mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 00:38:02 -06:00
PID no work
This commit is contained in:
Michael Mikovsky
@@ -47,8 +47,8 @@ public final class Constants {
|
||||
}
|
||||
|
||||
public static final class IDs {
|
||||
public static final int RIGHT_FRONT_WHEEL_ID = 0;
|
||||
public static final int RIGHT_FRONT_STEER_ID = 1;
|
||||
public static final int RIGHT_FRONT_WHEEL_ID = 3;
|
||||
public static final int RIGHT_FRONT_STEER_ID = 2;
|
||||
public static final int RIGHT_FRONT_ENCODER_ID = 12;
|
||||
|
||||
// public static final int LEFT_FRONT_WHEEL_ID = 4;
|
||||
@@ -68,6 +68,9 @@ public final class Constants {
|
||||
public static final int SWERVE_SLOT_IDX = 0;
|
||||
public static final int SWERVE_PID_LOOP_IDX = 1;
|
||||
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
|
||||
|
||||
public static final Gains TEST_SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 0.0);
|
||||
|
||||
}
|
||||
|
||||
public static final class AutoConstants {
|
||||
|
||||
@@ -124,7 +124,7 @@ public class Robot extends TimedRobot {
|
||||
*/
|
||||
@Override
|
||||
public void teleopPeriodic() {
|
||||
m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft());
|
||||
// m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft());
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@@ -68,18 +68,12 @@ public class RobotContainer {
|
||||
|
||||
// private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
|
||||
|
||||
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
|
||||
// m_robotMap.rightFront,
|
||||
// m_robotMap.leftBack,
|
||||
// m_robotMap.rightBack,
|
||||
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
|
||||
m_robotMap.rightFront,
|
||||
m_robotMap.leftBack,
|
||||
m_robotMap.rightBack,
|
||||
|
||||
// m_robotMap.gyro);
|
||||
/* Limelight */
|
||||
// private final Limelight limelight = new Limelight();
|
||||
|
||||
// private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter, limelight);
|
||||
|
||||
// private final Climber m_robotClimber = new Climber(m_robotMap.climbMotor);
|
||||
m_robotMap.gyro);
|
||||
|
||||
/* Controllers */
|
||||
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
|
||||
@@ -119,53 +113,6 @@ public class RobotContainer {
|
||||
// );
|
||||
|
||||
|
||||
// private SequentialCommandGroup i = new SequentialCommandGroup(
|
||||
// intakeToShootStuff, intakeToShoot,
|
||||
// new InstantCommand(() -> m_robotShooter.idle())
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
|
||||
// new WaitCommand(0.75),
|
||||
// new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter)
|
||||
// // new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup emergencyRetract = new SequentialCommandGroup(
|
||||
// interrupt,
|
||||
// new InstantCommand(() -> m_robotIntake.PIDIn(), m_robotIntake),
|
||||
// new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
|
||||
// );
|
||||
|
||||
// private SequentialCommandGroup ampShoot = new SequentialCommandGroup(
|
||||
// new InstantCommand(() -> m_robotIntake.ampPosition()),
|
||||
// new InstantCommand(() -> m_robotIntake.ampOuttake(0.1)) //TODO: Find Actual Speed
|
||||
// );
|
||||
|
||||
// ! /* Autos */
|
||||
// private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
|
||||
// private String lastAutoName = "final_red_center_4note_taxi.auto";
|
||||
// private ConfigurableString autoplaybackName = new ConfigurableString("Auto Playback Name", lastAutoName);
|
||||
// private neoJoystickPlayback autoPlayback = new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
// () -> autoplaybackName.get(), // lastAutoName
|
||||
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
// true, false);
|
||||
|
||||
|
||||
// private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
|
||||
// .addOption("Taxi Auto", taxi.asProxy())
|
||||
// .addOption("One Note Auto Starting in Front of Speaker", oneNoteStartingSpeaker.asProxy())
|
||||
// .addOption("Stay One Note Auto Starting in Front of Speaker", oneNoteStartingSpeakerStationary.asProxy())
|
||||
// // .addOption("One Note Auto Starting from Left Position", oneNoteStartingFromLeft.asProxy())
|
||||
// // .addOption("One Note Auto Starting from Right Position", oneNoteStartingFromRight.asProxy())
|
||||
// .addOption("Two Note Starting in Front of Speaker", twoNoteStartingFromSpeaker.asProxy())
|
||||
// .addOption("Stay Two Note Starting in Front of Speaker", stayTwoNoteStartingFromSpeaker.asProxy())
|
||||
// .buildDisplay();
|
||||
|
||||
|
||||
|
||||
/**
|
||||
@@ -173,7 +120,7 @@ public class RobotContainer {
|
||||
*/
|
||||
public RobotContainer() {
|
||||
configureButtonBindings();
|
||||
configureVirtualButtonBindings();
|
||||
// configureVirtualButtonBindings();
|
||||
// new Trigger(() -> autoplaybackName.get().equals(lastAutoName)).onTrue(new InstantCommand(() -> changeAuto()));
|
||||
// new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
|
||||
|
||||
@@ -202,7 +149,17 @@ public class RobotContainer {
|
||||
// getDeadbandedDriverController().getRightX(),
|
||||
// getDeadbandedDriverController().getRightY(),
|
||||
// true);
|
||||
// }, m_robotSwerveDrive)
|
||||
// }, m_robotSwerveDrive));
|
||||
|
||||
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
