mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
Move path recording to a command
This commit is contained in:
nathanrsxtn
@@ -190,16 +190,6 @@ public class Robot extends TimedRobot {
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public void disabledInit() {
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LOGGER.fine("disabledInit()");
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m_robotTime.endMatchTime();
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if (isTest()) {
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// IMPORTANT: Had to chown the pathplanner folder in order to save autos.
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File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner")
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.resolve("recording." + System.currentTimeMillis() + ".path").toFile();
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if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) {
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m_robotContainer.createPath(null, null, false).write(outputFile);
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LOGGER.log(Level.SEVERE, "Recorded path to {0}.", outputFile.getPath());
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} else
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LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath());
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}
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}
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@Override
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@@ -59,6 +59,7 @@ import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.Constants.StorageConstants;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.robot.commands.AimToCenter;
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import frc4388.robot.commands.PathRecorder;
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import frc4388.robot.commands.Shoot;
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import frc4388.robot.commands.TrackTarget;
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import frc4388.robot.subsystems.BoomBoom;
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@@ -105,19 +106,7 @@ public class RobotContainer {
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private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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/* Autonomous */
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private PathPlannerTrajectory loadedPathTrajectory = null;
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private final ListeningSendableChooser<File> autoChooser = new ListeningSendableChooser<>(this::loadPath);
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private final List<Waypoint> pathPoints = new ArrayList<>();
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private final NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
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private final NetworkTable recordingNetworkTable = networkTableInstance.getTable("Recording");
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private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter
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.ofPattern("'Recording' yyyy-MM-dd HH-mm-ss.SSS'.path'");
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private static final Clock SYSTEM_CLOCK = Clock.system(ZoneId.systemDefault());
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private static final Path PATHPLANNER_DIRECTORY = Filesystem.getDeployDirectory().toPath().resolve("pathplanner");
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// Function that removes the ".path" from the end of a string.
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private static final Function<CharSequence, String> PATH_EXTENSION_REMOVER = ((Function<CharSequence, Matcher>) Pattern
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.compile(".path")::matcher).andThen(m -> m.replaceFirst(""));
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private final PathRecorder m_pathChooser = new PathRecorder(m_robotSwerveDrive);
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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@@ -160,13 +149,10 @@ public class RobotContainer {
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// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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/*
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* m_robotLED
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* .setDefaultCommand(new RunCommand(m_robotLED::updateLED,
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* m_robotLED).withName("LED update defaultCommand"));
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* autoInit();
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* recordInit();
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*/
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// m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED).withName("LED update defaultCommand"));
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// Creates a button on the SmartDashboard that will record the path of the robot.
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SmartDashboard.putData("Path Recording", m_pathChooser);
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}
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/**
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@@ -248,18 +234,18 @@ public class RobotContainer {
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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if (loadedPathTrajectory != null) {
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if (m_pathChooser.getPath() != null) {
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PIDController xController = SwerveDriveConstants.X_CONTROLLER;
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PIDController yController = SwerveDriveConstants.Y_CONTROLLER;
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ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER;
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thetaController.enableContinuousInput(-Math.PI, Math.PI);
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PathPlannerState initialState = loadedPathTrajectory.getInitialState();
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PathPlannerState initialState = m_pathChooser.getPath().getInitialState();
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Pose2d initialPosition = new Pose2d(initialState.poseMeters.getTranslation(), initialState.holonomicRotation);
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return new SequentialCommandGroup(
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new InstantCommand(m_robotSwerveDrive.m_gyro::reset),
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new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(initialPosition)),
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new PPSwerveControllerCommand(loadedPathTrajectory, m_robotSwerveDrive::getOdometry,
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new PPSwerveControllerCommand(m_pathChooser.getPath(), m_robotSwerveDrive::getOdometry,
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m_robotSwerveDrive.m_kinematics, xController, yController, thetaController,
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m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive),
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new InstantCommand(m_robotSwerveDrive::stopModules)).withName("Run Autonomous Path");
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@@ -295,177 +281,4 @@ public class RobotContainer {
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public XboxController getOperatorController() {
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return m_operatorXbox;
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}
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/**
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* Creates a WatchKey for the path planner directory and registers it with the
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* WatchService.
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* Then creates a NotifierCommand that will update the auto chooser with the
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* latest path files.
