mirror of
https://github.com/Team4388/2022NoWayHome.git
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66945
645 lines
32 KiB
Java
645 lines
32 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.robot;
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import java.io.File;
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import java.io.IOException;
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import java.io.StringWriter;
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import java.nio.file.FileSystems;
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import java.nio.file.Path;
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import java.nio.file.StandardWatchEventKinds;
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import java.nio.file.WatchEvent;
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import java.nio.file.WatchKey;
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import java.time.Clock;
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import java.time.ZoneId;
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import java.time.ZonedDateTime;
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import java.time.format.DateTimeFormatter;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Comparator;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import java.util.Objects;
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import java.util.Optional;
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import java.util.function.BooleanSupplier;
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import java.util.function.Function;
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import java.util.logging.Level;
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import java.util.logging.Logger;
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import java.util.regex.Matcher;
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import java.util.regex.Pattern;
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import java.util.stream.Collectors;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import com.diffplug.common.base.Errors;
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import com.pathplanner.lib.PathPlanner;
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import com.pathplanner.lib.PathPlannerTrajectory;
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import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState;
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import com.pathplanner.lib.commands.PPSwerveControllerCommand;
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import org.ejml.dense.row.decomposition.hessenberg.TridiagonalDecompositionHouseholderOrig_DDRM;
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import org.opencv.core.Point;
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import edu.wpi.first.math.Pair;
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import edu.wpi.first.math.controller.PIDController;
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import edu.wpi.first.math.controller.ProfiledPIDController;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.wpilibj.Filesystem;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj.RobotBase;
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import edu.wpi.first.wpilibj.XboxController;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.NotifierCommand;
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import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import frc4388.robot.Constants.*;
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import frc4388.robot.subsystems.Claws;
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import frc4388.robot.subsystems.Climber;
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import frc4388.robot.subsystems.Claws.ClawType;
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import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.Constants.ShooterConstants;
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import frc4388.robot.Constants.StorageConstants;
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import frc4388.robot.Constants.SwerveDriveConstants;
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import frc4388.robot.commands.CommandChooser;
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import frc4388.robot.commands.ButtonBoxCommands.RunMiddleSwitch;
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import frc4388.robot.commands.ButtonBoxCommands.RunTurretOrClimberAuto;
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import frc4388.robot.commands.ClimberCommands.RunClaw;
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import frc4388.robot.commands.ClimberCommands.RunClimberPath;
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// import frc4388.robot.commands.ButtonBoxCommands.TurretManual;
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import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
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import frc4388.robot.commands.ShooterCommands.AimToCenter;
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import frc4388.robot.commands.ShooterCommands.Shoot;
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import frc4388.robot.commands.ShooterCommands.TrackTarget;
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import frc4388.robot.commands.StorageCommands.ManageStorage;
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import frc4388.robot.subsystems.BoomBoom;
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import frc4388.robot.subsystems.Climber;
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import frc4388.robot.subsystems.Extender;
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import frc4388.robot.subsystems.Hood;
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import frc4388.robot.subsystems.Intake;
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import frc4388.robot.subsystems.LED;
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import frc4388.robot.subsystems.Serializer;
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import frc4388.robot.subsystems.Storage;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.robot.subsystems.Turret;
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import frc4388.robot.subsystems.Vision;
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import frc4388.robot.subsystems.VisionOdometry;
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import frc4388.utility.LEDPatterns;
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import frc4388.utility.ListeningSendableChooser;
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import frc4388.utility.PathPlannerUtil;
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import frc4388.utility.Vector2D;
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import frc4388.utility.PathPlannerUtil.Path.Waypoint;
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import frc4388.utility.controller.ButtonBox;
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import frc4388.utility.controller.DeadbandedXboxController;
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/**
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* This class is where the bulk of the robot should be declared. Since
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* Command-based is a "declarative" paradigm, very little robot logic should
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* actually be handled in the {@link Robot} periodic methods (other than the
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* scheduler calls). Instead, the structure of the robot (including subsystems,
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* commands, and button mappings) should be declared here.