|
||||
m_robotSwerveDrive.oneModuleTest(
|
||||
m_robotMap.rightFront,
|
||||
getDeadbandedDriverController().getLeft(),
|
||||
getDeadbandedDriverController().getRight());
|
||||
}, m_robotSwerveDrive));
|
||||
|
||||
|
||||
|
||||
// .withName("SwerveDrive OrientationCommand"));
|
||||
// continually sends updates to the Blinkin LED controller to keep the lights on
|
||||
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
|
||||
@@ -223,190 +180,6 @@ public class RobotContainer {
|
||||
*/
|
||||
private void configureButtonBindings() {
|
||||
|
||||
// ? /* Driver Buttons */
|
||||
|
||||
// DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
|
||||
|
||||
// DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.BACK_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightBlue()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
|
||||
|
||||
// DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.START_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroRightAmp()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.add180()));
|
||||
|
||||
// * /* D-Pad Stuff */
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > 0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.TOP_BOTTOM_DPAD_AXIS) > -0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, -1),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > 0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(1, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getRawAxis(XboxController.LEFT_RIGHT_DPAD_AXIS) > -0.9)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(-1, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)))
|
||||
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0, 0),
|
||||
// new Translation2d(0, 0),
|
||||
// true)));
|
||||
|
||||
// ! /* Auto Recording */
|
||||
// new JoystickButton(m_autoRecorderXbox, XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
|
||||
// new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
|
||||
// () -> autoplaybackName.get()))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// new JoystickButton(m_autoRecorderXbox, XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
|
||||
// () -> autoplaybackName.get(),
|
||||
// new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
|
||||
// true, false))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
|
||||
// () -> getDeadbandedDriverController().getLeftX(),
|
||||
// () -> getDeadbandedDriverController().getLeftY(),
|
||||
// () -> getDeadbandedDriverController().getRightX(),
|
||||
// () -> getDeadbandedDriverController().getRightY(),
|
||||
// "Taxi.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
|
||||
// .onFalse(new InstantCommand());
|
||||
// ! /* Speed */
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
|
||||
// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDownRot()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
|
||||
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
|
||||
|
||||
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
|
||||
// .whileTrue(new InstantCommand(() ->
|
||||
// m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
|
||||
// new Translation2d(0, 0),
|
||||
// true), m_robotSwerveDrive));
|
||||
|
||||
|
||||
//? /* Operator Buttons */
|
||||
|
||||
// new Joystick(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotMap.rightFront.go(new Translation2d())));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.X_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.PIDOut()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.A_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.handoff()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.B_BUTTON)
|
||||
// .onTrue(emergencyRetract);
|
||||
|
||||
|
||||
// Override Intake Position encoder: out
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-55), m_robotIntake));
|
||||
|
||||
// // Override Intake Position encoder: in
|
||||
// new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-6.2), m_robotIntake));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotShooter.spin(0.5), m_robotShooter))
|
||||
// .onFalse(turnOffShoot);
|
||||
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
|
||||
// .onTrue(i)
|
||||
// .onFalse(new InstantCommand(() -> m_robotIntake.PIDIn()));
|
||||
|
||||
// //spins up shooter, no wind down
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_JOYSTICK_BUTTON)
|
||||
// .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter));
|
||||
|
||||
// // DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
// // .onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor(), m_robotIntake))
|
||||
// // .onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake));
|
||||
|
||||
// DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.RIGHT_JOYSTICK_BUTTON)
|
||||
// .onTrue(emergencyRetract);
|
||||
|
||||
// new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
// new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* This method is used to replcate {@link Trigger Triggers} for {@link VirtualController Virtual Controllers}. <p/>
|
||||
* Please use {@link RobotContainer#DualJoystickButton} in {@link RobotContainer#configureButtonBindings} for standard buttons.
