Team4388/2024AcrossTheRidgebotiverse
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PID no work

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This commit is contained in:
Michael Mikovsky
2024-06-18 11:52:58 -06:00
parent 5b0132a259
commit d19ff47543
9 changed files with 220 additions and 437 deletions
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build.gradle
+1 -1
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@@ -1,6 +1,6 @@
plugins { plugins {
id "java" id "java"
id "edu.wpi.first.GradleRIO" version "2024.3.1" id "edu.wpi.first.GradleRIO" version "2024.3.2"
} }
java { java {
src/main/java/frc4388/robot/Constants.java
+5 -2
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@@ -47,8 +47,8 @@ public final class Constants {
} }
public static final class IDs { public static final class IDs {
public static final int RIGHT_FRONT_WHEEL_ID = 0; public static final int RIGHT_FRONT_WHEEL_ID = 3;
public static final int RIGHT_FRONT_STEER_ID = 1; public static final int RIGHT_FRONT_STEER_ID = 2;
public static final int RIGHT_FRONT_ENCODER_ID = 12; public static final int RIGHT_FRONT_ENCODER_ID = 12;
// public static final int LEFT_FRONT_WHEEL_ID = 4; // 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_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1; 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 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 { public static final class AutoConstants {
src/main/java/frc4388/robot/Robot.java
+1 -1
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@@ -124,7 +124,7 @@ public class Robot extends TimedRobot {
*/ */
@Override @Override
public void teleopPeriodic() { public void teleopPeriodic() {
m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft()); // m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft());
} }
/** /**
src/main/java/frc4388/robot/RobotContainer.java
+17 -244
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@@ -68,18 +68,12 @@ public class RobotContainer {
// private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor); // private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
// m_robotMap.rightFront, m_robotMap.rightFront,
// m_robotMap.leftBack, m_robotMap.leftBack,
// m_robotMap.rightBack, m_robotMap.rightBack,
// m_robotMap.gyro); 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);
/* Controllers */ /* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID); 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() { public RobotContainer() {
configureButtonBindings(); configureButtonBindings();
configureVirtualButtonBindings(); // configureVirtualButtonBindings();
// new Trigger(() -> autoplaybackName.get().equals(lastAutoName)).onTrue(new InstantCommand(() -> changeAuto())); // new Trigger(() -> autoplaybackName.get().equals(lastAutoName)).onTrue(new InstantCommand(() -> changeAuto()));
// new DeferredBlock(() -> m_robotSwerveDrive.resetGyro()); // new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
@@ -202,7 +149,17 @@ public class RobotContainer {
// getDeadbandedDriverController().getRightX(), // getDeadbandedDriverController().getRightX(),
// getDeadbandedDriverController().getRightY(), // getDeadbandedDriverController().getRightY(),
// true); // 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")); // .withName("SwerveDrive OrientationCommand"));
// continually sends updates to the Blinkin LED controller to keep the lights on // continually sends updates to the Blinkin LED controller to keep the lights on
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED)); // m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
@@ -223,190 +180,6 @@ public class RobotContainer {
*/ */
private void configureButtonBindings() { 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)));
} }
/** /**
src/main/java/frc4388/robot/RobotMap.java
+8 -1
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@@ -31,6 +31,7 @@ import frc4388.utility.RobotGyro;
public class RobotMap { public class RobotMap {
// private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14); // private WPI_Pigeon2 m_pigeon2 = new WPI_Pigeon2(14);
// public RobotGyro gyro = new RobotGyro(m_pigeon2); // public RobotGyro gyro = new RobotGyro(m_pigeon2);
public RobotGyro gyro = null;
public SwerveModule leftFront; public SwerveModule leftFront;
public SwerveModule rightFront; public SwerveModule rightFront;
@@ -152,8 +153,14 @@ public class RobotMap {
// rightBackSteer.setNeutralMode(NeutralMode.Brake); // rightBackSteer.setNeutralMode(NeutralMode.Brake);
// // initialize SwerveModules // // 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.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.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); // this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.BACK_RIGHT_ROT_OFFSET);
} }
src/main/java/frc4388/robot/subsystems/Limelight.java
+119 -119
View File
@@ -1,165 +1,165 @@
// Copyright (c) FIRST and other WPILib contributors. // // Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of // // 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. // // the WPILib BSD license file in the root directory of this project.