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*/
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public class RobotContainer {
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private static final Logger LOGGER = Logger.getLogger(RobotContainer.class.getSimpleName());
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// RobotMap
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public final RobotMap m_robotMap = new RobotMap();
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/* Subsystems */
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public final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
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public final Claws m_robotClaws = new Claws(m_robotMap.leftClaw, m_robotMap.rightClaw);
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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 Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, /*m_robotMap.serializerShooterBelt,*/ m_robotMap.serializerBeam);
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public final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor);
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public final Extender m_robotExtender = new Extender(m_robotMap.extenderMotor);
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public final Storage m_robotStorage = new Storage(m_robotMap.storageMotor);
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// private final LED m_robotLED = new LED(m_robotMap.LEDController);
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public final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
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public final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
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public final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
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public final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
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private final WPI_TalonFX testShoulderMotor = new WPI_TalonFX(30);
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private final WPI_TalonFX testElbowMotor = new WPI_TalonFX(31);
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//public final Climber m_robotClimber = new Climber(testShoulderMotor, testElbowMotor);
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// Controllers
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private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
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private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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private final ButtonBox m_buttonBox = new ButtonBox(OIConstants.BUTTON_BOX_ID);
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// Autonomous
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private PathPlannerTrajectory loadedPathTrajectory = null;
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private final ListeningSendableChooser<File> autoChooser = new ListeningSendableChooser<>(this::loadPath);
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private final List<Waypoint> pathPoints = new ArrayList<>();
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private final NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
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private final NetworkTable recordingNetworkTable = networkTableInstance.getTable("Recording");
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private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter
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.ofPattern("'Recording' yyyy-MM-dd HH-mm-ss.SSS'.path'");
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private static final Clock SYSTEM_CLOCK = Clock.system(ZoneId.systemDefault());
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private static final Path PATHPLANNER_DIRECTORY = Filesystem.getDeployDirectory().toPath().resolve("pathplanner");
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// Function that removes the ".path" from the end of a string.
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private static final Function<CharSequence, String> PATH_EXTENSION_REMOVER = ((Function<CharSequence, Matcher>) Pattern
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.compile(".path")::matcher).andThen(m -> m.replaceFirst(""));
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public static boolean softLimits = true;
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// control mode switching
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private enum SubsystemMode { SHOOTER, CLIMBER };
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private SubsystemMode currentControlMode = SubsystemMode.SHOOTER;
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private enum ControlMode { MANUAL, AUTONOMOUS};
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// turret mode switching
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// private enum TurretMode { MANUAL, AUTONOMOUS };
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private ControlMode currentTurretMode = ControlMode.AUTONOMOUS;
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// climber mode switching
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// private enum ClimberMode { MANUAL, AUTONOMOUS };
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private ControlMode currentClimberMode = ControlMode.MANUAL;
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/**
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* The container for the robot. Contains subsystems, OI devices, and commands.
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*/
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public RobotContainer() {
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configureButtonBindings();
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/* Default Commands */
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// IK command
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m_robotClimber.setDefaultCommand(
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new RunCommand(() -> m_robotClimber.controlJointsWithInput(getOperatorController().getLeftX(),
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getOperatorController().getRightY()), m_robotClimber).withName("Climber controlWithInput defaultCommand"));
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// Swerve Drive with Input
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m_robotSwerveDrive.setDefaultCommand(
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new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
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getDriverController().getLeftX(),
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getDriverController().getLeftY(),
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getDriverController().getRightX(),
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getDriverController().getRightY(),
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true),
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m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
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// Intake with Triggers
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m_robotIntake.setDefaultCommand(
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new RunCommand(() -> m_robotIntake.runWithTriggers(
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getOperatorController().getLeftTriggerAxis(),
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getOperatorController().getRightTriggerAxis()),
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m_robotIntake).withName("Intake runWithTriggers defaultCommand"));
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// m_robotStorage.setDefaultCommand(
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// new ManageStorage(m_robotStorage,
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// m_robotBoomBoom,
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// m_robotTurret).withName("Storage ManageStorage defaultCommand"));