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* Finally, adds the existing path files to the auto chooser
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*/
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private void autoInit() {
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try {
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WatchKey watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(),
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StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY,
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StandardWatchEventKinds.ENTRY_DELETE);
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// TODO: Store this and other commands as fields so they can be rescheduled.
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new NotifierCommand(() -> updateAutoChooser(watchKey), 0.5) {
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@Override
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public boolean runsWhenDisabled() {
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return true;
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}
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}.withName("Path Watcher").schedule();
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} catch (IOException exception) {
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LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception);
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}
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Arrays.stream(PATHPLANNER_DIRECTORY.toFile().listFiles())
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.filter(file -> file.getName().endsWith(".path")).sorted(Comparator.comparingLong(File::lastModified))
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.forEachOrdered(file -> autoChooser.addOption(file.getName(), file));
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SmartDashboard.putData("Auto Chooser", autoChooser);
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}
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/**
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* Creates a button on the SmartDashboard that will record the path of the
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* robot.
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*/
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public void recordInit() {
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SmartDashboard.putData("Recording",
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new RunCommand(this::recordPeriodic) {
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@Override
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public void end(boolean interupted) {
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new InstantCommand(RobotContainer.this::saveRecording) {
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@Override
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public boolean runsWhenDisabled() {
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return true;
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}
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}.withName("Save Recording").schedule();
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}
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}.withName("Record Path (Cancel to Save)"));
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}
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/**
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* Called when a file is created, modified, or deleted.
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* Adds newly created .path files to the SendableChooser.
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* Reloads the path if the currently selected file is modified.
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*
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* @param watchKey The WatchKey that is being observed.
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*/
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private void updateAutoChooser(WatchKey watchKey) {
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List<WatchEvent<?>> watchEvents = watchKey.pollEvents();
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if (!watchEvents.isEmpty()) {
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List<WatchEvent<?>> pathWatchEvents = watchEvents.stream()
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.filter(e -> e.kind().type().isAssignableFrom(Path.class)).collect(Collectors.toList());
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for (WatchEvent<?> pathWatchEvent : pathWatchEvents) {
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Path watchEventPath = (Path) pathWatchEvent.context();
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File watchEventFile = watchEventPath.toFile();
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String watchEventFileName = watchEventFile.getName();
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if (watchEventFileName.endsWith(".path")) {
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if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_CREATE)) {
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LOGGER.log(Level.WARNING, "PathPlanner file {0} created. Options added to SendableChooser.",
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watchEventFileName);
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autoChooser.addOption(watchEventFile.getName(), watchEventFile);
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} else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_MODIFY)) {
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LOGGER.log(Level.WARNING, "PathPlanner file {0} modified.", watchEventFileName);
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if (watchEventFileName.equals(autoChooser.getSelected().getName())) {
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LOGGER.log(Level.SEVERE, "PathPlanner file {0} already selected. Reloading path.", watchEventFileName);
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loadPath(watchEventFileName);
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}
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} else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_DELETE)) {
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LOGGER.log(Level.SEVERE,
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"PathPlanner file {0} deleted. Removing options from SendableChooser not yet implemented.",
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watchEventFileName);
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}
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}
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}
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}
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if (!watchKey.reset())
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LOGGER.severe("File watch key invalid.");
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}
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private void loadPath(String pathName) {
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LOGGER.warning("Loading path " + pathName);
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loadedPathTrajectory = null;
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loadedPathTrajectory = PathPlanner.loadPath(PATH_EXTENSION_REMOVER.apply(Objects.requireNonNullElse(pathName, "")),
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SwerveDriveConstants.PATH_MAX_VELOCITY, SwerveDriveConstants.PATH_MAX_ACCELERATION);
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LOGGER.info("Done loading");
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}
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private void saveRecording() {
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// IMPORTANT: Had to chown the pathplanner folder in order to save autos.
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File outputFile = PATHPLANNER_DIRECTORY
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.resolve(ZonedDateTime.now(SYSTEM_CLOCK).format(RECORDING_FILE_NAME_FORMATTER)).toFile();
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LOGGER.log(Level.WARNING, "Creating path {0}.", outputFile.getPath());
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if (!pathPoints.isEmpty() && Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) {
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// TODO: Change to use measured maximum velocity and acceleration.
