSignal, + m_frontStrengthSignal).isOK(); inputs.upperCANrangeConnected = BaseStatusSignal.refreshAll( - m_upperCANrange.getIsDetected(), - m_upperCANrange.getDistance(), - m_upperCANrange.getSignalStrength()).isOK(); + m_upperDetectedSignal, + m_upperDistanceSignal, + m_upperStrengthSignal).isOK(); inputs.innerCANrangeConnected = BaseStatusSignal.refreshAll( - m_innerCANrange.getIsDetected(), - m_innerCANrange.getDistance(), - m_upperCANrange.getSignalStrength()).isOK(); - inputs.frontDetected = m_frontCANrange.getIsDetected().getValue(); - inputs.upperDetected = m_upperCANrange.getIsDetected().getValue(); - inputs.innerDetected = m_innerCANrange.getIsDetected().getValue(); + m_innerDetectedSignal, + m_innerDistanceSignal, + m_innerStrengthSignal).isOK(); + inputs.frontDetected = m_frontDetectedSignal.getValue(); + inputs.upperDetected = m_upperDetectedSignal.getValue(); + inputs.innerDetected = m_innerDetectedSignal.getValue(); + inputs.frontDistance = m_frontDistanceSignal.getValueAsDouble(); + inputs.upperDistance = m_upperDistanceSignal.getValueAsDouble(); + inputs.innerDistance = m_innerDistanceSignal.getValueAsDouble(); + inputs.frontStrength = m_frontStrengthSignal.getValueAsDouble(); + inputs.upperStreingth = m_upperStrengthSignal.getValueAsDouble(); + inputs.innerStrength = m_innerStrengthSignal.getValueAsDouble(); } public void setLeftVoltage(double voltage) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java index 61cf0a09..666e006e 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java @@ -1,11 +1,18 @@ package frc.robot.subsystems.elevator; import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; import com.ctre.phoenix6.controls.DynamicMotionMagicVoltage; import com.ctre.phoenix6.controls.Follower; import com.ctre.phoenix6.hardware.CANrange; import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.Temperature; +import edu.wpi.first.units.measure.Voltage; public class ElevatorIOHardware implements ElevatorIO { private final TalonFX m_leftMotor; @@ -15,6 +22,21 @@ public class ElevatorIOHardware implements ElevatorIO { private final DynamicMotionMagicVoltage m_control; + private final StatusSignal m_leftVoltageSignal; + private final StatusSignal m_rightVoltageSignal; + private final StatusSignal m_leftCurrentSignal; + private final StatusSignal m_rightCurrentSignal; + private final StatusSignal m_leftTempSignal; + private final StatusSignal m_rightTempSignal; + private final StatusSignal m_leftVelocitySignal; + private final StatusSignal m_rightVelocitySignal; + private final StatusSignal m_leftPositionSignal; + private final StatusSignal m_rightPositionSignal; + + private final StatusSignal m_CANrangeDistanceSignal; + private final StatusSignal m_CANrangeDetectedSignal; + private final StatusSignal m_CANrangeStrengthSignal; + public ElevatorIOHardware() { m_rightMotor = new TalonFX(ElevatorConstants.kRightMotorID, "*"); m_leftMotor = new TalonFX(ElevatorConstants.kLeftMotorID, "*"); @@ -33,40 +55,55 @@ public ElevatorIOHardware() { ElevatorConstants.kMaxSpeed, ElevatorConstants.kMaxAcceleration, ElevatorConstants.kMaxJerk); + + m_leftVoltageSignal = m_leftMotor.getMotorVoltage(); + m_rightVoltageSignal = m_rightMotor.getMotorVoltage(); + m_leftCurrentSignal = m_leftMotor.getSupplyCurrent(); + m_rightCurrentSignal = m_rightMotor.getSupplyCurrent(); + m_leftTempSignal = m_leftMotor.getDeviceTemp(); + m_rightTempSignal = m_rightMotor.getDeviceTemp(); + m_leftVelocitySignal = m_leftMotor.getVelocity(); + m_rightVelocitySignal = m_rightMotor.getVelocity(); + m_leftPositionSignal = m_leftMotor.getPosition(); + m_rightPositionSignal = m_rightMotor.getPosition(); + + m_CANrangeDetectedSignal = m_CANrange.getIsDetected(); + m_CANrangeDistanceSignal = m_CANrange.getDistance(); + m_CANrangeStrengthSignal = m_CANrange.getSignalStrength(); } public void updateInputs(ElevatorIOInputs inputs) { inputs.leftMotorConnected = BaseStatusSignal.refreshAll( - m_leftMotor.getMotorVoltage(), - m_leftMotor.getSupplyCurrent(), - m_leftMotor.getDeviceTemp(), - m_leftMotor.getVelocity(), - m_leftMotor.getPosition()).isOK(); + m_leftVoltageSignal, + m_leftCurrentSignal, + m_leftTempSignal, + m_leftVelocitySignal, + m_leftPositionSignal).isOK(); inputs.rightMotorConnected = BaseStatusSignal.refreshAll( - m_rightMotor.getMotorVoltage(), - m_rightMotor.getSupplyCurrent(), - m_rightMotor.getDeviceTemp(), - m_rightMotor.getVelocity(), - m_rightMotor.getPosition()).isOK(); - inputs.leftVoltage = m_leftMotor.getMotorVoltage().getValueAsDouble(); - inputs.rightVoltage = m_rightMotor.getMotorVoltage().getValueAsDouble(); - inputs.leftCurrent = m_leftMotor.getSupplyCurrent().getValueAsDouble(); - inputs.rightCurrent = m_rightMotor.getSupplyCurrent().getValueAsDouble(); - inputs.leftTemp = m_leftMotor.getDeviceTemp().getValueAsDouble(); - inputs.rightTemp = m_rightMotor.getDeviceTemp().getValueAsDouble(); - inputs.leftVelocityRPS = m_leftMotor.getVelocity().getValueAsDouble(); - inputs.rightVelocityRPS = m_rightMotor.getVelocity().getValueAsDouble(); - inputs.leftPosition = m_leftMotor.getPosition().getValueAsDouble(); - inputs.rightPosition = m_rightMotor.getPosition().getValueAsDouble(); + m_rightVoltageSignal, + m_rightCurrentSignal, + m_rightTempSignal, + m_rightVelocitySignal, + m_rightPositionSignal).isOK(); + inputs.leftVoltage = m_leftVoltageSignal.getValueAsDouble(); + inputs.rightVoltage = m_rightVoltageSignal.getValueAsDouble(); + inputs.leftCurrent = m_leftCurrentSignal.getValueAsDouble(); + inputs.rightCurrent = m_rightCurrentSignal.getValueAsDouble(); + inputs.leftTemp = m_leftTempSignal.getValueAsDouble(); + inputs.rightTemp = m_rightTempSignal.getValueAsDouble(); + inputs.leftVelocityRPS = m_leftVelocitySignal.getValueAsDouble(); + inputs.rightVelocityRPS = m_rightVelocitySignal.getValueAsDouble(); + inputs.leftPosition = m_leftPositionSignal.getValueAsDouble(); + inputs.rightPosition = m_rightPositionSignal.getValueAsDouble(); inputs.position = inputs.rightPosition; inputs.zeroCANrangeConnected = BaseStatusSignal.refreshAll( - m_CANrange.getIsDetected(), - m_CANrange.getDistance(), - m_CANrange.getSignalStrength()).isOK(); - inputs.zeroCANrangeDetected = m_CANrange.getIsDetected().getValue(); - inputs.zeroCANrangeDistance = m_CANrange.getDistance().getValueAsDouble(); - inputs.zeroCANrangeStrength = m_CANrange.getSignalStrength().getValueAsDouble(); + m_CANrangeDetectedSignal, + m_CANrangeDistanceSignal, + m_CANrangeStrengthSignal).isOK(); + inputs.zeroCANrangeDetected = m_CANrangeDetectedSignal.getValue(); + inputs.zeroCANrangeDistance = m_CANrangeDistanceSignal.getValueAsDouble(); + inputs.zeroCANrangeStrength = m_CANrangeStrengthSignal.getValueAsDouble(); } public void setPosition(double position) { @@ -83,7 +120,9 @@ public void enableLimits() { } public void disableLimits() { - SoftwareLimitSwitchConfigs noLimits = new SoftwareLimitSwitchConfigs().withForwardSoftLimitEnable(false).withReverseSoftLimitEnable(false); + SoftwareLimitSwitchConfigs noLimits = new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitEnable(false) + .withReverseSoftLimitEnable(false); m_rightMotor.getConfigurator().apply(noLimits); m_leftMotor.getConfigurator().apply(noLimits); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java index e6951362..bf3e7a5d 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java @@ -1,34 +1,52 @@ package frc.robot.subsystems.pivot; import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.controls.MotionMagicVoltage; import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Temperature; +import edu.wpi.first.units.measure.Voltage; public class PivotIOHardware implements PivotIO { private final TalonFX m_motor; private final MotionMagicVoltage m_control; + private final StatusSignal m_voltageSignal; + private final StatusSignal m_currentSignal; + private final StatusSignal m_tempSignal; + private final StatusSignal m_velocitySignal; + private final StatusSignal m_positionSignal; + public PivotIOHardware() { m_motor = new TalonFX(PivotConstants.kMotorID); m_motor.getConfigurator().apply(PivotConstants.kMotorConfig); m_motor.setPosition(PivotConstants.kRotorOffset); + + m_voltageSignal = m_motor.getMotorVoltage(); + m_currentSignal = m_motor.getSupplyCurrent(); + m_tempSignal = m_motor.getDeviceTemp(); + m_velocitySignal = m_motor.getVelocity(); + m_positionSignal = m_motor.getPosition(); m_control = new MotionMagicVoltage(0.0); } public void updateInputs(PivotIOInputs inputs) { inputs.motorConnected = BaseStatusSignal.refreshAll( - m_motor.getMotorVoltage(), - m_motor.getSupplyCurrent(), - m_motor.getDeviceTemp(), - m_motor.getVelocity(), - m_motor.getPosition()).isOK(); - inputs.voltage = m_motor.getMotorVoltage().getValueAsDouble(); - inputs.current = m_motor.getSupplyCurrent().getValueAsDouble(); - inputs.temperatue = m_motor.getDeviceTemp().getValueAsDouble(); - inputs.velocityRPS = m_motor.getVelocity().getValueAsDouble(); - inputs.position = m_motor.getPosition().getValueAsDouble(); + m_voltageSignal, + m_currentSignal, + m_tempSignal, + m_velocitySignal, + m_positionSignal).isOK(); + inputs.voltage = m_voltageSignal.getValueAsDouble(); + inputs.current = m_currentSignal.getValueAsDouble(); + inputs.temperatue = m_tempSignal.getValueAsDouble(); + inputs.velocityRPS = m_velocitySignal.getValueAsDouble(); + inputs.position = m_positionSignal.getValueAsDouble(); } public void setPosition(double position, boolean holdingAlgae) { From 736e7fd13e6237edc7c7619e3ce8511842465847 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Fri, 16 May 2025 19:28:03 -0400 Subject: [PATCH 051/135] Improve vision logic MANY tests in sim! --- ThriftyTest/simgui.json | 159 +++++++++--------- .../frc/robot/binding/DashboardBindings.java | 2 + .../robot/superstructure/Superstructure.java | 4 +- .../main/java/frc/robot/vision/CameraIO.java | 18 ++ .../frc/robot/vision/CameraIOHardware.java | 29 ++++ .../java/frc/robot/vision/CameraIOSim.java | 62 +++++++ .../frc/robot/vision/MultiInputFilter.java | 118 +++++++------ .../vision/SingleInputPoseEstimator.java | 91 +++++----- .../robot/vision/TimestampedPoseEstimate.java | 32 ++-- .../frc/robot/vision/VisionConstants.java | 4 +- .../java/frc/robot/vision/VisionHandler.java | 72 ++------ 11 files changed, 343 insertions(+), 248 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/vision/CameraIO.java create mode 100644 ThriftyTest/src/main/java/frc/robot/vision/CameraIOHardware.java create mode 100644 ThriftyTest/src/main/java/frc/robot/vision/CameraIOSim.java diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 9786aca0..4bdca2e0 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -16,22 +16,15 @@ "/FMSInfo": "FMSInfo", "/SmartDashboard/Auton Chooser": "String Chooser", "/SmartDashboard/Command Scheduler": "Scheduler", - "/SmartDashboard/Drive To Center": "Command", - "/SmartDashboard/Elevator Visualization": "Mechanism2d", "/SmartDashboard/Elevator/Lazy Zero": "Command", - "/SmartDashboard/Elevator/Subsystem": "Subsystem", - "/SmartDashboard/Enter test state": "Command", - "/SmartDashboard/Lazy Zero Elevator": "Command", "/SmartDashboard/PathPlanner": "Alerts", "/SmartDashboard/PhotonAlerts": "Alerts", - "/SmartDashboard/Pivot Arm Visualization": "Mechanism2d", - "/SmartDashboard/Pivot/Visualization": "Mechanism2d", "/SmartDashboard/Super Field": "Field2d", + "/SmartDashboard/Test vision": "Command", "/SmartDashboard/Test/Drive To Center": "Command", - "/SmartDashboard/Test/ElevatorZero": "Command", "/SmartDashboard/Test/Enter test state": "Command", - "/SmartDashboard/Test/Intake": "Command", "/SmartDashboard/Test/LowReefAlgaeIntake": "Command", + "/SmartDashboard/Test?": "Alerts", "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, "windows": { @@ -46,6 +39,11 @@ } }, "/SmartDashboard/Super Field": { + "FF": { + "arrows": false, + "selectable": false, + "style": "Hidden" + }, "Pathfind Trajectory": { "arrows": false, "selectable": false, @@ -53,88 +51,88 @@ }, "Robot": { "arrowColor": [ - 1.0, - 1.0, - 1.0, + 0.9656862616539001, + 0.9656862616539001, + 0.9656862616539001, 255.0 ], - "arrowWeight": 7.0, "color": [ - 0.5777189135551453, - 0.5420991778373718, - 0.7843137383460999, + 0.6150517463684082, + 0.32271242141723633, + 0.7745097875595093, 255.0 ], "length": 0.9399999976158142, - "weight": 7.0, + "style": "Box/Image", "width": 0.9399999976158142 }, - "alt": { - "arrows": false, - "selectable": false, - "style": "Hidden" - }, "apriltag": { "arrows": false, "selectable": false, "style": "Hidden" }, - "best": { - "arrows": false, - "selectable": false, - "style": "Hidden" - }, "bottom": 1347, "builtin": "", "cameras": { - "arrows": false, - "selectable": false, - "style": "Hidden" - }, - "estimation": { "arrows": false, "color": [ - 0.7911719679832458, - 0.8039215803146362, - 0.5871779918670654, + 0.7850345969200134, + 0.8088235259056091, + 0.40441176295280457, 255.0 ], - "length": 0.9399999976158142, - "selectable": false, - "style": "Box/Image", - "width": 0.9399999976158142 + "style": "Hidden" }, "height": 8.051901817321777, "image": "/Users/rekrab/hackbots/2025_Reefscape/ThriftyTest/2025-field-cropped.png", "reference": { - "arrows": false, + "arrowColor": [ + 0.8480392098426819, + 0.6382302045822144, + 0.19953861832618713, + 255.0 + ], + "arrowSize": 25, "color": [ - 0.3678393065929413, - 0.843137264251709, - 0.40977731347084045, + 0.8186274766921997, + 0.5862345099449158, + 0.10032197833061218, 255.0 ], - "length": 0.9399999976158142, + "length": 1.0, "selectable": false, - "width": 0.9399999976158142 + "width": 1.0 }, - "rejected": { + "rej": { "arrows": false, + "length": 2.0, "selectable": false, - "style": "Hidden" + "width": 2.0 }, "right": 2932, "visibleTargetPoses": { "arrows": false, + "color": [ + 0.4533917307853699, + 0.8284313678741455, + 0.19086408615112305, + 255.0 + ], + "length": 0.5, "selectable": false, - "style": "Hidden" + "width": 0.5 }, "width": 17.54825210571289, "window": { "visible": true } }, - "/SmartDashboard/Test/LowReefAlgaeIntake": { + "/SmartDashboard/Test vision": { + "window": { + "visible": true + } + }, + "/SmartDashboard/Test?": { "window": { "visible": true } @@ -142,25 +140,12 @@ } }, "NetworkTables": { - "Retained Values": { - "open": false - }, "transitory": { "SmartDashboard": { - "Algae": { - "open": true - }, - "Elevator": { - "open": true - }, - "Pivot": { - "open": true - }, - "Swirly length": { - "open": true - }, - "Swirly length ": { - "open": true + "Super Field": { + "double[]##v_/SmartDashboard/Super Field/tag relative": { + "open": true + } }, "open": true } @@ -175,36 +160,50 @@ { "axis": [ { - "max": 10.0 + "max": 6.0, + "min": -1.0 } ], "backgroundColor": [ - 0.0, - 0.0, - 0.0, + 0.1342865526676178, + 0.11985772848129272, + 0.14215683937072754, 0.8500000238418579 ], "height": 305, "series": [ { "color": [ - 0.2980392277240753, - 0.44705885648727417, - 0.6901960968971252, + 0.41676270961761475, + 0.24183005094528198, + 0.6666666269302368, + 1.0 + ], + "digital": "Analog", + "id": "NT:/SmartDashboard/Drivetrain/velo", + "marker": "None", + "name": "Velocity", + "weight": 2.999999523162842 + }, + { + "color": [ + 0.20608589053153992, + 0.2450980544090271, + 0.18983083963394165, 1.0 ], - "id": "NT:/SmartDashboard/Drivetrain/velo" + "digital": "Auto", + "digitalBitGap": 34, + "digitalBitHeight": 33, + "id": "NT:/SmartDashboard/Vision/Loop time (ms)", + "marker": "None", + "name": "Vision loop time" } ] } ], "window": { - "name": "Velocity Plot" - } - }, - "Plot <1>": { - "window": { - "visible": false + "name": "Velocity" } } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java index 9fe13dbc..3d8682e0 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java @@ -17,5 +17,7 @@ public void bind(Superstructure superstructure) { SmartDashboard.putData("Test/Drive To Center", superstructure.enter(new Align( new APTarget(new Pose2d(8, 4, Rotation2d.kZero)) .withEntryAngle(Rotation2d.kZero)))); + SmartDashboard.putData("Test vision", superstructure.enter(new Align( + new APTarget(new Pose2d(8.785400, 6.990802, Rotation2d.fromDegrees(-21.621)))))); } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 55c49a20..9a9ca6a1 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -60,9 +60,7 @@ public void setDrive(Command driveCommand) { } public VisionHandler buildVision() { - return new VisionHandler( - m_subsystems.drivetrain()::getPose, - m_subsystems.drivetrain()::addPoseEstimate); + return new VisionHandler(m_subsystems.drivetrain()::addPoseEstimate); } public static record Subsystems( diff --git a/ThriftyTest/src/main/java/frc/robot/vision/CameraIO.java b/ThriftyTest/src/main/java/frc/robot/vision/CameraIO.java new file mode 100644 index 00000000..d57226bf --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/vision/CameraIO.java @@ -0,0 +1,18 @@ +package frc.robot.vision; + +import java.util.ArrayList; +import java.util.List; +import org.photonvision.targeting.PhotonPipelineResult; +import edu.wpi.first.math.geometry.Transform3d; + +public interface CameraIO { + void updateInputs(CameraIOInputs inputs); + + public class CameraIOInputs { + public boolean connected = true; + public List unreadResults = new ArrayList<>(); + } + + String getName(); + Transform3d getRobotToCamera(); +} diff --git a/ThriftyTest/src/main/java/frc/robot/vision/CameraIOHardware.java b/ThriftyTest/src/main/java/frc/robot/vision/CameraIOHardware.java new file mode 100644 index 00000000..dc8555ba --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/vision/CameraIOHardware.java @@ -0,0 +1,29 @@ +package frc.robot.vision; + +import org.photonvision.PhotonCamera; +import edu.wpi.first.math.geometry.Transform3d; + +public class CameraIOHardware implements CameraIO { + private final PhotonCamera m_camera; + private final String m_name; + private final Transform3d m_robotToCamera; + + public CameraIOHardware(String name, Transform3d robotToCamera) { + m_camera = new PhotonCamera(name); + m_name = name; + m_robotToCamera = robotToCamera; + } + + public void updateInputs(CameraIOInputs inputs) { + inputs.connected = m_camera.isConnected(); + inputs.unreadResults = m_camera.getAllUnreadResults(); + } + + public String getName() { + return m_name; + } + + public Transform3d getRobotToCamera() { + return m_robotToCamera; + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/vision/CameraIOSim.java b/ThriftyTest/src/main/java/frc/robot/vision/CameraIOSim.java new file mode 100644 index 00000000..73c3c112 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/vision/CameraIOSim.java @@ -0,0 +1,62 @@ +package frc.robot.vision; + +import static edu.wpi.first.units.Units.Milliseconds; +import org.photonvision.PhotonCamera; +import org.photonvision.simulation.PhotonCameraSim; +import org.photonvision.simulation.SimCameraProperties; +import org.photonvision.simulation.VisionSystemSim; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import frc.robot.RobotObserver; + +public class CameraIOSim implements CameraIO { + private static boolean setupComplete; + + private static final VisionSystemSim simSystem = new VisionSystemSim("main"); + + private static final SimCameraProperties simProps = new SimCameraProperties(); + + private static final Field2d simField = simSystem.getDebugField(); + + private final PhotonCamera m_camera; + private final PhotonCameraSim m_cameraSim; + private final Transform3d m_robotToCamera; + + public CameraIOSim(String name, Transform3d robotToCamera) { + setup(); + m_camera = new PhotonCamera(name); + m_robotToCamera = robotToCamera; + m_cameraSim = new PhotonCameraSim(m_camera, simProps); + m_cameraSim.enableDrawWireframe(true); + simSystem.addCamera(m_cameraSim, m_robotToCamera); + } + + public void updateInputs(CameraIOInputs inputs) { + simSystem.update(RobotObserver.getPose()); + inputs.unreadResults = m_camera.getAllUnreadResults(); + } + + public String getName() { + return m_camera.getName(); + } + + public Transform3d getRobotToCamera() { + return m_robotToCamera; + } + + private static void setup() { + if (setupComplete) { + return; + } + setupComplete = true; + simSystem.addAprilTags(VisionConstants.kTagLayout); + simProps.setCalibration( + VisionConstants.kResWidth, + VisionConstants.kResHeight, + VisionConstants.kFOV); + simProps.setAvgLatencyMs(VisionConstants.kAvgLatency.in(Milliseconds)); + simProps.setLatencyStdDevMs(VisionConstants.kLatencyStdDev.in(Milliseconds)); + simProps.setCalibError(VisionConstants.kAvgErr, VisionConstants.kErrStdDevs); + RobotObserver.setField(simField); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java b/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java index d4154e39..26ddad22 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java @@ -2,6 +2,7 @@ import java.util.HashMap; import java.util.HashSet; +import java.util.List; import java.util.Optional; import java.util.Set; import java.util.Map.Entry; @@ -12,72 +13,81 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Transform3d; +import frc.robot.RobotObserver; public class MultiInputFilter { - private final Logger m_logger = LoggerFactory.getLogger(MultiInputFilter.class); + private final Logger m_logger = LoggerFactory.getLogger(MultiInputFilter.class); - private HashMap> m_tags = new HashMap<>(); + private HashMap> m_tags = new HashMap<>(); - /** - * Returns whether a camera at the source is able to "see" the tag with the - * specified ID, using the known camera horizontal field of view. - */ - private boolean verifyTarget(Pose2d source, int tag) { - Optional tagPose = VisionConstants.kTagLayout.getTagPose(tag); - if (tagPose.isEmpty()) return false; - Pose2d tagPose2d = tagPose.get().toPose2d(); - Transform2d sourceRelative = tagPose2d.minus(source); - Transform2d tagRelative = source.minus(tagPose2d); - double sourceAngle = Math.atan2(sourceRelative.getY(), sourceRelative.getX()); - double tagAngle = Math.atan2(tagRelative.getY(), tagRelative.getX()); - boolean sourceAngleOk = Math.abs(sourceAngle) <= VisionConstants.kHorizontalFov.getRadians() / 2.0; - boolean tagAngleOk = Math.abs(tagAngle) <= Math.PI / 2.0; - return sourceAngleOk && tagAngleOk; + /** + * Returns whether a camera at the source is able to "see" the tag with the specified ID, using + * the known camera horizontal field of view. + */ + private boolean verifyTarget(Pose2d source, int tag) { + Optional tagPose = VisionConstants.kTagLayout.getTagPose(tag); + if (tagPose.isEmpty()) { + return false; } + Pose2d tagPose2d = tagPose.get().toPose2d(); + Transform2d sourceRelative = tagPose2d.minus(source); + Transform2d tagRelative = source.minus(tagPose2d); + Rotation2d sourceAngle = new Rotation2d(sourceRelative.getX(), sourceRelative.getY()); + Rotation2d tagAngle = new Rotation2d(tagRelative.getX(), tagRelative.getY()); + boolean sourceAngleOk = + Math.abs(sourceAngle.getRadians()) <= VisionConstants.kHorizontalFov.getRadians() / 2.0; + boolean tagAngleOk = Math.abs(tagAngle.getRadians()) <= Math.PI / 2.0; + return sourceAngleOk && tagAngleOk; + } - /** - * Returns whether all targets provided COULD be seen with this camera - */ - private boolean verifyTargets(Pose2d source, Set targets) { - for (int target : targets) { - if (!verifyTarget(source, target)) return false; - } - return true; - } - - public void addEstimate(TimestampedPoseEstimate est) { - if (!m_tags.containsKey(est.source())) { - m_tags.put(est.source(), new HashSet<>()); - } - Set visible = m_tags.get(est.source()); - visible.addAll(est.tags()); + /** + * Returns whether all targets provided COULD be seen with this camera + */ + private boolean verifyTargets(Pose2d source, Set targets) { + for (int target : targets) { + if (!verifyTarget(source, target)) { + return false; + } } + return true; + } - public void clear() { - m_tags.clear(); + public void addInput(String source, List tagList) { + Set tags = new HashSet<>(tagList); + if (!m_tags.containsKey(source)) { + m_tags.put(source, new HashSet<>()); } + Set visible = m_tags.get(source); + visible.addAll(tags); + } + + public void clear() { + m_tags.clear(); + } - public boolean verify(Pose2d estimate) { - for (Entry> entry : m_tags.entrySet()) { - String sourceName = entry.getKey(); - Set tags = entry.getValue(); - if (!VisionConstants.kCameras.containsKey(sourceName)) { - m_logger.warn("Detected target not on field layout, ignoring"); - continue; - } - Transform3d offset = VisionConstants.kCameras.get(sourceName); - Transform2d offset2d = new Transform2d( - offset.getX(), - offset.getY(), - offset.getRotation().toRotation2d() - ); - Pose2d source = estimate.plus(offset2d); - if (!verifyTargets(source, tags)) return false; - } - // no checks have failed, i.e. all checks have passed. - return true; + public boolean verify(Pose2d estimate) { + for (Entry> entry : m_tags.entrySet()) { + String sourceName = entry.getKey(); + Set tags = entry.getValue(); + if (!VisionConstants.kCameras.containsKey(sourceName)) { + m_logger.warn("Detected target not on field layout, ignoring"); + continue; + } + Transform3d offset = VisionConstants.kCameras.get(sourceName); + Transform2d offset2d = new Transform2d( + offset.getX(), + offset.getY(), + offset.getRotation().toRotation2d()); + Pose2d source = estimate.plus(offset2d); + if (!verifyTargets(source, tags)) { + return false; + } } + // no checks have failed, i.e. all checks have passed. + return true; + } } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java index 2fa07f6c..1350a847 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java @@ -4,9 +4,8 @@ import java.util.List; import java.util.Optional; import java.util.function.Consumer; - +import java.util.stream.Collectors; import org.photonvision.EstimatedRobotPose; -import org.photonvision.PhotonCamera; import org.photonvision.PhotonPoseEstimator; import org.photonvision.PhotonPoseEstimator.PoseStrategy; import org.photonvision.targeting.PhotonPipelineResult; @@ -28,76 +27,83 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Constants.FieldConstants; import frc.robot.RobotObserver; +import frc.robot.vision.CameraIO.CameraIOInputs; import frc.robot.vision.TimestampedPoseEstimate.EstimationAlgorithm; public class SingleInputPoseEstimator implements Runnable { private final Logger m_logger = LoggerFactory.getLogger(SingleInputPoseEstimator.class); - private final PhotonCamera m_camera; + private final CameraIO m_io; + private final CameraIOInputs m_inputs; + private final Consumer m_reporter; - // Estimators private final PhotonPoseEstimator m_estimator; - private final String m_name; - - private final Transform3d m_robotToCamera; + private final MultiInputFilter m_filter; public SingleInputPoseEstimator( - PhotonCamera camera, - Transform3d robotToCamera, + MultiInputFilter fitler, + CameraIO io, Consumer updateCallback) { - m_camera = camera; - m_name = camera.getName(); + m_io = io; + m_inputs = new CameraIOInputs(); m_reporter = updateCallback; - m_robotToCamera = robotToCamera; + m_filter = fitler; m_estimator = new PhotonPoseEstimator( VisionConstants.kTagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, - robotToCamera); - m_estimator.setMultiTagFallbackStrategy( - PoseStrategy.PNP_DISTANCE_TRIG_SOLVE); + m_io.getRobotToCamera()); + m_estimator.setMultiTagFallbackStrategy(PoseStrategy.PNP_DISTANCE_TRIG_SOLVE); + } + + public void refresh() { + m_io.updateInputs(m_inputs); + for (PhotonPipelineResult result : m_inputs.unreadResults) { + List tags = result.getTargets().stream() + .map(target -> target.getFiducialId()) + .collect(Collectors.toList()); + m_filter.addInput(m_io.getName(), tags); + } } @Override public void run() { - if (!m_camera.isConnected()) { - SmartDashboard.putBoolean("Vision/" + m_name + " Connected", false); - m_logger.error("Unable to read data from {}", m_name); - } else { - SmartDashboard.putBoolean("Vision/" + m_name + " Connected", true); + SmartDashboard.putBoolean("Vision/" + m_io.getName() + " connected", m_inputs.connected); + if (!m_inputs.connected) { + m_logger.error("Unable to read data from {}", m_io.getName()); + return; } // Pull the latest data from the camera. - List results = m_camera.getAllUnreadResults(); + List results = m_inputs.unreadResults; m_estimator.addHeadingData( RobotController.getMeasureTime().in(Seconds), RobotObserver.getPose().getRotation()); /* take many */ for (PhotonPipelineResult result : results) { - // headingHandleResult(result); - // handleResult(result); combinedHandleResult(result); } } private void combinedHandleResult(PhotonPipelineResult result) { // some prechecks before we do anything - if (!precheckValidity(result)) + if (!precheckValidity(result)) { return; + } // we can now assume that we have targets List targets = result.getTargets(); - // use solvePnP every time + // use solvePnP every time if we can EstimationAlgorithm algorithm = (targets.size() > 1) ? EstimationAlgorithm.PnP : EstimationAlgorithm.Trig; Optional est = m_estimator.update(result); if (est.isPresent()) { - Optional processed = - process(result, est.get().estimatedPose, algorithm); - if (processed.isPresent()) { - m_reporter.accept(processed.get()); - return; - } + Pose3d estimatedPose = est.get().estimatedPose; + // if (m_filter.verify(estimatedPose.toPose2d())) { + process(result, estimatedPose, algorithm).ifPresent(m_reporter); + // } else { + // RobotObserver.getField().getObject("rej").setPose(estimatedPose.toPose2d()); + // } } PhotonTrackedTarget target = targets.get(0); int fidId = target.getFiducialId(); @@ -113,10 +119,21 @@ private void combinedHandleResult(PhotonPipelineResult result) { Transform3d alt3d = target.getAlternateCameraToTarget(); Pose3d best = targetPosition3d .plus(best3d.inverse()) - .plus(m_robotToCamera.inverse()); + .plus(m_io.getRobotToCamera().inverse()); Pose3d alt = targetPosition3d .plus(alt3d.inverse()) - .plus(m_robotToCamera.inverse()); + .plus(m_io.getRobotToCamera().inverse()); + // boolean bestOk = m_filter.verify(best.toPose2d()); + // boolean altOk = m_filter.verify(alt.toPose2d()); + // if (bestOk && !altOk) { + // process(result, best, EstimationAlgorithm.MultiInput); + // return; + // } + // if (altOk && !bestOk) { + // process(result, alt, EstimationAlgorithm.MultiInput); + // return; + // } + // final decision maker double bestHeading = best.getRotation().getZ(); double altHeading = alt.getRotation().getZ(); Pose2d pose = RobotObserver.getPose(); @@ -136,18 +153,14 @@ private void combinedHandleResult(PhotonPipelineResult result) { } process(result, estimate, EstimationAlgorithm.Heading).ifPresent(m_reporter); - } private boolean precheckValidity(PhotonPipelineResult result) { double latency = result.metadata.getLatencyMillis() * 1e-3; - // too old -> don't count it if (latency > VisionConstants.kLatencyThreshold) { - // this is interesting, so let's report it - m_logger.warn("({}) Refused old vision data, latency of {}", m_name, latency); + m_logger.warn("({}) Refused old vision data, latency of {}", m_io.getName(), latency); return false; } - // no targets -> no pose return result.hasTargets(); } @@ -175,7 +188,7 @@ private Optional process( tags.add(target.getFiducialId()); } return Optional.of( - new TimestampedPoseEstimate(flatPose, m_name, timestamp, stdDevs, algorithm, tags)); + new TimestampedPoseEstimate(flatPose, m_io.getName(), timestamp, stdDevs, algorithm, tags)); } private boolean checkValidity( diff --git a/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java b/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java index e5bdc58c..ee76771d 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java @@ -7,27 +7,27 @@ import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; -public record TimestampedPoseEstimate ( +public record TimestampedPoseEstimate( Pose2d pose, String source, double timestamp, Matrix stdDevs, EstimationAlgorithm algorithm, - List tags -) { - public enum EstimationAlgorithm { - Trig, PnP, Ambiguity, Heading; + List tags) { + public enum EstimationAlgorithm { + Trig, PnP, Ambiguity, Heading, MultiInput; - @Override - public String toString() { - String s = "?"; - switch (this) { - case Trig -> s = "T"; - case PnP -> s = "P"; - case Ambiguity -> s = "A"; - case Heading -> s = "H"; - } - return s; - } + @Override + public String toString() { + String s = "?"; + switch (this) { + case Trig -> s = "T"; + case PnP -> s = "P"; + case Ambiguity -> s = "A"; + case Heading -> s = "H"; + case MultiInput -> s = "M"; + } + return s; } + } } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java index 5542aa78..6c6741c4 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -89,8 +89,8 @@ public class VisionConstants { protected static final double kHeadingThreshold = Units.degreesToRadians(3); // Stats about the camera for simulation - protected static final int kResWidth = 320 * 2; - protected static final int kResHeight = 240 * 2; + protected static final int kResWidth = 320; + protected static final int kResHeight = 240; protected static final Rotation2d kFOV = Rotation2d.fromDegrees(82.0); protected static final Rotation2d kHorizontalFov = Rotation2d.fromDegrees(70.0); diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java index 5518530f..0bd1c9be 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java @@ -1,23 +1,17 @@ package frc.robot.vision; -import static edu.wpi.first.units.Units.Milliseconds; - import java.util.ArrayList; import java.util.List; import java.util.Map; import java.util.function.Consumer; -import java.util.function.Supplier; -import org.photonvision.PhotonCamera; -import org.photonvision.simulation.PhotonCameraSim; -import org.photonvision.simulation.SimCameraProperties; -import org.photonvision.simulation.VisionSystemSim; import org.slf4j.Logger; import org.slf4j.LoggerFactory; -import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Notifier; -import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Robot; import frc.robot.RobotObserver; @@ -26,73 +20,45 @@ public class VisionHandler implements AutoCloseable { private final Logger m_logger = LoggerFactory.getLogger(VisionHandler.class); private final Consumer m_consumer; - private final Supplier m_poseSupplier; private final Notifier m_notifier; private final List m_estimators = new ArrayList<>(); - private final VisionSystemSim m_visionSim = new VisionSystemSim("main"); - private final SimCameraProperties m_simProps = new SimCameraProperties(); + private final VisionLogBuilder m_logBuilder; - private final Field2d m_field; + private final MultiInputFilter m_filter; - private final VisionLogBuilder m_logBuilder; + private final Alert m_badAlert = new Alert("Test?", "bad", AlertType.kError); - public VisionHandler(Supplier poseSupplier, Consumer callback) { + public VisionHandler(Consumer callback) { m_consumer = callback; - m_poseSupplier = poseSupplier; - m_visionSim.addAprilTags(VisionConstants.kTagLayout); - setupProps(); + m_filter = new MultiInputFilter(); setupCameras(); m_notifier = new Notifier(this::updateEstimators); - if (Robot.isSimulation()) { - m_field = m_visionSim.getDebugField(); - } else { - m_field = new Field2d(); - } - RobotObserver.setField(m_field); m_logBuilder = new VisionLogBuilder(); } - /** - * Sets up the simulated camera properties with values that should reflect the real world - * situation. - */ - private void setupProps() { - m_simProps.setCalibration( - VisionConstants.kResWidth, - VisionConstants.kResHeight, - VisionConstants.kFOV); - m_simProps.setAvgLatencyMs(VisionConstants.kAvgLatency.in(Milliseconds)); - m_simProps.setLatencyStdDevMs(VisionConstants.kLatencyStdDev.in(Milliseconds)); - m_simProps.setCalibError(VisionConstants.kAvgErr, VisionConstants.kErrStdDevs); - } - private void setupCameras() { for (Map.Entry entry : VisionConstants.kCameras.entrySet()) { - // it's easier to read this way: String cameraName = entry.getKey(); Transform3d robotToCamera = entry.getValue(); - // initialze both real and simulated cameras - PhotonCamera realCamera = new PhotonCamera(cameraName); + CameraIO io; if (Robot.isSimulation()) { - PhotonCameraSim simCamera = new PhotonCameraSim(realCamera, m_simProps); - m_visionSim.addCamera(simCamera, robotToCamera); - - // This is somewhat intensive (especially the first one) so we only - // enable if the robot is in simulation mode. - simCamera.enableDrawWireframe(true); + io = new CameraIOSim(cameraName, robotToCamera); + } else { + io = new CameraIOHardware(cameraName, robotToCamera); } - // we always need to add a vision estimator SingleInputPoseEstimator estimator = new SingleInputPoseEstimator( - realCamera, - robotToCamera, + m_filter, + io, this::addEstimate); m_estimators.add(estimator); } } private void updateEstimators() { + m_filter.clear(); + long start = System.currentTimeMillis(); for (SingleInputPoseEstimator estimator : m_estimators) { estimator.refresh(); } @@ -100,11 +66,9 @@ private void updateEstimators() { for (SingleInputPoseEstimator estimator : m_estimators) { estimator.run(); } + long elapsed = System.currentTimeMillis() - start; + SmartDashboard.putNumber("Vision/Loop time (ms)", elapsed); - if (Robot.isSimulation()) { - Pose2d currPose = m_poseSupplier.get(); - m_visionSim.update(currPose); - } // finish logging m_logBuilder.log(); } From 209b427003719aeeee9af2fd5d168537a3d7d570 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Fri, 16 May 2025 20:38:31 -0400 Subject: [PATCH 052/135] Rename pieceHeld to coralHeld in robot observer --- ThriftyTest/src/main/java/frc/robot/RobotObserver.java | 2 +- ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/RobotObserver.java b/ThriftyTest/src/main/java/frc/robot/RobotObserver.java index 7f076539..5729f059 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotObserver.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotObserver.java @@ -46,7 +46,7 @@ public static Field2d getField() { private BooleanSupplier m_coralPieceHeldSupplier; private BooleanSupplier m_algaeHeldSupplier; - public static void setPieceHeldSupplier(BooleanSupplier pieceHeldSupplier) { + public static void setCoralHeldSupplier(BooleanSupplier pieceHeldSupplier) { getInstance().m_coralPieceHeldSupplier = pieceHeldSupplier; } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java index 963232ab..011af2b1 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java @@ -30,7 +30,7 @@ public Coral() { } else { m_io = new CoralIOSim(); } - RobotObserver.setPieceHeldSupplier(holding()); + RobotObserver.setCoralHeldSupplier(holding()); } private void setVoltage(double voltage) { From 4d3dbf88a54ba8f79d647f97d47623aae4b9d8ad Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 17 May 2025 19:03:20 -0400 Subject: [PATCH 053/135] Fix memory copy error with APTarget; add beeline-to-intake This is probably also an issue with other classes, but I don't think its a problem yet. --- ThriftyTest/simgui.json | 11 +++++- .../deploy/pathplanner/autos/4PieceLeft.auto | 4 +- .../deploy/pathplanner/autos/4PieceRight.auto | 4 +- .../main/java/frc/robot/RobotObserver.java | 1 - .../frc/robot/binding/DashboardBindings.java | 7 +++- .../robot/binding/NamedCommandBindings.java | 28 +++++++++----- .../java/frc/robot/driveassist/APTarget.java | 37 +++++++++++++------ .../frc/robot/driveassist/ForceField.java | 2 +- .../drivetrain/CommandSwerveDrivetrain.java | 26 ++++++++----- .../robot/subsystems/elevator/Elevator.java | 1 + 10 files changed, 82 insertions(+), 39 deletions(-) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 25b5f253..5acbd8a4 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -24,7 +24,9 @@ "/SmartDashboard/Test vision": "Command", "/SmartDashboard/Test/Drive To Center": "Command", "/SmartDashboard/Test/Enter test state": "Command", + "/SmartDashboard/Test/L4": "Command", "/SmartDashboard/Test/LowReefAlgaeIntake": "Command", + "/SmartDashboard/Test/Upper algae reef": "Command", "/SmartDashboard/Test?": "Alerts", "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, @@ -42,8 +44,10 @@ "/SmartDashboard/Super Field": { "FF": { "arrows": false, + "length": 1.5, "selectable": false, - "style": "Hidden" + "style": "Box/Image", + "width": 2.0 }, "Pathfind Trajectory": { "arrows": false, @@ -127,6 +131,11 @@ "window": { "visible": true } + }, + "/SmartDashboard/Test/L4": { + "window": { + "visible": true + } } } }, diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto index dae7b2ae..a687438c 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto @@ -77,7 +77,7 @@ { "type": "named", "data": { - "name": "Align LIntake" + "name": "Beeline LIntake" } }, { @@ -121,7 +121,7 @@ { "type": "named", "data": { - "name": "Align LIntake" + "name": "Beeline LIntake" } }, { diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto index 93d558e6..68925294 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto @@ -94,7 +94,7 @@ { "type": "named", "data": { - "name": "Align RIntake" + "name": "Beeline RIntake" } } ] @@ -145,7 +145,7 @@ { "type": "named", "data": { - "name": "Align RIntake" + "name": "Beeline RIntake" } } ] diff --git a/ThriftyTest/src/main/java/frc/robot/RobotObserver.java b/ThriftyTest/src/main/java/frc/robot/RobotObserver.java index 5729f059..b68fc2a4 100644 --- a/ThriftyTest/src/main/java/frc/robot/RobotObserver.java +++ b/ThriftyTest/src/main/java/frc/robot/RobotObserver.java @@ -7,7 +7,6 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import frc.robot.Constants.ReefClipLocations; public class RobotObserver { private static RobotObserver m_instance; diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java index 07bd8f3c..1fdc3266 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java @@ -1,7 +1,12 @@ package frc.robot.binding; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.Constants.CoralLevel; import frc.robot.superstructure.Superstructure; +import frc.robot.superstructure.states.CoralScore; public class DashboardBindings implements Binder { - public void bind(Superstructure superstructure) {} + public void bind(Superstructure superstructure) { + SmartDashboard.putData("Test/L4", superstructure.enter(new CoralScore(CoralLevel.L4))); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java index 90c2363f..95fda058 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java @@ -43,18 +43,26 @@ public void bind(Superstructure superstructure) { new Align(new APTarget(location.value).withEntryAngle(location.value.getRotation())) .allianceRelative())); } + APTarget lIntake = new APTarget(FieldConstants.kLeftIntake) + .withRotationRadius(2.0); + APTarget rIntake = new APTarget(FieldConstants.kRightIntake) + .withRotationRadius(2.0); NamedCommands.registerCommand("Align LIntake", superstructure.enter( - new Align(new APTarget(FieldConstants.kLeftIntake) - .withEntryAngle(Rotation2d.kPi) - .withRotationRadius(2.0)) - .allianceRelative() - .fast())); + new Align(lIntake.withEntryAngle(Rotation2d.kPi)) + .allianceRelative() + .fast())); NamedCommands.registerCommand("Align RIntake", superstructure.enter( - new Align(new APTarget(FieldConstants.kRightIntake) - .withEntryAngle(Rotation2d.kPi) - .withRotationRadius(2.0)) - .allianceRelative() - .fast())); + new Align(rIntake.withEntryAngle(Rotation2d.kPi)) + .allianceRelative() + .fast())); + NamedCommands.registerCommand("Beeline LIntake", superstructure.enter( + new Align(lIntake) + .allianceRelative() + .fast())); + NamedCommands.registerCommand("Beeline RIntake", superstructure.enter( + new Align(rIntake) + .allianceRelative() + .fast())); NamedCommands.registerCommand("Align IJ", superstructure.enter( new Align(new APTarget(FieldConstants.kIJ).withEntryAngle(FieldConstants.kIJ.getRotation())) .allianceRelative())); diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java index 51076e84..d53b0d15 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java @@ -43,27 +43,27 @@ public APTarget(Pose2d pose) { * NOTE: This also sets, if unset, the entry angle to be the angle of the pose. */ public APTarget withReference(Pose2d reference) { - m_reference = reference; - if (m_entryAngle == null) { - m_entryAngle = Optional.of(reference.getRotation()); - } - return this; + APTarget target = this.clone(); + target.m_entryAngle = Optional.of(reference.getRotation()); + return target; } /** * Modifies this instance's entry angle and returns itself for easier method chaining */ public APTarget withEntryAngle(Rotation2d entryAngle) { - m_entryAngle = Optional.of(entryAngle); - return this; + APTarget target = this.clone(); + target.m_entryAngle = Optional.of(entryAngle); + return target; } /** * Modifies this instance's end velocity and returns itself for easier method chaining */ public APTarget withVelocity(double velocity) { - m_velocity = velocity; - return this; + APTarget target = this.clone(); + target.m_velocity = velocity; + return target; } /** @@ -74,8 +74,9 @@ public APTarget withVelocity(double velocity) { * until X distance from setpoint, this can be used to make that change. */ public APTarget withRotationRadius(double radius) { - m_rotationRadius = Optional.of(radius); - return this; + APTarget copy = this.clone(); + copy.m_rotationRadius = Optional.of(radius); + return copy; } /** @@ -114,9 +115,21 @@ public APTarget flip() { APTarget target = new APTarget(ref); m_entryAngle.ifPresent(rotation -> { Rotation2d entry = FlippingUtil.flipFieldRotation(rotation); - target.withEntryAngle(entry); + target.m_entryAngle = Optional.of(entry); }); target.m_rotationRadius = m_rotationRadius; return target; } + + /** + * Creates a copy of this APTarget + */ + public APTarget clone() { + APTarget target = new APTarget(); + target.m_reference = m_reference; + target.m_velocity = m_velocity; + target.m_entryAngle = m_entryAngle; + target.m_rotationRadius = m_rotationRadius; + return target; + } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java b/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java index 3452ae01..07df20c0 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java @@ -43,7 +43,7 @@ public Translation2d calculate( } Translation2d t = x.times( Math.sqrt(2 * FFConstants.k_decceleration / x.getNorm())); - boolean active = t.getNorm() < m_maxSpeed && RobotObserver.getFFEnabled(); + boolean active = t.getNorm() < m_maxSpeed; if (!active) { RobotObserver.getField().getObject("FF").setPoses(); return velocity; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index f1321bb0..ae71deed 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -387,15 +387,23 @@ public Command teleopDrive(DoubleSupplier x, DoubleSupplier y, DoubleSupplier ro setAligned(false); } - Translation2d adjusted = m_forceField.calculate( - new Translation2d(vx, vy), - m_estimatedPose, - getNearestAntitarget()); - - setControl(m_teleopRequest - .withVelocityX(adjusted.getX()) - .withVelocityY(adjusted.getY()) - .withRotationalRate(omega)); + if (RobotObserver.getFFEnabled()) { + Translation2d adjusted = m_forceField.calculate( + new Translation2d(vx, vy), + m_estimatedPose, + getNearestAntitarget()); + + setControl(m_teleopRequest + .withVelocityX(adjusted.getX()) + .withVelocityY(adjusted.getY()) + .withRotationalRate(omega)); + } else { + // no adjustments + setControl(m_teleopRequest + .withVelocityX(vx) + .withVelocityY(vy) + .withRotationalRate(omega)); + } }); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index 0fc358df..068cf1d7 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -92,6 +92,7 @@ public void periodic() { SmartDashboard.putString("Elevator/Reference", m_reference.toString()); SmartDashboard.putBoolean("Elevator/Prefire", m_prefireReq.getAsBoolean()); SmartDashboard.putBoolean("Elevator/Ready", ready().getAsBoolean()); + SmartDashboard.putBoolean("Elevator/Unsafe", unsafe().getAsBoolean()); } /** From 69588b05b2786688611d6b754b0cee3f40108e1a Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 17 May 2025 23:23:58 -0400 Subject: [PATCH 054/135] Add network vision logger; add recalibrate to auton --- ThriftyTest/simgui.json | 53 +++++++++++++++- .../deploy/pathplanner/autos/4PieceLeft.auto | 24 +++++++ .../deploy/pathplanner/autos/4PieceRight.auto | 24 +++++++ .../robot/binding/NamedCommandBindings.java | 2 + .../frc/robot/driveassist/ForceField.java | 5 +- .../drivetrain/CommandSwerveDrivetrain.java | 4 +- .../elevator/ElevatorConstants.java | 1 + .../subsystems/elevator/ElevatorIOSim.java | 1 + .../superstructure/states/ElevatorZero.java | 1 + .../frc/robot/vision/MultiInputFilter.java | 4 +- .../vision/SingleInputPoseEstimator.java | 62 ++++++++++++------- .../robot/vision/TimestampedPoseEstimate.java | 5 +- .../frc/robot/vision/VisionConstants.java | 2 +- .../java/frc/robot/vision/VisionHandler.java | 16 +++-- .../frc/robot/vision/VisionNetworkLogger.java | 34 +++++----- 15 files changed, 180 insertions(+), 58 deletions(-) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 5acbd8a4..c0b1e6a3 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -86,8 +86,27 @@ 0.40441176295280457, 255.0 ], + "selectable": false, "style": "Hidden" }, + "estimation": { + "arrowColor": [ + 0.3990052044391632, + 0.6029411554336548, + 0.5009731650352478, + 255.0 + ], + "arrowSize": 14, + "color": [ + 0.45415228605270386, + 0.686274528503418, + 0.5702133178710938, + 255.0 + ], + "length": 0.9399999976158142, + "selectable": false, + "width": 0.9399999976158142 + }, "height": 8.051901817321777, "image": "/Users/rekrab/hackbots/2025_Reefscape/ThriftyTest/2025-field-cropped.png", "reference": { @@ -114,6 +133,25 @@ "selectable": false, "width": 2.0 }, + "rejected": { + "arrowColor": [ + 0.44117647409439087, + 0.30276817083358765, + 0.3841848075389862, + 255.0 + ], + "arrows": false, + "color": [ + 0.4803921580314636, + 0.2401960790157318, + 0.33203572034835815, + 255.0 + ], + "length": 0.9399999976158142, + "selectable": false, + "style": "Hidden", + "width": 0.9399999976158142 + }, "right": 2932, "visibleTargetPoses": { "arrows": false, @@ -148,6 +186,9 @@ "Coral": { "open": true }, + "Elevator": { + "open": true + }, "Super Field": { "double[]##v_/SmartDashboard/Super Field/tag relative": { "open": true @@ -171,11 +212,20 @@ { "axis": [ { + "lockMax": true, + "lockMin": true, "max": 6.0, "min": -1.0 }, { + "lockMax": true, + "lockMin": true, "max": 12.0 + }, + { + "lockMax": true, + "lockMin": true, + "max": 1.2 } ], "backgroundColor": [ @@ -225,7 +275,8 @@ "yAxis": 1 } ], - "yaxis2": true + "yaxis2": true, + "yaxis3": true } ], "window": { diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto index a687438c..0b3351c7 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceLeft.auto @@ -16,6 +16,12 @@ "name": "L4" } }, + { + "type": "named", + "data": { + "name": "Recalibrate" + } + }, { "type": "parallel", "data": { @@ -60,6 +66,12 @@ "name": "L4" } }, + { + "type": "named", + "data": { + "name": "Recalibrate" + } + }, { "type": "parallel", "data": { @@ -104,6 +116,12 @@ "name": "L4" } }, + { + "type": "named", + "data": { + "name": "Recalibrate" + } + }, { "type": "parallel", "data": { @@ -147,6 +165,12 @@ "data": { "name": "L4" } + }, + { + "type": "named", + "data": { + "name": "Recalibrate" + } } ] } diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto index 68925294..b3f6bb70 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto @@ -16,6 +16,12 @@ "name": "L4" } }, + { + "type": "named", + "data": { + "name": "Recalibrate" + } + }, { "type": "parallel", "data": { @@ -67,6 +73,12 @@ "name": "L4" } }, + { + "type": "named", + "data": { + "name": "Recalibrate" + } + }, { "type": "parallel", "data": { @@ -118,6 +130,12 @@ "name": "L4" } }, + { + "type": "named", + "data": { + "name": "Recalibrate" + } + }, { "type": "parallel", "data": { @@ -168,6 +186,12 @@ "data": { "name": "L4" } + }, + { + "type": "named", + "data": { + "name": "Recalibrate" + } } ] } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java index 95fda058..3be7b4ce 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java @@ -13,6 +13,7 @@ import frc.robot.superstructure.states.CoralIntake; import frc.robot.superstructure.states.CoralScore; import frc.robot.superstructure.states.CoralWait; +import frc.robot.superstructure.states.ElevatorZero; import frc.robot.superstructure.states.LowerReefAlgaeIntake; import frc.robot.superstructure.states.Net; import frc.robot.superstructure.states.UpperReefAlgaeIntake; @@ -29,6 +30,7 @@ public void bind(Superstructure superstructure) { NamedCommands.registerCommand("L3", superstructure.enter(new CoralScore(CoralLevel.L3))); NamedCommands.registerCommand("Coral Wait", superstructure.enter(new CoralWait())); NamedCommands.registerCommand("Intake", superstructure.enter(new CoralIntake())); + NamedCommands.registerCommand("Recalibrate", superstructure.enter(new ElevatorZero())); /* algae */ NamedCommands.registerCommand("Lower Algae", superstructure.enter(new LowerReefAlgaeIntake())); diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java b/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java index 07df20c0..695edf37 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/ForceField.java @@ -25,10 +25,7 @@ public ForceField(double maxSpeed) { * @param antitarget The closest force field antitarget * @return the field relative adjusted velocity */ - public Translation2d calculate( - Translation2d velocity, - Pose2d current, - Pose2d antitarget) { + public Translation2d calculate(Translation2d velocity, Pose2d current, Pose2d antitarget) { Translation2d x = antitarget.getTranslation().minus(current.getTranslation()); double xNorm = x.getNorm(); if (xNorm == 0) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index ae71deed..24442888 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -311,9 +311,9 @@ public void driveRobotRelative(ChassisSpeeds speeds) { public void addPoseEstimate(TimestampedPoseEstimate estimate) { // This should NOT run in simulation! - if (Robot.isSimulation()) + if (Robot.isSimulation()) { return; - // Depending on our configs, we should use or not use the std devs + } addVisionMeasurement( estimate.pose(), estimate.timestamp(), diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java index ed440477..b258799d 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorConstants.java @@ -105,5 +105,6 @@ public final class ElevatorConstants { protected static final LinearSystem kPlant = LinearSystemId.createElevatorSystem(DCMotor.getKrakenX60(1), 1, 1, 1); + public static final double kCalibrationTime = 3.5; // seconds } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java index 7ed06a84..1e02061b 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java @@ -5,6 +5,7 @@ public class ElevatorIOSim implements ElevatorIO { public void updateInputs(ElevatorIOInputs inputs) { inputs.position = m_position; + inputs.zeroCANrangeDetected = m_position == 0; } public void setPosition(double position) { diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java index afba6f2e..b32a723c 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java @@ -12,6 +12,7 @@ public ElevatorZero() {} public Command build(Subsystems subsystems) { return subsystems.elevator().autoZero().asProxy() + .withTimeout(4) .finallyDo(subsystems.elevator()::release) .unless(subsystems.coral().holding()); } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java b/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java index d7d279cc..18fe0002 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/MultiInputFilter.java @@ -2,7 +2,6 @@ import java.util.HashMap; import java.util.HashSet; -import java.util.List; import java.util.Optional; import java.util.Set; import java.util.Map.Entry; @@ -54,8 +53,7 @@ private boolean verifyTargets(Pose2d source, Set targets) { return true; } - public void addInput(String source, List tagList) { - Set tags = new HashSet<>(tagList); + public void addInput(String source, Set tags) { if (!m_tags.containsKey(source)) { m_tags.put(source, new HashSet<>()); } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java index d3d59f63..8c53f1e4 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java @@ -1,8 +1,8 @@ package frc.robot.vision; -import java.util.ArrayList; import java.util.List; import java.util.Optional; +import java.util.Set; import java.util.function.Consumer; import java.util.stream.Collectors; import org.photonvision.EstimatedRobotPose; @@ -42,13 +42,17 @@ public class SingleInputPoseEstimator implements Runnable { private final MultiInputFilter m_filter; + private final VisionNetworkLogger m_networkLogger; + private Pose2d m_lastPose; public SingleInputPoseEstimator( MultiInputFilter fitler, + VisionNetworkLogger networkLogger, CameraIO io, Consumer updateCallback) { m_io = io; + m_networkLogger = networkLogger; m_inputs = new CameraIOInputs(); m_reporter = updateCallback; m_filter = fitler; @@ -63,9 +67,9 @@ public void refresh(Pose2d robotPose) { m_lastPose = robotPose; m_io.updateInputs(m_inputs); for (PhotonPipelineResult result : m_inputs.unreadResults) { - List tags = result.getTargets().stream() + Set tags = result.getTargets().stream() .map(target -> target.getFiducialId()) - .collect(Collectors.toList()); + .collect(Collectors.toSet()); m_filter.addInput(m_io.getName(), tags); } } @@ -91,6 +95,8 @@ public void run() { private void combinedHandleResult(PhotonPipelineResult result) { // some prechecks before we do anything if (!precheckValidity(result)) { + // We don't use the network logger to precheck these ones because this checks for the dumb + // stuff like "do we see anything" or "is this from a minute ago?" return; } // we can now assume that we have targets @@ -102,11 +108,12 @@ private void combinedHandleResult(PhotonPipelineResult result) { Optional est = m_estimator.update(result); if (est.isPresent()) { Pose3d estimatedPose = est.get().estimatedPose; - // if (m_filter.verify(estimatedPose.toPose2d())) { + Pose2d estimatedPose2d = estimatedPose.toPose2d(); + if (m_filter.verify(estimatedPose2d)) { process(result, estimatedPose, algorithm).ifPresent(m_reporter); - // } else { - // RobotObserver.getField().getObject("rej").setPose(estimatedPose.toPose2d()); - // } + } else { + m_networkLogger.registerRejectedEstimate(estimatedPose2d); + } } PhotonTrackedTarget target = targets.get(0); int fidId = target.getFiducialId(); @@ -126,16 +133,26 @@ private void combinedHandleResult(PhotonPipelineResult result) { Pose3d alt = targetPosition3d .plus(alt3d.inverse()) .plus(m_io.getRobotToCamera().inverse()); - // boolean bestOk = m_filter.verify(best.toPose2d()); - // boolean altOk = m_filter.verify(alt.toPose2d()); - // if (bestOk && !altOk) { - // process(result, best, EstimationAlgorithm.MultiInput); - // return; - // } - // if (altOk && !bestOk) { - // process(result, alt, EstimationAlgorithm.MultiInput); - // return; - // } + boolean bestOk = m_filter.verify(best.toPose2d()); + boolean altOk = m_filter.verify(alt.toPose2d()); + if (!bestOk) { + m_networkLogger.registerRejectedEstimate(best.toPose2d()); + } + if (!altOk) { + m_networkLogger.registerRejectedEstimate(alt.toPose2d()); + } + if (bestOk && !altOk) { + process(result, best, EstimationAlgorithm.MultiInput); + return; + } + if (altOk && !bestOk) { + process(result, alt, EstimationAlgorithm.MultiInput); + return; + } + if (!bestOk && !altOk) { + // neither is good + return; + } // final decision maker double bestHeading = best.getRotation().getZ(); double altHeading = alt.getRotation().getZ(); @@ -176,22 +193,21 @@ private Optional process( double ambiguity = getAmbiguity(result); Pose2d flatPose = pose.toPose2d(); Matrix stdDevs = calculateStdDevs(result, flatPose); + // check validity - if (!checkValidity(pose, ambiguity)) + if (!checkValidity(pose, ambiguity)) { return Optional.empty(); - List tags = new ArrayList<>(); - for (PhotonTrackedTarget target : result.getTargets()) { - tags.add(target.getFiducialId()); } return Optional.of( - new TimestampedPoseEstimate(flatPose, m_io.getName(), timestamp, stdDevs, algorithm, tags)); + new TimestampedPoseEstimate(flatPose, m_io.getName(), timestamp, stdDevs, algorithm)); } private boolean checkValidity( Pose3d pose, double ambiguity) { - if (ambiguity >= VisionConstants.kAmbiguityThreshold) + if (ambiguity >= VisionConstants.kAmbiguityThreshold) { return false; + } return !isOutsideField(pose); } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java b/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java index ee76771d..e26c9205 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java @@ -1,7 +1,5 @@ package frc.robot.vision; -import java.util.List; - import edu.wpi.first.math.Matrix; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.numbers.N1; @@ -12,8 +10,7 @@ public record TimestampedPoseEstimate( String source, double timestamp, Matrix stdDevs, - EstimationAlgorithm algorithm, - List tags) { + EstimationAlgorithm algorithm) { public enum EstimationAlgorithm { Trig, PnP, Ambiguity, Heading, MultiInput; diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java index 6a1d3515..0228a6ef 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -31,7 +31,7 @@ public class VisionConstants { AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded); protected static final String kEstimationName = "estimation"; - protected static final String kRejectedName = "rejected"; + protected static final String kRejectName = "rejected"; protected static final String kLogPath = "/home/lvuser/logs/vision"; protected static final String kSimLogPath = "logs/vision"; diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java index ec218bf6..2e201aa6 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java @@ -25,15 +25,19 @@ public class VisionHandler implements AutoCloseable { private final VisionLogBuilder m_logBuilder; + private final VisionNetworkLogger m_networkLogger; + private final MultiInputFilter m_filter; public VisionHandler(Supplier poseSupplier, Consumer callback) { m_poseSupplier = poseSupplier; m_consumer = callback; m_filter = new MultiInputFilter(); + m_logBuilder = new VisionLogBuilder(); + m_networkLogger = + new VisionNetworkLogger(Robot.isSimulation() || VisionConstants.kEnableNetworkLogging); setupCameras(); m_notifier = new Notifier(this::updateEstimators); - m_logBuilder = new VisionLogBuilder(); } private void setupCameras() { @@ -48,6 +52,7 @@ private void setupCameras() { } SingleInputPoseEstimator estimator = new SingleInputPoseEstimator( m_filter, + m_networkLogger, io, this::addEstimate); m_estimators.add(estimator); @@ -64,11 +69,12 @@ private void updateEstimators() { for (SingleInputPoseEstimator estimator : m_estimators) { estimator.run(); } - long elapsed = System.currentTimeMillis() - start; - SmartDashboard.putNumber("Vision/Loop time (ms)", elapsed); - // finish logging m_logBuilder.log(m_poseSupplier.get()); + m_networkLogger.updateUnread(); + + long elapsed = System.currentTimeMillis() - start; + SmartDashboard.putNumber("Vision/Loop time (ms)", elapsed); } public void startThread() { @@ -77,7 +83,7 @@ public void startThread() { private void addEstimate(TimestampedPoseEstimate estimate) { m_consumer.accept(estimate); - // pose logging + m_networkLogger.registerValidEstimate(estimate.pose()); m_logBuilder.addEstimate(estimate); } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java index bef12b2e..c9a43acf 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java @@ -9,38 +9,42 @@ public class VisionNetworkLogger { private final boolean m_enableLogging; private final ArrayList m_estimates; - private final ArrayList m_rejected; + private final ArrayList m_rejects; public VisionNetworkLogger(boolean enable) { m_enableLogging = enable; m_estimates = new ArrayList<>(); - m_rejected = new ArrayList<>(); + m_rejects = new ArrayList<>();; } - public void registerValidEstimate(TimestampedPoseEstimate estimate) { - m_estimates.add(estimate.pose()); + public void registerValidEstimate(Pose2d estimate) { + if (m_enableLogging) { + m_estimates.add(estimate); + } } - public void registerRejectedEstimate(TimestampedPoseEstimate estimate) { - m_rejected.add(estimate.pose()); + public void registerRejectedEstimate(Pose2d estimate) { + if (m_enableLogging) { + m_rejects.add(estimate); + } } - public void update() { + public void updateUnread() { if (m_enableLogging) { RobotObserver.getField().getObject(VisionConstants.kEstimationName).setPoses(m_estimates); - RobotObserver.getField().getObject(VisionConstants.kRejectedName).setPoses(m_rejected); + RobotObserver.getField().getObject(VisionConstants.kRejectName).setPoses(m_rejects); double estimates = m_estimates.size(); - double rejected = m_rejected.size(); - SmartDashboard.putNumber("Vision/Estimates", estimates); - SmartDashboard.putNumber("Vision/Rejected", rejected); - if (estimates > 0) { - SmartDashboard.putNumber("Rejection rate", rejected / estimates); + double rejects = m_rejects.size(); + SmartDashboard.putNumber("Vision/Estimate Count", estimates); + SmartDashboard.putNumber("Vision/Reject Count", rejects); + if (rejects + estimates > 0) { + SmartDashboard.putNumber("Vision/Rejection rate", rejects / (estimates + rejects)); } else { - SmartDashboard.putNumber("Rejection rate", Double.NaN); + SmartDashboard.putNumber("Vision/Rejection rate", Double.NaN); } } // clean up after ourselves m_estimates.clear(); - m_rejected.clear(); + m_rejects.clear(); } } From 627a68a81abb271b680b55125ae94aec90c845c4 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 17 May 2025 23:44:40 -0400 Subject: [PATCH 055/135] Centralized call to refresh status signals 6328 guy says this is optimal for loop times --- .../src/main/java/frc/robot/Robot.java | 2 ++ .../subsystems/algae/AlgaeIOHardware.java | 4 +-- .../subsystems/climber/ClimberIOHardware.java | 11 ++++--- .../subsystems/coral/CoralIOHardware.java | 20 ++++++------- .../elevator/ElevatorIOHardware.java | 28 ++++++++++++++---- .../subsystems/pivot/PivotIOHardware.java | 6 ++-- .../superstructure/states/ElevatorZero.java | 3 +- .../frc/robot/utils/StatusSignalUtil.java | 29 +++++++++++++++++++ 8 files changed, 75 insertions(+), 28 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/utils/StatusSignalUtil.java diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index ad1f3872..6f7f4fbf 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -9,6 +9,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.utils.StatusSignalUtil; public class Robot extends TimedRobot { private Command m_autonomousCommand; @@ -28,6 +29,7 @@ public void robotInit() { @Override public void robotPeriodic() { CommandScheduler.getInstance().run(); + StatusSignalUtil.refreshAll(); SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime()); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java index 52c4aeb4..0cceca2d 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java @@ -32,12 +32,12 @@ public AlgaeIOHardware() { } public void updateInputs(AlgaeIOInputs inputs) { - inputs.motorConnected = BaseStatusSignal.refreshAll( + inputs.motorConnected = BaseStatusSignal.isAllGood( m_voltageSignal, m_currentSignal, m_torqueSignal, m_tempSignal, - m_velocitySignal).isOK(); + m_velocitySignal); inputs.voltage = m_voltageSignal.getValueAsDouble(); inputs.current = m_currentSignal.getValueAsDouble(); inputs.torque = m_torqueSignal.getValueAsDouble(); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java index 56b4aeef..f73405b1 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java @@ -60,16 +60,16 @@ public ClimberIOHardware() { } public void updateInputs(ClimberIOInputs inputs) { - inputs.leftConnected = BaseStatusSignal.refreshAll( + inputs.leftConnected = BaseStatusSignal.isAllGood( m_leftVoltageSignal, m_leftCurrentSignal, m_leftTempSignal, - m_leftVelocitySignal).isOK(); - inputs.rightConnected = BaseStatusSignal.refreshAll( + m_leftVelocitySignal); + inputs.rightConnected = BaseStatusSignal.isAllGood( m_rightVoltageSignal, m_rightCurrentSignal, m_rightTempSignal, - m_rightVelocitySignal).isOK(); + m_rightVelocitySignal); inputs.leftVoltage = m_leftVoltageSignal.getValueAsDouble(); inputs.rightVoltage = m_rightVoltageSignal.getValueAsDouble(); inputs.leftCurrent = m_leftCurrentSignal.getValueAsDouble(); @@ -78,8 +78,7 @@ public void updateInputs(ClimberIOInputs inputs) { inputs.rightTemp = m_rightTempSignal.getValueAsDouble(); inputs.leftVelocityRPS = m_leftVelocitySignal.getValueAsDouble(); inputs.rightVelocityRPS = m_rightVelocitySignal.getValueAsDouble(); - inputs.encoderConnected = BaseStatusSignal.refreshAll( - m_positionSignal).isOK(); + inputs.encoderConnected = BaseStatusSignal.isAllGood(m_positionSignal); inputs.position = m_positionSignal.getValueAsDouble(); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java index 1f4d21e1..26c01582 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java @@ -77,34 +77,34 @@ public CoralIOHardware() { } public void updateInputs(CoralIOInputs inputs) { - inputs.rightMotorConnected = BaseStatusSignal.refreshAll( + inputs.rightMotorConnected = BaseStatusSignal.isAllGood( m_rightVoltageSignal, m_rightCurrentSignal, m_rightTempSignal, - m_rightVelocitySignal).isOK(); - inputs.leftMotorConnected = BaseStatusSignal.refreshAll( + m_rightVelocitySignal); + inputs.leftMotorConnected = BaseStatusSignal.isAllGood( m_leftVoltageSignal, m_leftCurrentSignal, m_leftTempSignal, - m_leftVelocitySignal).isOK(); + m_leftVelocitySignal); inputs.rightVoltage = m_rightVoltageSignal.getValueAsDouble(); inputs.leftVoltage = m_leftVoltageSignal.getValueAsDouble(); inputs.rightCurrent = m_rightCurrentSignal.getValueAsDouble(); inputs.leftCurrent = m_leftCurrentSignal.getValueAsDouble(); inputs.rightTemperature = m_rightTempSignal.getValueAsDouble(); inputs.leftTemperature = m_leftTempSignal.getValueAsDouble(); - inputs.frontCANrangeConnected = BaseStatusSignal.refreshAll( + inputs.frontCANrangeConnected = BaseStatusSignal.isAllGood( m_frontDetectedSignal, m_frontDistanceSignal, - m_frontStrengthSignal).isOK(); - inputs.upperCANrangeConnected = BaseStatusSignal.refreshAll( + m_frontStrengthSignal); + inputs.upperCANrangeConnected = BaseStatusSignal.isAllGood( m_upperDetectedSignal, m_upperDistanceSignal, - m_upperStrengthSignal).isOK(); - inputs.innerCANrangeConnected = BaseStatusSignal.refreshAll( + m_upperStrengthSignal); + inputs.innerCANrangeConnected = BaseStatusSignal.isAllGood( m_innerDetectedSignal, m_innerDistanceSignal, - m_innerStrengthSignal).isOK(); + m_innerStrengthSignal); inputs.frontDetected = m_frontDetectedSignal.getValue(); inputs.upperDetected = m_upperDetectedSignal.getValue(); inputs.innerDetected = m_innerDetectedSignal.getValue(); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java index 666e006e..8044f245 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java @@ -13,6 +13,7 @@ import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.Temperature; import edu.wpi.first.units.measure.Voltage; +import frc.robot.utils.StatusSignalUtil; public class ElevatorIOHardware implements ElevatorIO { private final TalonFX m_leftMotor; @@ -70,21 +71,36 @@ public ElevatorIOHardware() { m_CANrangeDetectedSignal = m_CANrange.getIsDetected(); m_CANrangeDistanceSignal = m_CANrange.getDistance(); m_CANrangeStrengthSignal = m_CANrange.getSignalStrength(); + + StatusSignalUtil.registerCANivoreSignals( + m_leftVoltageSignal, + m_rightVoltageSignal, + m_leftCurrentSignal, + m_rightCurrentSignal, + m_leftTempSignal, + m_rightTempSignal, + m_leftVelocitySignal, + m_rightVelocitySignal, + m_leftPositionSignal, + m_rightPositionSignal, + m_CANrangeDetectedSignal, + m_CANrangeDistanceSignal, + m_CANrangeStrengthSignal); } public void updateInputs(ElevatorIOInputs inputs) { - inputs.leftMotorConnected = BaseStatusSignal.refreshAll( + inputs.leftMotorConnected = BaseStatusSignal.isAllGood( m_leftVoltageSignal, m_leftCurrentSignal, m_leftTempSignal, m_leftVelocitySignal, - m_leftPositionSignal).isOK(); - inputs.rightMotorConnected = BaseStatusSignal.refreshAll( + m_leftPositionSignal); + inputs.rightMotorConnected = BaseStatusSignal.isAllGood( m_rightVoltageSignal, m_rightCurrentSignal, m_rightTempSignal, m_rightVelocitySignal, - m_rightPositionSignal).isOK(); + m_rightPositionSignal); inputs.leftVoltage = m_leftVoltageSignal.getValueAsDouble(); inputs.rightVoltage = m_rightVoltageSignal.getValueAsDouble(); inputs.leftCurrent = m_leftCurrentSignal.getValueAsDouble(); @@ -97,10 +113,10 @@ public void updateInputs(ElevatorIOInputs inputs) { inputs.rightPosition = m_rightPositionSignal.getValueAsDouble(); inputs.position = inputs.rightPosition; - inputs.zeroCANrangeConnected = BaseStatusSignal.refreshAll( + inputs.zeroCANrangeConnected = BaseStatusSignal.isAllGood( m_CANrangeDetectedSignal, m_CANrangeDistanceSignal, - m_CANrangeStrengthSignal).isOK(); + m_CANrangeStrengthSignal); inputs.zeroCANrangeDetected = m_CANrangeDetectedSignal.getValue(); inputs.zeroCANrangeDistance = m_CANrangeDistanceSignal.getValueAsDouble(); inputs.zeroCANrangeStrength = m_CANrangeStrengthSignal.getValueAsDouble(); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java index bf3e7a5d..16aa2e4d 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java @@ -25,7 +25,7 @@ public PivotIOHardware() { m_motor = new TalonFX(PivotConstants.kMotorID); m_motor.getConfigurator().apply(PivotConstants.kMotorConfig); m_motor.setPosition(PivotConstants.kRotorOffset); - + m_voltageSignal = m_motor.getMotorVoltage(); m_currentSignal = m_motor.getSupplyCurrent(); m_tempSignal = m_motor.getDeviceTemp(); @@ -36,12 +36,12 @@ public PivotIOHardware() { } public void updateInputs(PivotIOInputs inputs) { - inputs.motorConnected = BaseStatusSignal.refreshAll( + inputs.motorConnected = BaseStatusSignal.isAllGood( m_voltageSignal, m_currentSignal, m_tempSignal, m_velocitySignal, - m_positionSignal).isOK(); + m_positionSignal); inputs.voltage = m_voltageSignal.getValueAsDouble(); inputs.current = m_currentSignal.getValueAsDouble(); inputs.temperatue = m_tempSignal.getValueAsDouble(); diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java index b32a723c..3c2ec007 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ElevatorZero.java @@ -1,6 +1,7 @@ package frc.robot.superstructure.states; import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.elevator.ElevatorConstants; import frc.robot.superstructure.EnterableState; import frc.robot.superstructure.Superstructure.Subsystems; @@ -12,7 +13,7 @@ public ElevatorZero() {} public Command build(Subsystems subsystems) { return subsystems.elevator().autoZero().asProxy() - .withTimeout(4) + .withTimeout(ElevatorConstants.kCalibrationTime) .finallyDo(subsystems.elevator()::release) .unless(subsystems.coral().holding()); } diff --git a/ThriftyTest/src/main/java/frc/robot/utils/StatusSignalUtil.java b/ThriftyTest/src/main/java/frc/robot/utils/StatusSignalUtil.java new file mode 100644 index 00000000..c621454f --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/utils/StatusSignalUtil.java @@ -0,0 +1,29 @@ +package frc.robot.utils; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; + +@SuppressWarnings("rawtypes") +public class StatusSignalUtil { + private static StatusSignal[] m_rioSignals = new StatusSignal[0]; + private static StatusSignal[] m_canivoreSignals = new StatusSignal[0]; + + public static void registerRioSignals(StatusSignal... signals) { + StatusSignal[] newSignals = new StatusSignal[m_rioSignals.length + signals.length]; + System.arraycopy(m_rioSignals, 0, newSignals, 0, m_rioSignals.length); + System.arraycopy(signals, 0, newSignals, m_rioSignals.length, signals.length); + m_rioSignals = newSignals; + } + + public static void registerCANivoreSignals(StatusSignal... signals) { + StatusSignal[] newSignals = new StatusSignal[m_canivoreSignals.length + signals.length]; + System.arraycopy(m_canivoreSignals, 0, newSignals, 0, m_canivoreSignals.length); + System.arraycopy(signals, 0, newSignals, m_canivoreSignals.length, signals.length); + m_canivoreSignals = newSignals; + } + + public static void refreshAll() { + BaseStatusSignal.refreshAll(m_rioSignals); + BaseStatusSignal.refreshAll(m_canivoreSignals); + } +} From 07756ddd25f19311c2b49baccc048500c3eb963d Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 18 May 2025 09:26:33 -0400 Subject: [PATCH 056/135] Add code to register ALL status signals Also sprinkled in some TODOs and FIXMEs where necessary --- .../frc/robot/generated/TunerConstants.java | 28 ++++++++----------- .../subsystems/algae/AlgaeIOHardware.java | 8 ++++++ .../subsystems/climber/ClimberIOHardware.java | 11 ++++++++ .../subsystems/coral/CoralIOHardware.java | 20 +++++++++++++ .../elevator/ElevatorIOHardware.java | 2 +- .../subsystems/pivot/PivotIOHardware.java | 8 ++++++ 6 files changed, 60 insertions(+), 17 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java index 1cf08b11..9a50bf2c 100644 --- a/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/generated/TunerConstants.java @@ -39,23 +39,18 @@ public class TunerConstants { // Both sets of gains need to be tuned to your individual robot. - // The steer motor uses any SwerveModule.SteerRequestType control request with the - // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput + // The steer motor uses any SwerveModule.SteerRequestType control request with the + // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput - // private static final Slot0Configs steerGains = new Slot0Configs() - // .withKP(49.33).withKI(0).withKD(3.18488) - // .withKS(0.099311).withKV(2.45135).withKA(0.1040918) - // .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); + private static final Slot0Configs steerGains = new Slot0Configs() + .withKP(40.0); - private static final Slot0Configs steerGains = new Slot0Configs() - .withKP(40.0); + // When using closed-loop control, the drive motor uses the control + // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput - // When using closed-loop control, the drive motor uses the control - // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput - - private static final Slot0Configs driveGains = new Slot0Configs() - .withKP(0.182115).withKI(0).withKD(0) - .withKS(0.16669).withKV(0.123925).withKA(0.0075743); + private static final Slot0Configs driveGains = new Slot0Configs() + .withKP(0.182115).withKI(0).withKD(0) + .withKS(0.16669).withKV(0.123925).withKA(0.0075743); // The closed-loop output type to use for the steer motors; // This affects the PID/FF gains for the steer motors @@ -77,6 +72,7 @@ public class TunerConstants { // The stator current at which the wheels start to slip; // This needs to be tuned to your individual robot + // TODO: is this correct? I think this is the default and we've just ran with it private static final Current kSlipCurrent = Amps.of(120.0); // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null. @@ -96,6 +92,7 @@ public class TunerConstants { // CAN bus that the devices are located on; // All swerve devices must share the same CAN bus public static final CANBus kCANBus = new CANBus("CANivore", "./logs/example.hoot"); + // TODO: is example.hoot real? // Theoretical free speed (m/s) at 12 V applied output; // This needs to be tuned to your individual robot @@ -103,7 +100,7 @@ public class TunerConstants { // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns; // This may need to be tuned to your individual robot - private static final double kCoupleRatio = 0; + private static final double kCoupleRatio = 0; // FIXME: I 100% KNOW this is wrong private static final double kDriveGearRatio = 6.75; private static final double kSteerGearRatio = 25; @@ -229,7 +226,6 @@ public static CommandSwerveDrivetrain createDrivetrain() { DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight); } - /** * Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types. */ diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java index 0cceca2d..de921b1c 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java @@ -7,6 +7,7 @@ import edu.wpi.first.units.measure.Current; import edu.wpi.first.units.measure.Temperature; import edu.wpi.first.units.measure.Voltage; +import frc.robot.utils.StatusSignalUtil; public class AlgaeIOHardware implements AlgaeIO { private final TalonFX m_motor; @@ -29,6 +30,13 @@ public AlgaeIOHardware() { m_torqueSignal = m_motor.getTorqueCurrent(); m_tempSignal = m_motor.getDeviceTemp(); m_velocitySignal = m_motor.getVelocity(); + + StatusSignalUtil.registerRioSignals( + m_voltageSignal, + m_currentSignal, + m_torqueSignal, + m_tempSignal, + m_velocitySignal); } public void updateInputs(AlgaeIOInputs inputs) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java index f73405b1..a802b7f2 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java @@ -11,6 +11,7 @@ import edu.wpi.first.units.measure.Temperature; import edu.wpi.first.units.measure.Voltage; import edu.wpi.first.wpilibj.Servo; +import frc.robot.utils.StatusSignalUtil; public class ClimberIOHardware implements ClimberIO { private final TalonFX m_leftMotor; @@ -57,6 +58,16 @@ public ClimberIOHardware() { m_rightVelocitySignal = m_rightMotor.getVelocity(); m_positionSignal = m_CANcoder.getPosition(); + + StatusSignalUtil.registerRioSignals( + m_leftVoltageSignal, + m_rightVoltageSignal, + m_leftCurrentSignal, + m_rightCurrentSignal, + m_leftTempSignal, + m_rightTempSignal, + m_leftVelocitySignal, + m_rightVelocitySignal); } public void updateInputs(ClimberIOInputs inputs) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java index 26c01582..2e52180b 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOHardware.java @@ -9,6 +9,7 @@ import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.Temperature; import edu.wpi.first.units.measure.Voltage; +import frc.robot.utils.StatusSignalUtil; public class CoralIOHardware implements CoralIO { private final TalonFX m_leftMotor; @@ -74,6 +75,25 @@ public CoralIOHardware() { m_frontDetectedSignal = m_frontCANrange.getIsDetected(); m_upperDetectedSignal = m_upperCANrange.getIsDetected(); m_innerDetectedSignal = m_innerCANrange.getIsDetected(); + + StatusSignalUtil.registerRioSignals( + m_leftVoltageSignal, + m_rightVoltageSignal, + m_leftCurrentSignal, + m_rightCurrentSignal, + m_leftTempSignal, + m_rightTempSignal, + m_leftVelocitySignal, + m_rightVelocitySignal, + m_frontDetectedSignal, + m_upperDetectedSignal, + m_innerDetectedSignal, + m_frontDistanceSignal, + m_upperDistanceSignal, + m_innerDistanceSignal, + m_frontStrengthSignal, + m_upperStrengthSignal, + m_innerStrengthSignal); } public void updateInputs(CoralIOInputs inputs) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java index 8044f245..83ff6ef5 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java @@ -72,7 +72,7 @@ public ElevatorIOHardware() { m_CANrangeDistanceSignal = m_CANrange.getDistance(); m_CANrangeStrengthSignal = m_CANrange.getSignalStrength(); - StatusSignalUtil.registerCANivoreSignals( + StatusSignalUtil.registerRioSignals( m_leftVoltageSignal, m_rightVoltageSignal, m_leftCurrentSignal, diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java index 16aa2e4d..ce26ef72 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java @@ -9,6 +9,7 @@ import edu.wpi.first.units.measure.Current; import edu.wpi.first.units.measure.Temperature; import edu.wpi.first.units.measure.Voltage; +import frc.robot.utils.StatusSignalUtil; public class PivotIOHardware implements PivotIO { private final TalonFX m_motor; @@ -33,6 +34,13 @@ public PivotIOHardware() { m_positionSignal = m_motor.getPosition(); m_control = new MotionMagicVoltage(0.0); + + StatusSignalUtil.registerRioSignals( + m_voltageSignal, + m_currentSignal, + m_tempSignal, + m_velocitySignal, + m_positionSignal); } public void updateInputs(PivotIOInputs inputs) { From 72326e9ceef6360d158ab6a36a350cac0263fd22 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 18 May 2025 11:01:10 -0400 Subject: [PATCH 057/135] Add loop tracking and enable DataLogManager --- ThriftyTest/simgui.json | 6 +-- .../src/main/java/frc/robot/Robot.java | 11 +++- .../frc/robot/subsystems/algae/Algae.java | 6 +++ .../frc/robot/subsystems/climber/Climber.java | 6 +++ .../frc/robot/subsystems/coral/Coral.java | 6 +++ .../drivetrain/CommandSwerveDrivetrain.java | 6 +++ .../robot/subsystems/elevator/Elevator.java | 6 +++ .../frc/robot/subsystems/pivot/Pivot.java | 11 ++++ .../main/java/frc/robot/utils/LoopTimer.java | 50 +++++++++++++++++++ .../frc/robot/utils/StatusSignalUtil.java | 8 ++- .../java/frc/robot/vision/VisionHandler.java | 10 ++-- 11 files changed, 115 insertions(+), 11 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/utils/LoopTimer.java diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index c0b1e6a3..ac739996 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -186,9 +186,6 @@ "Coral": { "open": true }, - "Elevator": { - "open": true - }, "Super Field": { "double[]##v_/SmartDashboard/Super Field/tag relative": { "open": true @@ -261,7 +258,8 @@ "digitalBitHeight": 33, "id": "NT:/SmartDashboard/Vision/Loop time (ms)", "marker": "None", - "name": "Vision loop time" + "name": "Vision loop time", + "yAxis": 1 }, { "color": [ diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index 6f7f4fbf..6f39474e 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -4,11 +4,13 @@ package frc.robot; +import edu.wpi.first.wpilibj.DataLogManager; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.utils.LoopTimer; import frc.robot.utils.StatusSignalUtil; public class Robot extends TimedRobot { @@ -16,21 +18,28 @@ public class Robot extends TimedRobot { private final RobotContainer m_robotContainer; + private final LoopTimer m_loopTimer; + public Robot() { m_robotContainer = new RobotContainer(); + m_loopTimer = new LoopTimer("Robot"); } @Override public void robotInit() { + DataLogManager.start(); + DriverStation.startDataLog(DataLogManager.getLog()); m_robotContainer.enablePDPSwitch(); SmartDashboard.putData("Command Scheduler", CommandScheduler.getInstance()); } @Override public void robotPeriodic() { + m_loopTimer.reset(); CommandScheduler.getInstance().run(); StatusSignalUtil.refreshAll(); - SmartDashboard.putNumber("Match Time", DriverStation.getMatchTime()); + SmartDashboard.putNumber("Robot/Match Time", DriverStation.getMatchTime()); + m_loopTimer.log(); } @Override diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java index 920e4d01..ec2c28ed 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java @@ -12,11 +12,14 @@ import frc.robot.RobotObserver; import frc.robot.subsystems.PassiveSubsystem; import frc.robot.subsystems.algae.AlgaeIO.AlgaeIOInputs; +import frc.robot.utils.LoopTimer; public class Algae extends PassiveSubsystem { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(Algae.class); + private final LoopTimer m_timer; + private final AlgaeIO m_io; private AlgaeIOInputs m_inputs; @@ -33,6 +36,7 @@ public Algae() { } m_inputs = new AlgaeIOInputs(); RobotObserver.setAlgaePieceHeldSupplier(this.holdingAlgae()); + m_timer = new LoopTimer("Algae"); } private void setVoltage(double voltage) { @@ -66,12 +70,14 @@ private void keep(boolean shouldHold) { @Override public void periodic() { + m_timer.reset(); m_io.updateInputs(m_inputs); m_hasAlgae = getTorqueCurrent() >= AlgaeConstants.kTorqueCurrentThreshold; SmartDashboard.putBoolean("Algae/Held", m_hasAlgae); SmartDashboard.putNumber("Algae/Torque", m_inputs.torque); SmartDashboard.putNumber("Algae/Voltage", m_inputs.voltage); SmartDashboard.putNumber("Algae/Temperature", m_inputs.temperature); + m_timer.log(); } protected void passive() { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java index 6f429142..f81a4c99 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java @@ -10,11 +10,14 @@ import frc.robot.Robot; import frc.robot.subsystems.PassiveSubsystem; import frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs; +import frc.robot.utils.LoopTimer; public class Climber extends PassiveSubsystem { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(Climber.class); + private final LoopTimer m_timer; + private final ClimberIO m_io; private ClimberIOInputs m_inputs; @@ -26,6 +29,7 @@ public Climber() { m_io = new ClimberIOSim(); } m_inputs = new ClimberIOInputs(); + m_timer = new LoopTimer("Climber"); } /* @@ -57,11 +61,13 @@ private void stop() { @Override public void periodic() { + m_timer.reset(); m_io.updateInputs(m_inputs); SmartDashboard.putBoolean("Climb/Ready", raised().getAsBoolean()); SmartDashboard.putBoolean("Climb/Complete", climbed().getAsBoolean()); SmartDashboard.putNumber("Climb/Position", m_inputs.position); SmartDashboard.putNumber("Climb/Voltage", m_inputs.leftVoltage); + m_timer.log(); } public Trigger climbed() { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java index 011af2b1..d763bb22 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java @@ -16,10 +16,13 @@ import frc.robot.RobotObserver; import frc.robot.subsystems.PassiveSubsystem; import frc.robot.subsystems.coral.CoralIO.CoralIOInputs; +import frc.robot.utils.LoopTimer; public class Coral extends PassiveSubsystem { private final Logger m_logger = LoggerFactory.getLogger(Coral.class); + private final LoopTimer m_timer; + private final CoralIO m_io; private CoralIOInputs m_inputs = new CoralIOInputs(); @@ -31,6 +34,7 @@ public Coral() { m_io = new CoralIOSim(); } RobotObserver.setCoralHeldSupplier(holding()); + m_timer = new LoopTimer("Coral"); } private void setVoltage(double voltage) { @@ -77,12 +81,14 @@ public Trigger holding() { @Override public void periodic() { + m_timer.reset(); m_io.updateInputs(m_inputs); SmartDashboard.putBoolean("Coral/Front CANrange", m_inputs.frontDetected); SmartDashboard.putBoolean("Coral/Upper CANrange", m_inputs.upperDetected); SmartDashboard.putBoolean("Coral/Inner CANrange", m_inputs.innerDetected); SmartDashboard.putBoolean("Coral/Holding", holding().getAsBoolean()); SmartDashboard.putBoolean("Coral/Present", present().getAsBoolean()); + m_timer.log(); } protected void passive() { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index 24442888..adf0b360 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -51,6 +51,7 @@ import frc.robot.driveassist.ForceField; import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain; import frc.robot.utils.FieldUtils; +import frc.robot.utils.LoopTimer; import frc.robot.vision.TimestampedPoseEstimate; /** @@ -61,6 +62,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(CommandSwerveDrivetrain.class); + private LoopTimer m_timer; + private Notifier m_simNotifier = null; private double m_lastSimTime; @@ -145,6 +148,7 @@ private void setup() { RobotObserver.setAlginedSupplier(aligned()); m_forceField = new ForceField(DriveConstants.kMaxTeleopLinearSpeed); + m_timer = new LoopTimer("Drivetrain"); } public void initializeSetpointGenerator(RobotConfig config) { @@ -222,6 +226,7 @@ private void stop() { @Override public void periodic() { + m_timer.reset(); m_estimatedPose = this.getState().Pose; SmartDashboard.putNumber("Drivetrain/x", m_estimatedPose.getTranslation().getX()); SmartDashboard.putNumber("Drivetrain/y", m_estimatedPose.getTranslation().getY()); @@ -239,6 +244,7 @@ public void periodic() { m_hasAppliedOperatorPerspective = true; }); } + m_timer.log(); } private void startSimThread() { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index 068cf1d7..2969bbdd 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -19,12 +19,15 @@ import frc.robot.RobotObserver; import frc.robot.subsystems.PassiveSubsystem; import frc.robot.subsystems.elevator.ElevatorIO.ElevatorIOInputs; +import frc.robot.utils.LoopTimer; public class Elevator extends PassiveSubsystem { // we want to have a logger, even if we're not using it... yet @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(Elevator.class); + private final LoopTimer m_timer; + private final ElevatorIO m_io; private ElevatorIOInputs m_inputs; @@ -45,6 +48,7 @@ public Elevator() { m_inputs = new ElevatorIOInputs(); SmartDashboard.putData("Elevator/Lazy Zero", runOnce(m_io::calibrateZero).ignoringDisable(true).withName("Lazy Zero")); + m_timer = new LoopTimer("Elevator"); } private void setPosition(ElevatorState state) { @@ -87,12 +91,14 @@ private boolean atZero() { @Override public void periodic() { + m_timer.reset(); m_io.updateInputs(m_inputs); SmartDashboard.putNumber("Elevator/Position", m_inputs.position); SmartDashboard.putString("Elevator/Reference", m_reference.toString()); SmartDashboard.putBoolean("Elevator/Prefire", m_prefireReq.getAsBoolean()); SmartDashboard.putBoolean("Elevator/Ready", ready().getAsBoolean()); SmartDashboard.putBoolean("Elevator/Unsafe", unsafe().getAsBoolean()); + m_timer.log(); } /** diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java index 0aefb668..3ea0e0c3 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -4,6 +4,8 @@ package frc.robot.subsystems.pivot; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; @@ -12,8 +14,14 @@ import frc.robot.RobotObserver; import frc.robot.subsystems.PassiveSubsystem; import frc.robot.subsystems.pivot.PivotIO.PivotIOInputs; +import frc.robot.utils.LoopTimer; public class Pivot extends PassiveSubsystem { + @SuppressWarnings("unused") + private final Logger m_logger = LoggerFactory.getLogger(Pivot.class); + + private final LoopTimer m_timer; + private final PivotIO m_io; private PivotIOInputs m_inputs; @@ -28,6 +36,7 @@ public Pivot() { } m_inputs = new PivotIOInputs(); m_reference = PivotState.Stow; + m_timer = new LoopTimer("Pivot"); } @@ -43,9 +52,11 @@ public Trigger ready() { @Override public void periodic() { + m_timer.reset(); m_io.updateInputs(m_inputs); SmartDashboard.putBoolean("Pivot/Ready", ready().getAsBoolean()); SmartDashboard.putString("Pivot/Reference", m_reference.toString()); + m_timer.log(); } protected void passive() { diff --git a/ThriftyTest/src/main/java/frc/robot/utils/LoopTimer.java b/ThriftyTest/src/main/java/frc/robot/utils/LoopTimer.java new file mode 100644 index 00000000..cf089532 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/utils/LoopTimer.java @@ -0,0 +1,50 @@ +package frc.robot.utils; + +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +public class LoopTimer { + private final String m_ident; + + private long m_lastUpdateTime; + + public LoopTimer(String identifier) { + m_ident = identifier; + } + + /** + * Resets the timer + */ + public void reset() { + m_lastUpdateTime = System.nanoTime(); + } + + /** + * Logs the time since last timer reset + * + * This does not reset the timer. A call to reset() is necessary to reset the timer. + */ + public void log() { + long end = System.nanoTime(); + long elapsed = end - m_lastUpdateTime; + double elapsedMillis = (double) elapsed * 1e-6; + SmartDashboard.putNumber(m_ident + "/Loop time (ms)", elapsedMillis); + } + + /** + * Runs the given runnable, and tracks how long it takes. + */ + public void time(Runnable runnable) { + reset(); + runnable.run(); + log(); + } + + /** + * Returns a runnable that runs and tracks the given runnable. + */ + public Runnable timed(Runnable runnable) { + return () -> { + time(runnable); + }; + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/utils/StatusSignalUtil.java b/ThriftyTest/src/main/java/frc/robot/utils/StatusSignalUtil.java index c621454f..20d1f52e 100644 --- a/ThriftyTest/src/main/java/frc/robot/utils/StatusSignalUtil.java +++ b/ThriftyTest/src/main/java/frc/robot/utils/StatusSignalUtil.java @@ -23,7 +23,11 @@ public static void registerCANivoreSignals(StatusSignal... signals) { } public static void refreshAll() { - BaseStatusSignal.refreshAll(m_rioSignals); - BaseStatusSignal.refreshAll(m_canivoreSignals); + if (m_rioSignals.length > 0) { + BaseStatusSignal.refreshAll(m_rioSignals); + } + if (m_canivoreSignals.length > 0) { + BaseStatusSignal.refreshAll(m_canivoreSignals); + } } } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java index 2e201aa6..776e97dc 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java @@ -12,11 +12,14 @@ import edu.wpi.first.wpilibj.Notifier; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Robot; +import frc.robot.utils.LoopTimer; public class VisionHandler implements AutoCloseable { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(VisionHandler.class); + private final LoopTimer m_loopTimer; + private final Supplier m_poseSupplier; private final Consumer m_consumer; @@ -38,6 +41,7 @@ public VisionHandler(Supplier poseSupplier, Consumer Date: Sun, 18 May 2025 18:24:25 -0400 Subject: [PATCH 058/135] Add manual pose setters as backup options for start of match --- ThriftyTest/simgui.json | 20 ++++++++++- .../src/main/java/frc/robot/Constants.java | 4 +++ .../frc/robot/binding/DashboardBindings.java | 4 +++ .../drivetrain/CommandSwerveDrivetrain.java | 7 +++- .../superstructure/states/ReefAlign.java | 2 +- .../robot/superstructure/states/SeedPose.java | 34 +++++++++++++++++++ .../main/java/frc/robot/utils/FieldUtils.java | 2 +- .../java/frc/robot/vision/VisionHandler.java | 1 - 8 files changed, 69 insertions(+), 5 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/states/SeedPose.java diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index ac739996..c1e0dd96 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -20,6 +20,9 @@ "/SmartDashboard/Elevator/Lazy Zero": "Command", "/SmartDashboard/PathPlanner": "Alerts", "/SmartDashboard/PhotonAlerts": "Alerts", + "/SmartDashboard/Prep/Set Center": "Command", + "/SmartDashboard/Prep/Set Left": "Command", + "/SmartDashboard/Prep/Set Right": "Command", "/SmartDashboard/Super Field": "Field2d", "/SmartDashboard/Test vision": "Command", "/SmartDashboard/Test/Drive To Center": "Command", @@ -41,6 +44,21 @@ "visible": true } }, + "/SmartDashboard/Prep/Set Center": { + "window": { + "visible": true + } + }, + "/SmartDashboard/Prep/Set Left": { + "window": { + "visible": true + } + }, + "/SmartDashboard/Prep/Set Right": { + "window": { + "visible": true + } + }, "/SmartDashboard/Super Field": { "FF": { "arrows": false, @@ -231,7 +249,7 @@ 0.14215683937072754, 0.8500000238418579 ], - "height": 305, + "height": 288, "series": [ { "color": [ diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index c1be62b8..953fb159 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -150,6 +150,10 @@ public static class FieldConstants { public static final Pose2d kIJ = new Pose2d(5.155, 5.194, Rotation2d.fromDegrees(-120)); public static final Pose2d kBarge1 = new Pose2d(7.459, 4.717, Rotation2d.fromDegrees(21.0)); + + public static final Pose2d kStartCenter = new Pose2d(7.134, 3.991, Rotation2d.kPi); + public static final Pose2d kStartRight = new Pose2d(6.929, 1.883, Rotation2d.fromDegrees(125)); + public static final Pose2d kStartLeft = new Pose2d(6.985, 6.027, Rotation2d.fromDegrees(-125)); } public static final class StateSpaceConstants { diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java index 1fdc3266..b4a33299 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java @@ -4,9 +4,13 @@ import frc.robot.Constants.CoralLevel; import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.states.CoralScore; +import frc.robot.superstructure.states.SeedPose; public class DashboardBindings implements Binder { public void bind(Superstructure superstructure) { + SmartDashboard.putData("Prep/Set Center", superstructure.enter(SeedPose.center())); + SmartDashboard.putData("Prep/Set Left", superstructure.enter(SeedPose.left())); + SmartDashboard.putData("Prep/Set Right", superstructure.enter(SeedPose.right())); SmartDashboard.putData("Test/L4", superstructure.enter(new CoralScore(CoralLevel.L4))); } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index adf0b360..89e29d69 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -189,7 +189,7 @@ private Pose2d getNearestAntitarget() { * returns the current pose, with red side poses flipped */ public Pose2d getBluePose() { - return FieldUtils.getGlobalPose(m_estimatedPose); + return FieldUtils.getLocalPose(m_estimatedPose); } public void zeroPose() { @@ -438,4 +438,9 @@ public Command align(Autopilot autopilot, APTarget target) { RobotObserver.getField().getObject("reference").setPoses(); }); } + + public Command seedLocal(Pose2d pose) { + return Commands.runOnce(() -> resetPose(FieldUtils.getLocalPose(pose))) + .ignoringDisable(true); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java index 724cde46..dcaf6f1b 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java @@ -37,7 +37,7 @@ public ReefAlign(ReefSide side) { public Command build(Subsystems subsystems) { return Commands.defer(() -> { List locations = new ArrayList<>(); - m_locations.forEach(location -> locations.add(FieldUtils.getGlobalPose(location))); + m_locations.forEach(location -> locations.add(FieldUtils.getLocalPose(location))); Pose2d closest = subsystems.drivetrain().getPose().nearest(locations); APTarget target = new APTarget(closest) .withEntryAngle(closest.getRotation()); diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/SeedPose.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/SeedPose.java new file mode 100644 index 00000000..82c77a08 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/SeedPose.java @@ -0,0 +1,34 @@ +package frc.robot.superstructure.states; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants.FieldConstants; +import frc.robot.superstructure.EnterableState; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class SeedPose implements EnterableState { + private final Pose2d m_pose; + + /** + * Sets the robot's position to the center starting position + */ + public SeedPose(Pose2d pose) { + m_pose = pose; + } + + public Command build(Subsystems subsystems) { + return subsystems.drivetrain().seedLocal(m_pose); + } + + public static SeedPose center() { + return new SeedPose(FieldConstants.kStartCenter); + } + + public static SeedPose left() { + return new SeedPose(FieldConstants.kStartLeft); + } + + public static SeedPose right() { + return new SeedPose(FieldConstants.kStartRight); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java b/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java index 8cd46021..44f3368d 100644 --- a/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java +++ b/ThriftyTest/src/main/java/frc/robot/utils/FieldUtils.java @@ -16,7 +16,7 @@ public class FieldUtils { *

