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Merge branch 'full-robot-test' into vision-odo-not-proto

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This commit is contained in:
66945
2022-03-05 10:55:27 -08:00
committed by GitHub
parent 46bda7913f ca9b247955
commit 7c2f4eb754
13 changed files with 565 additions and 327 deletions
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src/main/java/frc4388/robot/Constants.java
+43 -30
View File
@@ -39,8 +39,8 @@ public final class Constants {
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2;
public static final double MAX_SPEED_FEET_PER_SEC = 20; // redundant constant?
public static final double SPEED_FEET_PER_SECOND_AT_FULL_POWER = 20; // redundant constant?
//IDs
// IDs
public static final int LEFT_FRONT_STEER_CAN_ID = 2;
public static final int LEFT_FRONT_WHEEL_CAN_ID = 3;
public static final int RIGHT_FRONT_STEER_CAN_ID = 4;
@@ -54,24 +54,34 @@ public final class Constants {
public static final int LEFT_BACK_STEER_CAN_ENCODER_ID = 12;
public static final int RIGHT_BACK_STEER_CAN_ENCODER_ID = 13;
public static final int GYRO_ID = 14;
// offsets are in degrees
// NATHAN if you truncate or round or simplify these i will cry
public static final double LEFT_FRONT_ENCODER_OFFSET = 181.45-3.30;//181.7578125;//180.0;//315.0 +45;//180.0;
public static final double RIGHT_FRONT_ENCODER_OFFSET = 360.-59.0625+0.18;//360.-59.0625;//315.0;//224.296875 + 90;//300.0;
public static final double LEFT_BACK_ENCODER_OFFSET = 360.-128.222;//308.408203125;//225.0;//45.87890625;//360.0 - 128.0;
public static final double RIGHT_BACK_ENCODER_OFFSET = 360.+2.15-3.637;//180-2.021484375;//0.0;//134.384765625 + 45;
// public static final double LEFT_FRONT_ENCODER_OFFSET = 181.45 - 3.30;//
// 181.7578125;//180.0;//315.0 +45;//180.0;
// public static final double RIGHT_FRONT_ENCODER_OFFSET = 360. - 59.0625 +
// 0.18;// 360.-59.0625;//315.0;//224.296875 +
// public static final double LEFT_BACK_ENCODER_OFFSET = 360. - 128.222;//
// 308.408203125;//225.0;//45.87890625;//360.0
// public static final double RIGHT_BACK_ENCODER_OFFSET = 360. + 2.15 - 3.637;//
// 180-2.021484375;//0.0;//134.384765625
public static final double RIGHT_FRONT_ENCODER_OFFSET = (4 * 360. - 152.05 - 180 - 90) % 360.;
public static final double LEFT_FRONT_ENCODER_OFFSET = (4 * 360. - 232.58 + 180 - 90) % 360.;
public static final double LEFT_BACK_ENCODER_OFFSET = (4 * 360. - 189.50 - 90) % 360.;
public static final double RIGHT_BACK_ENCODER_OFFSET = (4 * 360. - 9.31 - 180 - 90) % 360.;
// swerve PID constants
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final int SWERVE_TIMEOUT_MS = 30;
public static final Gains SWERVE_GAINS = new Gains(1.0, 0.0, 1.0, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(1.5, 0.0, 0.0, 0.0, 0, 1.0);
// swerve auto constants
public static final PIDController X_CONTROLLER = new PIDController(0.5, 0.0, 0.0);
public static final PIDController Y_CONTROLLER = new PIDController(2.0, 0.0, 0.0);
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController (15.0, 0.1, 0.3, new TrapezoidProfile.Constraints(Math.PI, Math.PI));
public static final ProfiledPIDController THETA_CONTROLLER = new ProfiledPIDController(15.0, 0.1, 0.3,
new TrapezoidProfile.Constraints(Math.PI, Math.PI));
public static final boolean PATH_RECORD_VELOCITY = true;
public static final double PATH_MAX_VELOCITY = 5.0;
public static final double PATH_MAX_ACCELERATION = 5.0;
@@ -89,19 +99,19 @@ public final class Constants {
// wheel diameter: official = 4 in, measured = 3.8 in
/* Ratio Calculation */
public static final double MOTOR_REV_PER_STEER_REV = 12.8;
public static final double MOTOR_REV_PER_WHEEL_REV = 5.142857;
public static final double MOTOR_REV_PER_WHEEL_REV = 6.12;// 5.142857;
public static final double WHEEL_DIAMETER_INCHES = 4.0;
public static final double TICKS_PER_MOTOR_REV = 2048;
public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
public static final double INCHES_PER_METER = 39.370;
public static final double METERS_PER_INCH = 1/INCHES_PER_METER;
public static final double WHEEL_REV_PER_MOTOR_REV = 1/MOTOR_REV_PER_WHEEL_REV;
public static final double METERS_PER_INCH = 1 / INCHES_PER_METER;
public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
public static final double TICKS_PER_WHEEL_REV = TICKS_PER_MOTOR_REV * MOTOR_REV_PER_WHEEL_REV;
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV/INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK = 1/TICKS_PER_INCH;
public static final double TICKS_PER_INCH = TICKS_PER_WHEEL_REV / INCHES_PER_WHEEL_REV;
public static final double INCHES_PER_TICK = 1 / TICKS_PER_INCH;
public static final double TICK_TIME_TO_SECONDS = 0.1;
public static final double SECONDS_TO_TICK_TIME = 1/TICK_TIME_TO_SECONDS;
public static final double SECONDS_TO_TICK_TIME = 1 / TICK_TIME_TO_SECONDS;
// misc
public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
@@ -132,20 +142,22 @@ public final class Constants {
public static final int SHOOTER_TIMEOUT_MS = 32;
public static final int SHOOTER_SLOT_IDX = 0;
public static final int SHOOTER_PID_LOOP_IDX = 1;
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5);
public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(
true, 60, 40, 0.5);
public static final int SHOOTER_FALCON_LEFT_CAN_ID = 23;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24;
public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 24;
public static final int SHOOTER_ROTATE_ID = 31; // TODO: find this value
public static final double TURRET_SPEED_MULTIPLIER = 0.1d;
public static final int DEGREES_PER_ROT = 0;
public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0;
public static final int TURRET_MOTOR_ROTS_PER_ROT = 0;
public static final double ENCODER_TICKS_PER_REV = 2048;
// Shoot Command Constants
public static final Gains SHOOT_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
/* Turret Constants */
//ID
// ID
public static final int TURRET_MOTOR_CAN_ID = 30;
public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
@@ -161,25 +173,26 @@ public final class Constants {
public static final double DIG_DEADZONE_RIGHT = 60.0;
public static final int SHOOTER_FALCON_BALLER_ID = 0; // TODO: find
