Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

some auto stuff

Browse Source
This commit is contained in:
aarav18
2022-02-03 20:53:43 -07:00
parent 5c05a320e8
commit e9ab948adc
6 changed files with 71 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+43 -8
View File
@@ -5,16 +5,24 @@
package frc4388.robot;
import java.util.List;
import com.pathplanner.lib.PathPlanner;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -122,20 +130,47 @@ public class RobotContainer {
// );
// WPILIB TRAJECTORY IMPLEMENTATION
Trajectory testFirstPath = PathPlanner.loadPath("Move Forward", 1.0, 1.0);
TrajectoryConfig config = new TrajectoryConfig(1.0, 1.0)
.setKinematics(m_robotSwerveDrive.m_kinematics);
Trajectory exTraj = TrajectoryGenerator.generateTrajectory(
new Pose2d(0, 0, new Rotation2d(0)),
List.of(new Translation2d(0, 0)),
new Pose2d(1, 0, new Rotation2d(0)),
config);
Trajectory testFirstPath = PathPlanner.loadPath("First Test Path", 1.0, 1.0);
Trajectory moveForward = PathPlanner.loadPath("Move Forward", 1.0, 1.0);
Trajectory rotate = PathPlanner.loadPath("Rotate", 1.0, 1.0);
Trajectory currentPath = rotate; //Change this to change auto
PIDController xController = new PIDController(1.5, 0.0, 0.0);
PIDController yController = new PIDController(1.5, 0.0, 0.0);
ProfiledPIDController thetaController = new ProfiledPIDController(
3.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2 * Math.PI / 5, Math.PI / 4));
thetaController.enableContinuousInput(-Math.PI, Math.PI);
SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(
testFirstPath,
// testFirstPath,
// moveForward,
currentPath,
m_robotSwerveDrive::getOdometry,
m_robotSwerveDrive.m_kinematics,
new PIDController(0.0, 0.0, 0.0),
new PIDController(0.0, 0.0, 0.0),
new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)),
xController,
yController,
thetaController,
m_robotSwerveDrive::setModuleStates,
m_robotSwerveDrive
);
m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose());
return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, true));
// m_robotSwerveDrive.m_gyro.reset();
// m_robotSwerveDrive.resetOdometry(testFirstPath.getInitialPose());
return new SequentialCommandGroup(
new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(currentPath.getInitialPose())),
swerveControllerCommand,
new InstantCommand(() -> m_robotSwerveDrive.stopModules())
);
//return swerveControllerCommand.andThen(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, true));
//return new InstantCommand();
}