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// Storage Management
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// m_robotStorage.setDefaultCommand(
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// new RunCommand(() -> m_robotStorage.manageStorage(),
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// m_robotStorage).withName("Storage manageStorage defaultCommand"));
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// Serializer Management
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m_robotSerializer.setDefaultCommand(
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new RunCommand(() -> m_robotSerializer.setSerializer(getOperatorController().getLeftTriggerAxis() * 0.8),//m_robotSerializer.setSerializerStateWithBeam(),
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m_robotSerializer).withName("Serializer setSerializerStateWithBeam defaultCommand"));
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// Turret Manual
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// m_robotTurret.setDefaultCommand(
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// new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()),
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// m_robotTurret).withName("Turret runTurretWithInput defaultCommand"));
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m_robotTurret.setDefaultCommand(
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new RunCommand(() -> {
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if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) {
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if (this.currentTurretMode.equals(ControlMode.MANUAL)) { m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()); }
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}
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if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { m_robotTurret.runTurretWithInput(0); }
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}, m_robotTurret));
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m_robotHood.setDefaultCommand(
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new RunCommand(() -> {
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if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { m_robotHood.runHood(getOperatorController().getRightY()); }
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if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { m_robotHood.runHood(0); }
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}, m_robotHood));
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m_robotClimber.setDefaultCommand(
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new RunCommand(() -> {
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if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { m_robotClimber.setMotors(0, 0); }
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if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { m_robotClimber.controlJointsWithInput(getOperatorController().getLeftX(), getOperatorController().getRightY()); }
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}, m_robotClimber));
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// m_robotTurret.setDefaultCommand(
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// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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// 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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/**
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* Use this method to define your button->command mappings. Buttons can be
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* created by instantiating a {@link GenericHID} or one of its subclasses
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* ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
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* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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/* Driver Buttons */
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// Start > Calibrate Odometry
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new JoystickButton(getDriverController(), XboxController.Button.kBack.value)
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.whenPressed(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d(0))));
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// Start > Calibrate Odometry
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new JoystickButton(getDriverController(), XboxController.Button.kStart.value)
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.whenPressed(m_robotSwerveDrive::resetGyro);
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// Left Bumper > Shift Down
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new JoystickButton(getDriverController(), XboxController.Button.kLeftBumper.value)
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.whenPressed(() -> m_robotSwerveDrive.highSpeed(false));
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// Right Bumper > Shift Up
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new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
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.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
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/* Operator Buttons */
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new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
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.whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
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new JoystickButton(getOperatorController(), XboxController.Button.kB.value)
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.whileHeld(new RunCommand(() -> m_robotClaws.setOpen(false)));
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// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
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// .whenPressed(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false), m_robotVisionOdometry));
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new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
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.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(0.9), m_robotStorage))
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.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
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new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
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.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.9), m_robotStorage))
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.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
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//Toggles extender in and out
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new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
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.whenPressed(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
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new JoystickButton(getOperatorController(), XboxController.Button.kX.value)
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.whileHeld(new RunCommand(() -> m_robotTurret.gotoZero(), m_robotTurret))
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.whenReleased(new RunCommand(() -> m_robotTurret.m_boomBoomRotateMotor.set(0), m_robotTurret));
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// Right Bumper > Storage In
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// new JoystickButton(getOperatorController(), XboxController.Button.kRightBumper.value)
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// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)))
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// .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
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// Left Bumper > Storage Out (note: necessary?)