public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; //"//
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0,0,0,0,0,0); // TODO: tune values
public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID = 0; // "//
public static final Gains DRUM_SHOOTER_GAINS = new Gains(0, 0, 0, 0, 0, 0); // TODO: tune values
/* Hood Constants */
public static final int SHOOTER_ANGLE_ADJUST_ID = 32;
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; //TODO: Find
public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; //TODO: Find
public static final float HOOD_FORWARD_LIMIT = 0; //TODO: find
public static final float HOOD_REVERSE_LIMIT = 0; //TODO: find
public static final double HOOD_MOTOR_ROTS_PER_ROT = 1; // TODO: Find
public static final double HOOD_MOTOR_POS_AT_ZERO_ROT = 0; // TODO: Find
public static final float HOOD_FORWARD_LIMIT = 0; // TODO: find
public static final float HOOD_REVERSE_LIMIT = 0; // TODO: find
}
public static final class VisionConstants {
// public static final double TURN_P_VALUE = 0.8;
// public static final double X_ANGLE_ERROR = 0.5;
// public static final double GRAV = 385.83;
// public static final double TARGET_HEIGHT = 67.5;
// public static final double FOV = 29.8; //Field of view limelight
public static final double LIME_ANGLE = 24.7;
public static final String NAME = "photonCamera";
src/main/java/frc4388/robot/Robot.java
+44 -18
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@@ -32,7 +32,7 @@ import frc4388.utility.RobotTime;
public class Robot extends TimedRobot {
private static final Logger LOGGER = Logger.getLogger(Robot.class.getSimpleName());
Command m_autonomousCommand;
private RobotTime m_robotTime = RobotTime.getInstance();
private RobotContainer m_robotContainer;
@@ -50,21 +50,32 @@ public class Robot extends TimedRobot {
LOGGER.log(Level.FINE, "Logging Test 6/8");
LOGGER.log(Level.FINER, "Logging Test 7/8");
LOGGER.log(Level.FINEST, "Logging Test 8/8");
Errors.log().run(() -> { throw new Throwable("Exception Test"); });
Errors.log().run(() -> {
throw new Throwable("Exception Test");
});
// var path = PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move Forward.path").toFile());
// var path =
// PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move
// Forward.path").toFile());
// LOGGER.finest(path::toString);
LOGGER.fine("robotInit()");
// LOGGER.fine("Sssssssssh.");
// DriverStation.silenceJoystickConnectionWarning(true);
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// Instantiate our RobotContainer. This will perform all our button bindings,
// and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
// addPeriodic(m_robotContainer::recordPeriodic, kDefaultPeriod);
SmartDashboard.putData(CommandScheduler.getInstance());
SmartDashboard.putData("JVM Memory", new RunCommand(() -> {}) {
@Override public boolean runsWhenDisabled() { return true; }
@Override public String getName() {
SmartDashboard.putData("JVM Memory", new RunCommand(() -> {
}) {
@Override
public boolean runsWhenDisabled() {
return true;
}
@Override
public String getName() {
if (isScheduled()) {
Runtime runtime = Runtime.getRuntime();
long totalMemory = runtime.totalMemory() / 1_000_000;
@@ -75,12 +86,20 @@ public class Robot extends TimedRobot {
return "Not Running";
}
});
SmartDashboard.putData("Usable Deploy Space", new RunCommand(() -> {}) {
@Override public boolean runsWhenDisabled() { return true; }
@Override public String getName() {
SmartDashboard.putData("Usable Deploy Space", new RunCommand(() -> {
}) {
@Override
public boolean runsWhenDisabled() {
return true;
}
@Override
public String getName() {
if (isScheduled()) {
File deploy = Filesystem.getDeployDirectory();
long usedSpace = Errors.suppress().getWithDefault(() -> Files.walk(deploy.toPath()).map(Path::toFile).filter(File::isFile).mapToLong(File::length).sum(), 0l) / 1_000_000;
long usedSpace = Errors.suppress().getWithDefault(
() -> Files.walk(deploy.toPath()).map(Path::toFile).filter(File::isFile).mapToLong(File::length).sum(),
0l) / 1_000_000;
long usableSpace = deploy.getUsableSpace() / 1_000_000;
return usedSpace + " MB / " + usableSpace + " MB";
}
@@ -94,19 +113,24 @@ public class Robot extends TimedRobot {
* this for items like diagnostics that you want ran during disabled,
* autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before
* <p>
* This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
m_robotTime.updateTimes();
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
// commands, running already-scheduled commands, removing finished or interrupted commands,
// and running subsystem periodic() methods. This must be called from the robot's periodic
// Runs the Scheduler. This is responsible for polling buttons, adding
// newly-scheduled
// commands, running already-scheduled commands, removing finished or
// interrupted commands,
// and running subsystem periodic() methods. This must be called from the
// robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
// print odometry data to smart dashboard for debugging (if causing timeout errors, you can comment it)
// print odometry data to smart dashboard for debugging (if causing timeout
// errors, you can comment it)
SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX());
SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY());
SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees());
@@ -123,7 +147,8 @@ public class Robot extends TimedRobot {
m_robotTime.endMatchTime();
if (isTest()) {
// IMPORTANT: Had to chown the pathplanner folder in order to save autos.
File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("recording." + System.currentTimeMillis() + ".path").toFile();
File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner")
.resolve("recording." + System.currentTimeMillis() + ".path").toFile();
if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) {
m_robotContainer.createPath(null, null, false).write(outputFile);
LOGGER.log(Level.SEVERE, "Recorded path to {0}.", outputFile.getPath());
@@ -137,7 +162,8 @@ public class Robot extends TimedRobot {
}
/**
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
* This autonomous runs the autonomous command selected by your
* {@link RobotContainer} class.