|
||||
*/
|
||||
private void configureVirtualButtonBindings() {
|
||||
|
||||
// ? /* Driver Buttons */
|
||||
|
||||
/* Notice: the following buttons have not been replicated
|
||||
* Swerve Drive Slow and Fast mode Gear Shifts : Fast mode is known to cause drift, so we disable that feature in Autoplayback
|
||||
* Swerve Drive Rotation Gear Shifts : Same reason as Slow and Fast mode.
|
||||
* Auto Recording controls : We don't want an Null Ouroboros for an auto.
|
||||
*/
|
||||
|
||||
// ? /* Operator Buttons */
|
||||
|
||||
/* Notice: the following buttons have not been replicated
|
||||
* Override Intake Position Encoder : It's an emergancy overide, for when the position of intake when the robot boots, the intake is not inside the robot.
|
||||
* We don't need it in an auto.
|
||||
* Climbing controls : We don't need to climb in auto.
|
||||
*/
|
||||
|
||||
// new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.RIGHT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbOut()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
// new Trigger(() -> getVirtualOperatorController().getRawAxis(XboxController.LEFT_TRIGGER_AXIS) > 0.5)
|
||||
// .onTrue(new InstantCommand(() -> m_robotClimber.climbIn()))
|
||||
// .onFalse(new InstantCommand(() -> m_robotClimber.stopClimb()));
|
||||
|
||||
// new Trigger(() -> getVirtualOperatorController().getPOV() == 0)
|
||||
// .onTrue(new InstantCommand(() -> m_robotIntake.ampOuttake(0.5)));
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@@ -31,6 +31,7 @@ import frc4388.utility.RobotGyro;
|
||||
public class RobotMap {
|
||||
// private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14);
|
||||
// public RobotGyro gyro = new RobotGyro(m_pigeon2);
|
||||
public RobotGyro gyro = null;
|
||||
|
||||
public SwerveModule leftFront;
|
||||
public SwerveModule rightFront;
|
||||
@@ -152,8 +153,14 @@ public class RobotMap {
|
||||
// rightBackSteer.setNeutralMode(NeutralMode.Brake);
|
||||
|
||||
// // initialize SwerveModules
|
||||
// this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
|
||||
|
||||
this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
|
||||
this.leftFront = this.rightFront;
|
||||
this.leftBack = this.rightFront;
|
||||
this.rightBack = this.rightFront;
|
||||
|
||||
// this.leftFront = new SwerveModule(leftFrontWheel, leftFrontSteer, leftFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_LEFT_ROT_OFFSET);
|
||||
// this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);
|
||||
// this.leftBack = new SwerveModule(leftBackWheel, leftBackSteer, leftBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_LEFT_ROT_OFFSET);
|
||||
// this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
|
||||
}
|
||||
|
||||
@@ -1,165 +1,165 @@
|
||||
// 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.