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// new JoystickButton(getOperatorController(), XboxController.Button.kLeftBumper.value)
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// .whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-StorageConstants.STORAGE_SPEED)))
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// .whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0)));
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// A > Shoot with Odo
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/*new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
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.whenPressed(new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood));*/
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// new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
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// .whileHeld(new RunCommand(() -> m_robotTurret.gotoMidpoint(), m_robotTurret));
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//B > Shoot with Lime
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new JoystickButton(getOperatorController(), XboxController.Button.kA.value)
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.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry))
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.whenReleased(new InstantCommand(() -> m_robotVisionOdometry.setLEDs(false)))
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.whenReleased(new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(0)));
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// .whileHeld%
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/* Button Box Buttons */
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new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftSwitch.value)
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.whenPressed(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(false), m_robotTurret))
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.whenPressed(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(false), m_robotHood))
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.whenPressed(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(false), m_robotExtender))
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.whenPressed(new InstantCommand(() -> m_robotClimber.setClimberSoftLimits(false), m_robotClimber))
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.whenReleased(new InstantCommand(() -> m_robotTurret.setTurretSoftLimits(true), m_robotTurret))
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.whenReleased(new InstantCommand(() -> m_robotHood.setHoodSoftLimits(true), m_robotHood))
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.whenReleased(new InstantCommand(() -> m_robotExtender.setExtenderSoftLimits(true), m_robotExtender))
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.whenReleased(new InstantCommand(() -> m_robotClimber.setClimberSoftLimits(true), m_robotClimber))
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.whenReleased(new InstantCommand(() -> m_robotTurret.m_boomBoomRotateEncoder.setPosition(0), m_robotTurret))
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.whenReleased(new InstantCommand(() -> m_robotHood.m_angleEncoder.setPosition(0), m_robotHood))
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.whenReleased(new InstantCommand(() -> m_robotExtender.setEncoder(0), m_robotExtender))
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.whenReleased(new InstantCommand(() -> ExtenderIntakeGroup.setDirectionToOut(), m_robotIntake, m_robotExtender))
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.whenReleased(new InstantCommand(() -> m_robotClimber.setEncoders(0), m_robotClimber));
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new JoystickButton(getButtonBox(), ButtonBox.Button.kMiddleSwitch.value)
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// .whenPressed(new InstantCommand(() -> m_robotTurret.setDefaultCommand(null)))
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// .whenPressed(new InstantCommand(() -> m_robotHood.setDefaultCommand(null)))
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// .whenPressed(new InstantCommand(() -> m_robotClimber.setDefaultCommand(
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// new RunCommand(() -> m_robotClimber.setMotors(-getOperatorController().getLeftY(), -getOperatorController().getRightY()), m_robotClimber))))
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// .whenReleased(new InstantCommand(() -> m_robotClimber.setDefaultCommand(null)))
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// .whenReleased(new InstantCommand(() -> m_robotTurret.setDefaultCommand(
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// new RunCommand(() -> m_robotTurret.runTurretWithInput(getOperatorController().getLeftX()), m_robotTurret))))
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// .whenReleased(new InstantCommand(() -> m_robotHood.setDefaultCommand(
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// new RunCommand(() -> m_robotHood.runHood(getOperatorController().getRightY()), m_robotHood))));
|
|
|
|
.whenPressed(new InstantCommand(() -> this.currentControlMode = SubsystemMode.CLIMBER))
|
|
.whenReleased(new InstantCommand(() -> this.currentControlMode = SubsystemMode.SHOOTER));
|
|
// .whenReleased(EnableClimber()));
|
|
|
|
// toggle manual mode and autonomous mode based on the current control mode
|
|
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightSwitch.value)
|
|
|
|
.whenPressed(new InstantCommand(() -> {
|
|
if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { m_robotTurret.gotoZero(); }
|
|
}, m_robotTurret))
|
|
|
|
.whenPressed(new InstantCommand(() -> {
|
|
if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.MANUAL; }
|
|
if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.AUTONOMOUS; }
|
|
}))
|
|
|
|
// * custom Command inside InstantCommand
|
|
// .whenPressed(new InstantCommand(() -> {
|
|
// if (this.currentControlMode.equals(ControlMode.CLIMBER)) { new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}); }
|
|
// if (this.currentControlMode.equals(ControlMode.SHOOTER)) { new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry); }
|
|
// })
|
|
// .until(() -> this.currentClimberMode.equals(ClimberMode.MANUAL)))
|
|
|
|
// * external RunTurretOrClimberAutos command, which runs either one (conditionally) based on currentControlMode
|
|
// .whenPressed(new RunTurretOrClimberAuto(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry, m_robotClimber, m_robotClaws))
|
|
|
|
// * CommandChooser with BooleanSuppliers
|
|
.whenPressed(new CommandChooser(new HashMap<Command, BooleanSupplier>() {{
|
|
put(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}), () -> currentControlMode.equals(SubsystemMode.CLIMBER));
|
|
put(new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry), () -> currentControlMode.equals(SubsystemMode.SHOOTER));
|
|
}}))
|
|
// .whenPressed(new CommandChooser(new RunClimberPath(m_robotClimber, m_robotClaws, new Point[] {new Point()}),
|
|
// new AimToCenter(m_robotTurret, m_robotSwerveDrive, m_robotVisionOdometry),
|
|
// () -> this.currentControlMode.equals(SubsystemMode.CLIMBER),
|
|
// () -> this.currentControlMode.equals(SubsystemMode.SHOOTER)))
|
|
|
|
.whenReleased(new InstantCommand(() -> {
|
|
if (this.currentControlMode.equals(SubsystemMode.SHOOTER)) { this.currentTurretMode = ControlMode.AUTONOMOUS; }
|
|
if (this.currentControlMode.equals(SubsystemMode.CLIMBER)) { this.currentClimberMode = ControlMode.MANUAL; }
|
|
}));
|
|
|
|
new JoystickButton(getButtonBox(), ButtonBox.Button.kLeftButton.value)
|
|
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(-1.0), m_robotExtender))
|
|
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
|
|
|
|
new JoystickButton(getButtonBox(), ButtonBox.Button.kRightButton.value)
|
|
.whileHeld(new RunCommand(() -> m_robotExtender.runExtender(1.0), m_robotExtender))
|
|
.whenReleased(new RunCommand(() -> m_robotExtender.runExtender(0.0), m_robotExtender));
|
|
}
|
|
|
|
/**
|
|
* Use this to pass the autonomous command to the main {@link Robot} class.