*/
@Override
public void autonomousInit() {
src/main/java/frc4388/robot/RobotContainer.java
+92 -44
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@@ -58,6 +58,7 @@ import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.AimToCenter;
import frc4388.robot.commands.Shoot;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.LED;
@@ -84,12 +85,14 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack,
m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
private final LED m_robotLED = new LED(m_robotMap.LEDController);
private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
private final Hood m_robotHood = new Hood();
private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
// private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
@@ -104,11 +107,13 @@ public class RobotContainer {
private final NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
private final NetworkTable recordingNetworkTable = networkTableInstance.getTable("Recording");
private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter.ofPattern("'Recording' yyyy-MM-dd HH-mm-ss.SSS'.path'");
private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter
.ofPattern("'Recording' yyyy-MM-dd HH-mm-ss.SSS'.path'");
private static final Clock SYSTEM_CLOCK = Clock.system(ZoneId.systemDefault());
private static final Path PATHPLANNER_DIRECTORY = Filesystem.getDeployDirectory().toPath().resolve("pathplanner");
// Function that removes the ".path" from the end of a string.
private static final Function<CharSequence, String> PATH_EXTENSION_REMOVER = ((Function<CharSequence, Matcher>) Pattern.compile(".path")::matcher).andThen(m -> m.replaceFirst(""));
private static final Function<CharSequence, String> PATH_EXTENSION_REMOVER = ((Function<CharSequence, Matcher>) Pattern
.compile(".path")::matcher).andThen(m -> m.replaceFirst(""));
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -116,11 +121,12 @@ public class RobotContainer {
public RobotContainer() {
configureButtonBindings();
/* Default Commands */
// continually sends updates to the Blinkin LED controller to keep the lights on
// m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
//Turret default command
// continually sends updates to the Blinkin LED controller to keep the lights on
// m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED,
// m_robotLED));
// Turret default command
m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
@@ -134,9 +140,13 @@ public class RobotContainer {
m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED).withName("LED update defaultCommand"));
autoInit();
recordInit();
/*
* m_robotLED
* .setDefaultCommand(new RunCommand(m_robotLED::updateLED,
* m_robotLED).withName("LED update defaultCommand"));
* autoInit();
* recordInit();
*/
}
/**
@@ -149,32 +159,41 @@ public class RobotContainer {
/* Driver Buttons */
// "XboxController.Button.kBack" was undefined yet, 7 works just fine
new JoystickButton(getDriverController(), 7)
.whenPressed(m_robotSwerveDrive::resetGyro);
.whenPressed(m_robotSwerveDrive::resetGyro);
new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
// new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON)
// new XboxControllerRawButton(m_driverXbox,
// XboxControllerRaw.LEFT_BUMPER_BUTTON)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
// new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON)
// new XboxControllerRawButton(m_driverXbox,
// XboxControllerRaw.RIGHT_BUMPER_BUTTON)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
new JoystickButton(getDriverController(), XboxController.Button.kA.value)
.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
new JoystickButton(getDriverController(), XboxController.Button.kX.value)
.whenPressed(() -> m_robotMap.leftFront.reset())
.whenPressed(() -> m_robotMap.rightFront.reset())
.whenPressed(() -> m_robotMap.leftBack.reset())
.whenPressed(() -> m_robotMap.rightBack.reset());
/* Operator Buttons */
// activates "Lit Mode"
new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
// activates "BoomBoom"
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1))
.whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0));
// activates hood
new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
.whenPressed(() -> m_robotHood.runHood(0.5d))
.whenReleased(() -> m_robotHood.runHood(0.d));
/*
* new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
* .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
* .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
*
* new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
* .whenPressed(new InstantCommand());
*
* // activates "BoomBoom"
* new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
* .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret,
* m_robotHood));
*/
}
/**
@@ -200,7 +219,8 @@ public class RobotContainer {
new InstantCommand(m_robotSwerveDrive::stopModules)).withName("Run Autonomous Path");
} else {
LOGGER.severe("No auto selected.");
return new RunCommand(() -> {}).withName("No Autonomous Path");
return new RunCommand(() -> {
}).withName("No Autonomous Path");
}
}
@@ -210,6 +230,7 @@ public class RobotContainer {
/**
* Get odometry.
*
* @return Odometry
*/
public Pose2d getOdometry() {
@@ -218,6 +239,7 @@ public class RobotContainer {
/**
* Set odometry to given pose.
*
* @param pose Pose to set odometry to.
*/
public void resetOdometry(Pose2d pose) {
@@ -229,16 +251,23 @@ public class RobotContainer {
}
/**
* Creates a WatchKey for the path planner directory and registers it with the WatchService.
* Then creates a NotifierCommand that will update the auto chooser with the latest path files.
* Creates a WatchKey for the path planner directory and registers it with the
* WatchService.
* Then creates a NotifierCommand that will update the auto chooser with the
* latest path files.
* Finally, adds the existing path files to the auto chooser
*/
private void autoInit() {
try {
WatchKey watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(), StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, StandardWatchEventKinds.ENTRY_DELETE);
WatchKey watchKey = PATHPLANNER_DIRECTORY.register(FileSystems.getDefault().newWatchService(),
StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY,
StandardWatchEventKinds.ENTRY_DELETE);
// TODO: Store this and other commands as fields so they can be rescheduled.
new NotifierCommand(() -> updateAutoChooser(watchKey), 0.5) {
@Override public boolean runsWhenDisabled() { return true; }
@Override
public boolean runsWhenDisabled() {
return true;
}
}.withName("Path Watcher").schedule();
} catch (IOException exception) {
LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception);
@@ -250,7 +279,8 @@ public class RobotContainer {
}
/**
* Creates a button on the SmartDashboard that will record the path of the robot.
* Creates a button on the SmartDashboard that will record the path of the
* robot.
*/
public void recordInit() {
SmartDashboard.putData("Recording",
@@ -271,19 +301,22 @@ public class RobotContainer {
* 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.
*
* @param watchKey The WatchKey that is being observed.