|
||||
// // 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.subsystems;
|
||||
|
||||
import java.io.IOException;
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
import java.util.Optional;
|
||||
// import java.io.IOException;
|
||||
// import java.util.ArrayList;
|
||||
// import java.util.List;
|
||||
// import java.util.Optional;
|
||||
|
||||
import org.photonvision.EstimatedRobotPose;
|
||||
import org.photonvision.PhotonCamera;
|
||||
import org.photonvision.PhotonPoseEstimator;
|
||||
import org.photonvision.PhotonPoseEstimator.PoseStrategy;
|
||||
import org.photonvision.common.hardware.VisionLEDMode;
|
||||
import org.photonvision.targeting.PhotonPipelineResult;
|
||||
import org.photonvision.targeting.PhotonTrackedTarget;
|
||||
import org.photonvision.targeting.TargetCorner;
|
||||
// // import org.photonvision.EstimatedRobotPose;
|
||||
// // import org.photonvision.PhotonCamera;
|
||||
// // import org.photonvision.PhotonPoseEstimator;
|
||||
// // import org.photonvision.PhotonPoseEstimator.PoseStrategy;
|
||||
// // import org.photonvision.common.hardware.VisionLEDMode;
|
||||
// // import org.photonvision.targeting.PhotonPipelineResult;
|
||||
// // import org.photonvision.targeting.PhotonTrackedTarget;
|
||||
// // import org.photonvision.targeting.TargetCorner;
|
||||
|
||||
import edu.wpi.first.apriltag.AprilTag;
|
||||
import edu.wpi.first.apriltag.AprilTagFieldLayout;
|
||||
import edu.wpi.first.apriltag.AprilTagFields;
|
||||
import edu.wpi.first.math.geometry.Pose2d;
|
||||
import edu.wpi.first.wpilibj.DriverStation;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
import frc4388.robot.Constants.VisionConstants;
|
||||
// import edu.wpi.first.apriltag.AprilTag;
|
||||
// import edu.wpi.first.apriltag.AprilTagFieldLayout;
|
||||
// import edu.wpi.first.apriltag.AprilTagFields;
|
||||
// import edu.wpi.first.math.geometry.Pose2d;
|
||||
// import edu.wpi.first.wpilibj.DriverStation;
|
||||
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
// import edu.wpi.first.wpilibj2.command.SubsystemBase;
|
||||
// import frc4388.robot.Constants.VisionConstants;
|
||||
|
||||
public class Limelight extends SubsystemBase {
|
||||
// public class Limelight extends SubsystemBase {
|
||||
|
||||
private PhotonCamera cam;
|
||||
private PhotonPoseEstimator photonPoseEstimator;
|
||||
// // private PhotonCamera cam;
|
||||
// // private PhotonPoseEstimator photonPoseEstimator;
|
||||
|
||||
private boolean lightOn;
|
||||
// private boolean lightOn;
|
||||
|
||||
/** Creates a new Limelight. */
|
||||
public Limelight() {
|
||||
cam = new PhotonCamera(VisionConstants.NAME);
|
||||
cam.setDriverMode(false);
|
||||
}
|
||||
// /** Creates a new Limelight. */
|
||||
// public Limelight() {
|
||||
// // cam = new PhotonCamera(VisionConstants.NAME);
|
||||
// // cam.setDriverMode(false);
|
||||
// }
|
||||
|
||||
public void setLEDs(boolean on) {
|
||||
lightOn = on;
|
||||
cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
|
||||
}
|
||||
// public void setLEDs(boolean on) {
|
||||
// lightOn = on;
|
||||
// // cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
|
||||
// }
|
||||
|
||||
public void toggleLEDs() {
|
||||
lightOn = !lightOn;
|
||||
cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
|
||||
}
|
||||
// public void toggleLEDs() {
|
||||
// lightOn = !lightOn;
|
||||
// // cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
|
||||
// }
|
||||
|
||||
public void setDriverMode(boolean driverMode) {
|
||||
cam.setDriverMode(driverMode);
|
||||
}
|
||||
// public void setDriverMode(boolean driverMode) {
|
||||
// // cam.setDriverMode(driverMode);
|
||||
// }
|
||||
|