|
|
*
|
|
* @return the command to run in autonomous
|
|
*/
|
|
public Command getAutonomousCommand() {
|
|
// if (loadedPathTrajectory != null) {
|
|
// PIDController xController = SwerveDriveConstants.X_CONTROLLER;
|
|
// PIDController yController = SwerveDriveConstants.Y_CONTROLLER;
|
|
// ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER;
|
|
// thetaController.enableContinuousInput(-Math.PI, Math.PI);
|
|
|
|
// PathPlannerState initialState = loadedPathTrajectory.getInitialState();
|
|
// Pose2d initialPosition = new Pose2d(initialState.poseMeters.getTranslation(), initialState.holonomicRotation);
|
|
// return new SequentialCommandGroup(
|
|
// new InstantCommand(m_robotSwerveDrive.m_gyro::reset),
|
|
// new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(initialPosition)),
|
|
// new PPSwerveControllerCommand(loadedPathTrajectory, m_robotSwerveDrive::getOdometry,
|
|
// m_robotSwerveDrive.m_kinematics, xController, yController, thetaController,
|
|
// m_robotSwerveDrive::setModuleStates, m_robotSwerveDrive),
|
|
// new InstantCommand(m_robotSwerveDrive::stopModules)).withName("Run Autonomous Path");
|
|
// } else {
|
|
// LOGGER.severe("No auto selected.");
|
|
// return new RunCommand(() -> {
|
|
// }).withName("No Autonomous Path");
|
|
// }
|
|
return null;
|
|
}
|
|
|
|
public XboxController getDriverController() {
|
|
return m_driverXbox;
|
|
}
|
|
|
|
public XboxController getOperatorController() {
|
|
return m_operatorXbox;
|
|
}
|
|
|
|
public ButtonBox getButtonBox() {
|
|
return m_buttonBox;
|
|
}
|
|
|
|
public static void setSoftLimits(boolean set) {
|
|
softLimits = set;
|
|
}
|
|
|
|
/**
|
|
* Get odometry.
|
|
*
|
|
* @return Odometry
|
|
*/
|
|
public Pose2d getOdometry() {
|
|
return m_robotSwerveDrive.getOdometry();
|
|
}
|
|
|
|
/**
|
|
* Set odometry to given pose.
|
|
*
|
|
* @param pose Pose to set odometry to.
|
|
*/
|
|
public void resetOdometry(Pose2d pose) {
|
|
m_robotSwerveDrive.resetOdometry(pose);
|
|
}
|
|
|
|
/**
|
|
* 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);
|
|
// 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;
|
|
}
|
|
}.withName("Path Watcher").schedule();
|
|
} catch (IOException exception) {
|
|
LOGGER.log(Level.SEVERE, "Exception with path file watcher.", exception);
|
|
}
|
|
Arrays.stream(PATHPLANNER_DIRECTORY.toFile().listFiles())
|
|
.filter(file -> file.getName().endsWith(".path")).sorted(Comparator.comparingLong(File::lastModified))
|
|
.forEachOrdered(file -> autoChooser.addOption(file.getName(), file));
|
|
SmartDashboard.putData("Auto Chooser", autoChooser);
|
|
}
|
|
|
|
/**
|
|
* Creates a button on the SmartDashboard that will record the path of the
|
|
* robot.
|
|
*/
|
|
|
|
public void recordInit() {
|
|
SmartDashboard.putData("Recording",
|
|
new RunCommand(this::recordPeriodic) {
|
|
@Override
|
|
public void end(boolean interupted) {
|
|
new InstantCommand(RobotContainer.this::saveRecording) {
|
|
@Override
|
|
public boolean runsWhenDisabled() {
|
|
return true;
|
|
}
|
|
}.withName("Save Recording").schedule();
|
|
}
|
|
}.withName("Record Path (Cancel to Save)"));
|
|
}
|
|
|
|
/**
|
|
* 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());
|
|
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);
|
|
autoChooser.addOption(watchEventFile.getName(), watchEventFile);
|
|
} else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_MODIFY)) {
|
|
LOGGER.log(Level.WARNING, "PathPlanner file {0} modified.", watchEventFileName);
|
|
if (watchEventFileName.equals(autoChooser.getSelected().getName())) {
|
|
LOGGER.log(Level.SEVERE, "PathPlanner file {0} already selected. Reloading path.", watchEventFileName);
|
|
loadPath(watchEventFileName);
|
|
}
|
|
} else if (pathWatchEvent.kind().equals(StandardWatchEventKinds.ENTRY_DELETE)) {
|
|
LOGGER.log(Level.SEVERE,
|
|
"PathPlanner file {0} deleted. Removing options from SendableChooser not yet implemented.",
|
|
watchEventFileName);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (!watchKey.reset())
|
|
LOGGER.severe("File watch key invalid.");
|
|
}
|
|
|
|
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);
|
|
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();
|
|
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.