IMPORTANT

* This depends on the current Driver Station settinng for alliance. When this function is called, the driver station pose is read. */ - public static Pose2d getGlobalPose(Pose2d localPose) { + public static Pose2d getLocalPose(Pose2d localPose) { if (DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Red)) { return FlippingUtil.flipFieldPose(localPose); } else { diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java index 776e97dc..fcb74e96 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java @@ -10,7 +10,6 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.wpilibj.Notifier; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Robot; import frc.robot.utils.LoopTimer; From 18b4e3365cb3f9352c1b899d9da1111fdf85541e Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Mon, 19 May 2025 20:10:00 -0400 Subject: [PATCH 059/135] Test, test, test --- ThriftyTest/glass.json | 113 +++++++++++++++++- .../deploy/pathplanner/autos/4PieceRight.auto | 69 +++++++---- .../main/deploy/pathplanner/autos/goofy.auto | 19 +++ .../src/main/java/frc/robot/Constants.java | 25 ++++ .../src/main/java/frc/robot/Robot.java | 2 + .../java/frc/robot/binding/DriveBindings.java | 9 +- .../frc/robot/binding/OperatorBindings.java | 8 +- .../frc/robot/driveassist/APConstraints.java | 4 +- .../frc/robot/subsystems/LedFeedback.java | 6 +- .../subsystems/climber/ClimberIOHardware.java | 3 +- .../drivetrain/CommandSwerveDrivetrain.java | 1 + .../subsystems/drivetrain/DriveConstants.java | 2 +- .../elevator/ElevatorIOHardware.java | 11 +- .../robot/superstructure/Superstructure.java | 6 + .../{ReefAlign.java => DeferredAlign.java} | 37 ++++-- .../frc/robot/vision/VisionConstants.java | 4 +- 16 files changed, 261 insertions(+), 58 deletions(-) create mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/goofy.auto rename ThriftyTest/src/main/java/frc/robot/superstructure/states/{ReefAlign.java => DeferredAlign.java} (57%) diff --git a/ThriftyTest/glass.json b/ThriftyTest/glass.json index 3014f6ba..513cea31 100644 --- a/ThriftyTest/glass.json +++ b/ThriftyTest/glass.json @@ -26,9 +26,13 @@ "/SmartDashboard/PathPlanner": "Alerts", "/SmartDashboard/PhotonAlerts": "Alerts", "/SmartDashboard/Pivot/Visualization": "Mechanism2d", + "/SmartDashboard/Prep/Set Center": "Command", + "/SmartDashboard/Prep/Set Left": "Command", + "/SmartDashboard/Prep/Set Right": "Command", "/SmartDashboard/Super Field": "Field2d", "/SmartDashboard/Test/Drive To Center": "Command", "/SmartDashboard/Test/Enter test state": "Command", + "/SmartDashboard/Test/L4": "Command", "/SmartDashboard/Test?": "Alerts", "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, @@ -43,12 +47,72 @@ "visible": true } }, + "/SmartDashboard/Command Scheduler": { + "window": { + "visible": true + } + }, "/SmartDashboard/Elevator/Lazy Zero": { "window": { "visible": true } }, "/SmartDashboard/Super Field": { + "Blue Alliance Left Intake": { + "arrows": false, + "selectable": false, + "style": "" + }, + "Blue Alliance Net": { + "arrows": false, + "selectable": false, + "style": "" + }, + "Blue Alliance Processor": { + "arrows": false, + "selectable": false, + "style": "" + }, + "Blue Alliance Reef": { + "arrows": false, + "selectable": false, + "style": "" + }, + "Blue Alliance Right Intake": { + "arrows": false, + "selectable": false, + "style": "" + }, + "Pathfind Trajectory": { + "arrows": false, + "selectable": false, + "style": "" + }, + "Red Alliance Left Intake": { + "arrows": false, + "selectable": false, + "style": "" + }, + "Red Alliance Net": { + "arrows": false, + "selectable": false, + "style": "" + }, + "Red Alliance Processor": { + "arrows": false, + "selectable": false, + "style": "" + }, + "Red Alliance Reef": { + "arrows": false, + "selectable": false, + "style": "" + }, + "Red Alliance Right Intake": { + "arrows": false, + "selectable": false, + "style": "" + }, "Robot": { "arrowColor": [ 1.0, @@ -65,15 +129,52 @@ "length": 0.9399999976158142, "width": 0.9399999976158142 }, + "alt": { + "arrows": false, + "selectable": false, + "style": "" + }, "apriltag": { + "arrowColor": [], "arrows": false, + "color": [], + "length": 0.0, "selectable": false, - "style": "Hidden" + "style": "Hidden", + "width": 0.0 + }, + "best": { + "arrows": false, + "selectable": false, + "style": "" }, "bottom": 1347, "builtin": "", + "cam1": { + "arrows": false, + "color": [], + "length": 0.0, + "style": "", + "width": 0.0 + }, + "cam2": { + "arrows": false, + "style": "" + }, + "cam3": { + "arrows": false, + "style": "" + }, + "cam4": { + "arrows": false, + "color": [], + "length": 0.0, + "style": "", + "width": 0.0 + }, "cameras": { "arrows": false, + "selectable": false, "style": "Hidden" }, "height": 8.051901817321777, @@ -97,6 +198,13 @@ "width": 1.0 }, "right": 2932, + "target": { + "arrows": false, + "color": [], + "length": 0.0, + "selectable": false, + "width": 0.0 + }, "visibleTargetPoses": { "arrows": false, "color": [ @@ -107,6 +215,7 @@ ], "length": 0.5, "selectable": false, + "style": "", "width": 0.5 }, "width": 17.54825210571289, @@ -143,7 +252,7 @@ 0.13333332538604736, 0.9399999976158142 ], - "height": 304, + "height": 0, "name": "Stats", "series": [ { diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto index b3f6bb70..2edaf188 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/4PieceRight.auto @@ -16,20 +16,27 @@ "name": "L4" } }, - { - "type": "named", - "data": { - "name": "Recalibrate" - } - }, { "type": "parallel", "data": { "commands": [ { - "type": "named", + "type": "sequential", "data": { - "name": "Intake" + "commands": [ + { + "type": "named", + "data": { + "name": "Recalibrate" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] } }, { @@ -73,20 +80,27 @@ "name": "L4" } }, - { - "type": "named", - "data": { - "name": "Recalibrate" - } - }, { "type": "parallel", "data": { "commands": [ { - "type": "named", + "type": "sequential", "data": { - "name": "Intake" + "commands": [ + { + "type": "named", + "data": { + "name": "Recalibrate" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] } }, { @@ -130,20 +144,27 @@ "name": "L4" } }, - { - "type": "named", - "data": { - "name": "Recalibrate" - } - }, { "type": "parallel", "data": { "commands": [ { - "type": "named", + "type": "sequential", "data": { - "name": "Intake" + "commands": [ + { + "type": "named", + "data": { + "name": "Recalibrate" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] } }, { diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/goofy.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/goofy.auto new file mode 100644 index 00000000..d0b11498 --- /dev/null +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/goofy.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Align E" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 953fb159..25745e8e 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -237,6 +237,10 @@ public enum ScoringLocations { private ScoringLocations(Pose2d value) { this.value = value; } + + private Pose2d middle(ScoringLocations other) { + return value.interpolate(other.value, 0.5); + } } public enum ScoringLocationsLeft { @@ -261,6 +265,27 @@ private ScoringLocationsRight(Pose2d value) { } } + public enum ScoringLocationsCenter { + /** AB */ + AB(ScoringLocations.A.middle(ScoringLocations.B)), + /** CD */ + CD(ScoringLocations.C.middle(ScoringLocations.D)), + /** EF */ + EF(ScoringLocations.E.middle(ScoringLocations.F)), + /** GH */ + GH(ScoringLocations.G.middle(ScoringLocations.H)), + /** IJ */ + IJ(ScoringLocations.I.middle(ScoringLocations.J)), + /** KL */ + KL(ScoringLocations.K.middle(ScoringLocations.L)); + + public Pose2d value; + + private ScoringLocationsCenter(Pose2d pose) { + value = pose; + } + } + public enum ReefClipLocations { LEFT, RIGHT; } diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index 6f39474e..0f4554eb 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -7,6 +7,7 @@ import edu.wpi.first.wpilibj.DataLogManager; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -27,6 +28,7 @@ public Robot() { @Override public void robotInit() { + RobotObserver.setField(new Field2d()); DataLogManager.start(); DriverStation.startDataLog(DataLogManager.getLog()); m_robotContainer.enablePDPSwitch(); diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java index 00bf5548..2f9ae96e 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java @@ -11,7 +11,9 @@ import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.states.Align; import frc.robot.superstructure.states.HeadingReset; +import frc.robot.superstructure.states.DeferredAlign; import frc.robot.superstructure.states.TeleopDrive; +import frc.robot.superstructure.states.DeferredAlign.AlignLocation; public class DriveBindings implements Binder { private final CommandPS5Controller m_controller = @@ -26,14 +28,15 @@ public class DriveBindings implements Binder { () -> m_controller.getRawAxis(Driver.rotAxis) * (Driver.flipRot ? -1.0 : 1.0); private final Trigger m_resetHeading = m_controller.button(Driver.resetHeading); - private final Trigger m_processorAlign = m_controller.button(Driver.processor); + private final Trigger m_align = m_controller.button(Driver.processor); public void bind(Superstructure superstructure) { superstructure.setDrive(superstructure.enter(new TeleopDrive(m_x, m_y, m_rot))); m_resetHeading.onTrue(superstructure.enter(new HeadingReset())); - m_processorAlign.whileTrue(superstructure.enter(new Align( - DriveConstants.kTightAutopilot, + m_align.and(superstructure.holdingAlgae()).whileTrue(superstructure.enter(new Align( new APTarget().withReference(FieldConstants.k_processor)))); + m_align.and(superstructure.holdingAlgae().negate()).whileTrue(superstructure.enter( + new DeferredAlign(AlignLocation.Center))); } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java index 2c4d0434..7b0d2e3e 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -19,13 +19,13 @@ import frc.robot.superstructure.states.GroundAlgaeIntake; import frc.robot.superstructure.states.HighGroundAlgaeIntake; import frc.robot.superstructure.states.UpperReefAlgaeIntake; -import frc.robot.superstructure.states.ReefAlign.ReefSide; +import frc.robot.superstructure.states.DeferredAlign.AlignLocation; import frc.robot.superstructure.states.LowerReefAlgaeIntake; import frc.robot.superstructure.states.Net; import frc.robot.superstructure.states.NetPrep; import frc.robot.superstructure.states.Processor; import frc.robot.superstructure.states.ProcessorPrep; -import frc.robot.superstructure.states.ReefAlign; +import frc.robot.superstructure.states.DeferredAlign; import frc.robot.superstructure.states.Stowed; public class OperatorBindings implements Binder { @@ -89,8 +89,8 @@ public void bind(Superstructure superstructure) { bindCoral(m_l4, CoralLevel.L4, superstructure); /* align */ - m_left.whileTrue(superstructure.enter(new ReefAlign(ReefSide.Left))); - m_right.whileTrue(superstructure.enter(new ReefAlign(ReefSide.Right))); + m_left.whileTrue(superstructure.enter(new DeferredAlign(AlignLocation.Left))); + m_right.whileTrue(superstructure.enter(new DeferredAlign(AlignLocation.Right))); /* climb */ m_climb.whileTrue(superstructure.enter(new Climb())); diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java index dc2add28..7fc8a8a4 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java @@ -38,8 +38,8 @@ public APConstraints withAcceleration(double acceleration) { * * This is only used at the end of an autopilot action, not the beginning. */ - public APConstraints withJerk(double decceleration) { - m_jerk = decceleration; + public APConstraints withJerk(double jerk) { + m_jerk = jerk; return this; } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java index 0332aeef..fe4d24f9 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java @@ -21,12 +21,13 @@ import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.MatchType; import edu.wpi.first.wpilibj.util.Color; +import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants.ButtonBindingConstants; import frc.robot.Constants.IDConstants; import frc.robot.Constants.LedConstants; import frc.robot.RobotObserver; -public class LedFeedback extends PassiveSubsystem { +public class LedFeedback extends SubsystemBase { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(LedFeedback.class); private static double matchTime = 0; @@ -73,7 +74,8 @@ public LedFeedback() { defaultColors(); } - public void passive() { + @Override + public void periodic() { matchTime = (DriverStation.getMatchType() == MatchType.None) ? Double.POSITIVE_INFINITY : DriverStation.getMatchTime(); inAuton = DriverStation.isAutonomousEnabled(); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java index a802b7f2..7d43268e 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java @@ -67,7 +67,8 @@ public ClimberIOHardware() { m_leftTempSignal, m_rightTempSignal, m_leftVelocitySignal, - m_rightVelocitySignal); + m_rightVelocitySignal, + m_positionSignal); } public void updateInputs(ClimberIOInputs inputs) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index 89e29d69..785fd741 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -234,6 +234,7 @@ public void periodic() { SmartDashboard.putNumber("Drivetrain/velo", velo); SmartDashboard.putBoolean("Drivetrain/Aligned", m_aligned); + RobotObserver.getField().setRobotPose(m_estimatedPose); if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) { DriverStation.getAlliance().ifPresent(allianceColor -> { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java index bc967977..24058eff 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java @@ -51,7 +51,7 @@ public static class HeadingPID { private static final APProfile kFastProfile = new APProfile() .withPathConstraints(kFastAutopilotPathConstraints) .withCorrectionConstraints(kFastAutopilotCorrectionConstraints) - .withErrorXY(Centimeters.of(5)) + .withErrorXY(Centimeters.of(15)) .withErrorTheta(Degrees.of(5)); public static final Autopilot kFastAutopilot = new Autopilot(kFastProfile); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java index 83ff6ef5..88da544d 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java @@ -72,7 +72,7 @@ public ElevatorIOHardware() { m_CANrangeDistanceSignal = m_CANrange.getDistance(); m_CANrangeStrengthSignal = m_CANrange.getSignalStrength(); - StatusSignalUtil.registerRioSignals( + StatusSignalUtil.registerCANivoreSignals( m_leftVoltageSignal, m_rightVoltageSignal, m_leftCurrentSignal, @@ -82,10 +82,11 @@ public ElevatorIOHardware() { m_leftVelocitySignal, m_rightVelocitySignal, m_leftPositionSignal, - m_rightPositionSignal, - m_CANrangeDetectedSignal, - m_CANrangeDistanceSignal, - m_CANrangeStrengthSignal); + m_rightPositionSignal); + StatusSignalUtil.registerRioSignals( + m_CANrangeDetectedSignal, + m_CANrangeDistanceSignal, + m_CANrangeStrengthSignal); } public void updateInputs(ElevatorIOInputs inputs) { diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 55c49a20..63728e54 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -1,5 +1,7 @@ package frc.robot.superstructure; +import java.util.function.BooleanSupplier; + import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.Trigger; @@ -86,4 +88,8 @@ public Trigger inReefZone() { public Trigger holdingCoral() { return m_subsystems.coral().holding(); } + +public Trigger holdingAlgae() { + return m_subsystems.algae.holdingAlgae(); +} } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/DeferredAlign.java similarity index 57% rename from ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java rename to ThriftyTest/src/main/java/frc/robot/superstructure/states/DeferredAlign.java index dcaf6f1b..1555185b 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/ReefAlign.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/DeferredAlign.java @@ -8,6 +8,8 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Constants.FieldConstants; +import frc.robot.Constants.ScoringLocationsCenter; import frc.robot.Constants.ScoringLocationsLeft; import frc.robot.Constants.ScoringLocationsRight; import frc.robot.driveassist.APTarget; @@ -16,21 +18,32 @@ import frc.robot.superstructure.Superstructure.Subsystems; import frc.robot.utils.FieldUtils; -public class ReefAlign implements EnterableState { +public class DeferredAlign implements EnterableState { private List m_locations; /** * Represents a state where the robot aligns to a reef face */ - public ReefAlign(ReefSide side) { - if (side == ReefSide.Left) { - m_locations = Arrays.stream(ScoringLocationsLeft.values()) - .map(location -> location.value) - .collect(Collectors.toList()); - } else { - m_locations = Arrays.stream(ScoringLocationsRight.values()) - .map(location -> location.value) - .collect(Collectors.toList()); + public DeferredAlign(AlignLocation side) { + switch (side) { + case Left -> { + m_locations = Arrays.stream(ScoringLocationsLeft.values()) + .map(location -> location.value) + .collect(Collectors.toList()); + } + case Right -> { + m_locations = Arrays.stream(ScoringLocationsRight.values()) + .map(location -> location.value) + .collect(Collectors.toList()); + } + case Center -> { + m_locations = Arrays.stream(ScoringLocationsCenter.values()) + .map(location -> location.value) + .collect(Collectors.toList()); + } + case Intake -> { + m_locations = List.of(FieldConstants.kLeftIntake, FieldConstants.kRightIntake); + } } } @@ -46,7 +59,7 @@ public Command build(Subsystems subsystems) { subsystems.drivetrain())); } - public enum ReefSide { - Left, Right; + public enum AlignLocation { + Left, Right, Center, Intake; } } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java index 0228a6ef..5b24271b 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -18,8 +18,8 @@ import edu.wpi.first.units.measure.Time; public class VisionConstants { - protected static final boolean kEnableLogging = true; - protected static final boolean kEnableNetworkLogging = false; + protected static final boolean kEnableLogging = false; + protected static final boolean kEnableNetworkLogging = true; protected static final double kRotationCoefficient = Math.PI * 0.5; protected static final double kTranslationCoefficient = 0.10; From 763794e015d5c8d76d1de35293a5dbcaae175a85 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 21 May 2025 19:20:03 -0400 Subject: [PATCH 060/135] disable smart dashboard things; remove unused autons --- ThriftyTest/simgui-ds.json | 2 +- ThriftyTest/simgui.json | 10 ++--- .../pathplanner/autos/1PieceCenterLeft.auto | 37 ------------------- .../pathplanner/autos/1PieceCenterRight.auto | 37 ------------------- .../deploy/pathplanner/autos/1PieceLeft.auto | 31 ---------------- .../deploy/pathplanner/autos/1PieceRight.auto | 31 ---------------- .../main/deploy/pathplanner/autos/goofy.auto | 19 ---------- .../src/main/java/frc/robot/Robot.java | 2 + .../java/frc/robot/binding/RobotBindings.java | 4 ++ .../frc/robot/subsystems/climber/Climber.java | 9 +++-- .../frc/robot/subsystems/coral/Coral.java | 10 ++--- .../drivetrain/CommandSwerveDrivetrain.java | 14 ++++--- .../robot/subsystems/elevator/Elevator.java | 18 ++++++--- .../frc/robot/subsystems/pivot/Pivot.java | 4 +- .../modifiers/AlgaeElevatorHold.java | 18 +++++++++ .../superstructure/states/DeferredAlign.java | 5 ++- .../states/UpperReefAlgaeIntake.java | 8 ++-- .../frc/robot/vision/VisionConstants.java | 2 +- 18 files changed, 71 insertions(+), 190 deletions(-) delete mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/1PieceCenterLeft.auto delete mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/1PieceCenterRight.auto delete mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/1PieceLeft.auto delete mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/1PieceRight.auto delete mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/goofy.auto create mode 100644 ThriftyTest/src/main/java/frc/robot/superstructure/modifiers/AlgaeElevatorHold.java diff --git a/ThriftyTest/simgui-ds.json b/ThriftyTest/simgui-ds.json index ec5519ef..d38d0206 100644 --- a/ThriftyTest/simgui-ds.json +++ b/ThriftyTest/simgui-ds.json @@ -1,7 +1,7 @@ { "System Joysticks": { "window": { - "visible": false + "enabled": false } }, "keyboardJoysticks": [ diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index c1e0dd96..00e1ef81 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -94,8 +94,7 @@ "selectable": false, "style": "Hidden" }, - "bottom": 1347, - "builtin": "", + "bottom": 1638, "cameras": { "arrows": false, "color": [ @@ -126,7 +125,7 @@ "width": 0.9399999976158142 }, "height": 8.051901817321777, - "image": "/Users/rekrab/hackbots/2025_Reefscape/ThriftyTest/2025-field-cropped.png", + "left": 534, "reference": { "arrowColor": [ 0.8480392098426819, @@ -170,7 +169,8 @@ "style": "Hidden", "width": 0.9399999976158142 }, - "right": 2932, + "right": 3466, + "top": 291, "visibleTargetPoses": { "arrows": false, "color": [ @@ -249,7 +249,7 @@ 0.14215683937072754, 0.8500000238418579 ], - "height": 288, + "height": 0, "series": [ { "color": [ diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceCenterLeft.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceCenterLeft.auto deleted file mode 100644 index 3984b521..00000000 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceCenterLeft.auto +++ /dev/null @@ -1,37 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "StartH" - } - }, - { - "type": "named", - "data": { - "name": "Align H" - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - }, - { - "type": "path", - "data": { - "pathName": "HWall" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceCenterRight.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceCenterRight.auto deleted file mode 100644 index 990a2200..00000000 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceCenterRight.auto +++ /dev/null @@ -1,37 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "StartG" - } - }, - { - "type": "named", - "data": { - "name": "Align G" - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - }, - { - "type": "path", - "data": { - "pathName": "GWall" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceLeft.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceLeft.auto deleted file mode 100644 index 14e4845c..00000000 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceLeft.auto +++ /dev/null @@ -1,31 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "StartI" - } - }, - { - "type": "named", - "data": { - "name": "Align I" - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceRight.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceRight.auto deleted file mode 100644 index 6e79e8a1..00000000 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/1PieceRight.auto +++ /dev/null @@ -1,31 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "StartF" - } - }, - { - "type": "named", - "data": { - "name": "Align F" - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/goofy.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/goofy.auto deleted file mode 100644 index d0b11498..00000000 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/goofy.auto +++ /dev/null @@ -1,19 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Align E" - } - } - ] - } - }, - "resetOdom": false, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index 0f4554eb..5e537b5b 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -6,6 +6,7 @@ import edu.wpi.first.wpilibj.DataLogManager; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; @@ -41,6 +42,7 @@ public void robotPeriodic() { CommandScheduler.getInstance().run(); StatusSignalUtil.refreshAll(); SmartDashboard.putNumber("Robot/Match Time", DriverStation.getMatchTime()); + SmartDashboard.putNumber("Robot/Battery Voltage", RobotController.getBatteryVoltage()); m_loopTimer.log(); } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java index 7753244e..903f7ff3 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/RobotBindings.java @@ -1,6 +1,7 @@ package frc.robot.binding; import frc.robot.superstructure.Superstructure; +import frc.robot.superstructure.modifiers.AlgaeElevatorHold; import frc.robot.superstructure.modifiers.ElevatorPrep; public class RobotBindings implements Binder { @@ -10,5 +11,8 @@ public void bind(Superstructure superstructure) { /* elevator prefire */ superstructure.modify(new ElevatorPrep(), superstructure.inReefZone().and(superstructure.holdingCoral())); + /* no elevator movement when in reef and holding algae */ + superstructure.modify(new AlgaeElevatorHold(), + superstructure.inReefZone().and(superstructure.holdingAlgae())); } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java index f81a4c99..3f8f10ef 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java @@ -30,6 +30,7 @@ public Climber() { } m_inputs = new ClimberIOInputs(); m_timer = new LoopTimer("Climber"); + SmartDashboard.putData("Climber/Stow", lower()); } /* @@ -63,10 +64,10 @@ private void stop() { public void periodic() { m_timer.reset(); m_io.updateInputs(m_inputs); - SmartDashboard.putBoolean("Climb/Ready", raised().getAsBoolean()); - SmartDashboard.putBoolean("Climb/Complete", climbed().getAsBoolean()); - SmartDashboard.putNumber("Climb/Position", m_inputs.position); - SmartDashboard.putNumber("Climb/Voltage", m_inputs.leftVoltage); + SmartDashboard.putBoolean("Climber/Ready", raised().getAsBoolean()); + SmartDashboard.putBoolean("Climber/Complete", climbed().getAsBoolean()); + SmartDashboard.putNumber("Climber/Position", m_inputs.position); + SmartDashboard.putNumber("Climber/Voltage", m_inputs.leftVoltage); m_timer.log(); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java index d763bb22..ff71abdc 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java @@ -83,11 +83,11 @@ public Trigger holding() { public void periodic() { m_timer.reset(); m_io.updateInputs(m_inputs); - SmartDashboard.putBoolean("Coral/Front CANrange", m_inputs.frontDetected); - SmartDashboard.putBoolean("Coral/Upper CANrange", m_inputs.upperDetected); - SmartDashboard.putBoolean("Coral/Inner CANrange", m_inputs.innerDetected); - SmartDashboard.putBoolean("Coral/Holding", holding().getAsBoolean()); - SmartDashboard.putBoolean("Coral/Present", present().getAsBoolean()); + // SmartDashboard.putBoolean("Coral/Front CANrange", m_inputs.frontDetected); + // SmartDashboard.putBoolean("Coral/Upper CANrange", m_inputs.upperDetected); + // SmartDashboard.putBoolean("Coral/Inner CANrange", m_inputs.innerDetected); + // SmartDashboard.putBoolean("Coral/Holding", holding().getAsBoolean()); + // SmartDashboard.putBoolean("Coral/Present", present().getAsBoolean()); m_timer.log(); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index 785fd741..ae7681e3 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -228,12 +228,12 @@ private void stop() { public void periodic() { m_timer.reset(); m_estimatedPose = this.getState().Pose; - SmartDashboard.putNumber("Drivetrain/x", m_estimatedPose.getTranslation().getX()); - SmartDashboard.putNumber("Drivetrain/y", m_estimatedPose.getTranslation().getY()); - double velo = getVelocity(); - SmartDashboard.putNumber("Drivetrain/velo", velo); + // SmartDashboard.putNumber("Drivetrain/x", m_estimatedPose.getTranslation().getX()); + // SmartDashboard.putNumber("Drivetrain/y", m_estimatedPose.getTranslation().getY()); + // double velo = getVelocity(); + // SmartDashboard.putNumber("Drivetrain/velo", velo); - SmartDashboard.putBoolean("Drivetrain/Aligned", m_aligned); + // SmartDashboard.putBoolean("Drivetrain/Aligned", m_aligned); RobotObserver.getField().setRobotPose(m_estimatedPose); if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) { @@ -444,4 +444,8 @@ public Command seedLocal(Pose2d pose) { return Commands.runOnce(() -> resetPose(FieldUtils.getLocalPose(pose))) .ignoringDisable(true); } + + public Command hold() { + return run(() -> {}); + } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index 2969bbdd..396ec8a2 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -37,6 +37,7 @@ public class Elevator extends PassiveSubsystem { private ElevatorState m_reference = ElevatorState.Stow; private Trigger m_prefireReq = new Trigger(() -> false); + private Trigger m_stay = new Trigger(() -> false); public Elevator() { super(); @@ -93,11 +94,11 @@ private boolean atZero() { public void periodic() { m_timer.reset(); m_io.updateInputs(m_inputs); - SmartDashboard.putNumber("Elevator/Position", m_inputs.position); - SmartDashboard.putString("Elevator/Reference", m_reference.toString()); - SmartDashboard.putBoolean("Elevator/Prefire", m_prefireReq.getAsBoolean()); - SmartDashboard.putBoolean("Elevator/Ready", ready().getAsBoolean()); - SmartDashboard.putBoolean("Elevator/Unsafe", unsafe().getAsBoolean()); + // SmartDashboard.putNumber("Elevator/Position", m_inputs.position); + // SmartDashboard.putString("Elevator/Reference", m_reference.toString()); + // SmartDashboard.putBoolean("Elevator/Prefire", m_prefireReq.getAsBoolean()); + // SmartDashboard.putBoolean("Elevator/Ready", ready().getAsBoolean()); + // SmartDashboard.putBoolean("Elevator/Unsafe", unsafe().getAsBoolean()); m_timer.log(); } @@ -110,6 +111,9 @@ public Trigger unsafe() { } protected void passive() { + if (m_stay.getAsBoolean()) { + return; + } if (m_prefireReq.getAsBoolean()) { setPosition(ElevatorState.L2); } else { @@ -150,4 +154,8 @@ public Command autoZero() { public void setPrefireRequirement(Trigger trigger) { m_prefireReq = trigger; } + + public void setStayRequirement(Trigger trigger) { + m_stay = trigger; + } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java index 3ea0e0c3..70e44032 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -54,8 +54,8 @@ public Trigger ready() { public void periodic() { m_timer.reset(); m_io.updateInputs(m_inputs); - SmartDashboard.putBoolean("Pivot/Ready", ready().getAsBoolean()); - SmartDashboard.putString("Pivot/Reference", m_reference.toString()); + // SmartDashboard.putBoolean("Pivot/Ready", ready().getAsBoolean()); + // SmartDashboard.putString("Pivot/Reference", m_reference.toString()); m_timer.log(); } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/modifiers/AlgaeElevatorHold.java b/ThriftyTest/src/main/java/frc/robot/superstructure/modifiers/AlgaeElevatorHold.java new file mode 100644 index 00000000..e5c41fee --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/modifiers/AlgaeElevatorHold.java @@ -0,0 +1,18 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.superstructure.modifiers; + +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.superstructure.PassiveModifier; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class AlgaeElevatorHold implements PassiveModifier { + /** Tells the elevator not to move when holding algae and in reef zone */ + public AlgaeElevatorHold() {} + + public void modify(Subsystems subsystems, Trigger trigger) { + subsystems.elevator().setStayRequirement(trigger); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/DeferredAlign.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/DeferredAlign.java index 1555185b..2466d63b 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/DeferredAlign.