||||
public void setToLimePipeline() {
|
||||
cam.setPipelineIndex(1);
|
||||
setLEDs(true);
|
||||
}
|
||||
// public void setToLimePipeline() {
|
||||
// // cam.setPipelineIndex(1);
|
||||
// setLEDs(true);
|
||||
// }
|
||||
|
||||
public void setToAprilPipeline() {
|
||||
cam.setPipelineIndex(0);
|
||||
setLEDs(false);
|
||||
}
|
||||
// public void setToAprilPipeline() {
|
||||
// // cam.setPipelineIndex(0);
|
||||
// setLEDs(false);
|
||||
// }
|
||||
|
||||
public PhotonTrackedTarget getAprilPoint() {
|
||||
if (!cam.isConnected()) return null;
|
||||
// public PhotonTrackedTarget getAprilPoint() {
|
||||
// // if (!cam.isConnected()) return null;
|
||||
|
||||
PhotonPipelineResult result = cam.getLatestResult();
|
||||
// // PhotonPipelineResult result = cam.getLatestResult();
|
||||
|
||||
if (!result.hasTargets()) return null;
|
||||
// // if (!result.hasTargets()) return null;
|
||||
|
||||
return result.getBestTarget();
|
||||
}
|
||||
// return result.getBestTarget();
|
||||
// }
|
||||
|
||||
private List<TargetCorner> getAprilCorners() {
|
||||
if (!cam.isConnected()) return null;
|
||||
// private List<TargetCorner> getAprilCorners() {
|
||||
// if (!cam.isConnected()) return null;
|
||||
|
||||
PhotonPipelineResult result = cam.getLatestResult();
|
||||
// PhotonPipelineResult result = cam.getLatestResult();
|
||||
|
||||
if (!result.hasTargets()) return null;
|
||||
// if (!result.hasTargets()) return null;
|
||||
|
||||
return result.getBestTarget().getDetectedCorners();
|
||||
}
|
||||
// return result.getBestTarget().getDetectedCorners();
|
||||
// }
|
||||
|
||||
public double getAprilSkew() {
|
||||
List<TargetCorner> corners = getAprilCorners();
|
||||
ArrayList<TargetCorner> bottomSide = getAprilBottomSide(corners);
|
||||
// public double getAprilSkew() {
|
||||
// List<TargetCorner> corners = getAprilCorners();
|
||||
// ArrayList<TargetCorner> bottomSide = getAprilBottomSide(corners);
|
||||
|
||||
if (bottomSide == null) return 0;
|
||||
// if (bottomSide == null) return 0;
|
||||
|
||||
TargetCorner bottomRight = bottomSide.get(0).x > bottomSide.get(1).x ? bottomSide.get(0) : bottomSide.get(1);
|
||||
TargetCorner bottomLeft = bottomRight.x == bottomSide.get(0).x ? bottomSide.get(1) : bottomSide.get(0);
|
||||
// TargetCorner bottomRight = bottomSide.get(0).x > bottomSide.get(1).x ? bottomSide.get(0) : bottomSide.get(1);
|
||||
// TargetCorner bottomLeft = bottomRight.x == bottomSide.get(0).x ? bottomSide.get(1) : bottomSide.get(0);
|
||||
|
||||
return bottomLeft.y - bottomRight.y;
|
||||
}
|
||||
// return bottomLeft.y - bottomRight.y;
|
||||
// }
|
||||
|
||||
private ArrayList<TargetCorner> getAprilBottomSide(List<TargetCorner> box) {
|
||||
if (box == null) return null;
|
||||
// private ArrayList<TargetCorner> getAprilBottomSide(List<TargetCorner> box) {
|
||||
// if (box == null) return null;
|
||||
|
||||
ArrayList<TargetCorner> bottomSide = new ArrayList<>();
|
||||
// ArrayList<TargetCorner> bottomSide = new ArrayList<>();
|
||||
|
||||
TargetCorner l1 = new TargetCorner(-1, -1);
|
||||
TargetCorner l2 = new TargetCorner(-1, -1);
|
||||
// TargetCorner l1 = new TargetCorner(-1, -1);
|
||||
// TargetCorner l2 = new TargetCorner(-1, -1);
|
||||
|
||||
for (TargetCorner c : box) {
|
||||
if (c.y > l1.y) l1 = c;
|
||||
}
|
||||
// for (TargetCorner c : box) {
|
||||
// if (c.y > l1.y) l1 = c;
|
||||
// }
|
||||
|
||||
for (TargetCorner c : box) {
|
||||
if (c.y == l1.y) continue;
|
||||
if (c.y > l2.y) l2 = c;
|
||||
}
|
||||
// for (TargetCorner c : box) {
|
||||
// if (c.y == l1.y) continue;
|
||||
// if (c.y > l2.y) l2 = c;
|
||||
// }
|
||||
|
||||
bottomSide.add(l1);
|
