Team4388/2024AcrossTheRidgebotiverse
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Astatin3
2024-02-19 10:55:15 -07:00
parent 84c5313a50
commit e77d2d5a6c
2 changed files with 73 additions and 22 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -1
View File
@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.OIConstants;
@@ -96,10 +97,12 @@ public class RobotContainer {
MoveToSpeaker,
autoAlign,
new InstantCommand(() -> m_robotShooter.spin()),
new WaitCommand(3.0),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new WaitCommand(3.0),
new InstantCommand(() -> m_robotShooter.idle()),
new InstantCommand(() -> autoAlign.reverse()),
autoAlign
autoAlign.asProxy()
);
src/main/java/frc4388/robot/commands/Autos/AutoAlign.java
+69 -21
View File
@@ -10,6 +10,8 @@ import edu.wpi.first.math.geometry.Rotation2d;
import java.util.Optional;
import org.opencv.core.RotatedRect;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.DriverStation;
@@ -18,9 +20,9 @@ import edu.wpi.first.wpilibj.DriverStation.Alliance;
public class AutoAlign extends Command {
private SwerveDrive swerve;
private Limelight limelight;
private Pose2d pose;
private Translation2d targetPos;
private Rotation2d targetRot;
private Optional<Alliance> alliance;
private boolean isRed;
@@ -33,17 +35,20 @@ public class AutoAlign extends Command {
private Translation2d[] rotStickReplayArr;
private int replayIndex;
// PID Stuff
private double prevError;
private double cumError;
public AutoAlign(SwerveDrive swerve, Limelight limelight) {
this.swerve = swerve;
this.limelight = limelight;
this.reverseAfterFinish = reverseAfterFinish;
}
// Calc the closest point on a circle, to the center of the speaker
private Translation2d calcTargetPos(){
final double R = VisionConstants.targetPosDistance;
double cX;
double cY;
final double cX;
final double cY;
if(isRed){
cX = VisionConstants.RedSpeakerCenter.getX();
cY = VisionConstants.RedSpeakerCenter.getY();
@@ -64,32 +69,70 @@ public class AutoAlign extends Command {
return new Translation2d(aX, aY);
}
private Translation2d calcMoveStick(){
//TODO - DO THE MATH!
// Calculate the angle facing the center, at the target rot
private Rotation2d calcTargetRot() {
final double R = VisionConstants.targetPosDistance;
final double cX;
final double cY;
if(isRed){
cX = VisionConstants.RedSpeakerCenter.getX();
cY = VisionConstants.RedSpeakerCenter.getY();
}else{
cX = VisionConstants.BlueSpeakerCenter.getX();
cY = VisionConstants.BlueSpeakerCenter.getY();
}
final double pX = pose.getX();
final double pY = pose.getY();
final double dX = pX - cX;
final double dY = pY - cY;
final double yaw = ((Math.atan2(dX, dY)*360/Math.PI) % 360);
return Rotation2d.fromDegrees(yaw);
}
// Clamp to a circle, like an xbox controller
private Translation2d clamp(double oldX, double oldY){
// Code is from https://stackoverflow.com/questions/74329985/how-can-i-clamp-a-position-to-a-circley
final double alpha = (Math.atan2(oldX, -oldY) * 180 / Math.PI + 360) % 360;
final double maxX = Math.abs(Math.cos(alpha / 180 * Math.PI));
final double maxY = Math.abs(Math.sin(alpha / 180 * Math.PI));
final double newX = Math.max(-maxX, Math.min(maxX, oldX));
final double newY = Math.max(-maxY, Math.min(maxY, oldY));
return new Translation2d(newX, newY);
}
private Translation2d calcMoveStick(){
final double curX = pose.getX();
final double curY = pose.getY();
final double curYaw = pose.getRotation().getDegrees();
// This is not math
double stickX = curX * AutoAlignConstants.MoveSpeed * AutoAlignConstants.RotSpeed;
double stickY = curY * AutoAlignConstants.MoveSpeed * AutoAlignConstants.RotSpeed;
// I think this might work, assuming the constants are good
double stickX = -(curX - targetPos.getX()) * AutoAlignConstants.MoveSpeed;
double stickY = -(curY - targetPos.getY()) * AutoAlignConstants.MoveSpeed;
return new Translation2d(stickX, stickY);
return clamp(stickX, stickY);
}
private Translation2d calcRotStick(){
//TODO - DO THE MATH!
double error = pose.getRotation().getDegrees() - targetRot.getDegrees();
cumError += error * .02; // 20 ms
double delta = error - prevError;
final double curX = pose.getX();
final double curY = pose.getY();
final double curYaw = pose.getRotation().getDegrees();
final double kP = 4;
final double kI = 4;
final double kD = 4;
final double kF = 4;
// This is not math
double stickX = curX * AutoAlignConstants.MoveSpeed * AutoAlignConstants.RotSpeed;
double stickY = curY * AutoAlignConstants.MoveSpeed * AutoAlignConstants.RotSpeed;
double output = error * kP;
output += cumError * kI;
output += delta * kD;
output += kF;
return new Translation2d(stickX, stickY);
prevError = error;
return clamp(output, 0);
}
public void reverse() {
@@ -122,6 +165,7 @@ public class AutoAlign extends Command {
// Regular replay
if(!isFinished){
targetPos = calcTargetPos();
targetRot = calcTargetRot();
moveStick = calcMoveStick();
rotStick = calcRotStick();
@@ -135,7 +179,7 @@ public class AutoAlign extends Command {
// }
isFinished = limelight.isNearSpeaker();
// If reverseAfterFinish, then loop back over and replay
// If reverseAfterFinish, then loop back over and replay in reverse
}else if(reverseAfterFinish && !isReverseFinished){
// Get reverse direction
moveStick = moveStickReplayArr[replayIndex-moveStickReplayArr.length-1];
@@ -146,6 +190,10 @@ public class AutoAlign extends Command {
rotStick = new Translation2d(rotStick.getX()*-1, rotStick.getY()*-1);
replayIndex++;
if(replayIndex >= moveStickReplayArr.length){
reverseAfterFinish = true;
}
}
// This would greatly benifit from having feild Relative implemented.
@@ -157,4 +205,4 @@ public class AutoAlign extends Command {
public final boolean isFinished() {
return isFinished && (isReverseFinished || !reverseAfterFinish);
}
}
}