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
@@ -1,165 +1,165 @@
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// 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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// // 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.subsystems;
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import java.io.IOException;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Optional;
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// import java.io.IOException;
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// import java.util.ArrayList;
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// import java.util.List;
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// import java.util.Optional;
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import org.photonvision.EstimatedRobotPose;
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import org.photonvision.PhotonCamera;
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import org.photonvision.PhotonPoseEstimator;
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import org.photonvision.PhotonPoseEstimator.PoseStrategy;
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import org.photonvision.common.hardware.VisionLEDMode;
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import org.photonvision.targeting.PhotonPipelineResult;
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import org.photonvision.targeting.PhotonTrackedTarget;
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import org.photonvision.targeting.TargetCorner;
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// // import org.photonvision.EstimatedRobotPose;
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// // import org.photonvision.PhotonCamera;
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// // import org.photonvision.PhotonPoseEstimator;
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// // import org.photonvision.PhotonPoseEstimator.PoseStrategy;
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// // import org.photonvision.common.hardware.VisionLEDMode;
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// // import org.photonvision.targeting.PhotonPipelineResult;
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// // import org.photonvision.targeting.PhotonTrackedTarget;
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// // import org.photonvision.targeting.TargetCorner;
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import edu.wpi.first.apriltag.AprilTag;
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import edu.wpi.first.apriltag.AprilTagFieldLayout;
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import edu.wpi.first.apriltag.AprilTagFields;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.Constants.VisionConstants;
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// import edu.wpi.first.apriltag.AprilTag;
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// import edu.wpi.first.apriltag.AprilTagFieldLayout;
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// import edu.wpi.first.apriltag.AprilTagFields;
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// import edu.wpi.first.math.geometry.Pose2d;
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// import edu.wpi.first.wpilibj.DriverStation;
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// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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// import edu.wpi.first.wpilibj2.command.SubsystemBase;
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// import frc4388.robot.Constants.VisionConstants;
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public class Limelight extends SubsystemBase {
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// public class Limelight extends SubsystemBase {
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private PhotonCamera cam;
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private PhotonPoseEstimator photonPoseEstimator;
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// // private PhotonCamera cam;
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// // private PhotonPoseEstimator photonPoseEstimator;
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private boolean lightOn;
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// private boolean lightOn;
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/** Creates a new Limelight. */
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public Limelight() {
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cam = new PhotonCamera(VisionConstants.NAME);
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cam.setDriverMode(false);
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}
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// /** Creates a new Limelight. */
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// public Limelight() {
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// // cam = new PhotonCamera(VisionConstants.NAME);
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// // cam.setDriverMode(false);
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// }
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public void setLEDs(boolean on) {
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lightOn = on;
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cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
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}
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// public void setLEDs(boolean on) {
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// lightOn = on;
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// // cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
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// }
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public void toggleLEDs() {
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lightOn = !lightOn;
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cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
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}
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// public void toggleLEDs() {
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// lightOn = !lightOn;
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// // cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
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// }
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public void setDriverMode(boolean driverMode) {
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cam.setDriverMode(driverMode);
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}
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// public void setDriverMode(boolean driverMode) {
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// // cam.setDriverMode(driverMode);
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// }
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public void setToLimePipeline() {
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cam.setPipelineIndex(1);
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setLEDs(true);
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}
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// public void setToLimePipeline() {
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// // cam.setPipelineIndex(1);
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// setLEDs(true);
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// }
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public void setToAprilPipeline() {
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cam.setPipelineIndex(0);
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setLEDs(false);
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}
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// public void setToAprilPipeline() {
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// // cam.setPipelineIndex(0);
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// setLEDs(false);
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// }
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public PhotonTrackedTarget getAprilPoint() {
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if (!cam.isConnected()) return null;