*/
private void updateAutoChooser(WatchKey watchKey) {
List<WatchEvent<?>> watchEvents = watchKey.pollEvents();
if (!watchEvents.isEmpty()) {
List<WatchEvent<?>> pathWatchEvents = watchEvents.stream().filter(e -> e.kind().type().isAssignableFrom(Path.class)).collect(Collectors.toList());
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(".path")) {
if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_CREATE)) {
LOGGER.log(Level.WARNING, "PathPlanner file {0} created. Options added to SendableChooser.", watchEventFileName);
LOGGER.log(Level.WARNING, "PathPlanner file {0} created. Options added to SendableChooser.",
watchEventFileName);
autoChooser.addOption(watchEventFile.getName(), watchEventFile);
} else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_MODIFY)) {
LOGGER.log(Level.WARNING, "PathPlanner file {0} modified.", watchEventFileName);
@@ -292,7 +325,9 @@ public class RobotContainer {
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);
LOGGER.log(Level.SEVERE,
"PathPlanner file {0} deleted. Removing options from SendableChooser not yet implemented.",
watchEventFileName);
}
}
}
@@ -304,13 +339,15 @@ public class RobotContainer {
private void loadPath(String pathName) {
LOGGER.warning("Loading path " + pathName);
loadedPathTrajectory = null;
loadedPathTrajectory = PathPlanner.loadPath(PATH_EXTENSION_REMOVER.apply(Objects.requireNonNullElse(pathName, "")), SwerveDriveConstants.PATH_MAX_VELOCITY, SwerveDriveConstants.PATH_MAX_ACCELERATION);
loadedPathTrajectory = PathPlanner.loadPath(PATH_EXTENSION_REMOVER.apply(Objects.requireNonNullElse(pathName, "")),
SwerveDriveConstants.PATH_MAX_VELOCITY, SwerveDriveConstants.PATH_MAX_ACCELERATION);
LOGGER.info("Done loading");
}
private void saveRecording() {
// IMPORTANT: Had to chown the pathplanner folder in order to save autos.
File outputFile = PATHPLANNER_DIRECTORY.resolve(ZonedDateTime.now(SYSTEM_CLOCK).format(RECORDING_FILE_NAME_FORMATTER)).toFile();
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))) {
// TODO: Change to use measured maximum velocity and acceleration.
@@ -329,14 +366,18 @@ public class RobotContainer {
public void recordPeriodic() {
Translation2d position = m_robotSwerveDrive.m_poseEstimator.getEstimatedPosition().getTranslation();
Rotation2d rotation = m_robotSwerveDrive.m_gyro.getRotation2d();
// FIXME: Chassis speeds are created from joystick inputs and do not reflect actual robot velocity.
Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond, m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond);
Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false, SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false);
// FIXME: Chassis speeds are created from joystick inputs and do not reflect
// actual robot velocity.
Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond,
m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond);
Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false,
SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false);
pathPoints.add(waypoint);
}
public PathPlannerUtil.Path createPath(Double maxVelocity, Double maxAcceleration, Boolean isReversed) {
// Remove points whose angles to neighboring points are less than 10 degrees apart.
// 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();
@@ -346,20 +387,26 @@ public class RobotContainer {
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)))
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());
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());
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());
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));
@@ -370,7 +417,8 @@ public class RobotContainer {
return path;
}
private static Pair<Translation2d, Translation2d> makeControlPoints(Translation2d prev, Translation2d current, Translation2d next) {
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));
}
src/main/java/frc4388/robot/RobotMap.java
+95 -54
View File
@@ -29,9 +29,9 @@ import frc4388.robot.subsystems.SwerveModule;
public class RobotMap {
public RobotMap() {
configureLEDMotorControllers();
// configureLEDMotorControllers();
configureSwerveMotorControllers();
configureShooterMotorControllers();
// configureShooterMotorControllers();
}
/* LED Subsystem */
@@ -74,61 +74,89 @@ public class RobotMap {
rightBackSteerMotor.configFactoryDefault();
rightBackWheelMotor.configFactoryDefault();
leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
NeutralMode mode = NeutralMode.Coast;
leftFrontSteerMotor.setNeutralMode(mode);
leftFrontWheelMotor.setNeutralMode(mode);//Coast
leftFrontWheelMotor.setNeutralMode(mode);// Coast
rightFrontSteerMotor.setNeutralMode(mode);
rightFrontWheelMotor.setNeutralMode(mode);//Coast
rightFrontWheelMotor.setNeutralMode(mode);// Coast
leftBackSteerMotor.setNeutralMode(mode);
leftBackWheelMotor.setNeutralMode(mode);//Coast
leftBackWheelMotor.setNeutralMode(mode);// Coast
rightBackSteerMotor.setNeutralMode(mode);
rightBackWheelMotor.setNeutralMode(mode);//Coast
rightBackWheelMotor.setNeutralMode(mode);// Coast
leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
rightFront = new SwerveModule(rightFrontWheelMotor, rightFrontSteerMotor, rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
rightBack = new SwerveModule(rightBackWheelMotor, rightBackSteerMotor, rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder,
SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder,
SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
rightFront = new SwerveModule(rightFrontWheelMotor, rightFrontSteerMotor, rightFrontEncoder,
SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
rightBack = new SwerveModule(rightBackWheelMotor, rightBackSteerMotor, rightBackEncoder,
SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
// config cancoder as remote encoder for swerve steer motors
leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(),
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(),
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(),
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(),
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
}
// Shooter Config
@@ -148,9 +176,12 @@ public class RobotMap {
shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG,
ShooterConstants.SHOOTER_TIMEOUT_MS);
// RIGHT FALCON
shooterFalconRight.setInverted(false);
@@ -158,15 +189,25 @@ public class RobotMap {
shooterFalconRight.configFactoryDefault();
shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
// m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
/* Turret Subsytem */
shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers out of our ass anymore
shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull numbers out of our ass anymore
// m_shooterFalconRight.configPeakOutputForward(0,
// ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG,
ShooterConstants.SHOOTER_TIMEOUT_MS);
// /* Turret Subsytem */
// shooterFalconRight.configStatorCurrentLimit(new
// StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
// out of our ass anymore
// shooterFalconLeft.configSupplyCurrentLimit(new
// SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
// numbers out of our ass anymore
}
}
}
src/main/java/frc4388/robot/commands/Shoot.java
+34 -43
View File
@@ -4,12 +4,17 @@
package frc4388.robot.commands;
import edu.wpi.first.hal.simulation.SimulatorJNI;
import edu.wpi.first.wpilibj.simulation.LinearSystemSim;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Turret;
import frc4388.utility.DummySensor;
import frc4388.utility.Gains;
public class Shoot extends CommandBase {
@@ -34,17 +39,24 @@ public class Shoot extends CommandBase {
// pid
public double error;
public double prevError;
public Gains shootGains = ShooterConstants.SHOOT_GAINS;
public double kP, kI, kD;
public double proportional, integral, derivative;
public double time;
public double output;
public double tolerance = 5.0;
// // dummy motor
// public WPI_TalonFX dummy = new WPI_TalonFX(69 - 420);
// public TalonFXConfiguration dummyConfiguration = new TalonFXConfiguration();
// testing
public DummySensor dummy = new DummySensor(0);
/** Creates a new Shoot. */
/**
* Creates a new shoot command, allowing the robot to aim and be ready to fire a ball
* TODO: Velocity Correction
* @param sDrive Drive Train
* @param sShooter Shooter Drum
* @param sTurret Shooter Turret
* @param sHood Shooter Hood
*/
public Shoot(SwerveDrive sDrive, BoomBoom sShooter, Turret sTurret, Hood sHood) {
// Use addRequirements() here to declare subsystem dependencies.
