mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
Merge branch 'full-robot-test' into vision-odo-not-proto
This commit is contained in:
66945
@@ -58,6 +58,7 @@ import frc4388.robot.Constants.LEDConstants;
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import frc4388.robot.Constants.OIConstants;
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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.Shoot;
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import frc4388.robot.subsystems.BoomBoom;
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import frc4388.robot.subsystems.Hood;
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import frc4388.robot.subsystems.LED;
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@@ -84,12 +85,14 @@ public class RobotContainer {
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private final RobotMap m_robotMap = new RobotMap();
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/* Subsystems */
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack, m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.leftBack,
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m_robotMap.rightFront, m_robotMap.rightBack, m_robotMap.gyro);
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private final LED m_robotLED = new LED(m_robotMap.LEDController);
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private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
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private final Hood m_robotHood = new Hood();
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private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
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private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
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// private final Vision m_robotVison = new Vision(m_robotTurret, m_robotBoomBoom);
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@@ -104,11 +107,13 @@ public class RobotContainer {
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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.ofPattern("'Recording' yyyy-MM-dd HH-mm-ss.SSS'.path'");
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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.compile(".path")::matcher).andThen(m -> m.replaceFirst(""));
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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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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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@@ -116,11 +121,12 @@ public class RobotContainer {
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public RobotContainer() {
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configureButtonBindings();
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/* Default Commands */
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// continually sends updates to the Blinkin LED controller to keep the lights on
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// m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
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//Turret default command
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// continually sends updates to the Blinkin LED controller to keep the lights on
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// m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED,
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// m_robotLED));
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// Turret default command
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m_robotTurret.setDefaultCommand(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
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@@ -134,9 +140,13 @@ public class RobotContainer {
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m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, 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
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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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}
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/**
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@@ -149,32 +159,41 @@ public class RobotContainer {
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/* Driver Buttons */
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// "XboxController.Button.kBack" was undefined yet, 7 works just fine
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new JoystickButton(getDriverController(), 7)
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.whenPressed(m_robotSwerveDrive::resetGyro);
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.whenPressed(m_robotSwerveDrive::resetGyro);
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new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
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// new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.LEFT_BUMPER_BUTTON)
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// new XboxControllerRawButton(m_driverXbox,
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// XboxControllerRaw.LEFT_BUMPER_BUTTON)
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.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
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new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
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// new XboxControllerRawButton(m_driverXbox, XboxControllerRaw.RIGHT_BUMPER_BUTTON)
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// new XboxControllerRawButton(m_driverXbox,
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// XboxControllerRaw.RIGHT_BUMPER_BUTTON)
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.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
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new JoystickButton(getDriverController(), XboxController.Button.kA.value)
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.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
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new JoystickButton(getDriverController(), XboxController.Button.kX.value)
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.whenPressed(() -> m_robotMap.leftFront.reset())
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.whenPressed(() -> m_robotMap.rightFront.reset())
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.whenPressed(() -> m_robotMap.leftBack.reset())
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.whenPressed(() -> m_robotMap.rightBack.reset());
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/* Operator Buttons */
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// activates "Lit Mode"
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new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
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.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
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.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
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// activates "BoomBoom"
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new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
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.whenPressed(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0.1))
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.whenReleased(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0));
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// activates hood
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new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
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.whenPressed(() -> m_robotHood.runHood(0.5d))
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.whenReleased(() -> m_robotHood.runHood(0.d));
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/*
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* new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
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* .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
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* .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
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*
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* new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
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* .whenPressed(new InstantCommand());
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*
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* // activates "BoomBoom"
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* new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
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* .whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret,
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* m_robotHood));
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*/
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}
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/**
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@@ -200,7 +219,8 @@ public class RobotContainer {
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new InstantCommand(m_robotSwerveDrive::stopModules)).withName("Run Autonomous Path");
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} else {
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LOGGER.severe("No auto selected.");
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return new RunCommand(() -> {}).withName("No Autonomous Path");
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return new RunCommand(() -> {
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}).withName("No Autonomous Path");
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}
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}
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@@ -210,6 +230,7 @@ public class RobotContainer {
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/**
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* Get odometry.
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*
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* @return Odometry
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*/
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public Pose2d getOdometry() {
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@@ -218,6 +239,7 @@ public class RobotContainer {
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/**
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* Set odometry to given pose.
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*
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* @param pose Pose to set odometry to.
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*/
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public void resetOdometry(Pose2d pose) {
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@@ -229,16 +251,23 @@ public class RobotContainer {
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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.
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* Then creates a NotifierCommand that will update the auto chooser with the latest path files.
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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(), StandardWatchEventKinds.ENTRY_CREATE, StandardWatchEventKinds.ENTRY_MODIFY, StandardWatchEventKinds.ENTRY_DELETE);
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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 public boolean runsWhenDisabled() { return true; }
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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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@@ -250,7 +279,8 @@ public class RobotContainer {
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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 robot.
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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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@@ -271,19 +301,22 @@ public class RobotContainer {
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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().filter(e -> e.kind().type().isAssignableFrom(Path.class)).collect(Collectors.toList());
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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.", watchEventFileName);
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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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@@ -292,7 +325,9 @@ public class RobotContainer {
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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, "PathPlanner file {0} deleted. Removing options from SendableChooser not yet implemented.", watchEventFileName);
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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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@@ -304,13 +339,15 @@ public class RobotContainer {
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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, "")), SwerveDriveConstants.PATH_MAX_VELOCITY, SwerveDriveConstants.PATH_MAX_ACCELERATION);
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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.resolve(ZonedDateTime.now(SYSTEM_CLOCK).format(RECORDING_FILE_NAME_FORMATTER)).toFile();
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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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@@ -329,14 +366,18 @@ public class RobotContainer {
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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 actual robot velocity.
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Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond, m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond);
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Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false, SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false);
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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.chassisSpeeds.vxMetersPerSecond,
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m_robotSwerveDrive.chassisSpeeds.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 apart.
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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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@@ -346,20 +387,26 @@ public class RobotContainer {
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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 || (next.getDistance(prev) < SwerveDriveConstants.MIN_WAYPOINT_DISTANCE && pathPoints.get(i).velOverride.map(v -> v < SwerveDriveConstants.MIN_WAYPOINT_VELOCITY).orElse(false)))
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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(), pathPoints.get(1).anchorPoint.orElseThrow()).getSecond());
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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(), pathPoints.get(i).anchorPoint.orElseThrow(), pathPoints.get(i + 1).anchorPoint.orElseThrow());
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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.of(makeControlPoints(pathPoints.get(pathPoints.size() - 2).anchorPoint.orElseThrow(), pathPoints.get(pathPoints.size() - 1).anchorPoint.orElseThrow(), null).getFirst());
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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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@@ -370,7 +417,8 @@ public class RobotContainer {
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return path;
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}
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private static Pair<Translation2d, Translation2d> makeControlPoints(Translation2d prev, Translation2d current, Translation2d next) {
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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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