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// public PhotonTrackedTarget getAprilPoint() {
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// // if (!cam.isConnected()) return null;
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PhotonPipelineResult result = cam.getLatestResult();
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// // PhotonPipelineResult result = cam.getLatestResult();
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if (!result.hasTargets()) return null;
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// // if (!result.hasTargets()) return null;
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return result.getBestTarget();
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}
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// return result.getBestTarget();
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// }
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private List<TargetCorner> getAprilCorners() {
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if (!cam.isConnected()) return null;
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// private List<TargetCorner> getAprilCorners() {
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// if (!cam.isConnected()) return null;
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PhotonPipelineResult result = cam.getLatestResult();
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// PhotonPipelineResult result = cam.getLatestResult();
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if (!result.hasTargets()) return null;
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// if (!result.hasTargets()) return null;
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return result.getBestTarget().getDetectedCorners();
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}
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// return result.getBestTarget().getDetectedCorners();
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// }
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public double getAprilSkew() {
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List<TargetCorner> corners = getAprilCorners();
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ArrayList<TargetCorner> bottomSide = getAprilBottomSide(corners);
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// public double getAprilSkew() {
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// List<TargetCorner> corners = getAprilCorners();
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// ArrayList<TargetCorner> bottomSide = getAprilBottomSide(corners);
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if (bottomSide == null) return 0;
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// if (bottomSide == null) return 0;
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TargetCorner bottomRight = bottomSide.get(0).x > bottomSide.get(1).x ? bottomSide.get(0) : bottomSide.get(1);
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TargetCorner bottomLeft = bottomRight.x == bottomSide.get(0).x ? bottomSide.get(1) : bottomSide.get(0);
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// TargetCorner bottomRight = bottomSide.get(0).x > bottomSide.get(1).x ? bottomSide.get(0) : bottomSide.get(1);
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// TargetCorner bottomLeft = bottomRight.x == bottomSide.get(0).x ? bottomSide.get(1) : bottomSide.get(0);
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return bottomLeft.y - bottomRight.y;
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}
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// return bottomLeft.y - bottomRight.y;
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// }
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private ArrayList<TargetCorner> getAprilBottomSide(List<TargetCorner> box) {
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if (box == null) return null;
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// private ArrayList<TargetCorner> getAprilBottomSide(List<TargetCorner> box) {
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// if (box == null) return null;
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ArrayList<TargetCorner> bottomSide = new ArrayList<>();
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// ArrayList<TargetCorner> bottomSide = new ArrayList<>();
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TargetCorner l1 = new TargetCorner(-1, -1);
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TargetCorner l2 = new TargetCorner(-1, -1);
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// TargetCorner l1 = new TargetCorner(-1, -1);
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// TargetCorner l2 = new TargetCorner(-1, -1);
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for (TargetCorner c : box) {
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if (c.y > l1.y) l1 = c;
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}
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// for (TargetCorner c : box) {
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// if (c.y > l1.y) l1 = c;
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// }
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for (TargetCorner c : box) {
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if (c.y == l1.y) continue;
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if (c.y > l2.y) l2 = c;
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}
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// for (TargetCorner c : box) {
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// if (c.y == l1.y) continue;
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// if (c.y > l2.y) l2 = c;
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// }
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bottomSide.add(l1);
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bottomSide.add(l2);
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// bottomSide.add(l1);
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// bottomSide.add(l2);
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return bottomSide;
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}
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// return bottomSide;
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// }
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public double getDistanceToApril() {
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PhotonTrackedTarget aprilPoint = getAprilPoint();
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if (aprilPoint == null) return -1;
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// public double getDistanceToApril() {
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// PhotonTrackedTarget aprilPoint = getAprilPoint();
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// if (aprilPoint == null) return -1;
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double aprilHeight = VisionConstants.APRIL_HEIGHT - VisionConstants.LIME_HEIGHT;
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double theta = 35.0 + aprilPoint.getPitch();
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// double aprilHeight = VisionConstants.APRIL_HEIGHT - VisionConstants.LIME_HEIGHT;
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// double theta = 35.0 + aprilPoint.getPitch();
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double distanceToApril = aprilHeight / Math.tan(Math.toRadians(theta));
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return distanceToApril;
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}
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// double distanceToApril = aprilHeight / Math.tan(Math.toRadians(theta));
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// return distanceToApril;
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// }
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public PhotonTrackedTarget getLowestTape() {
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if (!cam.isConnected()) return null;
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// public PhotonTrackedTarget getLowestTape() {
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// if (!cam.isConnected()) return null;
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PhotonPipelineResult result = cam.getLatestResult();