||||
bottomSide.add(l2);
|
||||
// bottomSide.add(l1);
|
||||
// bottomSide.add(l2);
|
||||
|
||||
return bottomSide;
|
||||
}
|
||||
// return bottomSide;
|
||||
// }
|
||||
|
||||
public double getDistanceToApril() {
|
||||
PhotonTrackedTarget aprilPoint = getAprilPoint();
|
||||
if (aprilPoint == null) return -1;
|
||||
// public double getDistanceToApril() {
|
||||
// PhotonTrackedTarget aprilPoint = getAprilPoint();
|
||||
// if (aprilPoint == null) return -1;
|
||||
|
||||
double aprilHeight = VisionConstants.APRIL_HEIGHT - VisionConstants.LIME_HEIGHT;
|
||||
double theta = 35.0 + aprilPoint.getPitch();
|
||||
// double aprilHeight = VisionConstants.APRIL_HEIGHT - VisionConstants.LIME_HEIGHT;
|
||||
// double theta = 35.0 + aprilPoint.getPitch();
|
||||
|
||||
double distanceToApril = aprilHeight / Math.tan(Math.toRadians(theta));
|
||||
return distanceToApril;
|
||||
}
|
||||
// double distanceToApril = aprilHeight / Math.tan(Math.toRadians(theta));
|
||||
// return distanceToApril;
|
||||
// }
|
||||
|
||||
public PhotonTrackedTarget getLowestTape() {
|
||||
if (!cam.isConnected()) return null;
|
||||
// public PhotonTrackedTarget getLowestTape() {
|
||||
// if (!cam.isConnected()) return null;
|
||||
|
||||
PhotonPipelineResult result = cam.getLatestResult();
|
||||
// PhotonPipelineResult result = cam.getLatestResult();
|
||||
|
||||
if (!result.hasTargets()) return null;
|
||||
// if (!result.hasTargets()) return null;
|
||||
|
||||
ArrayList<PhotonTrackedTarget> points = (ArrayList<PhotonTrackedTarget>) result.getTargets();
|
||||
// ArrayList<PhotonTrackedTarget> points = (ArrayList<PhotonTrackedTarget>) result.getTargets();
|
||||
|
||||
PhotonTrackedTarget lowest = points.get(0);
|
||||
for (PhotonTrackedTarget point : points) {
|
||||
if (point.getPitch() < lowest.getPitch()) {
|
||||
lowest = point;
|
||||
}
|
||||
}
|
||||
// PhotonTrackedTarget lowest = points.get(0);
|
||||
// for (PhotonTrackedTarget point : points) {
|
||||
// if (point.getPitch() < lowest.getPitch()) {
|
||||
// lowest = point;
|
||||
// }
|
||||
// }
|
||||
|
||||
return lowest;
|
||||
}
|
||||
// return lowest;
|
||||
// }
|
||||
|
||||
public double getDistanceToTape() {
|
||||
PhotonTrackedTarget tapePoint = getLowestTape();
|
||||
if (tapePoint == null) return -1;
|
||||
// public double getDistanceToTape() {
|
||||
// PhotonTrackedTarget tapePoint = getLowestTape();
|
||||
// if (tapePoint == null) return -1;
|
||||
|
||||
double tapeHeight = VisionConstants.MID_TAPE_HEIGHT - VisionConstants.LIME_HEIGHT;
|
||||
double theta = 35.0 + tapePoint.getPitch();
|
||||
// double tapeHeight = VisionConstants.MID_TAPE_HEIGHT - VisionConstants.LIME_HEIGHT;
|
||||
// double theta = 35.0 + tapePoint.getPitch();
|
||||
|
||||
double distanceToTape = tapeHeight / Math.tan(Math.toRadians(theta));
|
||||
return distanceToTape;
|
||||
}
|
||||
// double distanceToTape = tapeHeight / Math.tan(Math.toRadians(theta));
|
||||
// return distanceToTape;
|
||||
// }
|
||||
|
||||
@Override
|
||||
public void periodic() {}
|
||||
}
|
||||
// @Override
|
||||
// public void periodic() {}
|
||||
// }
|
||||
|
||||
@@ -53,9 +53,15 @@ public class SwerveDrive extends SubsystemBase {
|
||||
this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
|
||||
}
|
||||
|
||||
public void oneModuleTest(SwerveModule module, Translation2d leftStick, Translation2d rightStick){
|
||||
double ang = (Math.atan2(rightStick.getY(), rightStick.getX()) / (Math.PI*2));
|
||||
System.out.println(ang);
|
||||
module.go(ang);
|
||||
}
|
||||
|
||||
boolean stopped = false;
|
||||
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
|
||||
rightFront.go(leftStick);