|
|
var path = createPath(null, null, false);
|
|
if (RobotBase.isReal())
|
|
path.write(outputFile);
|
|
StringWriter writer = new StringWriter();
|
|
path.write(writer);
|
|
recordingNetworkTable.getEntry(outputFile.getName()).setString(writer.toString());
|
|
autoChooser.setDefaultOption(outputFile.getName(), outputFile);
|
|
LOGGER.log(Level.INFO, "Recorded path to {0}.", outputFile.getPath());
|
|
} else
|
|
LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath());
|
|
}
|
|
|
|
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.getChassisSpeeds()[0],
|
|
m_robotSwerveDrive.getChassisSpeeds()[1]);
|
|
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.
|
|
int j = 0;
|
|
for (int i = 1; i < pathPoints.size() - 1; i++) {
|
|
var prev = pathPoints.get(j).anchorPoint.orElseThrow();
|
|
var current = pathPoints.get(i).anchorPoint.orElseThrow();
|
|
var next = pathPoints.get(i + 1).anchorPoint.orElseThrow();
|
|
var fromPrevious = current.minus(prev);
|
|
var toNext = next.minus(current);
|
|
var angleFromPrevious = new Rotation2d(fromPrevious.getX(), fromPrevious.getY());
|
|
var angleToNext = new Rotation2d(toNext.getX(), toNext.getY());
|
|
if (Math.abs(angleFromPrevious.minus(angleToNext).getDegrees()) < SwerveDriveConstants.MIN_WAYPOINT_ANGLE
|
|
|| (next.getDistance(prev) < SwerveDriveConstants.MIN_WAYPOINT_DISTANCE
|
|
&& pathPoints.get(i).velOverride.map(v -> v < SwerveDriveConstants.MIN_WAYPOINT_VELOCITY).orElse(false)))
|
|
pathPoints.set(i, null);
|
|
else
|
|
j = i;
|
|
}
|
|
pathPoints.removeIf(Objects::isNull);
|
|
// Make control points
|
|
pathPoints.get(0).nextControl = Optional.of(makeControlPoints(null, pathPoints.get(0).anchorPoint.orElseThrow(),
|
|
pathPoints.get(1).anchorPoint.orElseThrow()).getSecond());
|
|
for (int i = 1; i < pathPoints.size() - 1; i++) {
|
|
var controls = makeControlPoints(pathPoints.get(i - 1).anchorPoint.orElseThrow(),
|
|
pathPoints.get(i).anchorPoint.orElseThrow(), pathPoints.get(i + 1).anchorPoint.orElseThrow());
|
|
pathPoints.get(i).prevControl = Optional.of(controls.getFirst());
|
|
pathPoints.get(i).nextControl = Optional.of(controls.getSecond());
|
|
}
|
|
pathPoints.get(pathPoints.size() - 1).prevControl = Optional
|
|
.of(makeControlPoints(pathPoints.get(pathPoints.size() - 2).anchorPoint.orElseThrow(),
|
|
pathPoints.get(pathPoints.size() - 1).anchorPoint.orElseThrow(), null).getFirst());
|
|
// Create the path
|
|
PathPlannerUtil.Path path = new PathPlannerUtil.Path();
|
|
path.waypoints = Optional.ofNullable(pathPoints.toArray(PathPlannerUtil.Path.Waypoint[]::new));
|
|
path.maxVelocity = Optional.ofNullable(maxVelocity);
|
|
path.maxAcceleration = Optional.ofNullable(maxAcceleration);
|
|
path.isReversed = Optional.ofNullable(isReversed);
|
|
pathPoints.clear();
|
|
return path;
|
|
}
|
|
|
|
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));
|
|
}
|
|
}
|