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var path = createPath(null, null, false);
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if (RobotBase.isReal())
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path.write(outputFile);
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StringWriter writer = new StringWriter();
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path.write(writer);
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recordingNetworkTable.getEntry(outputFile.getName()).setString(writer.toString());
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autoChooser.setDefaultOption(outputFile.getName(), outputFile);
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LOGGER.log(Level.INFO, "Recorded path to {0}.", outputFile.getPath());
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} else
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LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath());
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}
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public void recordPeriodic() {
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Translation2d position = m_robotSwerveDrive.m_poseEstimator.getEstimatedPosition().getTranslation();
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Rotation2d rotation = m_robotSwerveDrive.m_gyro.getRotation2d();
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// FIXME: Chassis speeds are created from joystick inputs and do not reflect
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// actual robot velocity.
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Translation2d velocity = new Translation2d(m_robotSwerveDrive.getChassisSpeeds().vxMetersPerSecond,
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m_robotSwerveDrive.getChassisSpeeds().vyMetersPerSecond);
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Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false,
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SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false);
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pathPoints.add(waypoint);
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}
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public PathPlannerUtil.Path createPath(Double maxVelocity, Double maxAcceleration, Boolean isReversed) {
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// Remove points whose angles to neighboring points are less than 10 degrees
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// apart.
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int j = 0;
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for (int i = 1; i < pathPoints.size() - 1; i++) {
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var prev = pathPoints.get(j).anchorPoint.orElseThrow();
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var current = pathPoints.get(i).anchorPoint.orElseThrow();
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var next = pathPoints.get(i + 1).anchorPoint.orElseThrow();
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var fromPrevious = current.minus(prev);
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var toNext = next.minus(current);
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var angleFromPrevious = new Rotation2d(fromPrevious.getX(), fromPrevious.getY());
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var angleToNext = new Rotation2d(toNext.getX(), toNext.getY());
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if (Math.abs(angleFromPrevious.minus(angleToNext).getDegrees()) < SwerveDriveConstants.MIN_WAYPOINT_ANGLE
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|| (next.getDistance(prev) < SwerveDriveConstants.MIN_WAYPOINT_DISTANCE
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&& pathPoints.get(i).velOverride.map(v -> v < SwerveDriveConstants.MIN_WAYPOINT_VELOCITY).orElse(false)))
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pathPoints.set(i, null);
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else
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j = i;
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}
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pathPoints.removeIf(Objects::isNull);
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// Make control points
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pathPoints.get(0).nextControl = Optional.of(makeControlPoints(null, pathPoints.get(0).anchorPoint.orElseThrow(),
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pathPoints.get(1).anchorPoint.orElseThrow()).getSecond());
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for (int i = 1; i < pathPoints.size() - 1; i++) {
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var controls = makeControlPoints(pathPoints.get(i - 1).anchorPoint.orElseThrow(),
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pathPoints.get(i).anchorPoint.orElseThrow(), pathPoints.get(i + 1).anchorPoint.orElseThrow());
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pathPoints.get(i).prevControl = Optional.of(controls.getFirst());
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pathPoints.get(i).nextControl = Optional.of(controls.getSecond());
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}
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pathPoints.get(pathPoints.size() - 1).prevControl = Optional
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.of(makeControlPoints(pathPoints.get(pathPoints.size() - 2).anchorPoint.orElseThrow(),
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pathPoints.get(pathPoints.size() - 1).anchorPoint.orElseThrow(), null).getFirst());
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// Create the path
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PathPlannerUtil.Path path = new PathPlannerUtil.Path();
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path.waypoints = Optional.ofNullable(pathPoints.toArray(PathPlannerUtil.Path.Waypoint[]::new));
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path.maxVelocity = Optional.ofNullable(maxVelocity);
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path.maxAcceleration = Optional.ofNullable(maxAcceleration);
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path.isReversed = Optional.ofNullable(isReversed);
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pathPoints.clear();
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return path;
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}
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private static Pair<Translation2d, Translation2d> makeControlPoints(Translation2d prev, Translation2d current,
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Translation2d next) {
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var line = Objects.requireNonNullElse(next, current).minus(Objects.requireNonNullElse(prev, current)).div(4);
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return Pair.of(current.minus(line), current.plus(line));
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}
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}
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@@ -0,0 +1,228 @@
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package frc4388.robot.commands;
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import java.io.File;
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import java.io.IOException;
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import java.io.StringWriter;
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import java.nio.file.FileSystems;
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import java.nio.file.Path;
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import java.nio.file.StandardWatchEventKinds;
