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add partial pathplanner support

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This commit is contained in:
Connorppeach
2025-01-14 17:26:32 -07:00
parent b4fc99f670
commit 27602056df
2 changed files with 351 additions and 18 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+21 -18
View File
@@ -14,12 +14,10 @@ import java.util.ArrayList;
import java.util.List;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.GenericHID;
import frc4388.utility.controller.XboxController;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -27,14 +25,17 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.Commands;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.robot.commands.GotoPositionCommand;
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
import com.pathplanner.lib.commands.PathPlannerAuto;
// Subsystems
// import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.SwerveDrive;
// Utilites
@@ -55,8 +56,11 @@ public class RobotContainer {
/* Subsystems */
// private final LED m_robotLED = new LED();
public final Vision m_vision = new Vision(m_robotMap.camera);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
/* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -95,7 +99,7 @@ public class RobotContainer {
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),
false);
true);
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
@@ -146,18 +150,7 @@ public class RobotContainer {
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// @ /* Trim Test Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepUp()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.stepDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> SwerveDriveConstants.POINTLESS_TRIM.load()));
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
@@ -222,9 +215,19 @@ public class RobotContainer {
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
return autoPlayback;
//return autoPlayback;
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
try{
// Load the path you want to follow using its name in the GUI
return new PathPlannerAuto("Example Auto");
} catch (Exception e) {
DriverStation.reportError("Big oops: " + e.getMessage(), e.getStackTrace());
return Commands.none();
}
}
/**
* A button binding for two controllers, preferably an {@link DeadbandedXboxController Xbox Controller} and {@link VirtualController Virtual Xbox Controller}
* @param joystickA A controller
src/main/java/frc4388/robot/SwerveDrive.java
+330
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@@ -0,0 +1,330 @@
// 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.util.Optional;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj2.command.Commands;
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.Constants.VisionConstants;
import frc4388.utility.Status;
import frc4388.utility.Subsystem;
import frc4388.utility.Status.ReportLevel;
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.commands.PathPlannerAuto;
import com.pathplanner.lib.config.RobotConfig;
public class SwerveDrive extends Subsystem {
private SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain;
private Vision vision;
private int gear_index = SwerveDriveConstants.STARTING_GEAR;
private boolean stopped = false;
public double speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * SwerveDriveConstants.GEARS[gear_index];
public double rotSpeedAdjust = SwerveDriveConstants.MAX_ROT_SPEED;
public double autoSpeedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * 0.25; // cap auto performance to 25%
public double rotTarget = 0.0;
public Rotation2d orientRotTarget = new Rotation2d();
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
/** Creates a new SwerveDrive. */
public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain, Vision vision) {
// public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain) {
super();
RobotConfig config;
try{
config = RobotConfig.fromGUISettings();
} catch (Exception e) {
// Handle exception as needed
config = null;
}
AutoBuilder.configure(
() -> swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(null), // Robot pose supplier
swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)
() -> swerveDriveTrain.getState().Speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
(speeds, feedforwards) -> swerveDriveTrain.setControl(new SwerveRequest.ApplyRobotSpeeds()
.withSpeeds(speeds)
), // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards
new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for holonomic drive trains
new PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
),
config, // The robot configuration
() -> {
// Boolean supplier that controls when the path will be mirrored for the red alliance
// This will flip the path being followed to the red side of the field.
// THE ORIGIN WILL REMAIN ON THE BLUE SIDE
var alliance = DriverStation.getAlliance();
if (alliance.isPresent()) {
return alliance.get() == DriverStation.Alliance.Red;
}
return false;
},
this // Reference to this subsystem to set requirements
);
this.swerveDriveTrain = swerveDriveTrain;
this.vision = vision;
}
// public void oneModuleTest(SwerveModule module, Translation2d leftStick, Translation2d rightStick){
// // double ang = Math.atan2(rightStick.getY(), rightStick.getX());
// // rightStick.getAngle()
// double speed = Math.sqrt(Math.pow(leftStick.getX(), 2) + Math.pow(leftStick.getY(), 2));
// // System.out.println(ang);
// // module.go(ang);
// // Rotation2d rot = Rotation2d.fromRadians(ang);
// Rotation2d rot = new Rotation2d(rightStick.getX(), rightStick.getY());
// SwerveModuleState state = new SwerveModuleState(speed, rot);
// module.setDesiredState(state);
// }
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
stopModules(); // stop the swerve
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) //if no imput
return; // don't bother doing swerve drive math and return early.
leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
if (fieldRelative) {
swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
.withVelocityX(leftStick.getX()*-speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust)
.withRotationalRate(rightStick.getX()*rotSpeedAdjust)
);
// double rot = 0;
// ! drift correction
// dependant on if the new odomitry system acounts for rotational drift, this may not be needed.