m_swerve = sDrive;
@@ -54,14 +66,16 @@ public class Shoot extends CommandBase {
addRequirements(m_swerve, m_boomBoom, m_turret, m_hood);
kP = 0.1;
kI = 0.0;
kD = 0.0;
kP = shootGains.kP;
kI = shootGains.kI;
kD = shootGains.kD;
proportional = 0;
integral = 0;
derivative = 0;
time = 0.02;
DummySensor.resetAll();
}
/**
@@ -83,8 +97,13 @@ public class Shoot extends CommandBase {
// get targets (shooter tables)
m_targetVel = m_boomBoom.getVelocity(m_distance);
m_targetHood = m_boomBoom.getHood(m_distance);
// target angle tests
m_gyroAngle = 0;
m_odoX = -1;
m_odoY = 1;
m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.;
m_driveTargetAngle = m_swerve.getRegGyro().getDegrees();
// deadzone processing
if (AimToCenter.isHardwareDeadzone(m_targetAngle)) {
@@ -93,37 +112,14 @@ public class Shoot extends CommandBase {
if (AimToCenter.isDigitalDeadzone(m_targetAngle)) {
// this should rotate the entire swerve drive by 20 degrees, so shoot can now proceed like normal. idk if this will work
m_swerve.driveWithInput(0, 0, Math.cos(m_driveTargetAngle + 20), Math.sin(m_driveTargetAngle + 20), true);
m_swerve.driveWithInput(0, 0, Math.cos(m_gyroAngle + 20), Math.sin(m_gyroAngle + 20), true);
}
// // normal (i think) PID stuff
// dummyConfiguration.primaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();
// dummyConfiguration.remoteFilter0.remoteSensorDeviceID = dummy.getDeviceID();
// dummyConfiguration.remoteFilter0.remoteSensorSource = RemoteSensorSource.TalonFX_SelectedSensor;
// dummyConfiguration.slot0.kP = 0.1;
// dummyConfiguration.slot0.kI = 0;
// dummyConfiguration.slot0.kD = 0;
// dummyConfiguration.slot0.kF = 0;
// // weird PID stuff
// dummyConfiguration.auxiliaryPID.selectedFeedbackSensor = TalonFXFeedbackDevice.SoftwareEmulatedSensor.toFeedbackDevice();
// dummyConfiguration.remoteFilter1.remoteSensorDeviceID = ShooterConstants.TURRET_MOTOR_CAN_ID;
// dummyConfiguration.remoteFilter1.remoteSensorSource = RemoteSensorSource.TalonFX_SelectedSensor;
// // dummyConfiguration.auxiliaryPID.selectedFeedbackCoefficient = 0;
// dummyConfiguration.slot1.kP = 0.1;
// dummyConfiguration.slot1.kI = 0;
// dummyConfiguration.slot1.kD = 0;
// dummyConfiguration.slot1.kF = 0;
// dummy.configAllSettings(dummyConfiguration);
// initial error
updateError();
System.out.println("Error: " + error);
prevError = error;
}
/**
* Run custom PID.
*/
@@ -140,17 +136,12 @@ public class Shoot extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
// dummy.selectProfileSlot(0, 0);
// dummy.selectProfileSlot(1, 1);
// dummy.set(TalonFXControlMode.Position, m_driveTargetAngle, DemandType.AuxPID, m_targetAngle);
// m_swerve.driveWithInput(0, 0, m_driveTargetAngle, true);
// m_swerve.driveWithInput(0, 0, Math.cos(m_driveTargetAngle), Math.sin(m_driveTargetAngle), true); // only works for new DWI in swerve branch
// custom pid
runPID();
m_swerve.driveWithInput(0, 0, output, true); // i have no idea if this is how you rotate the
// entire swerve drive or its the commented line below
// m_swerve.driveWithInput(0, 0, Math.cos(output), Math.sin(output), true);
// m_swerve.driveWithInput(0, 0, output, true); // i have no idea if this is how you rotate the
// entire swerve drive or its the line below
m_swerve.driveWithInput(0, 0, Math.cos(output), Math.sin(output), true);
m_hood.runAngleAdjustPID(m_targetHood);
m_boomBoom.runDrumShooterVelocityPID(m_targetVel);
src/main/java/frc4388/robot/subsystems/BoomBoom.java
+4 -4
View File
@@ -181,10 +181,10 @@ public class BoomBoom extends SubsystemBase {
public void setShooterGains() {
m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
}
public void runDrumShooterVelocityPID(double targetVel) {
src/main/java/frc4388/robot/subsystems/Hood.java
+22 -22
View File
@@ -21,31 +21,31 @@ import frc4388.utility.Gains;
public class Hood extends SubsystemBase {
public BoomBoom m_shooterSubsystem;
// public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
// public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
public RelativeEncoder m_angleEncoder = m_angleAdjusterMotor.getEncoder();
// public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
public SparkMaxPIDController m_angleAdjusterPIDController = m_angleAdjusterMotor.getPIDController();
//public boolean m_isHoodReady = false;
public boolean m_isHoodReady = false;
public double m_fireAngle;
/** Creates a new Hood. */
public Hood() {
// m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
// m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
// m_hoodUpLimitSwitch.enableLimitSwitch(true);
// m_hoodDownLimitSwitch.enableLimitSwitch(true);
m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_hoodUpLimitSwitch.enableLimitSwitch(true);
m_hoodDownLimitSwitch.enableLimitSwitch(true);
// m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT);
// m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.HOOD_FORWARD_LIMIT);
m_angleAdjusterMotor.setSoftLimit(SoftLimitDirection.kReverse, ShooterConstants.HOOD_REVERSE_LIMIT);
setHoodSoftLimits(true);
}
@@ -60,30 +60,30 @@ public double m_fireAngle;
* @param set Boolean to set soft limits to.