package frc4388.robot.subsystems; package frc4388.robot.subsystems;
import java.io.IOException; // import java.io.IOException;
import java.util.ArrayList; // import java.util.ArrayList;
import java.util.List; // import java.util.List;
import java.util.Optional; // import java.util.Optional;
import org.photonvision.EstimatedRobotPose; // // import org.photonvision.EstimatedRobotPose;
import org.photonvision.PhotonCamera; // // import org.photonvision.PhotonCamera;
import org.photonvision.PhotonPoseEstimator; // // import org.photonvision.PhotonPoseEstimator;
import org.photonvision.PhotonPoseEstimator.PoseStrategy; // // import org.photonvision.PhotonPoseEstimator.PoseStrategy;
import org.photonvision.common.hardware.VisionLEDMode; // // import org.photonvision.common.hardware.VisionLEDMode;
import org.photonvision.targeting.PhotonPipelineResult; // // import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget; // // import org.photonvision.targeting.PhotonTrackedTarget;
import org.photonvision.targeting.TargetCorner; // // import org.photonvision.targeting.TargetCorner;
import edu.wpi.first.apriltag.AprilTag; // import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout; // import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields; // import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Pose2d; // import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.DriverStation; // import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; // import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase; // import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.VisionConstants; // import frc4388.robot.Constants.VisionConstants;
public class Limelight extends SubsystemBase { // public class Limelight extends SubsystemBase {
private PhotonCamera cam; // // private PhotonCamera cam;
private PhotonPoseEstimator photonPoseEstimator; // // private PhotonPoseEstimator photonPoseEstimator;
private boolean lightOn; // private boolean lightOn;
/** Creates a new Limelight. */ // /** Creates a new Limelight. */
public Limelight() { // public Limelight() {
cam = new PhotonCamera(VisionConstants.NAME); // // cam = new PhotonCamera(VisionConstants.NAME);
cam.setDriverMode(false); // // cam.setDriverMode(false);
} // }
public void setLEDs(boolean on) { // public void setLEDs(boolean on) {
lightOn = on; // lightOn = on;
cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff); // // cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
} // }
public void toggleLEDs() { // public void toggleLEDs() {
lightOn = !lightOn; // lightOn = !lightOn;
cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff); // // cam.setLED(lightOn ? VisionLEDMode.kOn : VisionLEDMode.kOff);
} // }
public void setDriverMode(boolean driverMode) { // public void setDriverMode(boolean driverMode) {
cam.setDriverMode(driverMode); // // cam.setDriverMode(driverMode);
} // }
public void setToLimePipeline() { // public void setToLimePipeline() {
cam.setPipelineIndex(1); // // cam.setPipelineIndex(1);
setLEDs(true); // setLEDs(true);
} // }
public void setToAprilPipeline() { // public void setToAprilPipeline() {
cam.setPipelineIndex(0); // // cam.setPipelineIndex(0);
setLEDs(false); // setLEDs(false);
} // }
public PhotonTrackedTarget getAprilPoint() { // public PhotonTrackedTarget getAprilPoint() {
if (!cam.isConnected()) return null; // // 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() { // private List<TargetCorner> getAprilCorners() {
if (!cam.isConnected()) return null; // 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() { // public double getAprilSkew() {
List<TargetCorner> corners = getAprilCorners(); // List<TargetCorner> corners = getAprilCorners();
ArrayList<TargetCorner> bottomSide = getAprilBottomSide(corners); // 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 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 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) { // private ArrayList<TargetCorner> getAprilBottomSide(List<TargetCorner> box) {
if (box == null) return null; // if (box == null) return null;
ArrayList<TargetCorner> bottomSide = new ArrayList<>(); // ArrayList<TargetCorner> bottomSide = new ArrayList<>();
TargetCorner l1 = new TargetCorner(-1, -1); // TargetCorner l1 = new TargetCorner(-1, -1);