|
||||
|
||||
// if (fieldRelative) {
|
||||
|
||||
// double rot = 0;
|
||||
|
||||
@@ -14,12 +14,16 @@ import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
|
||||
// import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
|
||||
// import com.ctre.phoenix.sensors.CANCoder;
|
||||
// import com.ctre.phoenix.sensors.SensorInitializationStrategy;
|
||||
|
||||
import com.ctre.phoenix6.StatusSignal;
|
||||
import com.ctre.phoenix6.Utils;
|
||||
import com.ctre.phoenix6.configs.FeedbackConfigs;
|
||||
import com.ctre.phoenix6.configs.Slot0Configs;
|
||||
import com.ctre.phoenix6.configs.TalonFXConfiguration;
|
||||
import com.ctre.phoenix6.controls.DutyCycleOut;
|
||||
import com.ctre.phoenix6.controls.Follower;
|
||||
import com.ctre.phoenix6.controls.PositionVoltage;
|
||||
import com.ctre.phoenix6.hardware.TalonFX;
|
||||
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
|
||||
import com.ctre.phoenix6.signals.InvertedValue;
|
||||
import com.ctre.phoenix6.hardware.CANcoder;
|
||||
|
||||
@@ -38,6 +42,8 @@ public class SwerveModule extends SubsystemBase {
|
||||
private TalonFX driveMotor;
|
||||
private TalonFX angleMotor;
|
||||
private CANcoder encoder;
|
||||
// private final StatusSignal<Double> cc_pos;
|
||||
// private final StatusSignal<Double> cc_vel;
|
||||
// private int selfid;
|
||||
// private ConfigurableDouble offsetGetter;
|
||||
private static int swerveId = 0;
|
||||
@@ -49,19 +55,42 @@ public class SwerveModule extends SubsystemBase {
|
||||
this.driveMotor = driveMotor;
|
||||
this.angleMotor = angleMotor;
|
||||
this.encoder = encoder;
|
||||
|
||||
// TalonFXConfiguration pidConfigs = new TalonFXConfiguration();
|
||||
// pidConfigs.Slot0.kP = 2.4; // An error of 1 rotation results in 2.4 V output
|
||||
// pidConfigs.Slot0.kI = 0; // no output for integrated error
|
||||
// pidConfigs.Slot0.kD = 0.1; // A velocity of 1 rps results in 0.1 V output
|
||||
|
||||
// angleMotor.getConfigurator().apply(slot0Configs);
|
||||
|
||||
// var fx_cfg = new FeedbackConfigs();
|
||||
// fx_cfg.FeedbackRemoteSensorID = encoder.getDeviceID();
|
||||
// fx_cfg.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder;
|
||||
// angleMotor.getConfigurator().apply(fx_cfg);
|
||||
// // this.offsetGetter = new ConfigurableDouble("Swerve id " + swerveId, offset);
|
||||
// this.selfid = swerveId;
|
||||
// swerveId++;
|
||||
// TalonFXConfiguration angleConfig = new TalonFXConfiguration();
|
||||
// angleConfig.slot0.kP = swerveGains.kP;
|
||||
// angleConfig.slot0.kI = swerveGains.kI;
|
||||
// angleConfig.slot0.kD = swerveGains.kD;
|
||||
TalonFXConfiguration angleConfig = new TalonFXConfiguration();
|
||||
// angleConfig.Slot0.kP = swerveGains.kP;
|
||||
// angleConfig.Slot0.kI = swerveGains.kI;
|
||||
// angleConfig.Slot0.kD = swerveGains.kD;
|
||||
angleConfig.Slot0.kP = 2.4; // An error of 1 rotation results in 2.4 V output
|
||||
angleConfig.Slot0.kI = 0; // no output for integrated error
|
||||
angleConfig.Slot0.kD = 0.1; // A velocity of 1 rps results in 0.1 V output
|
||||
|
||||
// // use the CANcoder as the remote sensor for the primary TalonFX PID
|
||||
// angleConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
|
||||
// angleConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
|
||||
// angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
|
||||
// angleMotor.configAllSettings(angleConfig);
|
||||
// var fx_cfg = new FeedbackConfigs();
|
||||
angleConfig.Feedback.FeedbackRemoteSensorID = encoder.getDeviceID();
|
||||
angleConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder;
|
||||
// angleConfig.Feedback. = FeedbackDevice.RemoteSensor0;
|
||||