*/
public void setHoodSoftLimits(boolean set) {
// m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
// m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
m_angleAdjusterMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
}
public void runAngleAdjustPID(double targetAngle)
{
//Set PID Coefficients
// m_angleAdjusterPIDController.setP(m_angleAdjusterGains.m_kP);
// m_angleAdjusterPIDController.setI(m_angleAdjusterGains.m_kI);
// m_angleAdjusterPIDController.setD(m_angleAdjusterGains.m_kD);
// m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.m_kIzone);
// m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.m_kF);
// m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.m_kPeakOutput);
m_angleAdjusterPIDController.setP(m_angleAdjusterGains.kP);
m_angleAdjusterPIDController.setI(m_angleAdjusterGains.kI);
m_angleAdjusterPIDController.setD(m_angleAdjusterGains.kD);
m_angleAdjusterPIDController.setIZone(m_angleAdjusterGains.kIzone);
m_angleAdjusterPIDController.setFF(m_angleAdjusterGains.kF);
m_angleAdjusterPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_angleAdjusterGains.kPeakOutput);
// m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition);
}
public void runHood(double input) {
// m_angleAdjusterMotor.set(input);
m_angleAdjusterMotor.set(input);
}
public void resetGyroAngleAdj(){
// m_angleEncoder.setPosition(0);
m_angleEncoder.setPosition(0);
}
public double getAnglePosition(){
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+77 -57
View File
@@ -38,19 +38,27 @@ public class SwerveDrive extends SubsystemBase {
public static Gains m_swerveGains = SwerveDriveConstants.SWERVE_GAINS;
Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(halfWidth));
Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight), Units.inchesToMeters(-halfWidth));
Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(halfWidth));
Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight), Units.inchesToMeters(-halfWidth));
public SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
Translation2d m_frontLeftLocation = new Translation2d(Units.inchesToMeters(halfHeight),
Units.inchesToMeters(halfWidth));
Translation2d m_frontRightLocation = new Translation2d(Units.inchesToMeters(halfHeight),
Units.inchesToMeters(-halfWidth));
Translation2d m_backLeftLocation = new Translation2d(Units.inchesToMeters(-halfHeight),
Units.inchesToMeters(halfWidth));
Translation2d m_backRightLocation = new Translation2d(Units.inchesToMeters(-halfHeight),
Units.inchesToMeters(-halfWidth));
public SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(m_frontLeftLocation, m_frontRightLocation,
m_backLeftLocation, m_backRightLocation);
public SwerveModule[] modules;
public WPI_PigeonIMU m_gyro;
protected FusionStatus fstatus = new FusionStatus();
/* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. The numbers used
below are robot specific, and should be tuned. */
/*
* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings.
* The numbers used
* below are robot specific, and should be tuned.
*/
public SwerveDrivePoseEstimator m_poseEstimator;
public SwerveDriveOdometry m_odometry;
public VisionOdometry m_visionOdometry;
@@ -62,7 +70,8 @@ public class SwerveDrive extends SubsystemBase {
private final Field2d m_field = new Field2d();
public SwerveDrive(SwerveModule leftFront, SwerveModule leftBack, SwerveModule rightFront, SwerveModule rightBack, WPI_PigeonIMU gyro) {
public SwerveDrive(SwerveModule leftFront, SwerveModule leftBack, SwerveModule rightFront, SwerveModule rightBack,
WPI_PigeonIMU gyro) {
m_leftFront = leftFront;
m_leftBack = leftBack;
@@ -70,53 +79,55 @@ public class SwerveDrive extends SubsystemBase {
m_rightBack = rightBack;
m_gyro = gyro;
modules = new SwerveModule[] {m_leftFront, m_rightFront, m_leftBack, m_rightBack};
modules = new SwerveModule[] { m_leftFront, m_rightFront, m_leftBack, m_rightBack };
m_poseEstimator =
new SwerveDrivePoseEstimator(
m_gyro.getRotation2d(),
new Pose2d(),
m_kinematics,
VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)),
VecBuilder.fill(Units.degreesToRadians(1)),
VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)));
m_poseEstimator = new SwerveDrivePoseEstimator(
m_gyro.getRotation2d(),
new Pose2d(),
m_kinematics,
VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)),
VecBuilder.fill(Units.degreesToRadians(1)),
VecBuilder.fill(1.0, 1.0, Units.degreesToRadians(1)));
m_odometry = new SwerveDriveOdometry(m_kinematics, m_gyro.getRotation2d());
m_gyro.reset();
m_gyro.reset();
SmartDashboard.putData("Field", m_field);
}
//https://github.com/ZachOrr/MK3-Swerve-Example
/**
* Method to drive the robot using joystick info.
*
* @param speeds[0] Speed of the robot in the x direction (forward).
* @param speeds[1] Speed of the robot in the y direction (sideways).
* @param rot Angular rate of the robot.
* @param fieldRelative Whether the provided x and y speeds are relative to the field.
*/
public void driveWithInput(double speedX, double speedY, double rot, boolean fieldRelative)
{
if (speedX == 0 && speedY == 0 && rot == 0) ignoreAngles = true;
else ignoreAngles = false;
Translation2d speed = new Translation2d(speedX, speedY);
// https://github.com/ZachOrr/MK3-Swerve-Example
/**
* Method to drive the robot using joystick info.
*
* @param speeds[0] Speed of the robot in the x direction (forward).
* @param speeds[1] Speed of the robot in the y direction (sideways).
* @param rot Angular rate of the robot.
* @param fieldRelative Whether the provided x and y speeds are relative to the
* field.