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import java.nio.file.WatchEvent;
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import java.nio.file.WatchKey;
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import java.time.Clock;
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import java.time.ZoneId;
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import java.time.ZonedDateTime;
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import java.time.format.DateTimeFormatter;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Comparator;
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import java.util.List;
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import java.util.Objects;
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import java.util.Optional;
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import java.util.function.Function;
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import java.util.logging.Level;
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import java.util.logging.Logger;
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import java.util.regex.Matcher;
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import java.util.regex.Pattern;
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import java.util.stream.Collectors;
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import com.diffplug.common.base.Errors;
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import com.pathplanner.lib.PathPlanner;
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import com.pathplanner.lib.PathPlannerTrajectory;
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import edu.wpi.first.math.Pair;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.wpilibj.Filesystem;
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import edu.wpi.first.wpilibj.RobotBase;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.NotifierCommand;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.utility.ListeningSendableChooser;
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import frc4388.utility.PathPlannerUtil;
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import frc4388.utility.PathPlannerUtil.Path.Waypoint;
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public class PathRecorder extends CommandBase {
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private static final Logger LOGGER = Logger.getLogger(PathRecorder.class.getSimpleName());
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private static double PATH_POLLING_PERIOD = 0.5;
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private static final Clock SYSTEM_CLOCK = Clock.system(ZoneId.systemDefault());
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private static final Path PATHPLANNER_DIRECTORY = Filesystem.getDeployDirectory().toPath().resolve("pathplanner");
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private static final String PATHPLANNER_EXTENSION = ".path";
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private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter.ofPattern("'Recording' yyyy-MM-dd HH-mm-ss.SSS'.path'");
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// Function that removes the ".path" from the end of a string.
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private static final Function<CharSequence, String> PATH_EXTENSION_REMOVER = ((Function<CharSequence, Matcher>) Pattern.compile(PATHPLANNER_EXTENSION)::matcher).andThen(m -> m.replaceFirst(""));
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private PathPlannerTrajectory loadedPathTrajectory = null;
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private WatchKey m_watchKey;
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private final ListeningSendableChooser<File> pathChooser = new ListeningSendableChooser<>(this::loadPath);
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private final List<Waypoint> pathPoints = new ArrayList<>();
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private final NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
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private final NetworkTable recordingNetworkTable = networkTableInstance.getTable("Recording");
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private final SwerveDrive m_swerveDrive;
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private final CommandBase m_pathWatcher = new NotifierCommand(this::updatePathChooser, PATH_POLLING_PERIOD) {
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@Override
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public boolean runsWhenDisabled() {
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return true;
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}
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}.withName("Path Watcher");
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private final CommandBase m_pathSaver = new InstantCommand(this::savePath) {
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@Override
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public boolean runsWhenDisabled() {
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return true;
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}
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}.withName("Save Recording");
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public PathRecorder(SwerveDrive swerveDrive) {
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m_swerveDrive = swerveDrive;
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addRequirements(swerveDrive);
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setName("Record Path (Cancel to Save)");
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}
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/**
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* Creates a WatchKey for the path planner directory and registers it with the WatchService. Then
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* creates a NotifierCommand that will update the path chooser with the latest path files. Finally,
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* adds the existing path files to the path chooser
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||||
*/
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||||
@Override
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public void initialize() {
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try {
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m_watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(), StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, StandardWatchEventKinds.ENTRY_DELETE);
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m_pathWatcher.schedule();
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} catch (IOException exception) {
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LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception);
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}
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Arrays.stream(PATHPLANNER_DIRECTORY.toFile().listFiles()).filter(file -> file.getName().endsWith(PATHPLANNER_EXTENSION)).sorted(Comparator.comparingLong(File::lastModified)).forEachOrdered(file -> pathChooser.addOption(file.getName(), file));
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SmartDashboard.putData("Path Chooser", pathChooser);
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||||
}
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||||
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||||
/**
|
||||
* Period loop to run during recording. Gets the estimated position and rotation of the robot and
|
||||
* saves it as a new waypoint.