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/DeferredAlign.java @@ -55,8 +55,9 @@ public Command build(Subsystems subsystems) { APTarget target = new APTarget(closest) .withEntryAngle(closest.getRotation()); return subsystems.drivetrain().align(DriveConstants.kTightAutopilot, target); - }, Set.of( - subsystems.drivetrain())); + }, Set.of(subsystems.drivetrain())) + + .andThen(subsystems.drivetrain().hold()); } public enum AlignLocation { diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java index e716b09f..52731ae7 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/UpperReefAlgaeIntake.java @@ -15,11 +15,9 @@ public UpperReefAlgaeIntake() {} public Command build(Subsystems subsystems) { return Commands.sequence( - Commands.parallel( - subsystems.elevator().go(ElevatorState.UpperReef).asProxy(), - - subsystems.pivot().go(PivotState.ReefIntake), - subsystems.algae().intake()), + subsystems.elevator().go(ElevatorState.UpperReef).asProxy(), + subsystems.pivot().go(PivotState.ReefIntake), + subsystems.algae().intake(), subsystems.pivot().go(PivotState.ReefExtract)) .finallyDo(subsystems.pivot()::release) diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java index 5b24271b..5d65e675 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -19,7 +19,7 @@ public class VisionConstants { protected static final boolean kEnableLogging = false; - protected static final boolean kEnableNetworkLogging = true; + protected static final boolean kEnableNetworkLogging = false; protected static final double kRotationCoefficient = Math.PI * 0.5; protected static final double kTranslationCoefficient = 0.10; From b86869d2ee8c5e1a851352128244ffc5481d1bbb Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 21 May 2025 19:23:06 -0400 Subject: [PATCH 061/135] remove additional NT writes --- .../src/main/java/frc/robot/subsystems/algae/Algae.java | 8 ++++---- .../main/java/frc/robot/subsystems/climber/Climber.java | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java index ec2c28ed..20ea5f51 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java @@ -73,10 +73,10 @@ public void periodic() { m_timer.reset(); m_io.updateInputs(m_inputs); m_hasAlgae = getTorqueCurrent() >= AlgaeConstants.kTorqueCurrentThreshold; - SmartDashboard.putBoolean("Algae/Held", m_hasAlgae); - SmartDashboard.putNumber("Algae/Torque", m_inputs.torque); - SmartDashboard.putNumber("Algae/Voltage", m_inputs.voltage); - SmartDashboard.putNumber("Algae/Temperature", m_inputs.temperature); + // SmartDashboard.putBoolean("Algae/Held", m_hasAlgae); + // SmartDashboard.putNumber("Algae/Torque", m_inputs.torque); + // SmartDashboard.putNumber("Algae/Voltage", m_inputs.voltage); + // SmartDashboard.putNumber("Algae/Temperature", m_inputs.temperature); m_timer.log(); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java index 3f8f10ef..d3c47cc7 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java @@ -64,10 +64,10 @@ private void stop() { public void periodic() { m_timer.reset(); m_io.updateInputs(m_inputs); - SmartDashboard.putBoolean("Climber/Ready", raised().getAsBoolean()); - SmartDashboard.putBoolean("Climber/Complete", climbed().getAsBoolean()); - SmartDashboard.putNumber("Climber/Position", m_inputs.position); - SmartDashboard.putNumber("Climber/Voltage", m_inputs.leftVoltage); + // SmartDashboard.putBoolean("Climber/Ready", raised().getAsBoolean()); + // SmartDashboard.putBoolean("Climber/Complete", climbed().getAsBoolean()); + // SmartDashboard.putNumber("Climber/Position", m_inputs.position); + // SmartDashboard.putNumber("Climber/Voltage", m_inputs.leftVoltage); m_timer.log(); } From a7177a03b1881c827f84fb5c4b5838fc0c65d3ba Mon Sep 17 00:00:00 2001 From: Nolan Barker <107814443+TheRekrab@users.noreply.github.com> Date: Wed, 21 May 2025 19:44:37 -0400 Subject: [PATCH 062/135] Optional multiInputFilter --- .../vision/SingleInputPoseEstimator.java | 42 ++++--------------- .../frc/robot/vision/VisionConstants.java | 1 + .../java/frc/robot/vision/VisionHandler.java | 5 +++ 3 files changed, 14 insertions(+), 34 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java index 8c53f1e4..d1ac2b8e 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java @@ -42,8 +42,6 @@ public class SingleInputPoseEstimator implements Runnable { private final MultiInputFilter m_filter; - private final VisionNetworkLogger m_networkLogger; - private Pose2d m_lastPose; public SingleInputPoseEstimator( @@ -52,7 +50,6 @@ public SingleInputPoseEstimator( CameraIO io, Consumer updateCallback) { m_io = io; - m_networkLogger = networkLogger; m_inputs = new CameraIOInputs(); m_reporter = updateCallback; m_filter = fitler; @@ -66,11 +63,13 @@ public SingleInputPoseEstimator( public void refresh(Pose2d robotPose) { m_lastPose = robotPose; m_io.updateInputs(m_inputs); - for (PhotonPipelineResult result : m_inputs.unreadResults) { - Set tags = result.getTargets().stream() - .map(target -> target.getFiducialId()) - .collect(Collectors.toSet()); - m_filter.addInput(m_io.getName(), tags); + if (VisionConstants.kEnableMultiInputFilter) { + for (PhotonPipelineResult result : m_inputs.unreadResults) { + Set tags = result.getTargets().stream() + .map(target -> target.getFiducialId()) + .collect(Collectors.toSet()); + m_filter.addInput(m_io.getName(), tags); + } } } @@ -108,12 +107,7 @@ private void combinedHandleResult(PhotonPipelineResult result) { Optional est = m_estimator.update(result); if (est.isPresent()) { Pose3d estimatedPose = est.get().estimatedPose; - Pose2d estimatedPose2d = estimatedPose.toPose2d(); - if (m_filter.verify(estimatedPose2d)) { - process(result, estimatedPose, algorithm).ifPresent(m_reporter); - } else { - m_networkLogger.registerRejectedEstimate(estimatedPose2d); - } + process(result, estimatedPose, algorithm).ifPresent(m_reporter); } PhotonTrackedTarget target = targets.get(0); int fidId = target.getFiducialId(); @@ -133,26 +127,6 @@ private void combinedHandleResult(PhotonPipelineResult result) { Pose3d alt = targetPosition3d .plus(alt3d.inverse()) .plus(m_io.getRobotToCamera().inverse()); - boolean bestOk = m_filter.verify(best.toPose2d()); - boolean altOk = m_filter.verify(alt.toPose2d()); - if (!bestOk) { - m_networkLogger.registerRejectedEstimate(best.toPose2d()); - } - if (!altOk) { - m_networkLogger.registerRejectedEstimate(alt.toPose2d()); - } - if (bestOk && !altOk) { - process(result, best, EstimationAlgorithm.MultiInput); - return; - } - if (altOk && !bestOk) { - process(result, alt, EstimationAlgorithm.MultiInput); - return; - } - if (!bestOk && !altOk) { - // neither is good - return; - } // final decision maker double bestHeading = best.getRotation().getZ(); double altHeading = alt.getRotation().getZ(); diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java index 5d65e675..e848210b 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -20,6 +20,7 @@ public class VisionConstants { protected static final boolean kEnableLogging = false; protected static final boolean kEnableNetworkLogging = false; + public static final boolean kEnableMultiInputFilter = false; protected static final double kRotationCoefficient = Math.PI * 0.5; protected static final double kTranslationCoefficient = 0.10; diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java index fcb74e96..044cafbe 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java @@ -83,6 +83,11 @@ public void startThread() { } private void addEstimate(TimestampedPoseEstimate estimate) { + if (VisionConstants.kEnableMultiInputFilter) { + if (!m_filter.verify(estimate.pose())) { + return; + } + } m_consumer.accept(estimate); m_networkLogger.registerValidEstimate(estimate.pose()); m_logBuilder.addEstimate(estimate); From b7784ddc3d61cd8a6f10aff1a6e7c3e48a6495f0 Mon Sep 17 00:00:00 2001 From: Nolan Barker <107814443+TheRekrab@users.noreply.github.com> Date: Wed, 21 May 2025 19:57:06 -0400 Subject: [PATCH 063/135] Add multiInput use while disabled --- .../src/main/java/frc/robot/vision/VisionHandler.java | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java index 044cafbe..5dfcc4c7 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java @@ -9,6 +9,7 @@ import org.slf4j.LoggerFactory; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Notifier; import frc.robot.Robot; import frc.robot.utils.LoopTimer; @@ -64,7 +65,9 @@ private void setupCameras() { private void updateEstimators() { m_loopTimer.reset(); - m_filter.clear(); + if (VisionConstants.kEnableMultiInputFilter || DriverStation.isDisabled()) { + m_filter.clear(); + } for (SingleInputPoseEstimator estimator : m_estimators) { estimator.refresh(m_poseSupplier.get()); } @@ -83,7 +86,7 @@ public void startThread() { } private void addEstimate(TimestampedPoseEstimate estimate) { - if (VisionConstants.kEnableMultiInputFilter) { + if (VisionConstants.kEnableMultiInputFilter || DriverStation.isDisabled()) { if (!m_filter.verify(estimate.pose())) { return; } From 3494941f70202ae327ba1a705a1b9da0463f6b54 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 21 May 2025 19:58:23 -0400 Subject: [PATCH 064/135] Fix buttons --- .../src/main/java/frc/robot/binding/OperatorBindings.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java index 7b0d2e3e..3de83c7f 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -69,8 +69,8 @@ public void bind(Superstructure superstructure) { /* algae intake */ m_algae.and(m_algaeGround).whileTrue(superstructure.enter(new GroundAlgaeIntake())); m_algae.and(m_algaeHighGround).whileTrue(superstructure.enter(new HighGroundAlgaeIntake())); - m_algae.and(m_algaeLowReef).whileTrue(superstructure.enter(new LowerReefAlgaeIntake())); - m_algae.and(m_algaeHighReef).whileTrue(superstructure.enter(new UpperReefAlgaeIntake())); + m_algaeLowReef.whileTrue(superstructure.enter(new LowerReefAlgaeIntake())); + m_algaeHighReef.whileTrue(superstructure.enter(new UpperReefAlgaeIntake())); /* algae score */ m_algae.and(m_processor).whileTrue(superstructure.enter(new ProcessorPrep())); From eea1a6bdd7891f597933a7e9a90e1f4b945e8f79 Mon Sep 17 00:00:00 2001 From: Nolan Barker <107814443+TheRekrab@users.noreply.github.com> Date: Wed, 21 May 2025 20:07:04 -0400 Subject: [PATCH 065/135] Add magical 6328 build.gradle "improvements" --- ThriftyTest/build.gradle | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/ThriftyTest/build.gradle b/ThriftyTest/build.gradle index 6d83e956..0cd61c32 100644 --- a/ThriftyTest/build.gradle +++ b/ThriftyTest/build.gradle @@ -27,6 +27,17 @@ deploy { // getTargetTypeClass is a shortcut to get the class type using a string frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + jvmArgs.add("-XX:+UnlockExperimentalVMOptions") + jvmArgs.add("-XX:GCTimeRatio=5") + jvmArgs.add("-XX:+UseSerialGC") + jvmArgs.add("-XX:MaxGCPauseMillis=50") + + // The options below may improve performance, but should only be enabled on the RIO 2 + // + final MAX_JAVA_HEAP_SIZE_MB = 100; + jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M") + jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M") + jvmArgs.add("-XX:+AlwaysPreTouch") } // Static files artifact From 752ebc5a7e2322cea198371616998e5f69facff9 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 21 May 2025 20:14:52 -0400 Subject: [PATCH 066/135] Increase vision trust --- ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java index e848210b..d9633d86 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -23,7 +23,7 @@ public class VisionConstants { public static final boolean kEnableMultiInputFilter = false; protected static final double kRotationCoefficient = Math.PI * 0.5; - protected static final double kTranslationCoefficient = 0.10; + protected static final double kTranslationCoefficient = 0.06; protected static final Vector kBaseStdDevs = VecBuilder.fill(kTranslationCoefficient, kTranslationCoefficient, kRotationCoefficient); From 74e3d96915e7324ba42caab50582c60816937a3b Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Fri, 23 May 2025 16:37:15 -0400 Subject: [PATCH 067/135] Move all nonessential logging to DataLog for onboard logging --- ThriftyTest/simgui.json | 20 +++---- .../frc/robot/binding/DashboardBindings.java | 3 + .../java/frc/robot/binding/DriveBindings.java | 1 - .../frc/robot/subsystems/algae/Algae.java | 8 +-- .../frc/robot/subsystems/algae/AlgaeIO.java | 1 - .../subsystems/algae/AlgaeIOHardware.java | 1 - .../subsystems/algae/AlgaeIOInputsLogger.java | 20 +++++++ .../robot/subsystems/algae/AlgaeIOSim.java | 2 +- .../frc/robot/subsystems/climber/Climber.java | 17 ++++-- .../climber/ClimberIOInputsLogger.java | 28 +++++++++ .../frc/robot/subsystems/coral/Coral.java | 14 ++--- .../frc/robot/subsystems/coral/CoralIO.java | 2 +- .../subsystems/coral/CoralIOInputsLogger.java | 36 +++++++++++ .../robot/subsystems/coral/CoralIOSim.java | 4 ++ .../robot/subsystems/elevator/Elevator.java | 16 +++-- .../robot/subsystems/elevator/ElevatorIO.java | 1 + .../elevator/ElevatorIOHardware.java | 9 ++- .../elevator/ElevatorIOInputsLogger.java | 34 +++++++++++ .../subsystems/elevator/ElevatorIOSim.java | 3 +- .../frc/robot/subsystems/pivot/Pivot.java | 14 +++-- .../frc/robot/subsystems/pivot/PivotIO.java | 1 - .../subsystems/pivot/PivotIOHardware.java | 1 - .../subsystems/pivot/PivotIOInputsLogger.java | 21 +++++++ .../robot/superstructure/Superstructure.java | 2 - .../frc/robot/utils/MonitoredSupplier.java | 32 ++++++++++ .../java/frc/robot/utils/OnboardLogger.java | 60 +++++++++++++++++++ 26 files changed, 299 insertions(+), 52 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOInputsLogger.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOInputsLogger.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOInputsLogger.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOInputsLogger.java create mode 100644 ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOInputsLogger.java create mode 100644 ThriftyTest/src/main/java/frc/robot/utils/MonitoredSupplier.java create mode 100644 ThriftyTest/src/main/java/frc/robot/utils/OnboardLogger.java diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index c1e0dd96..54db6fd7 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -25,6 +25,7 @@ "/SmartDashboard/Prep/Set Right": "Command", "/SmartDashboard/Super Field": "Field2d", "/SmartDashboard/Test vision": "Command", + "/SmartDashboard/Test/Algae Intake (ground)": "Command", "/SmartDashboard/Test/Drive To Center": "Command", "/SmartDashboard/Test/Enter test state": "Command", "/SmartDashboard/Test/L4": "Command", @@ -188,6 +189,11 @@ "visible": true } }, + "/SmartDashboard/Test/Algae Intake (ground)": { + "window": { + "visible": true + } + }, "/SmartDashboard/Test/L4": { "window": { "visible": true @@ -204,6 +210,9 @@ "Coral": { "open": true }, + "Elevator": { + "open": true + }, "Super Field": { "double[]##v_/SmartDashboard/Super Field/tag relative": { "open": true @@ -278,17 +287,6 @@ "marker": "None", "name": "Vision loop time", "yAxis": 1 - }, - { - "color": [ - 0.3333333432674408, - 0.658823549747467, - 0.4078431725502014, - 1.0 - ], - "id": "NT:/SmartDashboard/Elevator/Position", - "name": "Elevator", - "yAxis": 1 } ], "yaxis2": true, diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java index b4a33299..c4d228ba 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java @@ -4,6 +4,7 @@ import frc.robot.Constants.CoralLevel; import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.states.CoralScore; +import frc.robot.superstructure.states.GroundAlgaeIntake; import frc.robot.superstructure.states.SeedPose; public class DashboardBindings implements Binder { @@ -12,5 +13,7 @@ public void bind(Superstructure superstructure) { SmartDashboard.putData("Prep/Set Left", superstructure.enter(SeedPose.left())); SmartDashboard.putData("Prep/Set Right", superstructure.enter(SeedPose.right())); SmartDashboard.putData("Test/L4", superstructure.enter(new CoralScore(CoralLevel.L4))); + SmartDashboard.putData("Test/Algae Intake (ground)", + superstructure.enter(new GroundAlgaeIntake())); } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java index 2f9ae96e..404df4a4 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java @@ -7,7 +7,6 @@ import frc.robot.Constants.ButtonBindingConstants.Driver; import frc.robot.Constants.FieldConstants; import frc.robot.driveassist.APTarget; -import frc.robot.subsystems.drivetrain.DriveConstants; import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.states.Align; import frc.robot.superstructure.states.HeadingReset; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java index ec2c28ed..fdc9a1bc 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/Algae.java @@ -4,7 +4,6 @@ import org.slf4j.LoggerFactory; import edu.wpi.first.math.filter.MedianFilter; -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.Trigger; @@ -22,6 +21,7 @@ public class Algae extends PassiveSubsystem { private final AlgaeIO m_io; private AlgaeIOInputs m_inputs; + private AlgaeIOInputsLogger m_inputsLogger; private boolean m_hasAlgae; @@ -35,6 +35,7 @@ public Algae() { m_io = new AlgaeIOSim(); } m_inputs = new AlgaeIOInputs(); + m_inputsLogger = new AlgaeIOInputsLogger(m_inputs); RobotObserver.setAlgaePieceHeldSupplier(this.holdingAlgae()); m_timer = new LoopTimer("Algae"); } @@ -72,11 +73,8 @@ private void keep(boolean shouldHold) { public void periodic() { m_timer.reset(); m_io.updateInputs(m_inputs); + m_inputsLogger.log(); m_hasAlgae = getTorqueCurrent() >= AlgaeConstants.kTorqueCurrentThreshold; - SmartDashboard.putBoolean("Algae/Held", m_hasAlgae); - SmartDashboard.putNumber("Algae/Torque", m_inputs.torque); - SmartDashboard.putNumber("Algae/Voltage", m_inputs.voltage); - SmartDashboard.putNumber("Algae/Temperature", m_inputs.temperature); m_timer.log(); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIO.java index e1082a9d..7dcac00b 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIO.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIO.java @@ -9,7 +9,6 @@ class AlgaeIOInputs { public double torque = 0.0; public double voltage = 0.0; public double temperature = 0.0; - public double velocityRPS = 0.0; } void setVoltage(double voltage); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java index de921b1c..913d602c 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOHardware.java @@ -50,7 +50,6 @@ public void updateInputs(AlgaeIOInputs inputs) { inputs.current = m_currentSignal.getValueAsDouble(); inputs.torque = m_torqueSignal.getValueAsDouble(); inputs.temperature = m_tempSignal.getValueAsDouble(); - inputs.velocityRPS = m_velocitySignal.getValueAsDouble(); } public void setVoltage(double voltage) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOInputsLogger.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOInputsLogger.java new file mode 100644 index 00000000..ca9c77ba --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOInputsLogger.java @@ -0,0 +1,20 @@ +package frc.robot.subsystems.algae; + +import frc.robot.subsystems.algae.AlgaeIO.AlgaeIOInputs; +import frc.robot.utils.OnboardLogger; + +public class AlgaeIOInputsLogger { + private final OnboardLogger log; + + public AlgaeIOInputsLogger(AlgaeIOInputs inputs) { + log = new OnboardLogger("Algae"); + log.registerBoolean("Motor Connected", () -> inputs.motorConnected); + log.registerDouble("Current", () -> inputs.current); + log.registerDouble("Torque", () -> inputs.torque); + log.registerDouble("Voltage", () -> inputs.voltage); + } + + public void log() { + log.log(); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java index 945a886b..4db643a5 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/algae/AlgaeIOSim.java @@ -21,7 +21,7 @@ public void updateInputs(AlgaeIOInputs inputs) { inputs.voltage = m_voltage; inputs.current = m_motorSim.getCurrentDrawAmps(); inputs.torque = SmartDashboard.getNumber("Algae/Torque", 0.0); - inputs.velocityRPS = m_motorSim.getAngularVelocityRPM() / 60.0; + SmartDashboard.putNumber("Algae/Torque", inputs.torque); } public void setVoltage(double voltage) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java index f81a4c99..f28d27d0 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/Climber.java @@ -3,7 +3,6 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -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.Trigger; @@ -11,15 +10,18 @@ import frc.robot.subsystems.PassiveSubsystem; import frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs; import frc.robot.utils.LoopTimer; +import frc.robot.utils.OnboardLogger; public class Climber extends PassiveSubsystem { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(Climber.class); + private final OnboardLogger m_ologger; private final LoopTimer m_timer; private final ClimberIO m_io; - private ClimberIOInputs m_inputs; + private final ClimberIOInputs m_inputs; + private final ClimberIOInputsLogger m_inputsLogger; public Climber() { super(); @@ -29,6 +31,11 @@ public Climber() { m_io = new ClimberIOSim(); } m_inputs = new ClimberIOInputs(); + m_inputsLogger = new ClimberIOInputsLogger(m_inputs); + m_ologger = new OnboardLogger("Climber"); + m_ologger.registerBoolean("Climbed", climbed()); + m_ologger.registerBoolean("Raised", raised()); + m_ologger.registerBoolean("Lowered", lowered()); m_timer = new LoopTimer("Climber"); } @@ -63,10 +70,8 @@ private void stop() { public void periodic() { m_timer.reset(); m_io.updateInputs(m_inputs); - SmartDashboard.putBoolean("Climb/Ready", raised().getAsBoolean()); - SmartDashboard.putBoolean("Climb/Complete", climbed().getAsBoolean()); - SmartDashboard.putNumber("Climb/Position", m_inputs.position); - SmartDashboard.putNumber("Climb/Voltage", m_inputs.leftVoltage); + m_inputsLogger.log(); + m_ologger.log(); m_timer.log(); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOInputsLogger.java b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOInputsLogger.java new file mode 100644 index 00000000..c5ac22ef --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/climber/ClimberIOInputsLogger.java @@ -0,0 +1,28 @@ +package frc.robot.subsystems.climber; + +import frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs; +import frc.robot.utils.OnboardLogger; + +public class ClimberIOInputsLogger { + private final OnboardLogger log; + + public ClimberIOInputsLogger(ClimberIOInputs inputs) { + log = new OnboardLogger("Climber"); + log.registerBoolean("Left Motor Connected", () -> inputs.leftConnected); + log.registerBoolean("Right Motor Connected", () -> inputs.rightConnected); + log.registerDouble("Left Current", () -> inputs.leftCurrent); + log.registerDouble("Right Current", () -> inputs.rightCurrent); + log.registerDouble("Left Voltage", () -> inputs.leftVoltage); + log.registerDouble("Right Voltage", () -> inputs.rightVoltage); + log.registerDouble("Left Temperature", () -> inputs.leftTemp); + log.registerDouble("Right Temperature", () -> inputs.rightTemp); + log.registerDouble("Left Velocity RPS", () -> inputs.leftVelocityRPS); + log.registerDouble("Right Velocity RPS", () -> inputs.rightVelocityRPS); + log.registerBoolean("CANcoder Connected", () -> inputs.encoderConnected); + log.registerDouble("Position", () -> inputs.position); + } + + public void log() { + log.log(); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java index d763bb22..35939a69 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/Coral.java @@ -7,7 +7,6 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -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.Trigger; @@ -24,8 +23,9 @@ public class Coral extends PassiveSubsystem { private final LoopTimer m_timer; private final CoralIO m_io; - private CoralIOInputs m_inputs = new CoralIOInputs(); - + private final CoralIOInputs m_inputs; + private final CoralIOInputsLogger m_inputsLogger; + public Coral() { super(); if (Robot.isReal()) { @@ -33,6 +33,8 @@ public Coral() { } else { m_io = new CoralIOSim(); } + m_inputs = new CoralIOInputs(); + m_inputsLogger = new CoralIOInputsLogger(m_inputs); RobotObserver.setCoralHeldSupplier(holding()); m_timer = new LoopTimer("Coral"); } @@ -83,11 +85,7 @@ public Trigger holding() { public void periodic() { m_timer.reset(); m_io.updateInputs(m_inputs); - SmartDashboard.putBoolean("Coral/Front CANrange", m_inputs.frontDetected); - SmartDashboard.putBoolean("Coral/Upper CANrange", m_inputs.upperDetected); - SmartDashboard.putBoolean("Coral/Inner CANrange", m_inputs.innerDetected); - SmartDashboard.putBoolean("Coral/Holding", holding().getAsBoolean()); - SmartDashboard.putBoolean("Coral/Present", present().getAsBoolean()); + m_inputsLogger.log(); m_timer.log(); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java index 1b17dc59..4be8577b 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIO.java @@ -23,7 +23,7 @@ class CoralIOInputs { public double innerDistance = 0.0; public double frontStrength = 0.0; public double upperStreingth = 0.0; - public double innerStrength = 0.0; // INNER STRENGTH!!! + public double innerStrength = 0.0; } void setLeftVoltage(double voltage); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOInputsLogger.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOInputsLogger.java new file mode 100644 index 00000000..2a9a64a0 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOInputsLogger.java @@ -0,0 +1,36 @@ +package frc.robot.subsystems.coral; + +import frc.robot.subsystems.coral.CoralIO.CoralIOInputs; +import frc.robot.utils.OnboardLogger; + +public class CoralIOInputsLogger { + private final OnboardLogger log; + + public CoralIOInputsLogger(CoralIOInputs inputs) { + log = new OnboardLogger("Coral"); + log.registerBoolean("Left Motor Connected", () -> inputs.leftMotorConnected); + log.registerBoolean("Right Motor Connected", () -> inputs.rightMotorConnected); + log.registerBoolean("Front CANrange Connected", () -> inputs.frontCANrangeConnected); + log.registerBoolean("Upper CANrange Connected", () -> inputs.upperCANrangeConnected); + log.registerBoolean("Inner CANrange Connected", () -> inputs.innerCANrangeConnected); + log.registerDouble("Left Voltage", () -> inputs.leftVoltage); + log.registerDouble("Right Voltage", () -> inputs.rightVoltage); + log.registerDouble("Left Current", () -> inputs.leftCurrent); + log.registerDouble("Right Current", () -> inputs.rightCurrent); + log.registerDouble("Left Temperature", () -> inputs.leftTemperature); + log.registerDouble("Right Temperature", () -> inputs.rightTemperature); + log.registerBoolean("Front Detected", () -> inputs.frontDetected); + log.registerBoolean("Upper Detected", () -> inputs.upperDetected); + log.registerBoolean("Inner Detected", () -> inputs.innerDetected); + log.registerDouble("Front Distance", () -> inputs.frontDistance); + log.registerDouble("Upper Distance", () -> inputs.upperDistance); + log.registerDouble("Inner Distance", () -> inputs.innerDistance); + log.registerDouble("Front Strength", () -> inputs.frontStrength); + log.registerDouble("Upper Strength", () -> inputs.upperStreingth); + log.registerDouble("Inner Strength", () -> inputs.innerStrength); + } + + public void log() { + log.log(); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java index c4280437..732c41b9 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/coral/CoralIOSim.java @@ -34,6 +34,10 @@ public void updateInputs(CoralIOInputs inputs) { inputs.frontDetected = SmartDashboard.getBoolean("Coral/Front CANrange", false); inputs.upperDetected = SmartDashboard.getBoolean("Coral/Upper CANrange", false); inputs.innerDetected = SmartDashboard.getBoolean("Coral/Inner CANrange", false); + // Without publishing these values, they will never be able to be read. + SmartDashboard.putBoolean("Coral/Front CANrange", inputs.frontDetected); + SmartDashboard.putBoolean("Coral/Upper CANrange", inputs.upperDetected); + SmartDashboard.putBoolean("Coral/Inner CANrange", inputs.innerDetected); } public void setLeftVoltage(double voltage) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java index 2969bbdd..55b3dba9 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/Elevator.java @@ -20,6 +20,7 @@ import frc.robot.subsystems.PassiveSubsystem; import frc.robot.subsystems.elevator.ElevatorIO.ElevatorIOInputs; import frc.robot.utils.LoopTimer; +import frc.robot.utils.OnboardLogger; public class Elevator extends PassiveSubsystem { // we want to have a logger, even if we're not using it... yet @@ -29,7 +30,10 @@ public class Elevator extends PassiveSubsystem { private final LoopTimer m_timer; private final ElevatorIO m_io; - private ElevatorIOInputs m_inputs; + private final ElevatorIOInputs m_inputs; + private final ElevatorIOInputsLogger m_inputsLogger; + + private final OnboardLogger m_referenceLogger; private final Debouncer m_debouncer = new Debouncer(ElevatorConstants.kRangeDebounceTime.in(Seconds)); @@ -46,6 +50,9 @@ public Elevator() { m_io = new ElevatorIOSim(); } m_inputs = new ElevatorIOInputs(); + m_inputsLogger = new ElevatorIOInputsLogger(m_inputs); + m_referenceLogger = new OnboardLogger("Elevator"); + m_referenceLogger.registerString("State", () -> m_reference.toString()); SmartDashboard.putData("Elevator/Lazy Zero", runOnce(m_io::calibrateZero).ignoringDisable(true).withName("Lazy Zero")); m_timer = new LoopTimer("Elevator"); @@ -93,11 +100,8 @@ private boolean atZero() { public void periodic() { m_timer.reset(); m_io.updateInputs(m_inputs); - SmartDashboard.putNumber("Elevator/Position", m_inputs.position); - SmartDashboard.putString("Elevator/Reference", m_reference.toString()); - SmartDashboard.putBoolean("Elevator/Prefire", m_prefireReq.getAsBoolean()); - SmartDashboard.putBoolean("Elevator/Ready", ready().getAsBoolean()); - SmartDashboard.putBoolean("Elevator/Unsafe", unsafe().getAsBoolean()); + m_inputsLogger.log(); + m_referenceLogger.log(); m_timer.log(); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java index 411ab6c9..816e7f6e 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java @@ -17,6 +17,7 @@ public class ElevatorIOInputs { public double leftPosition = 0.0; public double rightPosition = 0.0; public double position = 0.0; + public double reference = 0.0; public boolean zeroCANrangeConnected = true; public boolean zeroCANrangeDetected = false; public double zeroCANrangeDistance = 0.0; diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java index 88da544d..16562cca 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOHardware.java @@ -23,6 +23,8 @@ public class ElevatorIOHardware implements ElevatorIO { private final DynamicMotionMagicVoltage m_control; + private double m_reference = Double.NaN; + private final StatusSignal m_leftVoltageSignal; private final StatusSignal m_rightVoltageSignal; private final StatusSignal m_leftCurrentSignal; @@ -114,6 +116,8 @@ public void updateInputs(ElevatorIOInputs inputs) { inputs.rightPosition = m_rightPositionSignal.getValueAsDouble(); inputs.position = inputs.rightPosition; + inputs.reference = m_reference; + inputs.zeroCANrangeConnected = BaseStatusSignal.isAllGood( m_CANrangeDetectedSignal, m_CANrangeDistanceSignal, @@ -123,8 +127,9 @@ public void updateInputs(ElevatorIOInputs inputs) { inputs.zeroCANrangeStrength = m_CANrangeStrengthSignal.getValueAsDouble(); } - public void setPosition(double position) { - m_rightMotor.setControl(m_control.withPosition(position)); + public void setPosition(double reference) { + m_rightMotor.setControl(m_control.withPosition(reference)); + m_reference = reference; } public void setVoltage(double voltage) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOInputsLogger.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOInputsLogger.java new file mode 100644 index 00000000..9adc7455 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOInputsLogger.java @@ -0,0 +1,34 @@ +package frc.robot.subsystems.elevator; + +import frc.robot.subsystems.elevator.ElevatorIO.ElevatorIOInputs; +import frc.robot.utils.OnboardLogger; + +public class ElevatorIOInputsLogger { + private final OnboardLogger log; + + public ElevatorIOInputsLogger(ElevatorIOInputs inputs) { + log = new OnboardLogger("Elevator"); + log.registerBoolean("Left Motor Connected", () -> inputs.leftMotorConnected); + log.registerBoolean("Right Motor Connected", () -> inputs.rightMotorConnected); + log.registerDouble("Left Voltage", () -> inputs.leftVoltage); + log.registerDouble("Right Voltage", () -> inputs.rightVoltage); + log.registerDouble("Left Current", () -> inputs.leftCurrent); + log.registerDouble("Right Current", () -> inputs.rightCurrent); + log.registerDouble("Left Temperature", () -> inputs.leftTemp); + log.registerDouble("Right Tempterature", () -> inputs.rightTemp); + log.registerDouble("Left Velocity RPS", () -> inputs.leftVelocityRPS); + log.registerDouble("Right Velocity RPS", () -> inputs.rightVelocityRPS); + log.registerDouble("Left Position", () -> inputs.leftPosition); + log.registerDouble("Right Position", () -> inputs.rightPosition); + log.registerDouble("Position", () -> inputs.position); + log.registerDouble("Reference", () -> inputs.reference); + log.registerBoolean("Zero CANrange Connected", () -> inputs.zeroCANrangeConnected); + log.registerBoolean("Zero CANrange Detected", () -> inputs.zeroCANrangeDetected); + log.registerDouble("Zero CANrange Distance", () -> inputs.zeroCANrangeDistance); + log.registerDouble("Zero CANrange Strength", () -> inputs.zeroCANrangeStrength); + } + + public void log() { + log.log(); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java index 1e02061b..3e0752ac 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java @@ -1,10 +1,11 @@ package frc.robot.subsystems.elevator; public class ElevatorIOSim implements ElevatorIO { - private double m_position; + private double m_position = Double.NaN; public void updateInputs(ElevatorIOInputs inputs) { inputs.position = m_position; + inputs.reference = m_position; inputs.zeroCANrangeDetected = m_position == 0; } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java index 3ea0e0c3..aefbf2f6 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/Pivot.java @@ -6,7 +6,6 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -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.Trigger; @@ -15,15 +14,18 @@ import frc.robot.subsystems.PassiveSubsystem; import frc.robot.subsystems.pivot.PivotIO.PivotIOInputs; import frc.robot.utils.LoopTimer; +import frc.robot.utils.OnboardLogger; public class Pivot extends PassiveSubsystem { @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(Pivot.class); + private final OnboardLogger m_ologger; private final LoopTimer m_timer; private final PivotIO m_io; - private PivotIOInputs m_inputs; + private final PivotIOInputs m_inputs; + private final PivotIOInputsLogger m_inputsLogger; private PivotState m_reference; @@ -35,7 +37,11 @@ public Pivot() { m_io = new PivotIOSim(); } m_inputs = new PivotIOInputs(); + m_inputsLogger = new PivotIOInputsLogger(m_inputs); m_reference = PivotState.Stow; + m_ologger = new OnboardLogger("Pivot"); + m_ologger.registerString("State", () -> m_reference.toString()); + m_ologger.registerBoolean("Ready", ready()); m_timer = new LoopTimer("Pivot"); } @@ -54,8 +60,8 @@ public Trigger ready() { public void periodic() { m_timer.reset(); m_io.updateInputs(m_inputs); - SmartDashboard.putBoolean("Pivot/Ready", ready().getAsBoolean()); - SmartDashboard.putString("Pivot/Reference", m_reference.toString()); + m_inputsLogger.log(); + m_ologger.log(); m_timer.log(); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIO.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIO.java index cfd73159..6aefe954 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIO.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIO.java @@ -8,7 +8,6 @@ class PivotIOInputs { public double current = 0.0; public double voltage = 0.0; public double temperatue = 0.0; - public double velocityRPS = 0.0; public double position = 0.0; } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java index ce26ef72..2e5ffe5b 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOHardware.java @@ -53,7 +53,6 @@ public void updateInputs(PivotIOInputs inputs) { inputs.voltage = m_voltageSignal.getValueAsDouble(); inputs.current = m_currentSignal.getValueAsDouble(); inputs.temperatue = m_tempSignal.getValueAsDouble(); - inputs.velocityRPS = m_velocitySignal.getValueAsDouble(); inputs.position = m_positionSignal.getValueAsDouble(); } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOInputsLogger.java b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOInputsLogger.java new file mode 100644 index 00000000..1b8b9fb8 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/pivot/PivotIOInputsLogger.java @@ -0,0 +1,21 @@ +package frc.robot.subsystems.pivot; + +import frc.robot.subsystems.pivot.PivotIO.PivotIOInputs; +import frc.robot.utils.OnboardLogger; + +public class PivotIOInputsLogger { + private final OnboardLogger log; + + public PivotIOInputsLogger(PivotIOInputs inputs) { + log = new OnboardLogger("Pivot"); + log.registerBoolean("Motor Connected", () -> inputs.motorConnected); + log.registerDouble("Current", () -> inputs.current); + log.registerDouble("Voltage", () -> inputs.voltage); + log.registerDouble("Temperature", () -> inputs.temperatue); + log.registerDouble("Position", () -> inputs.position); + } + + public void log() { + log.log(); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java index 63728e54..1f7c18e6 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/Superstructure.java @@ -1,7 +1,5 @@ package frc.robot.superstructure; -import java.util.function.BooleanSupplier; - import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.Trigger; diff --git a/ThriftyTest/src/main/java/frc/robot/utils/MonitoredSupplier.java b/ThriftyTest/src/main/java/frc/robot/utils/MonitoredSupplier.java new file mode 100644 index 00000000..7e30b729 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/utils/MonitoredSupplier.java @@ -0,0 +1,32 @@ +package frc.robot.utils; + +import java.util.function.BooleanSupplier; +import java.util.function.Consumer; +import java.util.function.DoubleSupplier; +import java.util.function.Supplier; + +public class MonitoredSupplier { + private T m_prev; + + private final Supplier m_supplier; + + public MonitoredSupplier(Supplier supplier) { + m_supplier = supplier; + } + + public void ifChanged(Consumer action) { + T curr = m_supplier.get(); + if (!curr.equals(m_prev)) { + m_prev = curr; + action.accept(curr); + } + } + + public static MonitoredSupplier fromDoubleSuplier(DoubleSupplier supplier) { + return new MonitoredSupplier<>(supplier::getAsDouble); + } + + public static MonitoredSupplier fromBooleanSupplier(BooleanSupplier supplier) { + return new MonitoredSupplier(supplier::getAsBoolean); + } +} diff --git a/ThriftyTest/src/main/java/frc/robot/utils/OnboardLogger.java b/ThriftyTest/src/main/java/frc/robot/utils/OnboardLogger.java new file mode 100644 index 00000000..3e1f17ed --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/utils/OnboardLogger.java @@ -0,0 +1,60 @@ +package frc.robot.utils; + +import java.util.ArrayList; +import java.util.function.BooleanSupplier; +import java.util.function.DoubleSupplier; +import java.util.function.Supplier; +import edu.wpi.first.math.Pair; +import edu.wpi.first.util.datalog.BooleanLogEntry; +import edu.wpi.first.util.datalog.DataLog; +import edu.wpi.first.util.datalog.DoubleLogEntry; +import edu.wpi.first.util.datalog.StringLogEntry; +import edu.wpi.first.wpilibj.DataLogManager; + +/** + * A utility class to help log structured data to a DataLog without worrying about extra writes or + * other nasty situations. + */ +public class OnboardLogger { + private static final DataLog dataLog = DataLogManager.getLog(); + + private final String m_name; + + private final ArrayList, DoubleLogEntry>> m_doubleEntries; + private final ArrayList, BooleanLogEntry>> m_booleanEntries; + private final ArrayList, StringLogEntry>> m_stringEntries; + + public OnboardLogger(String name) { + m_name = name; + m_doubleEntries = new ArrayList<>(); + m_booleanEntries = new ArrayList<>(); + m_stringEntries = new ArrayList<>(); + } + + public void registerDouble(String name, DoubleSupplier supplier) { + DoubleLogEntry entry = new DoubleLogEntry(dataLog, m_name + "/" + name); + m_doubleEntries.add(new Pair<>(MonitoredSupplier.fromDoubleSuplier(supplier), entry)); + } + + public void registerBoolean(String name, BooleanSupplier supplier) { + BooleanLogEntry entry = new BooleanLogEntry(dataLog, m_name + "/" + name); + m_booleanEntries.add(new Pair<>(MonitoredSupplier.fromBooleanSupplier(supplier), entry)); + } + + public void registerString(String name, Supplier supplier) { + StringLogEntry entry = new StringLogEntry(dataLog, m_name + "/" + name); + m_stringEntries.add(new Pair<>(new MonitoredSupplier<>(supplier), entry)); + } + + public void log() { + for (Pair, DoubleLogEntry> pair : m_doubleEntries) { + pair.getFirst().ifChanged(d -> pair.getSecond().append(d)); + } + for (Pair, BooleanLogEntry> pair : m_booleanEntries) { + pair.getFirst().ifChanged(b -> pair.getSecond().append(b)); + } + for (Pair, StringLogEntry> pair : m_stringEntries) { + pair.getFirst().ifChanged(s -> pair.getSecond().append(s)); + } + } +} From 25df1ddd6644fc868fd44de0e62ce54cb53d1853 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 24 May 2025 12:14:23 -0400 Subject: [PATCH 068/135] Replace more SmartDashboard outputs with OnboardLoggers --- ThriftyTest/simgui.json | 30 ----------- .../src/main/java/frc/robot/Robot.java | 7 ++- .../main/java/frc/robot/utils/LoopTimer.java | 21 ++++---- .../frc/robot/vision/VisionNetworkLogger.java | 50 ------------------- 4 files changed, 18 insertions(+), 90 deletions(-) delete mode 100644 ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 5bb14728..c95f3a9c 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -260,36 +260,6 @@ 0.8500000238418579 ], "height": 288, - "series": [ - { - "color": [ - 0.41676270961761475, - 0.24183005094528198, - 0.6666666269302368, - 1.0 - ], - "digital": "Analog", - "id": "NT:/SmartDashboard/Drivetrain/velo", - "marker": "None", - "name": "Velocity", - "weight": 2.999999523162842 - }, - { - "color": [ - 0.20608589053153992, - 0.2450980544090271, - 0.18983083963394165, - 1.0 - ], - "digital": "Auto", - "digitalBitGap": 34, - "digitalBitHeight": 33, - "id": "NT:/SmartDashboard/Vision/Loop time (ms)", - "marker": "None", - "name": "Vision loop time", - "yAxis": 1 - } - ], "yaxis2": true, "yaxis3": true } diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index 5e537b5b..15cb90ba 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc.robot.utils.LoopTimer; +import frc.robot.utils.OnboardLogger; import frc.robot.utils.StatusSignalUtil; public class Robot extends TimedRobot { @@ -22,9 +23,13 @@ public class Robot extends TimedRobot { private final LoopTimer m_loopTimer; + private final OnboardLogger m_ologger; + public Robot() { m_robotContainer = new RobotContainer(); m_loopTimer = new LoopTimer("Robot"); + m_ologger = new OnboardLogger("Robot"); + m_ologger.registerDouble("Battery Voltage", RobotController::getBatteryVoltage); } @Override @@ -42,7 +47,7 @@ public void robotPeriodic() { CommandScheduler.getInstance().run(); StatusSignalUtil.refreshAll(); SmartDashboard.putNumber("Robot/Match Time", DriverStation.getMatchTime()); - SmartDashboard.putNumber("Robot/Battery Voltage", RobotController.getBatteryVoltage()); + m_ologger.log(); m_loopTimer.log(); } diff --git a/ThriftyTest/src/main/java/frc/robot/utils/LoopTimer.java b/ThriftyTest/src/main/java/frc/robot/utils/LoopTimer.java index cf089532..bb1b659c 100644 --- a/ThriftyTest/src/main/java/frc/robot/utils/LoopTimer.java +++ b/ThriftyTest/src/main/java/frc/robot/utils/LoopTimer.java @@ -1,14 +1,13 @@ package frc.robot.utils; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - public class LoopTimer { - private final String m_ident; - private long m_lastUpdateTime; + private final OnboardLogger m_ologger; + public LoopTimer(String identifier) { - m_ident = identifier; + m_ologger = new OnboardLogger(identifier); + m_ologger.registerDouble("Loop Time (ms)", this::getElapsedTime); } /** @@ -18,16 +17,20 @@ public void reset() { m_lastUpdateTime = System.nanoTime(); } + private double getElapsedTime() { + long end = System.nanoTime(); + long elapsed = end - m_lastUpdateTime; + double elapsedMillis = (double) elapsed * 1e-6; + return elapsedMillis; + } + /** * Logs the time since last timer reset * * This does not reset the timer. A call to reset() is necessary to reset the timer. */ public void log() { - long end = System.nanoTime(); - long elapsed = end - m_lastUpdateTime; - double elapsedMillis = (double) elapsed * 1e-6; - SmartDashboard.putNumber(m_ident + "/Loop time (ms)", elapsedMillis); + m_ologger.log(); } /** diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java deleted file mode 100644 index c9a43acf..00000000 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionNetworkLogger.java +++ /dev/null @@ -1,50 +0,0 @@ -package frc.robot.vision; - -import java.util.ArrayList; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import frc.robot.RobotObserver; - -public class VisionNetworkLogger { - private final boolean m_enableLogging; - - private final ArrayList m_estimates; - private final ArrayList m_rejects; - - public VisionNetworkLogger(boolean enable) { - m_enableLogging = enable; - m_estimates = new ArrayList<>(); - m_rejects = new ArrayList<>();; - } - - public void registerValidEstimate(Pose2d estimate) { - if (m_enableLogging) { - m_estimates.add(estimate); - } - } - - public void registerRejectedEstimate(Pose2d estimate) { - if (m_enableLogging) { - m_rejects.add(estimate); - } - } - - public void updateUnread() { - if (m_enableLogging) { - RobotObserver.getField().getObject(VisionConstants.kEstimationName).setPoses(m_estimates); - RobotObserver.getField().getObject(VisionConstants.kRejectName).setPoses(m_rejects); - double estimates = m_estimates.size(); - double rejects = m_rejects.size(); - SmartDashboard.putNumber("Vision/Estimate Count", estimates); - SmartDashboard.putNumber("Vision/Reject Count", rejects); - if (rejects + estimates > 0) { - SmartDashboard.putNumber("Vision/Rejection rate", rejects / (estimates + rejects)); - } else { - SmartDashboard.putNumber("Vision/Rejection rate", Double.NaN); - } - } - // clean up after ourselves - m_estimates.clear(); - m_rejects.clear(); - } -} From b14902fa0873c144cf827f82ad8247853d40365c Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 24 May 2025 12:59:29 -0400 Subject: [PATCH 069/135] Add vision logging --- .../java/frc/robot/utils/OnboardLogger.java | 21 +++- .../vision/SingleInputPoseEstimator.java | 14 +-- .../frc/robot/vision/VisionConstants.java | 10 +- .../java/frc/robot/vision/VisionHandler.java | 16 ++- .../frc/robot/vision/VisionLogBuilder.java | 45 ------- .../java/frc/robot/vision/VisionLogger.java | 119 +++++------------- 6 files changed, 63 insertions(+), 162 deletions(-) delete mode 100644 ThriftyTest/src/main/java/frc/robot/vision/VisionLogBuilder.java diff --git a/ThriftyTest/src/main/java/frc/robot/utils/OnboardLogger.java b/ThriftyTest/src/main/java/frc/robot/utils/OnboardLogger.java index 50e3e180..5f2add24 100644 --- a/ThriftyTest/src/main/java/frc/robot/utils/OnboardLogger.java +++ b/ThriftyTest/src/main/java/frc/robot/utils/OnboardLogger.java @@ -1,6 +1,7 @@ package frc.robot.utils; import java.util.ArrayList; +import java.util.List; import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; import java.util.function.Supplier; @@ -10,6 +11,7 @@ import edu.wpi.first.util.datalog.DataLog; import edu.wpi.first.util.datalog.DoubleLogEntry; import edu.wpi.first.util.datalog.StringLogEntry; +import edu.wpi.first.util.datalog.StructArrayLogEntry; import edu.wpi.first.util.datalog.StructLogEntry; import edu.wpi.first.wpilibj.DataLogManager; @@ -22,10 +24,11 @@ public class OnboardLogger { private final String m_name; - private final ArrayList, DoubleLogEntry>> m_doubleEntries; - private final ArrayList, BooleanLogEntry>> m_booleanEntries; - private final ArrayList, StringLogEntry>> m_stringEntries; - private final ArrayList, StructLogEntry>> m_poseEntries; + private final List, DoubleLogEntry>> m_doubleEntries; + private final List, BooleanLogEntry>> m_booleanEntries; + private final List, StringLogEntry>> m_stringEntries; + private final List, StructLogEntry>> m_poseEntries; + private final List, StructArrayLogEntry>> m_poseListEntries; public OnboardLogger(String name) { m_name = name; @@ -33,6 +36,7 @@ public OnboardLogger(String name) { m_booleanEntries = new ArrayList<>(); m_stringEntries = new ArrayList<>(); m_poseEntries = new ArrayList<>(); + m_poseListEntries = new ArrayList<>(); } public void registerDouble(String name, DoubleSupplier supplier) { @@ -56,6 +60,12 @@ public void registerPose(String name, Supplier supplier) { m_poseEntries.add(new Pair<>(new MonitoredSupplier<>(supplier), entry)); } + public void registerPoses(String name, Supplier supplier) { + StructArrayLogEntry entry = + StructArrayLogEntry.create(dataLog, m_name + "/" + name, Pose2d.struct); + m_poseListEntries.add(new Pair<>(new MonitoredSupplier<>(supplier), entry)); + } + public void log() { for (Pair, DoubleLogEntry> pair : m_doubleEntries) { pair.getFirst().ifChanged(d -> pair.getSecond().append(d)); @@ -69,5 +79,8 @@ public void log() { for (Pair, StructLogEntry> pair : m_poseEntries) { pair.getFirst().ifChanged(p -> pair.getSecond().append(p)); } + for (Pair, StructArrayLogEntry> pair : m_poseListEntries) { + pair.getFirst().ifChanged(ps -> pair.getSecond().append(ps)); + } } } diff --git a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java index 17dda297..7bf641f9 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java @@ -62,13 +62,11 @@ public SingleInputPoseEstimator( public void refresh(Pose2d robotPose) { m_lastPose = robotPose; m_io.updateInputs(m_inputs); - if (VisionConstants.kEnableMultiInputFilter) { - for (PhotonPipelineResult result : m_inputs.unreadResults) { - Set tags = result.getTargets().stream() - .map(target -> target.getFiducialId()) - .collect(Collectors.toSet()); - m_filter.addInput(m_io.getName(), tags); - } + for (PhotonPipelineResult result : m_inputs.unreadResults) { + Set tags = result.getTargets().stream() + .map(target -> target.getFiducialId()) + .collect(Collectors.toSet()); + m_filter.addInput(m_io.getName(), tags); } } @@ -93,8 +91,6 @@ public void run() { private void combinedHandleResult(PhotonPipelineResult result) { // some prechecks before we do anything if (!precheckValidity(result)) { - // We don't use the network logger to precheck these ones because this checks for the dumb - // stuff like "do we see anything" or "is this from a minute ago?" return; } // we can now assume that we have targets diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java index d9633d86..c36a4de0 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -19,14 +19,12 @@ public class VisionConstants { protected static final boolean kEnableLogging = false; - protected static final boolean kEnableNetworkLogging = false; - public static final boolean kEnableMultiInputFilter = false; - - protected static final double kRotationCoefficient = Math.PI * 0.5; - protected static final double kTranslationCoefficient = 0.06; + + protected static final double kRotationCoefficient = Math.PI * 0.5; + protected static final double kTranslationCoefficient = 0.06; protected static final Vector kBaseStdDevs = - VecBuilder.fill(kTranslationCoefficient, kTranslationCoefficient, kRotationCoefficient); + VecBuilder.fill(kTranslationCoefficient, kTranslationCoefficient, kRotationCoefficient); protected static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeWelded); diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java index 7919b9f7..dfc1d692 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionHandler.java @@ -26,7 +26,7 @@ public class VisionHandler implements AutoCloseable { private final Notifier m_notifier; private final List m_estimators = new ArrayList<>(); - private final VisionLogBuilder m_logBuilder; + private final VisionLogger m_esimateLogger; private final MultiInputFilter m_filter; @@ -34,7 +34,7 @@ public VisionHandler(Supplier poseSupplier, Consumer m_estimates; - private List m_logs; - - public VisionLogBuilder() { - m_estimates = new ArrayList<>(20); - m_logs = new ArrayList<>(20); - } - - public void addEstimate(TimestampedPoseEstimate estimate) { - m_estimates.add(estimate); - } - - private void buildLogs(Pose2d robot) { - m_logs.clear(); - for (TimestampedPoseEstimate est : m_estimates) { - double distance = est.pose().minus(robot).getTranslation().getNorm(); - m_logs.add(new VisionLog(est, distance, robot)); - } - // consume each processed value - m_estimates.clear(); - } - - - public void log(Pose2d robotPose) { - buildLogs(robotPose); - if (VisionConstants.kEnableLogging) { - VisionLogger.record(m_logs); - } - } - - /* a helper record to handle logs */ - public record VisionLog( - TimestampedPoseEstimate estimate, - double error, - Pose2d robot) { - } -} diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java index 19e37cdf..5b9852b4 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionLogger.java @@ -1,96 +1,37 @@ package frc.robot.vision; -import java.io.BufferedWriter; -import java.io.FileWriter; -import java.io.IOException; +import java.util.ArrayList; import java.util.List; - -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; - -import frc.robot.Robot; -import frc.robot.vision.VisionLogBuilder.VisionLog; - -public class VisionLogger implements AutoCloseable { - private static VisionLogger instance; - - private synchronized static VisionLogger getInstance() { - if (instance == null) { - instance = new VisionLogger(); - } - return instance; - } - - private Logger logger = LoggerFactory.getLogger(VisionLogger.class); - - private final StringBuilder m_builder; - - private FileWriter m_writer; - private BufferedWriter m_buffer; - - private VisionLogger() { - m_builder = new StringBuilder(); - String filepath = VisionConstants.kLogPath + Long.toHexString(System.currentTimeMillis() / 1000) + ".log"; - if (Robot.isSimulation()) { - filepath = VisionConstants.kSimLogPath + Long.toHexString(System.currentTimeMillis() / 1000) + ".log"; - } - try { - m_writer = new FileWriter(filepath); - } catch (IOException e) { - logger.error("failed to open vision log file : {}", e.toString()); - return; - } - m_buffer = new BufferedWriter(m_writer); - - try { - m_buffer.write("time, source, x, y, err\n"); - } catch (IOException e) { - logger.error("failed to write to vision log: {}", e.toString()); - } - } - - private synchronized void recordLogs(List logs) { - if (m_buffer == null) { - logger.warn("Not saving vision logs! Check your console for more info"); - return; - } - - m_builder.setLength(0); - - for (VisionLog log : logs) { - m_builder.append(log.estimate().timestamp()); - m_builder.append(","); - m_builder.append(log.estimate().source()); - m_builder.append(","); - m_builder.append(log.robot().getX()); - m_builder.append(","); - m_builder.append(log.robot().getY()); - m_builder.append(","); - m_builder.append(log.error()); - m_builder.append(","); - m_builder.append(log.estimate().algorithm().toString()); - m_builder.append("\n"); - } - - try { - m_buffer.write(m_builder.toString()); - m_buffer.flush(); - } catch (IOException e) { - logger.error("Failed writing to vision log file: {}", e.toString()); - } - - } - - public static void record(List logs) { - getInstance().recordLogs(logs); +import edu.wpi.first.math.geometry.Pose2d; +import frc.robot.utils.OnboardLogger; + +public class VisionLogger { + private List m_estimates; + + private final OnboardLogger m_logger; + + public VisionLogger() { + m_estimates = new ArrayList<>(20); + m_logger = new OnboardLogger("Vision"); + m_logger.registerPoses("Estimates", () -> { + Pose2d[] estimates = new Pose2d[m_estimates.size()]; + for (int i = 0; i < m_estimates.size(); i++) { + estimates[i] = m_estimates.get(i); + } + return estimates; + }); + } + + public void addEstimate(TimestampedPoseEstimate estimate) { + if (VisionConstants.kEnableLogging) { + m_estimates.add(estimate.pose()); } + } - @Override - public void close() { - try { - m_buffer.close(); - } catch (IOException e) { - logger.error("failed closing file: {}", e.toString()); - } + public void log() { + if (VisionConstants.kEnableLogging) { + m_logger.log(); + m_estimates.clear(); } + } } From 50580176c2f74d857fb694e7659cc2c8c96a6dea Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 24 May 2025 13:01:59 -0400 Subject: [PATCH 070/135] Change logging settings for vision --- .../src/main/java/frc/robot/vision/VisionConstants.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java index c36a4de0..b632694f 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/VisionConstants.java @@ -16,9 +16,10 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.Time; +import frc.robot.Robot; public class VisionConstants { - protected static final boolean kEnableLogging = false; + protected static final boolean kEnableLogging = Robot.isSimulation(); protected static final double kRotationCoefficient = Math.PI * 0.5; protected static final double kTranslationCoefficient = 0.06; From b5a1f0ed97dd95b50de06407c65f3ac687a747c5 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 24 May 2025 13:48:21 -0400 Subject: [PATCH 071/135] Remove unused graph from simgui --- ThriftyTest/simgui.json | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index c95f3a9c..519214c6 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -265,7 +265,8 @@ } ], "window": { - "name": "Stats" + "name": "Stats", + "visible": false } } } From 2d261cc7acc37fdf81fa32d86f58306e7a15760f Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sat, 24 May 2025 13:50:13 -0400 Subject: [PATCH 072/135] Clean up old stuff in TimestampedVisionEstimate We no longer track source or method. --- .../vision/SingleInputPoseEstimator.java | 15 ++++---------- .../robot/vision/TimestampedPoseEstimate.java | 20 +------------------ 2 files changed, 5 insertions(+), 30 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java index 7bf641f9..9d99364d 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/SingleInputPoseEstimator.java @@ -28,7 +28,6 @@ import frc.robot.Constants.FieldConstants; import frc.robot.RobotObserver; import frc.robot.vision.CameraIO.CameraIOInputs; -import frc.robot.vision.TimestampedPoseEstimate.EstimationAlgorithm; public class SingleInputPoseEstimator implements Runnable { private final Logger m_logger = LoggerFactory.getLogger(SingleInputPoseEstimator.class); @@ -96,13 +95,10 @@ private void combinedHandleResult(PhotonPipelineResult result) { // we can now assume that we have targets List targets = result.getTargets(); // use solvePnP every time if we can - EstimationAlgorithm algorithm = (targets.size() > 1) ? EstimationAlgorithm.PnP - : EstimationAlgorithm.Trig; - Optional est = m_estimator.update(result); if (est.isPresent()) { Pose3d estimatedPose = est.get().estimatedPose; - process(result, estimatedPose, algorithm).ifPresent(m_reporter); + process(result, estimatedPose).ifPresent(m_reporter); } PhotonTrackedTarget target = targets.get(0); int fidId = target.getFiducialId(); @@ -141,7 +137,7 @@ private void combinedHandleResult(PhotonPipelineResult result) { estimate = (bestXYErr <= altXYErr) ? best : alt; } - process(result, estimate, EstimationAlgorithm.Heading).ifPresent(m_reporter); + process(result, estimate).ifPresent(m_reporter); } private boolean precheckValidity(PhotonPipelineResult result) { @@ -153,10 +149,7 @@ private boolean precheckValidity(PhotonPipelineResult result) { return result.hasTargets(); } - private Optional process( - PhotonPipelineResult result, - Pose3d pose, - EstimationAlgorithm algorithm) { + private Optional process(PhotonPipelineResult result, Pose3d pose) { double latency = result.metadata.getLatencyMillis() / 1.0e+3; double timestamp = Utils.getCurrentTimeSeconds() - latency; double ambiguity = getAmbiguity(result); @@ -168,7 +161,7 @@ private Optional process( return Optional.empty(); } return Optional.of( - new TimestampedPoseEstimate(flatPose, m_io.getName(), timestamp, stdDevs, algorithm)); + new TimestampedPoseEstimate(flatPose, timestamp, stdDevs)); } private boolean checkValidity( diff --git a/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java b/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java index e26c9205..31eeac76 100644 --- a/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java +++ b/ThriftyTest/src/main/java/frc/robot/vision/TimestampedPoseEstimate.java @@ -7,24 +7,6 @@ public record TimestampedPoseEstimate( Pose2d pose, - String source, double timestamp, - Matrix stdDevs, - EstimationAlgorithm algorithm) { - public enum EstimationAlgorithm { - Trig, PnP, Ambiguity, Heading, MultiInput; - - @Override - public String toString() { - String s = "?"; - switch (this) { - case Trig -> s = "T"; - case PnP -> s = "P"; - case Ambiguity -> s = "A"; - case Heading -> s = "H"; - case MultiInput -> s = "M"; - } - return s; - } - } + Matrix stdDevs) { } From 6a772024601e809c4cee6a9f15476185b7655171 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 25 May 2025 16:13:20 -0400 Subject: [PATCH 073/135] Fix aligned bug and move binding constants out of constants.java --- ThriftyTest/simgui.json | 6 - .../src/main/java/frc/robot/Constants.java | 114 ------------------ .../src/main/java/frc/robot/Robot.java | 2 + .../frc/robot/binding/BindingConstants.java | 60 +++++++++ .../java/frc/robot/binding/DriveBindings.java | 9 +- .../frc/robot/binding/OperatorBindings.java | 5 +- .../frc/robot/subsystems/LedFeedback.java | 21 +--- .../drivetrain/CommandSwerveDrivetrain.java | 1 + 8 files changed, 73 insertions(+), 145 deletions(-) create mode 100644 ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 519214c6..8d8a40d9 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -208,12 +208,6 @@ }, "transitory": { "SmartDashboard": { - "Coral": { - "open": true - }, - "Elevator": { - "open": true - }, "Super Field": { "double[]##v_/SmartDashboard/Super Field/tag relative": { "open": true diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 25745e8e..54f42f7c 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -9,11 +9,9 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.Time; -import edu.wpi.first.wpilibj.PS5Controller.Button; import frc.robot.subsystems.elevator.ElevatorState; public class Constants { - public static class IDConstants { public static final int candle1 = 5; public static final int candle2 = 6; @@ -27,114 +25,6 @@ public static class RobotConstants { public static final Time globalCanTimeout = Milliseconds.of(20); // 20 milliseconds } - public static class ButtonBindingConstants { - public static enum DriverChoice { - DRAGONREINS, BACKUP; - } - public static enum ButtonBoardChoice { - PS5, KEYBOARD; - } - - public static final DriverChoice driverChoice = DriverChoice.DRAGONREINS; - public static final ButtonBoardChoice buttonBoardChoice = ButtonBoardChoice.PS5; - - public static final String dragonReinsName = "spark"; - public static final String driverBackupName = "inter"; - - public static final String ps5Name = "dual"; - - public static final int driverPort = 0; - public static final int operatorPort = 1; - - public static class Driver { - public static final int xAxis = 1; - public static final int yAxis = 0; - public static final int rotAxis = 3; - - public static final boolean flipX = false; - public static final boolean flipY = true; - public static final boolean flipRot = false; - - public static final int resetHeading = 1; - public static final int processor = 2; - - public static final double deadband = 0.01; - } - - public static class Operator { - public static final int L1 = 180; // POV - public static final int L2 = 270; // POV - public static final int L3 = 90; // POV - public static final int L4 = 0; // POV - - public static final int secondaryL1 = 14; - - public static final int ejectCoral = Button.kL2.value; - - public static final int leftReef = Button.kSquare.value; - public static final int rightReef = Button.kCircle.value; - - public static final int lowAlgae = Button.kCross.value; - public static final int highAlgae = Button.kTriangle.value; - public static final int ground = 180; // POV - public static final int processor = 90; // POV - public static final int highGround = 270; // POV - public static final int net = 0; // POV - public static final int algaeModeButton = Button.kR2.value; // R2 - - public static final int autoProcessor = Button.kR1.value; - - public static final int climbUp = Button.kCreate.value; - public static final int climb = Button.kOptions.value; - - public static final int stow = Button.kPS.value; - - public static final int intake = Button.kL1.value; // LB - - public static final int zeroElevator = 15; // old safety mode button (little bar below PS - // button) - - public static final int rightFunnel = 11; - public static final int leftFunnel = 12; - - - } - - public static class ButtonBoardKeyboard { - // WHEN SAFETY ON - AUTOMATION BASED - public static final int L1 = 1; - public static final int L2 = 2; - public static final int L3 = 3; - public static final int L4 = 4; - - public static final int A = 5; - public static final int B = 6; - public static final int C = 7; - public static final int D = 8; - public static final int E = 9; - public static final int F = 10; - public static final int G = 11; - public static final int H = 12; - public static final int I = 13; - public static final int J = 14; - public static final int K = 15; - public static final int L = 16; - - public static final int lowAlgae = 17; - public static final int highAlgae = 18; - public static final int groundAlgae = 19; - public static final int processor = 20; - public static final int net = 21; - - public static final int leftIntake = 22; - public static final int rightIntake = 23; - - public static final int climb = 24; - - public static final int cancelAuto = 25; - } - } - public static class FieldConstants { public static final Distance kFieldWidth = Meters.of(8.05); public static final Distance kFieldLength = Meters.of(17.55); @@ -286,10 +176,6 @@ private ScoringLocationsCenter(Pose2d pose) { } } - public enum ReefClipLocations { - LEFT, RIGHT; - } - public static class LedConstants { public static final int numLED = 133; public static final double flashSpeed = 0.75; diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index 15cb90ba..b4f25cf1 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.livewindow.LiveWindow; import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -39,6 +40,7 @@ public void robotInit() { DriverStation.startDataLog(DataLogManager.getLog()); m_robotContainer.enablePDPSwitch(); SmartDashboard.putData("Command Scheduler", CommandScheduler.getInstance()); + LiveWindow.disableAllTelemetry(); } @Override diff --git a/ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java b/ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java new file mode 100644 index 00000000..9de79695 --- /dev/null +++ b/ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java @@ -0,0 +1,60 @@ +package frc.robot.binding; + +import edu.wpi.first.wpilibj.PS5Controller.Button; + +public class BindingConstants { + public static final int driverPort = 0; + public static final int operatorPort = 1; + + public static class Driver { + public static final int xAxis = 1; + public static final int yAxis = 0; + public static final int rotAxis = 3; + + public static final boolean flipX = false; + public static final boolean flipY = true; + public static final boolean flipRot = false; + + public static final int resetHeading = 1; + public static final int processor = 2; + + public static final double deadband = 0.01; + } + + public static class Operator { + public static final int L1 = 180; + public static final int L2 = 270; + public static final int L3 = 90; + public static final int L4 = 0; + + public static final int secondaryL1 = 14; + + public static final int ejectCoral = Button.kL2.value; + + public static final int leftReef = Button.kSquare.value; + public static final int rightReef = Button.kCircle.value; + + public static final int lowAlgae = Button.kCross.value; + public static final int highAlgae = Button.kTriangle.value; + public static final int ground = 180; + public static final int processor = 90; + public static final int highGround = 270; + public static final int net = 0; + public static final int algaeModeButton = Button.kR2.value; + + public static final int autoProcessor = Button.kR1.value; + + public static final int climbUp = Button.kCreate.value; + public static final int climb = Button.kOptions.value; + + public static final int stow = Button.kPS.value; + + public static final int intake = Button.kL1.value; + + public static final int zeroElevator = 15; + + public static final int rightFunnel = 11; + public static final int leftFunnel = 12; + } +} + diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java index 404df4a4..8a0afb22 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java @@ -3,20 +3,19 @@ import java.util.function.DoubleSupplier; import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller; import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.Constants.ButtonBindingConstants; -import frc.robot.Constants.ButtonBindingConstants.Driver; import frc.robot.Constants.FieldConstants; +import frc.robot.binding.BindingConstants.Driver; import frc.robot.driveassist.APTarget; import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.states.Align; -import frc.robot.superstructure.states.HeadingReset; import frc.robot.superstructure.states.DeferredAlign; -import frc.robot.superstructure.states.TeleopDrive; import frc.robot.superstructure.states.DeferredAlign.AlignLocation; +import frc.robot.superstructure.states.HeadingReset; +import frc.robot.superstructure.states.TeleopDrive; public class DriveBindings implements Binder { private final CommandPS5Controller m_controller = - new CommandPS5Controller(ButtonBindingConstants.driverPort); + new CommandPS5Controller(BindingConstants.driverPort); private final DoubleSupplier m_x = () -> m_controller.getRawAxis(Driver.xAxis) * (Driver.flipX ? -1.0 : 1.0);; diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java index 3de83c7f..10d79a1c 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -2,9 +2,8 @@ import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller; import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.Constants.ButtonBindingConstants; import frc.robot.Constants.CoralLevel; -import frc.robot.Constants.ButtonBindingConstants.Operator; +import frc.robot.binding.BindingConstants.Operator; import frc.robot.superstructure.Superstructure; import frc.robot.superstructure.states.Climb; import frc.robot.superstructure.states.ClimbRaised; @@ -30,7 +29,7 @@ public class OperatorBindings implements Binder { private final CommandPS5Controller m_controller = - new CommandPS5Controller(ButtonBindingConstants.operatorPort); + new CommandPS5Controller(BindingConstants.operatorPort); private final Trigger m_l1 = m_controller.pov(Operator.L1); private final Trigger m_secondaryL1 = m_controller.pov(Operator.secondaryL1); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java index fe4d24f9..7b48595e 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java @@ -22,9 +22,9 @@ import edu.wpi.first.wpilibj.DriverStation.MatchType; import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants.ButtonBindingConstants; import frc.robot.Constants.IDConstants; import frc.robot.Constants.LedConstants; +import frc.robot.binding.BindingConstants; import frc.robot.RobotObserver; public class LedFeedback extends SubsystemBase { @@ -180,24 +180,11 @@ private void defaultColors() { } private boolean badController() { - boolean driverConnected = DriverStation.isJoystickConnected(ButtonBindingConstants.driverPort); + boolean driverConnected = DriverStation.isJoystickConnected(BindingConstants.driverPort); boolean operatorConnected = - DriverStation.isJoystickConnected(ButtonBindingConstants.operatorPort); + DriverStation.isJoystickConnected(BindingConstants.operatorPort); - if (!driverConnected || !operatorConnected) - return true; - - String driverName = - DriverStation.getJoystickName(ButtonBindingConstants.driverPort).toLowerCase(); - String operatorName = - DriverStation.getJoystickName(ButtonBindingConstants.operatorPort).toLowerCase(); - - boolean driverOk = driverName.contains(ButtonBindingConstants.dragonReinsName) - || driverName.contains(ButtonBindingConstants.driverBackupName); - - boolean operatorOk = operatorName.contains(ButtonBindingConstants.ps5Name); - - return !