*/
public void driveWithInput(double speedX, double speedY, double rot, boolean fieldRelative) {
if (speedX == 0 && speedY == 0 && rot == 0)
ignoreAngles = true;
else
ignoreAngles = false;
Translation2d speed = new Translation2d(-speedX, speedY);
double mag = speed.getNorm();
speed = speed.times(mag * speedAdjust);
double xSpeedMetersPerSecond = -speed.getX();
double ySpeedMetersPerSecond = speed.getY();
SwerveModuleState[] states =
m_kinematics.toSwerveModuleStates(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED));
SwerveModuleState[] states = m_kinematics.toSwerveModuleStates(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
rot * SwerveDriveConstants.ROTATION_SPEED));
setModuleStates(states);
}
public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative)
{
public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) {
ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
Translation2d speed = new Translation2d(leftX, leftY);
Translation2d speed = new Translation2d(-leftX, leftY);
speed = speed.times(speed.getNorm() * speedAdjust);
if (Math.abs(rightX) > OIConstants.RIGHT_AXIS_DEADBAND || Math.abs(rightY) > OIConstants.RIGHT_AXIS_DEADBAND)
rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1));
@@ -124,20 +135,22 @@ public class SwerveDrive extends SubsystemBase {
double xSpeedMetersPerSecond = -speed.getX();
double ySpeedMetersPerSecond = speed.getY();
chassisSpeeds = fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED);
SwerveModuleState[] states =
m_kinematics.toSwerveModuleStates(
chassisSpeeds);
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
rot * SwerveDriveConstants.ROTATION_SPEED, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED);
SwerveModuleState[] states = m_kinematics.toSwerveModuleStates(
chassisSpeeds);
setModuleStates(states);
}
/**
* Set each module of the swerve drive to the corresponding desired state.
*
* @param desiredStates Array of module states to set.
*/
public void setModuleStates(SwerveModuleState[] desiredStates) {
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates,
Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
for (int i = 0; i < desiredStates.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = desiredStates[i];
@@ -165,13 +178,16 @@ public class SwerveDrive extends SubsystemBase {
SmartDashboard.putNumber("Odometry: θ", getOdometry().getRotation().getDegrees());
// chassis speeds
// TODO: find the actual max velocity in m/s of the robot in fast mode to have accurate chassis speeds
// TODO: find the actual max velocity in m/s of the robot in fast mode to have
// accurate chassis speeds
SmartDashboard.putNumber("Chassis Vel: X", chassisSpeeds.vxMetersPerSecond);
SmartDashboard.putNumber("Chassis Vel: Y", chassisSpeeds.vyMetersPerSecond);
SmartDashboard.putNumber("Chassis Vel: ω", chassisSpeeds.omegaRadiansPerSecond);
}
/**
* Gets the distance between two given poses.
*
* @param p1 The first pose.
* @param p2 The second pose.
* @return Absolute distance between p1 and p2.
@@ -184,13 +200,14 @@ public class SwerveDrive extends SubsystemBase {
* Returns a scalar from your distance to the hub to your target distance.
*
* @param target_dist The target distance.
* @return A scalar that multiplies your distance from the hub to get your target distance.
* @return A scalar that multiplies your distance from the hub to get your
* target distance.
*/
public Pose2d poseGivenDist(double target_dist) {
Pose2d p1 = m_poseEstimator.getEstimatedPosition();
Pose2d p2 = SwerveDriveConstants.HUB_POSE;
double scalar = target_dist/distBtwPoses(p1, p2);
double scalar = target_dist / distBtwPoses(p1, p2);
Pose2d new_pose = new Pose2d(p1.getX() * scalar, p1.getY() * scalar, p1.getRotation());
return new_pose;
@@ -198,6 +215,7 @@ public class SwerveDrive extends SubsystemBase {
/**
* Gets the current pose of the robot.
*
* @return Robot's current pose.
*/
public Pose2d getOdometry() {
@@ -207,6 +225,7 @@ public class SwerveDrive extends SubsystemBase {
/**
* Gets the current gyro using regression formula.
*
* @return Rotation2d object holding current gyro in radians
*/
public Rotation2d getRegGyro() {
@@ -221,8 +240,9 @@ public class SwerveDrive extends SubsystemBase {
m_poseEstimator.resetPosition(pose, m_gyro.getRotation2d());
}
/** Updates the field relative position of the robot.
*/
/**
* Updates the field relative position of the robot.
*/
public void updateOdometry() {
m_poseEstimator.update( getRegGyro(),
modules[0].getState(),
@@ -243,7 +263,7 @@ public class SwerveDrive extends SubsystemBase {
/**
* Resets pigeon.
*/
public void resetGyro(){
public void resetGyro() {
m_gyro.reset();
rotTarget = new Rotation2d(0);
}
@@ -260,13 +280,13 @@ public class SwerveDrive extends SubsystemBase {
/**
* Switches speed modes.
*
* @param shift True if fast mode, false if slow mode.
*/
public void highSpeed(boolean shift){
if (shift){
public void highSpeed(boolean shift) {
if (shift) {
speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_FAST;
}
else{
} else {
speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
}
}
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+49 -24
View File
@@ -30,7 +30,7 @@ public class SwerveModule extends SubsystemBase {
private static double kEncoderTicksPerRotation = 4096;
private SwerveModuleState state;
private double canCoderFeedbackCoefficient;
public long m_currentTime;
public long m_lastTime;
public double m_deltaTime;
@@ -47,21 +47,22 @@ public class SwerveModule extends SubsystemBase {
TalonFXConfiguration angleTalonFXConfiguration = new TalonFXConfiguration();
angleTalonFXConfiguration.slot0.kP = m_swerveGains.m_kP;
angleTalonFXConfiguration.slot0.kI = m_swerveGains.m_kI;
angleTalonFXConfiguration.slot0.kD = m_swerveGains.m_kD;
angleTalonFXConfiguration.slot0.kP = m_swerveGains.kP;
angleTalonFXConfiguration.slot0.kI = m_swerveGains.kI;
angleTalonFXConfiguration.slot0.kD = m_swerveGains.kD;
// Use the CANCoder as the remote sensor for the primary TalonFX PID
angleTalonFXConfiguration.remoteFilter0.remoteSensorDeviceID = canCoder.getDeviceID();
angleTalonFXConfiguration.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
angleMotor.configAllSettings(angleTalonFXConfiguration);
// angleMotor.setInverted(true);
// TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
// driveTalonFXConfiguration.slot0.kP = 0.05;
// driveTalonFXConfiguration.slot0.kI = 0.0;
// driveTalonFXConfiguration.slot0.kD = 0.0;
// driveTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.IntegratedSensor;
// driveTalonFXConfiguration.primaryPID.selectedFeedbackSensor =
// FeedbackDevice.IntegratedSensor;
driveMotor.configFactoryDefault();
driveMotor.configSelectedFeedbackSensor(TalonFXFeedbackDevice.IntegratedSensor, 0, 30);
driveMotor.configNominalOutputForward(0, 30);
@@ -69,15 +70,17 @@ public class SwerveModule extends SubsystemBase {
driveMotor.configPeakOutputForward(1, 30);
driveMotor.configPeakOutputReverse(-1, 30);
driveMotor.configAllowableClosedloopError(0, 0, 30);
driveMotor.config_kP(0, 0.5, 30);
// driveMotor.setInverted(true);
driveMotor.config_kP(0, 0, 30);
driveMotor.config_kI(0, 0, 30);
driveMotor.config_kD(0, 0, 30);
// maybe try a feedforward value?