|
||||
*/
|
||||
@Override
|
||||
public void execute() {
|
||||
Translation2d position = m_swerveDrive.m_poseEstimator.getEstimatedPosition().getTranslation();
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||||
Rotation2d rotation = m_swerveDrive.m_gyro.getRotation2d();
|
||||
// FIXME: Chassis speeds are created from joystick inputs and do not reflect actual robot velocity.
|
||||
Translation2d velocity = new Translation2d(m_swerveDrive.getChassisSpeeds().vxMetersPerSecond, m_swerveDrive.getChassisSpeeds().vyMetersPerSecond);
|
||||
Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false, SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false);
|
||||
pathPoints.add(waypoint);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void schedule() {
|
||||
super.schedule();
|
||||
LOGGER.info("Begin recording.");
|
||||
}
|
||||
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
LOGGER.info("End recording.");
|
||||
m_pathSaver.schedule();
|
||||
}
|
||||
|
||||
public PathPlannerTrajectory getPath() {
|
||||
return loadedPathTrajectory;
|
||||
}
|
||||
|
||||
/**
|
||||
* Called when a file is created, modified, or deleted. Adds newly created .path files to the
|
||||
* SendableChooser. Reloads the path if the currently selected file is modified.
|
||||
*/
|
||||
private void updatePathChooser() {
|
||||
if (m_watchKey != null) {
|
||||
List<WatchEvent<?>> watchEvents = m_watchKey.pollEvents();
|
||||
if (!watchEvents.isEmpty()) {
|
||||
List<WatchEvent<?>> pathWatchEvents = watchEvents.stream().filter(e -> e.kind().type().isAssignableFrom(Path.class)).collect(Collectors.toList());
|
||||
for (WatchEvent<?> pathWatchEvent : pathWatchEvents) {
|
||||
Path watchEventPath = (Path) pathWatchEvent.context();
|
||||
File watchEventFile = watchEventPath.toFile();
|
||||
String watchEventFileName = watchEventFile.getName();
|
||||
if (watchEventFileName.endsWith(PATHPLANNER_EXTENSION)) {
|
||||
if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_CREATE)) {
|
||||
LOGGER.log(Level.WARNING, "PathPlanner file {0} created. Options added to SendableChooser.", watchEventFileName);
|
||||
pathChooser.addOption(watchEventFile.getName(), watchEventFile);
|
||||
} else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_MODIFY)) {
|
||||
LOGGER.log(Level.WARNING, "PathPlanner file {0} modified.", watchEventFileName);
|
||||
if (watchEventFileName.equals(pathChooser.getSelected().getName())) {
|
||||
LOGGER.log(Level.SEVERE, "PathPlanner file {0} already selected. Reloading path.", watchEventFileName);
|
||||
loadPath(watchEventFileName);
|
||||
}
|
||||
} else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_DELETE)) {
|
||||
LOGGER.log(Level.SEVERE, "PathPlanner file {0} deleted. Removing options from SendableChooser not yet implemented.", watchEventFileName);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
if (!m_watchKey.reset()) LOGGER.severe("File watch key invalid.");
|
||||
}
|
||||
}
|
||||
|
||||
private void loadPath(String pathName) {
|
||||
LOGGER.warning("Unloading path.");
|
||||
loadedPathTrajectory = null;
|
||||
LOGGER.info("Done unloading.");
|
||||
if (pathName != null) {
|
||||
LOGGER.log(Level.WARNING, "Loading path {0}.", pathName);
|
||||
loadedPathTrajectory = PathPlanner.loadPath(PATH_EXTENSION_REMOVER.apply(pathName), SwerveDriveConstants.PATH_MAX_VELOCITY, SwerveDriveConstants.PATH_MAX_ACCELERATION);
|
||||
LOGGER.info("Done loading.");
|
||||
} else {
|
||||
LOGGER.severe("No path to load.");
|
||||
}
|
||||
}
|
||||
|
||||
private void savePath() {
|
||||
// INFO: Had to chown the pathplanner folder in order to save paths.
|
||||
File outputFile = PATHPLANNER_DIRECTORY.resolve(ZonedDateTime.now(SYSTEM_CLOCK).format(RECORDING_FILE_NAME_FORMATTER)).toFile();
|
||||
LOGGER.log(Level.WARNING, "Creating path {0}.", outputFile.getPath());
|
||||
if (!pathPoints.isEmpty() && Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) {
|
||||
|
||||
// Remove points whose angles to neighboring points are less than 10 degrees apart.
