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Merge pull request #30 from Team4388/auto-recording

Browse Source 
Auto Recording --> Master
This commit is contained in:
Aarav Shah
2023-02-17 19:48:25 -07:00
committed by GitHub
parent aa70e8eaac 06e4c28282
commit 42ee61ad2b
7 changed files with 1152 additions and 52 deletions
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src/main/java/frc4388/robot/Robot.java
+3
View File
@@ -74,6 +74,7 @@ public class Robot extends TimedRobot {
*/
@Override
public void autonomousInit() {
m_robotContainer.m_robotSwerveDrive.resetGyro();
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
// schedule the autonomous command (example)
@@ -92,6 +93,7 @@ public class Robot extends TimedRobot {
@Override
public void teleopInit() {
m_robotContainer.m_robotSwerveDrive.resetGyro();
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
@@ -99,6 +101,7 @@ public class Robot extends TimedRobot {
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}
m_robotContainer.m_robotSwerveDrive.resetGyro();
m_robotTime.startMatchTime();
}
src/main/java/frc4388/robot/RobotContainer.java
+28 -52
View File
@@ -7,16 +7,16 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.Joystick;
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.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoBalance;
import frc4388.robot.commands.JoystickPlayback;
import frc4388.robot.commands.JoystickRecorder;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
/**
@@ -31,14 +31,13 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack, m_robotMap.gyro);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
m_robotMap.rightFront,
m_robotMap.leftBack,
m_robotMap.rightBack,
m_robotMap.gyro);
/* Controllers */
// private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
// private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -48,13 +47,13 @@ public class RobotContainer {
public RobotContainer() {
configureButtonBindings();
/* Default Commands */
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getRight(), true)
, m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// * Default Commands
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),
true);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
}
@@ -65,22 +64,28 @@ public class RobotContainer {
* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
/* Driver Buttons */
// * Driver Buttons
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
// // .onFalse()
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
// /* Operator Buttons */
// // interrupt button
// new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.whileTrue(new JoystickRecorder(m_robotSwerveDrive,
() -> getDeadbandedDriverController().getLeftX(),
() -> getDeadbandedDriverController().getLeftY(),
() -> getDeadbandedDriverController().getRightX(),
() -> getDeadbandedDriverController().getRightY()))
.onFalse(new InstantCommand());
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new JoystickPlayback(m_robotSwerveDrive));
// * Operator Buttons
}
/**
@@ -89,17 +94,9 @@ public class RobotContainer {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
return new InstantCommand();
}
/**
* Add your docs here.
*/
// public IHandController getDriverController() {
// return m_driverXbox;
// }
public DeadbandedXboxController getDeadbandedDriverController() {
return this.m_driverXbox;
}
@@ -107,25 +104,4 @@ public class RobotContainer {
public DeadbandedXboxController getDeadbandedOperatorController() {
return this.m_operatorXbox;
}
/**
* Add your docs here.
*/
// public IHandController getOperatorController() {
// return m_operatorXbox;
// }
/**
* Add your docs here.
*/
// public Joystick getOperatorJoystick() {
// return m_operatorXbox.getJoyStick();
// }
/**
* Add your docs here.
*/
// public Joystick getDriverJoystick() {
// return m_driverXbox.getJoyStick();
// }
}
src/main/java/frc4388/robot/commands/JoystickInputs.txt
+887
View File
@@ -0,0 +1,887 @@
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src/main/java/frc4388/robot/commands/JoystickPlayback.java
+126
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@@ -0,0 +1,126 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.commands;
import java.io.File;
import java.io.FileNotFoundException;
import java.util.ArrayList;
import java.util.Scanner;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.UtilityStructs.TimedOutput;
public class JoystickPlayback extends CommandBase {
private final SwerveDrive swerve;
private Scanner input;
private final ArrayList<TimedOutput> outputs = new ArrayList<>();
private int counter = 0;
private long startTime = 0;
private long playbackTime = 0;
private int lastIndex;
private boolean m_finished = false; // ! find a better way
/** Creates a new JoystickPlayback. */
public JoystickPlayback(SwerveDrive swerve) {
this.swerve = swerve;
addRequirements(this.swerve);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