// angleConfig.Feedback = fx_cfg;
|
||||
|
||||
angleMotor.getConfigurator().apply(angleConfig);
|
||||
|
||||
// use the CANcoder as the remote sensor for the primary TalonFX PID
|
||||
// angleConfig.Fee = encoder.getDeviceID();
|
||||
// angleConfig.FeedbackSensorSource = RemoteSensorSource.CANCoder;
|
||||
// angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
|
||||
// angleMotor.getConfigurator().apply(angleConfig);
|
||||
|
||||
// //encoder.configSensorInitializationStrategy(SensorInitializationStrategy.BootToAbsolutePosition);
|
||||
// reset(0);
|
||||
@@ -71,9 +100,16 @@ public class SwerveModule extends SubsystemBase {
|
||||
// driveMotor.config_kP(0, 0.2);
|
||||
}
|
||||
|
||||
public void go(Translation2d leftStick){
|
||||
System.out.println(leftStick.getY());
|
||||
driveMotor.set(leftStick.getY());
|
||||
public void go(double ang){
|
||||
double curang = this.encoder.getAbsolutePosition().getValue();
|
||||
System.out.println(ang-curang);
|
||||
|
||||
final PositionVoltage m_request = new PositionVoltage(0).withSlot(0);
|
||||
|
||||
// set position to 10 rotations
|
||||
angleMotor.setControl(m_request.withPosition(ang));
|
||||
|
||||
// System.out.println(this.cc_pos.getValue());
|
||||
}
|
||||
|
||||
@Override
|
||||
@@ -166,26 +202,26 @@ public class SwerveModule extends SubsystemBase {
|
||||
* Set the speed and rotation of the SwerveModule from a SwerveModuleState object
|
||||
* @param desiredState a SwerveModuleState representing the desired new state of the module
|
||||
// */
|
||||
// public void setDesiredState(SwerveModuleState desiredState) {
|
||||
// Rotation2d currentRotation = this.getAngle();
|
||||
public void setDesiredState(SwerveModuleState desiredState) {
|
||||
// Rotation2d currentRotation = this.getAngle();
|
||||
|
||||
// SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
|
||||
// SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
|
||||
|
||||
// // calculate the difference between our current rotational position and our new rotational position
|
||||
// Rotation2d rotationDelta = state.angle.minus(currentRotation);
|
||||
// // calculate the difference between our current rotational position and our new rotational position
|
||||
// Rotation2d rotationDelta = state.angle.minus(currentRotation);
|
||||
|
||||
// // calculate the new absolute position of the SwerveModule based on the difference in rotation
|
||||
// double deltaTicks = (rotationDelta.getDegrees() / 360.) * SwerveDriveConstants.Conversions.CANCODER_TICKS_PER_ROTATION;
|
||||
// // calculate the new absolute position of the SwerveModule based on the difference in rotation
|
||||
// double deltaTicks = (rotationDelta.getDegrees() / 360.) * SwerveDriveConstants.Conversions.CANCODER_TICKS_PER_ROTATION;
|
||||
|
||||
// // convert the CANCoder from its position reading to ticks
|
||||
// double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient();
|
||||
// // convert the CANCoder from its position reading to ticks
|
||||
// double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient();
|
||||
|
||||
// angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
|
||||
// angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
|
||||
|
||||
// double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
|
||||
// double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
|
||||
|
||||
// driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
|
||||
// }
|
||||
// driveMotor.set((feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
|
||||
}
|
||||
|
||||
// public void reset(double position) {
|
||||
// encoder.setPositionToAbsolute();
|
||||
|
||||
Reference in New Issue
Block a user