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// PhotonPipelineResult result = cam.getLatestResult();
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if (!result.hasTargets()) return null;
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// if (!result.hasTargets()) return null;
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ArrayList<PhotonTrackedTarget> points = (ArrayList<PhotonTrackedTarget>) result.getTargets();
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// ArrayList<PhotonTrackedTarget> points = (ArrayList<PhotonTrackedTarget>) result.getTargets();
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PhotonTrackedTarget lowest = points.get(0);
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for (PhotonTrackedTarget point : points) {
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if (point.getPitch() < lowest.getPitch()) {
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lowest = point;
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}
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}
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// PhotonTrackedTarget lowest = points.get(0);
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// for (PhotonTrackedTarget point : points) {
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// if (point.getPitch() < lowest.getPitch()) {
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// lowest = point;
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// }
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// }
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return lowest;
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}
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// return lowest;
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// }
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public double getDistanceToTape() {
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PhotonTrackedTarget tapePoint = getLowestTape();
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if (tapePoint == null) return -1;
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// public double getDistanceToTape() {
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// PhotonTrackedTarget tapePoint = getLowestTape();
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// if (tapePoint == null) return -1;
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double tapeHeight = VisionConstants.MID_TAPE_HEIGHT - VisionConstants.LIME_HEIGHT;
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double theta = 35.0 + tapePoint.getPitch();
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// double tapeHeight = VisionConstants.MID_TAPE_HEIGHT - VisionConstants.LIME_HEIGHT;
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// double theta = 35.0 + tapePoint.getPitch();
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double distanceToTape = tapeHeight / Math.tan(Math.toRadians(theta));
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return distanceToTape;
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}
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// double distanceToTape = tapeHeight / Math.tan(Math.toRadians(theta));
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// return distanceToTape;
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// }
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@Override
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public void periodic() {}
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}
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// @Override
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// public void periodic() {}
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// }
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@@ -53,9 +53,15 @@ public class SwerveDrive extends SubsystemBase {
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this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
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}
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public void oneModuleTest(SwerveModule module, Translation2d leftStick, Translation2d rightStick){
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double ang = (Math.atan2(rightStick.getY(), rightStick.getX()) / (Math.PI*2));
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System.out.println(ang);
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module.go(ang);
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}
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boolean stopped = false;
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public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
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rightFront.go(leftStick);
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// if (fieldRelative) {
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// double rot = 0;
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@@ -14,12 +14,16 @@ import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
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// import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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// import com.ctre.phoenix.sensors.CANCoder;
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// import com.ctre.phoenix.sensors.SensorInitializationStrategy;
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import com.ctre.phoenix6.StatusSignal;
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import com.ctre.phoenix6.Utils;
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import com.ctre.phoenix6.configs.FeedbackConfigs;
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import com.ctre.phoenix6.configs.Slot0Configs;
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import com.ctre.phoenix6.configs.TalonFXConfiguration;
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import com.ctre.phoenix6.controls.DutyCycleOut;
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import com.ctre.phoenix6.controls.Follower;
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import com.ctre.phoenix6.controls.PositionVoltage;
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import com.ctre.phoenix6.hardware.TalonFX;
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import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
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import com.ctre.phoenix6.signals.InvertedValue;
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import com.ctre.phoenix6.hardware.CANcoder;
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@@ -38,6 +42,8 @@ public class SwerveModule extends SubsystemBase {
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private TalonFX driveMotor;
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private TalonFX angleMotor;
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private CANcoder encoder;
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// private final StatusSignal<Double> cc_pos;
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// private final StatusSignal<Double> cc_vel;
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// private int selfid;
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// private ConfigurableDouble offsetGetter;
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private static int swerveId = 0;
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@@ -49,19 +55,42 @@ public class SwerveModule extends SubsystemBase {
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this.driveMotor = driveMotor;
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this.angleMotor = angleMotor;
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this.encoder = encoder;
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|
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// TalonFXConfiguration pidConfigs = new TalonFXConfiguration();
|
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// pidConfigs.Slot0.kP = 2.4; // An error of 1 rotation results in 2.4 V output
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// pidConfigs.Slot0.kI = 0; // no output for integrated error
|
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// pidConfigs.Slot0.kD = 0.1; // A velocity of 1 rps results in 0.1 V output
|
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|
||||
// 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