TargetCorner l2 = new TargetCorner(-1, -1); // TargetCorner l2 = new TargetCorner(-1, -1);
for (TargetCorner c : box) { // for (TargetCorner c : box) {
if (c.y > l1.y) l1 = c; // if (c.y > l1.y) l1 = c;
} // }
for (TargetCorner c : box) { // for (TargetCorner c : box) {
if (c.y == l1.y) continue; // if (c.y == l1.y) continue;
if (c.y > l2.y) l2 = c; // if (c.y > l2.y) l2 = c;
} // }
bottomSide.add(l1); // bottomSide.add(l1);
bottomSide.add(l2); // bottomSide.add(l2);
return bottomSide; // return bottomSide;
} // }
public double getDistanceToApril() { // public double getDistanceToApril() {
PhotonTrackedTarget aprilPoint = getAprilPoint(); // PhotonTrackedTarget aprilPoint = getAprilPoint();
if (aprilPoint == null) return -1; // if (aprilPoint == null) return -1;
double aprilHeight = VisionConstants.APRIL_HEIGHT - VisionConstants.LIME_HEIGHT; // double aprilHeight = VisionConstants.APRIL_HEIGHT - VisionConstants.LIME_HEIGHT;
double theta = 35.0 + aprilPoint.getPitch(); // double theta = 35.0 + aprilPoint.getPitch();
double distanceToApril = aprilHeight / Math.tan(Math.toRadians(theta)); // double distanceToApril = aprilHeight / Math.tan(Math.toRadians(theta));
return distanceToApril; // return distanceToApril;
} // }
public PhotonTrackedTarget getLowestTape() { // public PhotonTrackedTarget getLowestTape() {
if (!cam.isConnected()) return null; // 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); // PhotonTrackedTarget lowest = points.get(0);
for (PhotonTrackedTarget point : points) { // for (PhotonTrackedTarget point : points) {
if (point.getPitch() < lowest.getPitch()) { // if (point.getPitch() < lowest.getPitch()) {
lowest = point; // lowest = point;
} // }
} // }
return lowest; // return lowest;
} // }
public double getDistanceToTape() { // public double getDistanceToTape() {
PhotonTrackedTarget tapePoint = getLowestTape(); // PhotonTrackedTarget tapePoint = getLowestTape();
if (tapePoint == null) return -1; // if (tapePoint == null) return -1;
double tapeHeight = VisionConstants.MID_TAPE_HEIGHT - VisionConstants.LIME_HEIGHT; // double tapeHeight = VisionConstants.MID_TAPE_HEIGHT - VisionConstants.LIME_HEIGHT;
double theta = 35.0 + tapePoint.getPitch(); // double theta = 35.0 + tapePoint.getPitch();
double distanceToTape = tapeHeight / Math.tan(Math.toRadians(theta)); // double distanceToTape = tapeHeight / Math.tan(Math.toRadians(theta));
return distanceToTape; // return distanceToTape;
} // }
@Override // @Override
public void periodic() {} // public void periodic() {}
} // }
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+7 -1
View File
@@ -53,9 +53,15 @@ public class SwerveDrive extends SubsystemBase {
this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack}; 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; boolean stopped = false;
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) { public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
rightFront.go(leftStick);
// if (fieldRelative) { // if (fieldRelative) {
// double rot = 0; // double rot = 0;
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+62 -26
View File
@@ -14,12 +14,16 @@ import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
// import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; // import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
// import com.ctre.phoenix.sensors.CANCoder; // import com.ctre.phoenix.sensors.CANCoder;
// import com.ctre.phoenix.sensors.SensorInitializationStrategy; // import com.ctre.phoenix.sensors.SensorInitializationStrategy;
import com.ctre.phoenix6.StatusSignal;
import com.ctre.phoenix6.Utils; 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.configs.TalonFXConfiguration;
import com.ctre.phoenix6.controls.DutyCycleOut; import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.controls.Follower; import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.CANcoder;
@@ -38,6 +42,8 @@ public class SwerveModule extends SubsystemBase {
private TalonFX driveMotor; private TalonFX driveMotor;
private TalonFX angleMotor; private TalonFX angleMotor;
private CANcoder encoder; private CANcoder encoder;
// private final StatusSignal<Double> cc_pos;
// private final StatusSignal<Double> cc_vel;
// private int selfid; // private int selfid;
// private ConfigurableDouble offsetGetter; // private ConfigurableDouble offsetGetter;