// driveMotor.configAllSettings(driveTalonFXConfiguration);
CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
canCoderConfiguration.magnetOffsetDegrees = offset;
canCoderConfiguration.sensorDirection = true;
canCoder.configAllSettings(canCoderConfiguration);
m_currentTime = System.currentTimeMillis();
@@ -87,40 +90,50 @@ public class SwerveModule extends SubsystemBase {
}
private Rotation2d getAngle() {
// Note: This assumes the CANCoders are setup with the default feedback coefficient
// Note: This assumes the CANCoders are setup with the default feedback
// coefficient
// and the sensor value reports degrees.
return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
}
/**
* Set the speed + rotation of the swerve module from a SwerveModuleState object
* @param desiredState - A SwerveModuleState representing the desired new state of the module
*
* @param desiredState - A SwerveModuleState representing the desired new state
* of the module
*/
public void setDesiredState(SwerveModuleState desiredState, boolean ignoreAngle) {
Rotation2d currentRotation = getAngle();
// SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
// SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(),
// currentRotation.getDegrees());
state = SwerveModuleState.optimize(desiredState, currentRotation);
// Find the difference between our current rotational position + our new rotational position
// Find the difference between our current rotational position + our new
// rotational position
Rotation2d rotationDelta = state.angle.minus(currentRotation);
// Find the new absolute position of the module based on the difference in rotation
// Find the new absolute position of the module based on the difference in
// rotation
double deltaTicks = (rotationDelta.getDegrees() / 360.) * kEncoderTicksPerRotation;
// Convert the CANCoder from it's position reading back to ticks
double currentTicks = canCoder.getPosition() / canCoderFeedbackCoefficient;
double desiredTicks = currentTicks + deltaTicks;
if (!ignoreAngle){
if (!ignoreAngle) {
angleMotor.set(TalonFXControlMode.Position, desiredTicks);
}
// Please work
double ftPerSec = Units.metersToFeet(state.speedMetersPerSecond);
double normFtPerSec = ftPerSec / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC;
// double angleCorrection = angleMotor.getSelectedSensorVelocity() * 2.69;
// driveMotor.set(TalonFXControlMode.Velocity, angleCorrection + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
// driveMotor.set(TalonFXControlMode.Velocity, angleCorrection +
// (Units.metersToInches(state.speedMetersPerSecond) *
// SwerveDriveConstants.TICKS_PER_INCH) / 10);
driveMotor.set(normFtPerSec);// - angleMotor.get());
// driveMotor.set(TalonFXControlMode.Velocity, angleCorrection); // Ratio between axis = 1/1.75 Ratio of wheel is 5.14/1 ratio of steer is 12.8/1
// driveMotor.set(TalonFXControlMode.Velocity, angleCorrection); // Ratio
// between axis = 1/1.75 Ratio of wheel is 5.14/1 ratio of steer is 12.8/1
// m_currentTime = System.currentTimeMillis();
// m_deltaTime = (double) (m_currentTime - m_lastTime);
@@ -129,10 +142,14 @@ public class SwerveModule extends SubsystemBase {
// m_currentPos = driveMotor.getSelectedSensorPosition();
// double m_desiredCorrectionVel = 3.2 * angleMotor.getSelectedSensorVelocity();
// double m_desiredCorrectionPos = (m_deltaTime * m_desiredCorrectionVel) % 2048;
// double m_lastPos = (driveMotor.getSelectedSensorPosition() % 2048) - (m_deltaTime * driveMotor.getSelectedSensorVelocity());
// double m_actualDesiredPos = m_deltaTime * ((Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
// double m_desiredCorrectionPos = (m_deltaTime * m_desiredCorrectionVel) %
// 2048;
// double m_lastPos = (driveMotor.getSelectedSensorPosition() % 2048) -
// (m_deltaTime * driveMotor.getSelectedSensorVelocity());
// double m_actualDesiredPos = m_deltaTime *
// ((Units.metersToInches(state.speedMetersPerSecond) *
// SwerveDriveConstants.TICKS_PER_INCH) / 10);
// System.out.println("Current Pos: " + driveMotor.getSelectedSensorPosition());
// System.out.println("Desired Correction Pos: " + m_desiredCorrectionPos);
// System.out.println("Last Pos: " + m_lastPos);
@@ -150,7 +167,8 @@ public class SwerveModule extends SubsystemBase {
*/
public SwerveModuleState getState() {
// return state;
return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, getAngle());
return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK
* SwerveDriveConstants.METERS_PER_INCH * 10, getAngle());
}
/**
@@ -160,11 +178,18 @@ public class SwerveModule extends SubsystemBase {
driveMotor.set(0);
angleMotor.set(0);
}
@Override
public void periodic(){
public void periodic() {
Rotation2d currentRotation = getAngle();
SmartDashboard.putNumber("Angle Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(), ((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360);
SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(),
((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360);
}
public void reset() {
canCoder.setPositionToAbsolute();
// canCoder.configSensorInitializationStrategy(initializationStrategy)
}
}
src/main/java/frc4388/robot/subsystems/Turret.java
+6 -6
View File
@@ -63,12 +63,12 @@ public class Turret extends SubsystemBase {
m_boomBoomRotateMotor.setInverted(false);
m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD);
m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF);
m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
m_boomBoomRotatePIDController.setP(m_shooterTGains.kP);
m_boomBoomRotatePIDController.setI(m_shooterTGains.kI);
m_boomBoomRotatePIDController.setD(m_shooterTGains.kD);
m_boomBoomRotatePIDController.setFF(m_shooterTGains.kF);
m_boomBoomRotatePIDController.setIZone(m_shooterTGains.kIzone);
m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.kPeakOutput);
}
@Override