startTime = System.currentTimeMillis();
playbackTime = 0;
lastIndex = 0;
try {
input = new Scanner(new File("/home/lvuser/JoystickInputs.txt"));
String line = "";
while (input.hasNextLine()) {
line = input.nextLine();
String[] values = line.split(",");
var out = new TimedOutput();
out.leftX = Double.parseDouble(values[0]);
out.leftY = Double.parseDouble(values[1]);
out.rightX = Double.parseDouble(values[2]);
out.rightY = Double.parseDouble(values[3]);
out.timedOffset = Long.parseLong(values[4]);
outputs.add(out);
}
input.close();
} catch (FileNotFoundException e) {
e.printStackTrace();
}
System.out.println("STARTING PLAYBACK");
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (counter == 0) {
startTime = System.currentTimeMillis();
playbackTime = 0;
} else {
playbackTime = System.currentTimeMillis() - startTime;
}
// skip to reasonable time frame
// too tired to write comment: ask daniel thomas; it goes to the thing until it's bigger than the other thing
{
int i = lastIndex == 0 ? 1 : lastIndex;
while (i < outputs.size() && outputs.get(i).timedOffset < playbackTime) {
i++;
}
if (i >= outputs.size()) {
m_finished = true; // ! kind of a hack
return;
}
lastIndex = i;
}
TimedOutput lastOut = outputs.get(lastIndex - 1);
TimedOutput out = outputs.get(lastIndex);
double deltaTime = out.timedOffset - lastOut.timedOffset;
double playbackDelta = playbackTime - lastOut.timedOffset;
double lerpLX = lastOut.leftX + (out.leftX - lastOut.leftX) * (playbackDelta / deltaTime);
double lerpLY = lastOut.leftY + (out.leftY - lastOut.leftY) * (playbackDelta / deltaTime);
double lerpRX = lastOut.rightX + (out.rightX - lastOut.rightX) * (playbackDelta / deltaTime);
double lerpRY = lastOut.rightY + (out.rightY - lastOut.rightY) * (playbackDelta / deltaTime);
// this.swerve.driveWithInput(new Translation2d(out.leftX, out.leftY),
// new Translation2d(out.rightX, out.rightY),
// true);
this.swerve.driveWithInput( new Translation2d(lerpLX, lerpLY),
new Translation2d(lerpRX, lerpRY),
true);
System.out.println("PLAYING");
counter++;
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
input.close();
swerve.stopModules();
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return m_finished;
}
}
src/main/java/frc4388/robot/commands/JoystickRecorder.java
+90
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@@ -0,0 +1,90 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc4388.robot.commands;
import java.io.File;
import java.io.IOException;
import java.io.PrintWriter;
import java.util.ArrayList;
import java.util.function.Supplier;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.UtilityStructs.TimedOutput;
public class JoystickRecorder extends CommandBase {
public final SwerveDrive swerve;
public final Supplier<Double> leftX;
public final Supplier<Double> leftY;
public final Supplier<Double> rightX;
public final Supplier<Double> rightY;
public final ArrayList<TimedOutput> outputs = new ArrayList<>();
private long startTime = -1;
/** Creates a new JoystickRecorder. */
public JoystickRecorder(SwerveDrive swerve, Supplier<Double> leftX, Supplier<Double> leftY,
Supplier<Double> rightX, Supplier<Double> rightY)
{
this.swerve = swerve;
this.leftX = leftX;
this.leftY = leftY;
this.rightX = rightX;
this.rightY = rightY;
addRequirements(this.swerve);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
this.startTime = System.currentTimeMillis();
outputs.add(new TimedOutput());
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
var inputs = new TimedOutput();
inputs.leftX = leftX.get();
inputs.leftY = leftY.get();
inputs.rightX = rightX.get();
inputs.rightY = rightY.get();
inputs.timedOffset = System.currentTimeMillis() - startTime;
outputs.add(inputs);
swerve.driveWithInput(new Translation2d(inputs.leftX, inputs.leftY),
new Translation2d(inputs.rightX, inputs.rightY),
true);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
File output = new File("/home/lvuser/JoystickInputs.txt");
try (PrintWriter writer = new PrintWriter(output)) {
for (var input : outputs) {
writer.println( input.leftX + "," + input.leftY + "," +
input.rightX + "," + input.rightY + "," +
input.timedOffset);
}
writer.close();
} catch (IOException e) {
e.printStackTrace();
}
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+6
View File
@@ -156,6 +156,12 @@ public class SwerveDrive extends SubsystemBase {
);
}
public void stopModules() {
for (SwerveModule module : this.modules) {
module.stop();
}
}
/**
* Resets the odometry of the SwerveDrive to 0.
* *NOTE: If you reset your gyro, this method MUST be called with the new gyro angle and wheel encoder positions.
src/main/java/frc4388/utility/UtilityStructs.java
+12
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@@ -0,0 +1,12 @@
package frc4388.utility;
public class UtilityStructs {
public static class TimedOutput {
public double leftX = 0.0;
public double leftY = 0.0;
public double rightX = 0.0;
public double rightY = 0.0;
public long timedOffset = 0;
}
}