|
||||
int j = 0;
|
||||
for (int i = 1; i < pathPoints.size() - 1; i++) {
|
||||
var prev = pathPoints.get(j).anchorPoint.orElseThrow();
|
||||
var current = pathPoints.get(i).anchorPoint.orElseThrow();
|
||||
var next = pathPoints.get(i + 1).anchorPoint.orElseThrow();
|
||||
var fromPrevious = current.minus(prev);
|
||||
var toNext = next.minus(current);
|
||||
var angleFromPrevious = new Rotation2d(fromPrevious.getX(), fromPrevious.getY());
|
||||
var angleToNext = new Rotation2d(toNext.getX(), toNext.getY());
|
||||
if (Math.abs(angleFromPrevious.minus(angleToNext).getDegrees()) < SwerveDriveConstants.MIN_WAYPOINT_ANGLE || (next.getDistance(prev) < SwerveDriveConstants.MIN_WAYPOINT_DISTANCE && pathPoints.get(i).velOverride.map(v -> v < SwerveDriveConstants.MIN_WAYPOINT_VELOCITY).orElse(false))) pathPoints.set(i, null);
|
||||
else j = i;
|
||||
}
|
||||
pathPoints.removeIf(Objects::isNull);
|
||||
// Make control points
|
||||
pathPoints.get(0).nextControl = Optional.of(makeControlPoints(null, pathPoints.get(0).anchorPoint.orElseThrow(), pathPoints.get(1).anchorPoint.orElseThrow()).getSecond());
|
||||
for (int i = 1; i < pathPoints.size() - 1; i++) {
|
||||
var controls = makeControlPoints(pathPoints.get(i - 1).anchorPoint.orElseThrow(), pathPoints.get(i).anchorPoint.orElseThrow(), pathPoints.get(i + 1).anchorPoint.orElseThrow());
|
||||
pathPoints.get(i).prevControl = Optional.of(controls.getFirst());
|
||||
pathPoints.get(i).nextControl = Optional.of(controls.getSecond());
|
||||
}
|
||||
pathPoints.get(pathPoints.size() - 1).prevControl = Optional.of(makeControlPoints(pathPoints.get(pathPoints.size() - 2).anchorPoint.orElseThrow(), pathPoints.get(pathPoints.size() - 1).anchorPoint.orElseThrow(), null).getFirst());
|
||||
// Create the path
|
||||
PathPlannerUtil.Path path = new PathPlannerUtil.Path();
|
||||
path.waypoints = Optional.ofNullable(pathPoints.toArray(PathPlannerUtil.Path.Waypoint[]::new));
|
||||
// TODO: Change to use measured maximum velocity and acceleration.
|
||||
path.maxVelocity = Optional.ofNullable(null);
|
||||
path.maxAcceleration = Optional.ofNullable(null);
|
||||
path.isReversed = Optional.ofNullable(false);
|
||||
pathPoints.clear();
|
||||
|
||||
if (RobotBase.isReal()) path.write(outputFile);
|
||||
StringWriter writer = new StringWriter();
|
||||
path.write(writer);
|
||||
recordingNetworkTable.getEntry(outputFile.getName()).setString(writer.toString());
|
||||
pathChooser.setDefaultOption(outputFile.getName(), outputFile);
|
||||
LOGGER.log(Level.INFO, "Recorded path to {0}.", outputFile.getPath());
|
||||
} else LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath());
|
||||
}
|
||||
|
||||
private static Pair<Translation2d, Translation2d> makeControlPoints(Translation2d prev, Translation2d current, Translation2d next) {
|
||||
var line = Objects.requireNonNullElse(next, current).minus(Objects.requireNonNullElse(prev, current)).div(4);
|
||||
return Pair.of(current.minus(line), current.plus(line));
|
||||
}
|
||||
}
|
||||
@@ -1,7 +1,6 @@
|
||||
package frc4388.utility;
|
||||
|
||||
import java.io.File;
|
||||
import java.io.OutputStream;
|
||||
import java.io.Writer;
|
||||
import java.util.Optional;
|
||||
|
||||
|
||||
Reference in New Issue
Block a user