(driverOk && operatorOk); + return driverConnected && operatorConnected; } public void setAll(LED_COLOR color, LED_PATTERN pattern) { diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index c27efb0e..5223f705 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -418,6 +418,7 @@ public Command align(Autopilot autopilot, APTarget target) { return Commands.sequence( runOnce(() -> { RobotObserver.getField().getObject("reference").setPose(target.getReference()); + setAligned(false); }), run(() -> { Translation2d velocities = getVelocityComponents(); From f52364d4dabd36f159ae0959b1407826862722b4 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 25 May 2025 17:08:36 -0400 Subject: [PATCH 074/135] Use Commands.idle() rather than our impl --- .../drivetrain/CommandSwerveDrivetrain.java | 4 ---- .../robot/superstructure/states/DeferredAlign.java | 12 ++++++------ 2 files changed, 6 insertions(+), 10 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index 5223f705..c85ea41f 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -442,8 +442,4 @@ public Command seedLocal(Pose2d pose) { return Commands.runOnce(() -> resetPose(FieldUtils.getLocalPose(pose))) .ignoringDisable(true); } - - public Command hold() { - return run(() -> {}); - } } diff --git a/ThriftyTest/src/main/java/frc/robot/superstructure/states/DeferredAlign.java b/ThriftyTest/src/main/java/frc/robot/superstructure/states/DeferredAlign.java index 2466d63b..fa261145 100644 --- a/ThriftyTest/src/main/java/frc/robot/superstructure/states/DeferredAlign.java +++ b/ThriftyTest/src/main/java/frc/robot/superstructure/states/DeferredAlign.java @@ -22,7 +22,7 @@ public class DeferredAlign implements EnterableState { private List m_locations; /** - * Represents a state where the robot aligns to a reef face + * Represents a state where the robot aligns to a nonstatic location and then waits there */ public DeferredAlign(AlignLocation side) { switch (side) { @@ -53,11 +53,11 @@ public Command build(Subsystems subsystems) { m_locations.forEach(location -> locations.add(FieldUtils.getLocalPose(location))); Pose2d closest = subsystems.drivetrain().getPose().nearest(locations); APTarget target = new APTarget(closest) - .withEntryAngle(closest.getRotation()); - return subsystems.drivetrain().align(DriveConstants.kTightAutopilot, target); - }, Set.of(subsystems.drivetrain())) - - .andThen(subsystems.drivetrain().hold()); + .withEntryAngle(closest.getRotation()); + return Commands.sequence( + subsystems.drivetrain().align(DriveConstants.kTightAutopilot, target), + Commands.idle(subsystems.drivetrain())); + }, Set.of(subsystems.drivetrain())); } public enum AlignLocation { From f0bd7026f00260cc5af2412b6a9a28303f2be022 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 28 May 2025 18:31:52 -0400 Subject: [PATCH 075/135] Change starting positions for auton to be flat against the line --- ThriftyTest/simgui-ds.json | 10 ++++++ ThriftyTest/simgui.json | 36 ++++--------------- .../src/main/java/frc/robot/Constants.java | 6 ++-- 3 files changed, 20 insertions(+), 32 deletions(-) diff --git a/ThriftyTest/simgui-ds.json b/ThriftyTest/simgui-ds.json index d38d0206..8f6d7994 100644 --- a/ThriftyTest/simgui-ds.json +++ b/ThriftyTest/simgui-ds.json @@ -1,4 +1,14 @@ { + "FMS": { + "window": { + "visible": false + } + }, + "Joysticks": { + "window": { + "visible": false + } + }, "System Joysticks": { "window": { "enabled": false diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 8d8a40d9..5339ebe2 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -36,21 +36,6 @@ "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, "windows": { - "/SmartDashboard/Auton Chooser": { - "window": { - "visible": true - } - }, - "/SmartDashboard/Command Scheduler": { - "window": { - "visible": true - } - }, - "/SmartDashboard/Prep/Set Center": { - "window": { - "visible": true - } - }, "/SmartDashboard/Prep/Set Left": { "window": { "visible": true @@ -96,8 +81,7 @@ "selectable": false, "style": "Hidden" }, - "bottom": 1347, - "builtin": "", + "bottom": 1638, "cameras": { "arrows": false, "color": [ @@ -128,7 +112,7 @@ "width": 0.9399999976158142 }, "height": 8.051901817321777, - "image": "/Users/rekrab/hackbots/2025_Reefscape/ThriftyTest/2025-field-cropped.png", + "left": 534, "reference": { "arrowColor": [ 0.8480392098426819, @@ -172,7 +156,8 @@ "style": "Hidden", "width": 0.9399999976158142 }, - "right": 2932, + "right": 3466, + "top": 291, "visibleTargetPoses": { "arrows": false, "color": [ @@ -189,16 +174,6 @@ "window": { "visible": true } - }, - "/SmartDashboard/Test/Algae Intake (ground)": { - "window": { - "visible": true - } - }, - "/SmartDashboard/Test/L4": { - "window": { - "visible": true - } } } }, @@ -225,6 +200,9 @@ "NetworkTables Info": { "visible": true }, + "NetworkTables View": { + "visible": false + }, "Plot": { "Plot <0>": { "plots": [ diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 54f42f7c..60efd9d3 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -41,9 +41,9 @@ public static class FieldConstants { public static final Pose2d kBarge1 = new Pose2d(7.459, 4.717, Rotation2d.fromDegrees(21.0)); - public static final Pose2d kStartCenter = new Pose2d(7.134, 3.991, Rotation2d.kPi); - public static final Pose2d kStartRight = new Pose2d(6.929, 1.883, Rotation2d.fromDegrees(125)); - public static final Pose2d kStartLeft = new Pose2d(6.985, 6.027, Rotation2d.fromDegrees(-125)); + public static final Pose2d kStartCenter = new Pose2d(7.076, 3.991, Rotation2d.kPi); + public static final Pose2d kStartRight = new Pose2d(7.076, 1.883, Rotation2d.kPi); + public static final Pose2d kStartLeft = new Pose2d(7.076, 6.027, Rotation2d.kPi); } public static final class StateSpaceConstants { From 669497243a726747d7e61e7616da2cdd0a558594 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 28 May 2025 18:50:04 -0400 Subject: [PATCH 076/135] Add left align and right align to drive controller & fix constant names --- .../frc/robot/binding/BindingConstants.java | 60 +++++++++---------- .../java/frc/robot/binding/DriveBindings.java | 20 ++++--- .../frc/robot/binding/OperatorBindings.java | 46 +++++++------- .../frc/robot/subsystems/LedFeedback.java | 2 +- 4 files changed, 66 insertions(+), 62 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java b/ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java index 9de79695..5818cdef 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java @@ -3,7 +3,7 @@ import edu.wpi.first.wpilibj.PS5Controller.Button; public class BindingConstants { - public static final int driverPort = 0; + public static final int kDriverPort = 0; public static final int operatorPort = 1; public static class Driver { @@ -11,50 +11,50 @@ public static class Driver { public static final int yAxis = 0; public static final int rotAxis = 3; - public static final boolean flipX = false; - public static final boolean flipY = true; - public static final boolean flipRot = false; + public static final boolean kFlipX = false; + public static final boolean kFlipY = true; + public static final boolean kFlipRot = false; - public static final int resetHeading = 1; - public static final int processor = 2; + public static final int kResetHeading = 1; + public static final int kSmartAlign = 2; + public static final int kRightAlign = 3; + public static final int kLeftAlign = 4; public static final double deadband = 0.01; } public static class Operator { - public static final int L1 = 180; - public static final int L2 = 270; - public static final int L3 = 90; - public static final int L4 = 0; + public static final int kL1 = 180; + public static final int kL2 = 270; + public static final int kL3 = 90; + public static final int kL4 = 0; - public static final int secondaryL1 = 14; + public static final int kSecondaryL1 = 14; - public static final int ejectCoral = Button.kL2.value; + public static final int kEjectCoral = Button.kL2.value; - public static final int leftReef = Button.kSquare.value; - public static final int rightReef = Button.kCircle.value; + public static final int kLeftAlign = Button.kSquare.value; + public static final int kRightAlign = Button.kCircle.value; - public static final int lowAlgae = Button.kCross.value; - public static final int highAlgae = Button.kTriangle.value; - public static final int ground = 180; - public static final int processor = 90; - public static final int highGround = 270; - public static final int net = 0; - public static final int algaeModeButton = Button.kR2.value; + public static final int kLowerAlgae = Button.kCross.value; + public static final int kUpperAlgae = Button.kTriangle.value; + public static final int kGroundAlgaeIntake = 180; + public static final int kProcessor = 90; + public static final int kHighGroundAlgaeIntake = 270; + public static final int kNet = 0; + public static final int kAlgae = Button.kR2.value; - public static final int autoProcessor = Button.kR1.value; + public static final int kRaiseClimb = Button.kCreate.value; + public static final int kClimb = Button.kOptions.value; - public static final int climbUp = Button.kCreate.value; - public static final int climb = Button.kOptions.value; + public static final int kStow = Button.kPS.value; - public static final int stow = Button.kPS.value; + public static final int kCoralIntake = Button.kL1.value; - public static final int intake = Button.kL1.value; + public static final int kCalibrateElevator = 15; - public static final int zeroElevator = 15; - - public static final int rightFunnel = 11; - public static final int leftFunnel = 12; + public static final int kRightFunnel = 11; + public static final int kLeftFunnel = 12; } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java index 8a0afb22..631dc75b 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java @@ -15,26 +15,30 @@ public class DriveBindings implements Binder { private final CommandPS5Controller m_controller = - new CommandPS5Controller(BindingConstants.driverPort); + new CommandPS5Controller(BindingConstants.kDriverPort); private final DoubleSupplier m_x = - () -> m_controller.getRawAxis(Driver.xAxis) * (Driver.flipX ? -1.0 : 1.0);; + () -> m_controller.getRawAxis(Driver.xAxis) * (Driver.kFlipX ? -1.0 : 1.0);; private final DoubleSupplier m_y = - () -> m_controller.getRawAxis(Driver.yAxis) * (Driver.flipY ? -1.0 : 1.0); + () -> m_controller.getRawAxis(Driver.yAxis) * (Driver.kFlipY ? -1.0 : 1.0); private final DoubleSupplier m_rot = - () -> m_controller.getRawAxis(Driver.rotAxis) * (Driver.flipRot ? -1.0 : 1.0); + () -> m_controller.getRawAxis(Driver.rotAxis) * (Driver.kFlipRot ? -1.0 : 1.0); - private final Trigger m_resetHeading = m_controller.button(Driver.resetHeading); - private final Trigger m_align = m_controller.button(Driver.processor); + private final Trigger m_resetHeading = m_controller.button(Driver.kResetHeading); + private final Trigger m_smartAlign = m_controller.button(Driver.kSmartAlign); + private final Trigger m_leftAlign = m_controller.button(Driver.kLeftAlign); + private final Trigger m_rightAlign = m_controller.button(Driver.kRightAlign); public void bind(Superstructure superstructure) { superstructure.setDrive(superstructure.enter(new TeleopDrive(m_x, m_y, m_rot))); m_resetHeading.onTrue(superstructure.enter(new HeadingReset())); - m_align.and(superstructure.holdingAlgae()).whileTrue(superstructure.enter(new Align( + m_smartAlign.and(superstructure.holdingAlgae()).whileTrue(superstructure.enter(new Align( new APTarget().withReference(FieldConstants.k_processor)))); - m_align.and(superstructure.holdingAlgae().negate()).whileTrue(superstructure.enter( + m_smartAlign.and(superstructure.holdingAlgae().negate()).whileTrue(superstructure.enter( new DeferredAlign(AlignLocation.Center))); + m_leftAlign.whileTrue(superstructure.enter(new DeferredAlign(AlignLocation.Left))); + m_rightAlign.whileTrue(superstructure.enter(new DeferredAlign(AlignLocation.Right))); } } diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java index 10d79a1c..82c512a4 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -31,38 +31,38 @@ public class OperatorBindings implements Binder { private final CommandPS5Controller m_controller = new CommandPS5Controller(BindingConstants.operatorPort); - private final Trigger m_l1 = m_controller.pov(Operator.L1); - private final Trigger m_secondaryL1 = m_controller.pov(Operator.secondaryL1); - private final Trigger m_l2 = m_controller.pov(Operator.L2); - private final Trigger m_l3 = m_controller.pov(Operator.L3); - private final Trigger m_l4 = m_controller.pov(Operator.L4); + private final Trigger m_l1 = m_controller.pov(Operator.kL1); + private final Trigger m_secondaryL1 = m_controller.pov(Operator.kSecondaryL1); + private final Trigger m_l2 = m_controller.pov(Operator.kL2); + private final Trigger m_l3 = m_controller.pov(Operator.kL3); + private final Trigger m_l4 = m_controller.pov(Operator.kL4); - private final Trigger m_left = m_controller.button(Operator.leftReef); - private final Trigger m_right = m_controller.button(Operator.rightReef); + private final Trigger m_left = m_controller.button(Operator.kLeftAlign); + private final Trigger m_right = m_controller.button(Operator.kRightAlign); - private final Trigger m_coralIntake = m_controller.button(Operator.intake); - private final Trigger m_ejectCoral = m_controller.button(Operator.ejectCoral); + private final Trigger m_coralIntake = m_controller.button(Operator.kCoralIntake); + private final Trigger m_ejectCoral = m_controller.button(Operator.kEjectCoral); - private final Trigger m_algae = m_controller.button(Operator.algaeModeButton); + private final Trigger m_algae = m_controller.button(Operator.kAlgae); - private final Trigger m_algaeGround = m_controller.pov(Operator.ground); - private final Trigger m_algaeHighGround = m_controller.pov(Operator.highGround); - private final Trigger m_algaeLowReef = m_controller.button(Operator.lowAlgae); - private final Trigger m_algaeHighReef = m_controller.button(Operator.highAlgae); + private final Trigger m_algaeGround = m_controller.pov(Operator.kGroundAlgaeIntake); + private final Trigger m_algaeHighGround = m_controller.pov(Operator.kHighGroundAlgaeIntake); + private final Trigger m_algaeLowReef = m_controller.button(Operator.kLowerAlgae); + private final Trigger m_algaeHighReef = m_controller.button(Operator.kUpperAlgae); - private final Trigger m_processor = m_controller.pov(Operator.processor); - private final Trigger m_net = m_controller.pov(Operator.net); + private final Trigger m_processor = m_controller.pov(Operator.kProcessor); + private final Trigger m_net = m_controller.pov(Operator.kNet); - private final Trigger m_climberUp = m_controller.button(Operator.climbUp); - private final Trigger m_climb = m_controller.button(Operator.climb); + private final Trigger m_raiseClimb = m_controller.button(Operator.kRaiseClimb); + private final Trigger m_climb = m_controller.button(Operator.kClimb); - private final Trigger m_stow = m_controller.button(Operator.stow); + private final Trigger m_stow = m_controller.button(Operator.kStow); - private final Trigger m_funnelLeft = m_controller.button(Operator.leftFunnel); - private final Trigger m_funnelRight = m_controller.button(Operator.rightFunnel); + private final Trigger m_funnelLeft = m_controller.button(Operator.kLeftFunnel); + private final Trigger m_funnelRight = m_controller.button(Operator.kRightFunnel); private final Trigger m_funnel = m_funnelLeft.and(m_funnelRight); - private final Trigger m_zeroElevator = m_controller.button(Operator.zeroElevator); + private final Trigger m_zeroElevator = m_controller.button(Operator.kCalibrateElevator); public void bind(Superstructure superstructure) { /* algae intake */ @@ -93,7 +93,7 @@ public void bind(Superstructure superstructure) { /* climb */ m_climb.whileTrue(superstructure.enter(new Climb())); - m_climberUp.whileTrue(superstructure.enter(new ClimbRaised())); + m_raiseClimb.whileTrue(superstructure.enter(new ClimbRaised())); /* misc */ m_zeroElevator.whileTrue(superstructure.enter(new ElevatorZero())); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java index 7b48595e..ce995099 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java @@ -180,7 +180,7 @@ private void defaultColors() { } private boolean badController() { - boolean driverConnected = DriverStation.isJoystickConnected(BindingConstants.driverPort); + boolean driverConnected = DriverStation.isJoystickConnected(BindingConstants.kDriverPort); boolean operatorConnected = DriverStation.isJoystickConnected(BindingConstants.operatorPort); From d250c00945b386553841f76aedb4e53113b3d658 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 28 May 2025 19:41:06 -0400 Subject: [PATCH 077/135] Revert LED name search --- .../src/main/java/frc/robot/Constants.java | 3 +++ .../java/frc/robot/binding/BindingConstants.java | 2 +- .../java/frc/robot/binding/OperatorBindings.java | 2 +- .../java/frc/robot/subsystems/LedFeedback.java | 15 ++++++++++++--- 4 files changed, 17 insertions(+), 5 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 60efd9d3..f9f5d8f4 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -190,6 +190,9 @@ public static class LedConstants { public static final int elevatorOffset2 = 93; // 94 public static final int funnelNumLED2 = elevatorOffset2 - funnelOffset2; // 85 public static final int elevatorNumLED2 = 40; // 40 + + public static final String dragonReinsName = "spark"; + public static final String ps5Name = "dual"; } public static class FFConstants { diff --git a/ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java b/ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java index 5818cdef..fbf8a519 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/BindingConstants.java @@ -4,7 +4,7 @@ public class BindingConstants { public static final int kDriverPort = 0; - public static final int operatorPort = 1; + public static final int kOperatorPort = 1; public static class Driver { public static final int xAxis = 1; diff --git a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java index 82c512a4..5d52cbb9 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/OperatorBindings.java @@ -29,7 +29,7 @@ public class OperatorBindings implements Binder { private final CommandPS5Controller m_controller = - new CommandPS5Controller(BindingConstants.operatorPort); + new CommandPS5Controller(BindingConstants.kOperatorPort); private final Trigger m_l1 = m_controller.pov(Operator.kL1); private final Trigger m_secondaryL1 = m_controller.pov(Operator.kSecondaryL1); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java index ce995099..d7c2398c 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/LedFeedback.java @@ -181,10 +181,19 @@ private void defaultColors() { private boolean badController() { boolean driverConnected = DriverStation.isJoystickConnected(BindingConstants.kDriverPort); - boolean operatorConnected = - DriverStation.isJoystickConnected(BindingConstants.operatorPort); + boolean operatorConnected = DriverStation.isJoystickConnected(BindingConstants.kOperatorPort); - return driverConnected && operatorConnected; + if (!driverConnected || !operatorConnected) + return true; + + String driverName = DriverStation.getJoystickName(BindingConstants.kDriverPort).toLowerCase(); + String operatorName = DriverStation.getJoystickName(BindingConstants.kOperatorPort).toLowerCase(); + + boolean driverOk = driverName.contains(LedConstants.dragonReinsName); + + boolean operatorOk = operatorName.contains(LedConstants.ps5Name); + + return !(driverOk && operatorOk); } public void setAll(LED_COLOR color, LED_PATTERN pattern) { From cd51cd85dd78f7827448aae42856a9d11b27cdac Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 28 May 2025 20:04:21 -0400 Subject: [PATCH 078/135] Refresh status signals BEFORE acting on them --- ThriftyTest/src/main/java/frc/robot/Robot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ThriftyTest/src/main/java/frc/robot/Robot.java b/ThriftyTest/src/main/java/frc/robot/Robot.java index b4f25cf1..ba3b87b6 100644 --- a/ThriftyTest/src/main/java/frc/robot/Robot.java +++ b/ThriftyTest/src/main/java/frc/robot/Robot.java @@ -46,8 +46,8 @@ public void robotInit() { @Override public void robotPeriodic() { m_loopTimer.reset(); - CommandScheduler.getInstance().run(); StatusSignalUtil.refreshAll(); + CommandScheduler.getInstance().run(); SmartDashboard.putNumber("Robot/Match Time", DriverStation.getMatchTime()); m_ologger.log(); m_loopTimer.log(); From b4c6d1cc3d5c8f1af5f6762dfc23b73b2f559043 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Wed, 28 May 2025 20:12:55 -0400 Subject: [PATCH 079/135] Remove test commands from DashboardBindings --- .../src/main/java/frc/robot/binding/DashboardBindings.java | 6 ------ 1 file changed, 6 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java index c4d228ba..efc7f414 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DashboardBindings.java @@ -1,10 +1,7 @@ package frc.robot.binding; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import frc.robot.Constants.CoralLevel; import frc.robot.superstructure.Superstructure; -import frc.robot.superstructure.states.CoralScore; -import frc.robot.superstructure.states.GroundAlgaeIntake; import frc.robot.superstructure.states.SeedPose; public class DashboardBindings implements Binder { @@ -12,8 +9,5 @@ public void bind(Superstructure superstructure) { SmartDashboard.putData("Prep/Set Center", superstructure.enter(SeedPose.center())); SmartDashboard.putData("Prep/Set Left", superstructure.enter(SeedPose.left())); SmartDashboard.putData("Prep/Set Right", superstructure.enter(SeedPose.right())); - SmartDashboard.putData("Test/L4", superstructure.enter(new CoralScore(CoralLevel.L4))); - SmartDashboard.putData("Test/Algae Intake (ground)", - superstructure.enter(new GroundAlgaeIntake())); } } From bd878c7718cd909ea69e925803feb04d7e1cfb8c Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 1 Jun 2025 13:50:27 -0400 Subject: [PATCH 080/135] Rename constant to match conventions --- ThriftyTest/simgui.json | 3 +++ .../subsystems/drivetrain/CommandSwerveDrivetrain.java | 2 +- .../frc/robot/subsystems/drivetrain/DriveConstants.java | 8 +++++--- 3 files changed, 9 insertions(+), 4 deletions(-) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index 8d8a40d9..8a34ba9c 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -208,6 +208,9 @@ }, "transitory": { "SmartDashboard": { + "Coral": { + "open": true + }, "Super Field": { "double[]##v_/SmartDashboard/Super Field/tag relative": { "open": true diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index c85ea41f..71724730 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -131,7 +131,7 @@ public void initializePathPlanner() { // starting pose) this::getRobotRelativeSpeeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE (speeds, feedforwards) -> driveWithChassisSpeeds(speeds), - DriveConstants.k_pathplannerHolonomicDriveController, + DriveConstants.kPathplannerHolonomicDriveController, config, // The robot configuration () -> { var alliance = DriverStation.getAlliance(); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java index 24058eff..6f12daa5 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java @@ -31,7 +31,8 @@ public static class HeadingPID { .withAcceleration(15.0) .withJerk(1.5); - private static final APConstraints kTightAutopilotCorrectionConstraints = APConstraints.unlimited(); + private static final APConstraints kTightAutopilotCorrectionConstraints = + APConstraints.unlimited(); private static final APProfile kTightProfile = new APProfile() .withPathConstraints(kTightAutopilotPathConstraints) @@ -46,7 +47,8 @@ public static class HeadingPID { .withAcceleration(20) .withJerk(8); - private static final APConstraints kFastAutopilotCorrectionConstraints = APConstraints.unlimited(); + private static final APConstraints kFastAutopilotCorrectionConstraints = + APConstraints.unlimited(); private static final APProfile kFastProfile = new APProfile() .withPathConstraints(kFastAutopilotPathConstraints) @@ -56,7 +58,7 @@ public static class HeadingPID { public static final Autopilot kFastAutopilot = new Autopilot(kFastProfile); - protected static final PPHolonomicDriveController k_pathplannerHolonomicDriveController = + protected static final PPHolonomicDriveController kPathplannerHolonomicDriveController = new PPHolonomicDriveController(kTranslationPID, kRotationPID); protected static final double kMaxTeleopLinearSpeed = From aff4d413a9304691d3fa3eb1ad44a307a595442e Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 1 Jun 2025 16:19:22 -0400 Subject: [PATCH 081/135] Extract beeline radius magic number to a real constant --- .../java/frc/robot/driveassist/APProfile.java | 53 +++++++++++++------ .../java/frc/robot/driveassist/Autopilot.java | 12 ++--- .../subsystems/drivetrain/DriveConstants.java | 6 ++- 3 files changed, 47 insertions(+), 24 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java index 3bd6587b..e84b2de5 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java @@ -14,21 +14,23 @@ * A profile also includes a maximum error, in the XY plane as well as rotation. */ public class APProfile { - protected APConstraints m_pathConstraints; - protected APConstraints m_correctionConstraints; - protected Distance m_errorXY; - protected Angle m_errorTheta; + protected APConstraints pathConstraints; + protected APConstraints correctionConstraints; + protected Distance errorXY; + protected Angle errorTheta; + protected Distance beelineRadius; public APProfile() { - m_errorXY = Meters.of(0); - m_errorTheta = Rotations.of(0); + errorXY = Meters.of(0); + errorTheta = Rotations.of(0); + beelineRadius = Meters.of(0); } /** * Modifies this profile's tolerated error in the XY plane and returns itself */ public APProfile withErrorXY(Distance errorXY) { - m_errorXY = errorXY; + this.errorXY = errorXY; return this; } @@ -36,23 +38,35 @@ public APProfile withErrorXY(Distance errorXY) { * Modifies this profile's tolerated angular error and returns itself */ public APProfile withErrorTheta(Angle errorTheta) { - m_errorTheta = errorTheta; + this.errorTheta = errorTheta; return this; } /** * Modifies this profile's path generation constraints and returns itself */ - public APProfile withPathConstraints(APConstraints constraintsI) { - m_pathConstraints = constraintsI; + public APProfile withPathConstraints(APConstraints pathConstraints) { + this.pathConstraints = pathConstraints; return this; } /** * Modifies this profile's correction constraints and returns itself */ - public APProfile withCorrectionConstraints(APConstraints constraintsU) { - m_correctionConstraints = constraintsU; + public APProfile withCorrectionConstraints(APConstraints correctionConstraints) { + this.correctionConstraints = correctionConstraints; + return this; + } + + /** + * Modifies this profile's beeline radius and returns itself + * + * The beeline radius is a distance where, under that range, entry angle is no longer respected. + * This prevents small overshoots from causing the robot to make a full arc and instaed correct + * itself. + */ + public APProfile withBeelineRadius(Distance beelineRadius) { + this.beelineRadius = beelineRadius; return this; } @@ -60,27 +74,34 @@ public APProfile withCorrectionConstraints(APConstraints constraintsU) { * Returns the tolerated translation error for this profile */ public Distance getErrorXY() { - return m_errorXY; + return errorXY; } /** * Returns the tolerated angular error for this profile */ public Angle getErrorTheta() { - return m_errorTheta; + return errorTheta; } /** * Returns the path generation constraints for this profile */ public APConstraints getPathConstraints() { - return m_pathConstraints; + return pathConstraints; } /** * Returns the correction constraints for this profile */ public APConstraints getCorrectionConstraints() { - return m_correctionConstraints; + return correctionConstraints; + } + + /** + * Returns the beeline radius for this profile + */ + public Distance getBeelineRadius() { + return beelineRadius; } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 236a7015..f0765805 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -50,7 +50,7 @@ public Transform2d calculate(Pose2d current, Translation2d velocity, APTarget ta } Translation2d initial = toTargetCoorinateFrame(velocity, target); double disp = offset.getNorm(); - if (target.m_entryAngle.isEmpty() || disp < 0.1) { + if (target.m_entryAngle.isEmpty() || disp < m_profile.beelineRadius.in(Meters)) { Translation2d towardsTarget = offset.div(disp); Translation2d goal = towardsTarget.times(calculateMaxVelocity(disp, target.m_velocity)); Translation2d out = correct(initial, goal); @@ -87,7 +87,7 @@ private Translation2d toGlobalCoordinateFrame(Translation2d coords, APTarget tar * */ private double calculateMaxVelocity(double dist, double endVelo) { - return Math.pow((4.5 * Math.pow(dist, 2.0)) * m_profile.m_pathConstraints.m_jerk, 1.0 / 3.0) + return Math.pow((4.5 * Math.pow(dist, 2.0)) * m_profile.pathConstraintsb.m_jerk, 1.0 / 3.0) + endVelo; } @@ -107,8 +107,8 @@ private Translation2d correct(Translation2d initial, Translation2d goal) { double goalI = adjustedGoal.getX(); // we cap the adjusted I because we'd rather adjust now than overshoot. double adjustedI = Math.min(goalI, - push(initialI, goalI, m_profile.m_pathConstraints.m_acceleration)); - double adjustedU = push(initialU, 0, m_profile.m_correctionConstraints.m_acceleration); + push(initialI, goalI, m_profile.pathConstraintsb.m_acceleration)); + double adjustedU = push(initialU, 0, m_profile.correctionConstraintsb.m_acceleration); return new Translation2d(adjustedI, adjustedU).rotateBy(angleOffset); } @@ -187,9 +187,9 @@ private Rotation2d getRotationTarget(Rotation2d current, APTarget target, double public boolean atSetpoint(Pose2d current, APTarget target) { Pose2d goal = target.m_reference; boolean okXY = Math.hypot(current.getX() - goal.getX(), - current.getY() - goal.getY()) <= m_profile.m_errorXY.in(Meters); + current.getY() - goal.getY()) <= m_profile.errorXYb.in(Meters); boolean okTheta = Math.abs(current.getRotation().minus(goal.getRotation()) - .getRadians()) <= m_profile.m_errorTheta.in(Radians); + .getRadians()) <= m_profile.errorThetab.in(Radians); return okXY && okTheta; } } diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java index 6f12daa5..2371f477 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java @@ -38,7 +38,8 @@ public static class HeadingPID { .withPathConstraints(kTightAutopilotPathConstraints) .withCorrectionConstraints(kTightAutopilotCorrectionConstraints) .withErrorXY(Centimeters.of(1)) - .withErrorTheta(Degrees.of(1)); + .withErrorTheta(Degrees.of(1)) + .withBeelineRadius(Centimeters.of(10)); public static final Autopilot kTightAutopilot = new Autopilot(kTightProfile); @@ -54,7 +55,8 @@ public static class HeadingPID { .withPathConstraints(kFastAutopilotPathConstraints) .withCorrectionConstraints(kFastAutopilotCorrectionConstraints) .withErrorXY(Centimeters.of(15)) - .withErrorTheta(Degrees.of(5)); + .withErrorTheta(Degrees.of(5)) + .withBeelineRadius(Centimeters.of(10)); public static final Autopilot kFastAutopilot = new Autopilot(kFastProfile); From b4477405b59b9481f5b375950ba3c403367bf885 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Mon, 2 Jun 2025 16:19:38 -0400 Subject: [PATCH 082/135] Update method withReference to avoid confusion --- ThriftyTest/src/main/java/frc/robot/Constants.java | 2 +- .../src/main/java/frc/robot/binding/DriveBindings.java | 3 ++- .../java/frc/robot/binding/NamedCommandBindings.java | 2 +- .../src/main/java/frc/robot/driveassist/APTarget.java | 3 +-- .../src/main/java/frc/robot/driveassist/Autopilot.java | 10 +++++----- 5 files changed, 10 insertions(+), 10 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/Constants.java b/ThriftyTest/src/main/java/frc/robot/Constants.java index 60efd9d3..a8f284a0 100644 --- a/ThriftyTest/src/main/java/frc/robot/Constants.java +++ b/ThriftyTest/src/main/java/frc/robot/Constants.java @@ -39,7 +39,7 @@ public static class FieldConstants { public static final Pose2d kGH = new Pose2d(5.791, 4.046, Rotation2d.k180deg); public static final Pose2d kIJ = new Pose2d(5.155, 5.194, Rotation2d.fromDegrees(-120)); - public static final Pose2d kBarge1 = new Pose2d(7.459, 4.717, Rotation2d.fromDegrees(21.0)); + public static final Pose2d kBarge = new Pose2d(7.459, 4.717, Rotation2d.fromDegrees(21.0)); public static final Pose2d kStartCenter = new Pose2d(7.076, 3.991, Rotation2d.kPi); public static final Pose2d kStartRight = new Pose2d(7.076, 1.883, Rotation2d.kPi); diff --git a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java index 631dc75b..fd3279ce 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/DriveBindings.java @@ -1,6 +1,7 @@ package frc.robot.binding; import java.util.function.DoubleSupplier; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.FieldConstants; @@ -35,7 +36,7 @@ public void bind(Superstructure superstructure) { m_resetHeading.onTrue(superstructure.enter(new HeadingReset())); m_smartAlign.and(superstructure.holdingAlgae()).whileTrue(superstructure.enter(new Align( - new APTarget().withReference(FieldConstants.k_processor)))); + new APTarget(FieldConstants.k_processor).withEntryAngle(Rotation2d.kCW_Pi_2)))); m_smartAlign.and(superstructure.holdingAlgae().negate()).whileTrue(superstructure.enter( new DeferredAlign(AlignLocation.Center))); m_leftAlign.whileTrue(superstructure.enter(new DeferredAlign(AlignLocation.Left))); diff --git a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java index 3be7b4ce..ccc6d3d8 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java @@ -72,6 +72,6 @@ public void bind(Superstructure superstructure) { new Align(new APTarget(FieldConstants.kGH).withEntryAngle(FieldConstants.kGH.getRotation())) .allianceRelative())); NamedCommands.registerCommand("Align Barge", superstructure.enter( - new Align(new APTarget(FieldConstants.kBarge1)).allianceRelative())); + new Align(new APTarget(FieldConstants.kBarge)).allianceRelative())); } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java index d53b0d15..5c304ce4 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java @@ -40,11 +40,10 @@ public APTarget(Pose2d pose) { /** * Modifies this instance's reference pose and returns itself for easier method chaining. - * NOTE: This also sets, if unset, the entry angle to be the angle of the pose. */ public APTarget withReference(Pose2d reference) { APTarget target = this.clone(); - target.m_entryAngle = Optional.of(reference.getRotation()); + target.m_reference = reference; return target; } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index f0765805..d6da6699 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -87,7 +87,7 @@ private Translation2d toGlobalCoordinateFrame(Translation2d coords, APTarget tar * */ private double calculateMaxVelocity(double dist, double endVelo) { - return Math.pow((4.5 * Math.pow(dist, 2.0)) * m_profile.pathConstraintsb.m_jerk, 1.0 / 3.0) + return Math.pow((4.5 * Math.pow(dist, 2.0)) * m_profile.pathConstraints.m_jerk, 1.0 / 3.0) + endVelo; } @@ -107,8 +107,8 @@ private Translation2d correct(Translation2d initial, Translation2d goal) { double goalI = adjustedGoal.getX(); // we cap the adjusted I because we'd rather adjust now than overshoot. double adjustedI = Math.min(goalI, - push(initialI, goalI, m_profile.pathConstraintsb.m_acceleration)); - double adjustedU = push(initialU, 0, m_profile.correctionConstraintsb.m_acceleration); + push(initialI, goalI, m_profile.pathConstraints.m_acceleration)); + double adjustedU = push(initialU, 0, m_profile.correctionConstraints.m_acceleration); return new Translation2d(adjustedI, adjustedU).rotateBy(angleOffset); } @@ -187,9 +187,9 @@ private Rotation2d getRotationTarget(Rotation2d current, APTarget target, double public boolean atSetpoint(Pose2d current, APTarget target) { Pose2d goal = target.m_reference; boolean okXY = Math.hypot(current.getX() - goal.getX(), - current.getY() - goal.getY()) <= m_profile.errorXYb.in(Meters); + current.getY() - goal.getY()) <= m_profile.errorXY.in(Meters); boolean okTheta = Math.abs(current.getRotation().minus(goal.getRotation()) - .getRadians()) <= m_profile.errorThetab.in(Radians); + .getRadians()) <= m_profile.errorTheta.in(Radians); return okXY && okTheta; } } From 85dac3713adcea0c2eda1fa14edcf01f7cc3bdae Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Mon, 2 Jun 2025 17:35:44 -0400 Subject: [PATCH 083/135] Fix errors and add testing path --- ThriftyTest/simgui-ds.json | 5 ----- ThriftyTest/simgui.json | 5 +++++ .../deploy/pathplanner/autos/Barge Test.auto | 19 +++++++++++++++++++ .../deploy/pathplanner/autos/CenterBarge.auto | 8 +------- .../robot/binding/NamedCommandBindings.java | 10 +++++++--- .../java/frc/robot/driveassist/APTarget.java | 7 ++++--- .../java/frc/robot/driveassist/Autopilot.java | 2 +- 7 files changed, 37 insertions(+), 19 deletions(-) create mode 100644 ThriftyTest/src/main/deploy/pathplanner/autos/Barge Test.auto diff --git a/ThriftyTest/simgui-ds.json b/ThriftyTest/simgui-ds.json index 8f6d7994..4b36b755 100644 --- a/ThriftyTest/simgui-ds.json +++ b/ThriftyTest/simgui-ds.json @@ -1,9 +1,4 @@ { - "FMS": { - "window": { - "visible": false - } - }, "Joysticks": { "window": { "visible": false diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index f16aa62b..bcd8f213 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -36,6 +36,11 @@ "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d" }, "windows": { + "/SmartDashboard/Auton Chooser": { + "window": { + "visible": true + } + }, "/SmartDashboard/Prep/Set Left": { "window": { "visible": true diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/Barge Test.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/Barge Test.auto new file mode 100644 index 00000000..7e5f17df --- /dev/null +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/Barge Test.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Align Barge" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/ThriftyTest/src/main/deploy/pathplanner/autos/CenterBarge.auto b/ThriftyTest/src/main/deploy/pathplanner/autos/CenterBarge.auto index 1b0b4459..40c9ea27 100644 --- a/ThriftyTest/src/main/deploy/pathplanner/autos/CenterBarge.auto +++ b/ThriftyTest/src/main/deploy/pathplanner/autos/CenterBarge.auto @@ -4,12 +4,6 @@ "type": "sequential", "data": { "commands": [ - { - "type": "path", - "data": { - "pathName": "StartH" - } - }, { "type": "named", "data": { @@ -111,7 +105,7 @@ ] } }, - "resetOdom": true, + "resetOdom": false, "folder": null, "choreoAuto": false } \ No newline at end of file diff --git a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java index ccc6d3d8..ee2ea193 100644 --- a/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java +++ b/ThriftyTest/src/main/java/frc/robot/binding/NamedCommandBindings.java @@ -1,5 +1,6 @@ package frc.robot.binding; +import static edu.wpi.first.units.Units.Meters; import com.pathplanner.lib.auto.NamedCommands; import edu.wpi.first.math.geometry.Rotation2d; import frc.robot.Constants; @@ -46,9 +47,9 @@ public void bind(Superstructure superstructure) { .allianceRelative())); } APTarget lIntake = new APTarget(FieldConstants.kLeftIntake) - .withRotationRadius(2.0); + .withRotationRadius(Meters.of(2.0)); APTarget rIntake = new APTarget(FieldConstants.kRightIntake) - .withRotationRadius(2.0); + .withRotationRadius(Meters.of(2.0)); NamedCommands.registerCommand("Align LIntake", superstructure.enter( new Align(lIntake.withEntryAngle(Rotation2d.kPi)) .allianceRelative() @@ -71,7 +72,10 @@ public void bind(Superstructure superstructure) { NamedCommands.registerCommand("Align GH", superstructure.enter( new Align(new APTarget(FieldConstants.kGH).withEntryAngle(FieldConstants.kGH.getRotation())) .allianceRelative())); + APTarget barge = new APTarget(FieldConstants.kBarge) + .withEntryAngle(Rotation2d.fromDegrees(-135.0)) + .withRotationRadius(Meters.of(1.0)); NamedCommands.registerCommand("Align Barge", superstructure.enter( - new Align(new APTarget(FieldConstants.kBarge)).allianceRelative())); + new Align(barge).allianceRelative().fast())); } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java index 5c304ce4..53445802 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java @@ -4,6 +4,7 @@ import com.pathplanner.lib.util.FlippingUtil; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.units.measure.Distance; /** * A class representing the goal end state of an autopilot action @@ -16,7 +17,7 @@ public class APTarget { protected Pose2d m_reference; protected Optional m_entryAngle; protected double m_velocity; - protected Optional m_rotationRadius; + protected Optional m_rotationRadius; /** * Creates a blank autopilot target with reference (0,0) and rotation of zero. @@ -72,7 +73,7 @@ public APTarget withVelocity(double velocity) { * default, rotation goals are always respected, but if autopilot shouldn't reorient the robot * until X distance from setpoint, this can be used to make that change. */ - public APTarget withRotationRadius(double radius) { + public APTarget withRotationRadius(Distance radius) { APTarget copy = this.clone(); copy.m_rotationRadius = Optional.of(radius); return copy; @@ -102,7 +103,7 @@ public double getVelocity() { /** * Returns this target's rotation radius */ - public Optional getRotationRadius() { + public Optional getRotationRadius() { return m_rotationRadius; } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index d6da6699..a2309dbd 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -176,7 +176,7 @@ private Rotation2d getRotationTarget(Rotation2d current, APTarget target, double if (target.m_rotationRadius.isEmpty()) { return target.m_reference.getRotation(); } - double radius = target.m_rotationRadius.get(); + double radius = target.m_rotationRadius.get().in(Meters); if (radius > dist) { return target.m_reference.getRotation(); } else { From 7577f20a3b623a89a4d244c167492f0659db9bae Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Mon, 2 Jun 2025 17:37:58 -0400 Subject: [PATCH 084/135] Rename constants to match correct standards --- .../java/frc/robot/driveassist/APConstraints.java | 12 ++++++------ .../main/java/frc/robot/driveassist/Autopilot.java | 6 +++--- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java index 7fc8a8a4..62234f51 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java @@ -5,8 +5,8 @@ * and decelleration. */ public class APConstraints { - protected double m_acceleration; - protected double m_jerk; + protected double acceleration; + protected double jerk; /** Creates a blank APConstraints */ public APConstraints() {} @@ -14,8 +14,8 @@ public APConstraints() {} /** * Creates a new APCosntraints with given acceleration and deceleration */ public APConstraints(double acceleration, double deceleration) { - m_acceleration = acceleration; - m_jerk = deceleration; + acceleration = acceleration; + jerk = deceleration; } /** Unlimited constraints */ @@ -28,7 +28,7 @@ public static APConstraints unlimited() { * acceleration that the autopilot action will use to correct initial velocities. */ public APConstraints withAcceleration(double acceleration) { - m_acceleration = acceleration; + acceleration = acceleration; return this; } @@ -39,7 +39,7 @@ public APConstraints withAcceleration(double acceleration) { * This is only used at the end of an autopilot action, not the beginning. */ public APConstraints withJerk(double jerk) { - m_jerk = jerk; + jerk = jerk; return this; } } diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index a2309dbd..2685c13c 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -87,7 +87,7 @@ private Translation2d toGlobalCoordinateFrame(Translation2d coords, APTarget tar * */ private double calculateMaxVelocity(double dist, double endVelo) { - return Math.pow((4.5 * Math.pow(dist, 2.0)) * m_profile.pathConstraints.m_jerk, 1.0 / 3.0) + return Math.pow((4.5 * Math.pow(dist, 2.0)) * m_profile.pathConstraints.jerk, 1.0 / 3.0) + endVelo; } @@ -107,8 +107,8 @@ private Translation2d correct(Translation2d initial, Translation2d goal) { double goalI = adjustedGoal.getX(); // we cap the adjusted I because we'd rather adjust now than overshoot. double adjustedI = Math.min(goalI, - push(initialI, goalI, m_profile.pathConstraints.m_acceleration)); - double adjustedU = push(initialU, 0, m_profile.correctionConstraints.m_acceleration); + push(initialI, goalI, m_profile.pathConstraints.acceleration)); + double adjustedU = push(initialU, 0, m_profile.correctionConstraints.acceleration); return new Translation2d(adjustedI, adjustedU).rotateBy(angleOffset); } From f56277e1ecc577a9dcf81296f5f3d7820b8883f0 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Mon, 2 Jun 2025 17:38:36 -0400 Subject: [PATCH 085/135] Use this modifier --- .../main/java/frc/robot/driveassist/APConstraints.java | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java index 62234f51..416a9a2b 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java @@ -13,9 +13,9 @@ public APConstraints() {} /** * Creates a new APCosntraints with given acceleration and deceleration */ - public APConstraints(double acceleration, double deceleration) { - acceleration = acceleration; - jerk = deceleration; + public APConstraints(double acceleration, double jerk) { + this.acceleration = acceleration; + this.jerk = jerk; } /** Unlimited constraints */ @@ -28,7 +28,7 @@ public static APConstraints unlimited() { * acceleration that the autopilot action will use to correct initial velocities. */ public APConstraints withAcceleration(double acceleration) { - acceleration = acceleration; + this.acceleration = acceleration; return this; } @@ -39,7 +39,7 @@ public APConstraints withAcceleration(double acceleration) { * This is only used at the end of an autopilot action, not the beginning. */ public APConstraints withJerk(double jerk) { - jerk = jerk; + this.jerk = jerk; return this; } } From 9bf0e12bdbe74a43674b77b98daadad5d3235020 Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 8 Jun 2025 17:11:02 -0400 Subject: [PATCH 086/135] Improve documentation and naming for Autopilot --- .../frc/robot/driveassist/APConstraints.java | 35 ++++++++++++-- .../java/frc/robot/driveassist/APProfile.java | 37 +++++---------- .../java/frc/robot/driveassist/APTarget.java | 27 ++++++----- .../java/frc/robot/driveassist/Autopilot.java | 46 ++++++++----------- .../drivetrain/CommandSwerveDrivetrain.java | 2 +- .../subsystems/drivetrain/DriveConstants.java | 12 +---- 6 files changed, 81 insertions(+), 78 deletions(-) diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java index 416a9a2b..4c8c1cc8 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java @@ -1,10 +1,12 @@ package frc.robot.driveassist; /** - * A class that holds constrain information for an autopilot action Constraints are max acceleration - * and decelleration. + * A class that holds constrain information for an autopilot action. + * + * Constraints are max velocity, acceleration, and jerk. */ public class APConstraints { + protected double velocity; protected double acceleration; protected double jerk; @@ -12,20 +14,43 @@ public class APConstraints { public APConstraints() {} /** - * Creates a new APCosntraints with given acceleration and deceleration */ - public APConstraints(double acceleration, double jerk) { + * Creates a new APConstraints with given max velocity, acceleration, and jerk + */ + public APConstraints(double velocity, double acceleration, double jerk) { + this.velocity = velocity; this.acceleration = acceleration; this.jerk = jerk; } + /** + * Creates a new APConstraints with a given max acceleration and jerk. Velocity is left unlimited + */ + public APConstraints(double acceleration, double jerk) { + this(Double.POSITIVE_INFINITY, acceleration, jerk); + } + /** Unlimited constraints */ public static APConstraints unlimited() { - return new APConstraints(Double.POSITIVE_INFINITY, Double.POSITIVE_INFINITY); + return new APConstraints( + Double.POSITIVE_INFINITY, + Double.POSITIVE_INFINITY, + Double.POSITIVE_INFINITY); + } + + /** + * Modifies this constraint's max velocity and returns itself. This is the maximum velocity that + * autopilot will demand. + */ + public APConstraints withVelocity(double velocity) { + this.velocity = velocity; + return this; } /** * Modifies this constraint's max acceleration value and returns itself. This affects the maximum * acceleration that the autopilot action will use to correct initial velocities. + * + * This value is only used for the start of an autopilot action, not the end behavior. */ public APConstraints withAcceleration(double acceleration) { this.acceleration = acceleration; diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java index e84b2de5..db79ab1a 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APProfile.java @@ -6,16 +6,18 @@ import edu.wpi.first.units.measure.Distance; /** - * A class representing a profile that completely determines how AP approaches a target. + * A class representing a profile that determines how AP approaches a target. * - * A profile includes two APConstraints, one for the direction towards the target, and one for the - * direction perpendicular to the target. + * The constraints property of the profile limits the robot's behavior. * - * A profile also includes a maximum error, in the XY plane as well as rotation. + * Acceptable error for the controller (both translational and rotational) are stored here. + * + * The "beeline radius" determines the distance at which the robot drives directly at the target and + * no longer respects entry angle. This is helpful because if the robot overshoots by a small + * amount, that error should not cause the robot do completely circle back around. */ public class APProfile { - protected APConstraints pathConstraints; - protected APConstraints correctionConstraints; + protected APConstraints constraints; protected Distance errorXY; protected Angle errorTheta; protected Distance beelineRadius; @@ -45,16 +47,8 @@ public APProfile withErrorTheta(Angle errorTheta) { /** * Modifies this profile's path generation constraints and returns itself */ - public APProfile withPathConstraints(APConstraints pathConstraints) { - this.pathConstraints = pathConstraints; - return this; - } - - /** - * Modifies this profile's correction constraints and returns itself - */ - public APProfile withCorrectionConstraints(APConstraints correctionConstraints) { - this.correctionConstraints = correctionConstraints; + public APProfile withConstraints(APConstraints constraints) { + this.constraints = constraints; return this; } @@ -87,15 +81,8 @@ public Angle getErrorTheta() { /** * Returns the path generation constraints for this profile */ - public APConstraints getPathConstraints() { - return pathConstraints; - } - - /** - * Returns the correction constraints for this profile - */ - public APConstraints getCorrectionConstraints() { - return correctionConstraints; + public APConstraints getConstraints() { + return constraints; } /** diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java index 53445802..c8983838 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APTarget.java @@ -9,7 +9,10 @@ /** * A class representing the goal end state of an autopilot action * - * A target needs a reference Pose2d, but can optionally have a specified entry angle + * A target needs a reference Pose2d, but can optionally have a specified entry angle and rotation + * radius + * + * A target may also specify an end velocity. * * The target also may have a desired end velocity. */ @@ -20,7 +23,9 @@ public class APTarget { protected Optional m_rotationRadius; /** - * Creates a blank autopilot target with reference (0,0) and rotation of zero. + * Creates a autopilot target with reference (0,0) and rotation of zero. + * + * This target has an end velocity of 0, and no specified entry angle. */ public APTarget() { m_reference = Pose2d.kZero; @@ -40,7 +45,7 @@ public APTarget(Pose2d pose) { } /** - * Modifies this instance's reference pose and returns itself for easier method chaining. + * Returns a copy of this target with the given reference. */ public APTarget withReference(Pose2d reference) { APTarget target = this.clone(); @@ -49,7 +54,7 @@ public APTarget withReference(Pose2d reference) { } /** - * Modifies this instance's entry angle and returns itself for easier method chaining + * Returns a copy of this target with the given entry angle. */ public APTarget withEntryAngle(Rotation2d entryAngle) { APTarget target = this.clone(); @@ -58,7 +63,7 @@ public APTarget withEntryAngle(Rotation2d entryAngle) { } /** - * Modifies this instance's end velocity and returns itself for easier method chaining + * Returns a copy of this target with the given end velocity. */ public APTarget withVelocity(double velocity) { APTarget target = this.clone(); @@ -67,7 +72,7 @@ public APTarget withVelocity(double velocity) { } /** - * Modifies this instance's rotation radius and returns itself for easier method chaining + * Returns a copy of this target with the given rotation radius. * * Rotation radius is the distance from the target pose that rotation goals are respected. By * default, rotation goals are always respected, but if autopilot shouldn't reorient the robot @@ -80,35 +85,35 @@ public APTarget withRotationRadius(Distance radius) { } /** - * Returns this target's reference pose + * Returns this target's reference pose. */ public Pose2d getReference() { return m_reference; } /** - * Returns this target's desired entry angle + * Returns this target's desired entry angle. */ public Optional getEntryAngle() { return m_entryAngle; } /** - * Returns this target's end velocity + * Returns this target's end velocity. */ public double getVelocity() { return m_velocity; } /** - * Returns this target's rotation radius + * Returns this target's rotation radius. */ public Optional getRotationRadius() { return m_rotationRadius; } /** - * Flips a target across the field, preserving relative entry angle and rotation. + * Flips a target across the field. */ public APTarget flip() { Pose2d ref = FlippingUtil.flipFieldPose(m_reference); diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 2685c13c..2337f343 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -2,8 +2,6 @@ import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.Radians; -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; @@ -13,16 +11,12 @@ * Autopilot is a class that tries to drive a target to a goal in 2 dimensional space. * * Autopilot is a fast algorithm because it doesn not think ahead. Any and all math is already - * worked out such that a small amount of computation is necessary on the fly. + * worked out such that only a small amount of computation is necessary on the fly. * - * This means that autopilot is un able to avoid obstacles, because it cannot think ahead. * - * It also is not guarunteed to provide the fastest path - however, it is well tuned such that it - * gives very close results. + * This means that autopilot is un able to avoid obstacles, because it cannot think ahead. */ public class Autopilot { - @SuppressWarnings("unused") - private static final Logger m_logger = LoggerFactory.getLogger(Autopilot.class); private APProfile m_profile; private final double dt = 0.020; @@ -38,9 +32,9 @@ public Autopilot(APProfile profile) { /** * Returns the next field relative velocity for the trajectory * - * @param current The robot's current position - * @param velocity The robot's current (field relative) velocity - * @param target The target the robot should drive towards + * @param current The robot's current position. + * @param velocity The robot's current field relative velocity. + * @param target The target the robot should drive towards. */ public Transform2d calculate(Pose2d current, Translation2d velocity, APTarget target) { Translation2d offset = toTargetCoorinateFrame( @@ -75,7 +69,7 @@ private Translation2d toTargetCoorinateFrame(Translation2d coords, APTarget targ } /** - * Turns a translation from a target-relative coordinate frame to a global coordinate frame + * Turns a translation from a target-relative coordinate frame to a global coordinate frame. */ private Translation2d toGlobalCoordinateFrame(Translation2d coords, APTarget target) { Rotation2d entryAngle = target.m_entryAngle.orElse(Rotation2d.kZero); @@ -83,17 +77,17 @@ private Translation2d toGlobalCoordinateFrame(Translation2d coords, APTarget tar } /** - * Determines the maximum velocity required to travel the given distance and end at rest. - * + * Determines the maximum velocity required to travel the given distance and end at the desired + * end velocity. */ private double calculateMaxVelocity(double dist, double endVelo) { - return Math.pow((4.5 * Math.pow(dist, 2.0)) * m_profile.pathConstraints.jerk, 1.0 / 3.0) + return Math.pow((4.5 * Math.pow(dist, 2.0)) * m_profile.constraints.jerk, 1.0 / 3.0) + endVelo; } /** * Attempts to drive the initial translation to the goal translation using the parameters for - * acceleration given in the profile + * acceleration given in the profile. */ private Translation2d correct(Translation2d initial, Translation2d goal) { Rotation2d angleOffset = Rotation2d.kZero; @@ -103,13 +97,11 @@ private Translation2d correct(Translation2d initial, Translation2d goal) { Translation2d adjustedGoal = goal.rotateBy(angleOffset.unaryMinus()); Translation2d adjustedInitial = initial.rotateBy(angleOffset.unaryMinus()); double initialI = adjustedInitial.getX(); - double initialU = adjustedInitial.getY(); double goalI = adjustedGoal.getX(); // we cap the adjusted I because we'd rather adjust now than overshoot. double adjustedI = Math.min(goalI, - push(initialI, goalI, m_profile.pathConstraints.acceleration)); - double adjustedU = push(initialU, 0, m_profile.correctionConstraints.acceleration); - return new Translation2d(adjustedI, adjustedU).rotateBy(angleOffset); + push(initialI, goalI, m_profile.constraints.acceleration)); + return new Translation2d(adjustedI, 0).rotateBy(angleOffset); } /** @@ -150,13 +142,9 @@ private Translation2d calculateSwirlyVelocity(Translation2d offset, APTarget tar * Using a precomputed integral, returns the length of the path that the swirly method generates. * * More specificallu, this calcualtes the arc length of the polar curve r=theta from the given - * angle to zero, then scales it to match. + * angle to zero, then scales it to match the current state. */ private double calculateSwirlyLength(double theta, double radius) { - // Dear other programmer(s): - // I will now apologize for what follows. - // Please just trust it works. I precomputed the integral and this is what it turns out to be. - // Blame Netwon, not me. if (theta == 0) { return radius; } @@ -172,6 +160,9 @@ private double calculateSwirlyLength(double theta, double radius) { return scaled; } + /** + * Returns the correct target heading for the current state + */ private Rotation2d getRotationTarget(Rotation2d current, APTarget target, double dist) { if (target.m_rotationRadius.isEmpty()) { return target.m_reference.getRotation(); @@ -184,7 +175,10 @@ private Rotation2d getRotationTarget(Rotation2d current, APTarget target, double } } - public boolean atSetpoint(Pose2d current, APTarget target) { + /** + * Returns whether the given pose is within tolerance for the target + */ + public boolean atTarget(Pose2d current, APTarget target) { Pose2d goal = target.m_reference; boolean okXY = Math.hypot(current.getX() - goal.getX(), current.getY() - goal.getY()) <= m_profile.errorXY.in(Meters); diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java index 71724730..25e00518 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/CommandSwerveDrivetrain.java @@ -429,7 +429,7 @@ public Command align(Autopilot autopilot, APTarget target) { .withTargetDirection(output.getRotation())); })) .until(() -> { - return autopilot.atSetpoint(m_estimatedPose, target); + return autopilot.atTarget(m_estimatedPose, target); }) .finallyDo(this::stop) .finallyDo(interrupted -> setAligned(!interrupted)) diff --git a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java index 2371f477..0d5da435 100644 --- a/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java +++ b/ThriftyTest/src/main/java/frc/robot/subsystems/drivetrain/DriveConstants.java @@ -31,12 +31,8 @@ public static class HeadingPID { .withAcceleration(15.0) .withJerk(1.5); - private static final APConstraints kTightAutopilotCorrectionConstraints = - APConstraints.unlimited(); - private static final APProfile kTightProfile = new APProfile() - .withPathConstraints(kTightAutopilotPathConstraints) - .withCorrectionConstraints(kTightAutopilotCorrectionConstraints) + .withConstraints(kTightAutopilotPathConstraints) .withErrorXY(Centimeters.of(1)) .withErrorTheta(Degrees.of(1)) .withBeelineRadius(Centimeters.of(10)); @@ -48,12 +44,8 @@ public static class HeadingPID { .withAcceleration(20) .withJerk(8); - private static final APConstraints kFastAutopilotCorrectionConstraints = - APConstraints.unlimited(); - private static final APProfile kFastProfile = new APProfile() - .withPathConstraints(kFastAutopilotPathConstraints) - .withCorrectionConstraints(kFastAutopilotCorrectionConstraints) + .withConstraints(kFastAutopilotPathConstraints) .withErrorXY(Centimeters.of(15)) .withErrorTheta(Degrees.of(5)) .withBeelineRadius(Centimeters.of(10)); From 0fb42aa376a539ecad4d7fc2baf8e2076c8f130f Mon Sep 17 00:00:00 2001 From: Nolan Barker Date: Sun, 8 Jun 2025 21:48:56 -0400 Subject: [PATCH 087/135] Fully implement velocity limit Also fix the breaking issue that sets max velo to zero - bad! --- ThriftyTest/simgui.json | 6 ------ .../src/main/java/frc/robot/driveassist/APConstraints.java | 7 +++++-- .../src/main/java/frc/robot/driveassist/Autopilot.java | 3 +++ 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/ThriftyTest/simgui.json b/ThriftyTest/simgui.json index bcd8f213..0831670f 100644 --- a/ThriftyTest/simgui.json +++ b/ThriftyTest/simgui.json @@ -188,9 +188,6 @@ }, "transitory": { "SmartDashboard": { - "Coral": { - "open": true - }, "Super Field": { "double[]##v_/SmartDashboard/Super Field/tag relative": { "open": true @@ -208,9 +205,6 @@ "NetworkTables Info": { "visible": true }, - "NetworkTables View": { - "visible": false - }, "Plot": { "Plot <0>": { "plots": [ diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java index 4c8c1cc8..603179e1 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/APConstraints.java @@ -11,7 +11,9 @@ public class APConstraints { protected double jerk; /** Creates a blank APConstraints */ - public APConstraints() {} + public APConstraints() { + this.velocity = Double.POSITIVE_INFINITY; // Default to no limit on velocity + } /** * Creates a new APConstraints with given max velocity, acceleration, and jerk @@ -26,7 +28,8 @@ public APConstraints(double velocity, double acceleration, double jerk) { * Creates a new APConstraints with a given max acceleration and jerk. Velocity is left unlimited */ public APConstraints(double acceleration, double jerk) { - this(Double.POSITIVE_INFINITY, acceleration, jerk); + this.acceleration = acceleration; + this.jerk = jerk; } /** Unlimited constraints */ diff --git a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java index 2337f343..8c08f517 100644 --- a/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java +++ b/ThriftyTest/src/main/java/frc/robot/driveassist/Autopilot.java @@ -99,6 +99,9 @@ private Translation2d correct(Translation2d initial, Translation2d goal) { double initialI = adjustedInitial.getX(); double goalI = adjustedGoal.getX(); // we cap the adjusted I because we'd rather adjust now than overshoot. + if (goalI > m_profile.constraints.velocity) { + goalI = m_profile.constraints.velocity; + } double adjustedI = Math.min(goalI, push(initialI, goalI, m_profile.constraints.acceleration)); return new Translation2d(adjustedI, 0).rotateBy(angleOffset); From 951737ee5ead4e00f7c8fb2693ca9be31edca603 Mon Sep 17 00:00:00 2001 From: Comp Laptop Date: Mon, 9 Jun 2025 15:01:02 -0400 Subject: [PATCH 088/135] Add controller for advantage scope, still need joysticks --- .../Joystick_DragonReins/config.json | 37 ++++++++++++++++++ .../Joystick_DragonReins/image.png | Bin 0 -> 11464216 bytes 2 files changed, 37 insertions(+) create mode 100644 adantage_scope_custom_assets/Joystick_DragonReins/config.json create mode 100644 adantage_scope_custom_assets/Joystick_DragonReins/image.png diff --git a/adantage_scope_custom_assets/Joystick_DragonReins/config.json b/adantage_scope_custom_assets/Joystick_DragonReins/config.json new file mode 100644 index 00000000..efbf42e0 --- /dev/null +++ b/adantage_scope_custom_assets/Joystick_DragonReins/config.json @@ -0,0 +1,37 @@ +{ + "name": "Dragon Reins", + "components": [ + { + "type": "button", + "isYellow": false, + "isEllipse": true, + "centerPx": [1300, 1300], + "sizePx": [300,300], + "sourceIndex": 2 + }, + { + "type": "button", + "isYellow": false, + "isEllipse": true, + "centerPx": [3000,1300], + "sizePx": [300,300], + "sourceIndex": 1 + }, + { + "type": "button", + "isYellow": true, + "isEllipse": false, + "centerPx": [1600,600], + "sizePx": [200,200], + "sourceIndex": 4 + }, + { + "type": "button", + "isYellow": true, + "isEllipse": false, + "centerPx": [2400, 600], + "sizePx": [200,200], + "sourceIndex": 3 + } + ] +} diff --git a/adantage_scope_custom_assets/Joystick_DragonReins/image.png b/adantage_scope_custom_assets/Joystick_DragonReins/image.png new file mode 100644 index 0000000000000000000000000000000000000000..a2e1d5326891e818e98818f0acf9ee94e1b2d5f6 GIT binary patch literal 11464216 zcmV(@K-RyBP)|B zdw}Wx|Dwh0Vh32DFW2pVKteTGw@beSO}xE!Q^d&;7ps`1bwBj~}nEuNVC} zpU=~2KAleThiQ7dJ>m1qeY@*Vs}+BRkNy1f&-gd~YF#RR|Mc|q{QQjT;Ewn`K7;S# z-?_A$GyaTQKj_cp{D230d3pKAKmPIi@4x@{$M4JSj^E%RA1;@V`t$XdUp{^QaJ^nr 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