private static int swerveId = 0; private static int swerveId = 0;
@@ -49,19 +55,42 @@ public class SwerveModule extends SubsystemBase {
this.driveMotor = driveMotor; this.driveMotor = driveMotor;
this.angleMotor = angleMotor; this.angleMotor = angleMotor;
this.encoder = encoder; 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.offsetGetter = new ConfigurableDouble("Swerve id " + swerveId, offset);
// this.selfid = swerveId; // this.selfid = swerveId;
// swerveId++; // swerveId++;
// TalonFXConfiguration angleConfig = new TalonFXConfiguration(); TalonFXConfiguration angleConfig = new TalonFXConfiguration();
// angleConfig.slot0.kP = swerveGains.kP; // angleConfig.Slot0.kP = swerveGains.kP;
// angleConfig.slot0.kI = swerveGains.kI; // angleConfig.Slot0.kI = swerveGains.kI;
// angleConfig.slot0.kD = swerveGains.kD; // 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 // var fx_cfg = new FeedbackConfigs();
// angleConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID(); angleConfig.Feedback.FeedbackRemoteSensorID = encoder.getDeviceID();
// angleConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder; angleConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder;
// angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0; // angleConfig.Feedback. = FeedbackDevice.RemoteSensor0;
// angleMotor.configAllSettings(angleConfig); // 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); // //encoder.configSensorInitializationStrategy(SensorInitializationStrategy.BootToAbsolutePosition);
// reset(0); // reset(0);
@@ -71,9 +100,16 @@ public class SwerveModule extends SubsystemBase {
// driveMotor.config_kP(0, 0.2); // driveMotor.config_kP(0, 0.2);
} }
public void go(Translation2d leftStick){ public void go(double ang){
System.out.println(leftStick.getY()); double curang = this.encoder.getAbsolutePosition().getValue();
driveMotor.set(leftStick.getY()); 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 @Override
@@ -166,26 +202,26 @@ public class SwerveModule extends SubsystemBase {
* Set the speed and rotation of the SwerveModule from a SwerveModuleState object * Set the speed and rotation of the SwerveModule from a SwerveModuleState object
* @param desiredState a SwerveModuleState representing the desired new state of the module * @param desiredState a SwerveModuleState representing the desired new state of the module
// */ // */
// public void setDesiredState(SwerveModuleState desiredState) { public void setDesiredState(SwerveModuleState desiredState) {
// Rotation2d currentRotation = this.getAngle(); // 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 // // calculate the difference between our current rotational position and our new rotational position
// Rotation2d rotationDelta = state.angle.minus(currentRotation); // Rotation2d rotationDelta = state.angle.minus(currentRotation);
// // calculate the new absolute position of the SwerveModule based on the difference in 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; // double deltaTicks = (rotationDelta.getDegrees() / 360.) * SwerveDriveConstants.Conversions.CANCODER_TICKS_PER_ROTATION;
// // convert the CANCoder from its position reading to ticks // // convert the CANCoder from its position reading to ticks
// double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient(); // 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) { // public void reset(double position) {
// encoder.setPositionToAbsolute(); // encoder.setPositionToAbsolute();
vendordeps/photonlib.json
-42
View File
@@ -1,42 +0,0 @@
{
"fileName": "photonlib.json",
"name": "photonlib",
"version": "v2024.1.1-beta-3.2",
"uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
"frcYear": "2024",
"mavenUrls": [
"https://maven.photonvision.org/repository/internal",
"https://maven.photonvision.org/repository/snapshots"
],
"jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "org.photonvision",
"artifactId": "PhotonLib-cpp",
"version": "v2024.1.1-beta-3.2",
"libName": "Photon",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxathena",
"linuxx86-64",
"osxuniversal"
]
}
],
"javaDependencies": [
{
"groupId": "org.photonvision",
"artifactId": "PhotonLib-java",
"version": "v2024.1.1-beta-3.2"
},
{
"groupId": "org.photonvision",
"artifactId": "PhotonTargeting-java",
"version": "v2024.1.1-beta-3.2"
}
]
}