// if (rightStick.getNorm() > 0.05) {
// rotTarget = swerveDriveTrain.getRotation3d().toRotation2d().getDegrees();
// swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
// .withVelocityX(leftStick.getX()*speedAdjust)
// .withVelocityY(leftStick.getY()*speedAdjust)
// .withRotationalRate(rightStick.getY()*rotSpeedAdjust)
// );
// // SmartDashboard.putBoolean("drift correction", false);
// stopped = false;
// } else if(leftStick.getNorm() > 0.05) {
// if (!stopped) {
// stopModules();
// stopped = true;
// }
// // SmartDashboard.putBoolean("drift correction", true);
// // rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
// }
// // Use the left joystick to set speed. Apply a cubic curve and the set max speed.
// Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
// // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
// // Convert field-relative speeds to robot-relative speeds.
// // chassisSpeeds = chassisSpeeds.
// chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction, gyro.getRotation2d().times(-1));
} else { // Create robot-relative speeds.
swerveDriveTrain.setControl(new SwerveRequest.RobotCentric()
.withVelocityX(leftStick.getX()*-speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust)
.withRotationalRate(rightStick.getX()*rotSpeedAdjust)
);
}
}
public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick) { // there is no practical reason to have a robot relitive version of this, and no pre provided version
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
stopModules(); // stop the swerve
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) //if no imput
return; // don't bother doing swerve drive math and return early.
leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(leftStick.getX()*speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust)
.withTargetDirection(rightStick.getAngle())
);
}
public boolean rotateToTarget(double angle) {
swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(0)
.withVelocityY(0)
.withTargetDirection(Rotation2d.fromDegrees(angle))
);
if (Math.abs(angle - getGyroAngle()) < 5.0) {
return true;
}
return false;
}
public void driveWithInputRotation(Translation2d leftStick, Rotation2d rot) {
// if (leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
// stopModules(); // stop the swerve
// if (leftStick.getNorm() < 0.05) //if no imput
// return; // don't bother doing swerve drive math and return early.
leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(leftStick.getX()*-speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust)
.withTargetDirection(rot)
);
// double
}
public double getGyroAngle() {
return swerveDriveTrain.getRotation3d().getAngle();
}
public void resetGyro() {
swerveDriveTrain.tareEverything();
}
public void stopModules() {
swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
}
@Override
public void periodic() {
// This method will be called once per scheduler run\
SmartDashboard.putNumber("Gyro", getGyroAngle());
SmartDashboard.putNumber("RotTartget", rotTarget);
double time = Vision.getTime();
vision.setLastOdomPose(swerveDriveTrain.samplePoseAt(time));
if(vision.isTag()){
swerveDriveTrain.addVisionMeasurement(vision.getPose2d(), time);
}
// if(e.isPresent())
}
private void reset_index() {
gear_index = SwerveDriveConstants.STARTING_GEAR; // however we wish to initialize the gear (What gear does the robot start in?)
}
public void shiftDown() {
if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index
int i = gear_index - 1;
if (i == -1) i = 0;
setPercentOutput(SwerveDriveConstants.GEARS[i]);
gear_index = i;
}
public void shiftUp() {
if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index
int i = gear_index + 1;
if (i == SwerveDriveConstants.GEARS.length) i = SwerveDriveConstants.GEARS.length - 1;
setPercentOutput(SwerveDriveConstants.GEARS[i]);
gear_index = i;
}
public void setPercentOutput(double speed) {
speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * speed;
gear_index = -1;
}
public void setToSlow() {
setPercentOutput(SwerveDriveConstants.SLOW_SPEED);
gear_index = 0;
}
public void setToFast() {
setPercentOutput(SwerveDriveConstants.FAST_SPEED);
gear_index = 1;
}
public void setToTurbo() {
setPercentOutput(SwerveDriveConstants.TURBO_SPEED);
gear_index = 2;
}
public void shiftUpRot() {
rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
}
public void shiftDownRot() {
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
}
@Override
public String getSubsystemName() {
return "Swerve Drive Controller";
}
ShuffleboardLayout subsystemLayout = Shuffleboard.getTab("Subsystems")
.getLayout(getSubsystemName(), BuiltInLayouts.kList)
.withSize(2, 2);
GenericEntry sbGyro = subsystemLayout
.add("Gyro angle", 0)
.withWidget(BuiltInWidgets.kGyro)
.getEntry();
GenericEntry sbShiftState = subsystemLayout
.add("Shift State", 0)
.withWidget(BuiltInWidgets.kNumberBar)
.getEntry();
@Override
public void queryStatus() {
sbGyro.setDouble(getGyroAngle());
sbShiftState.setDouble(this.speedAdjust);
//TODO: Add more status things
}
@Override
public Status diagnosticStatus() {
Status status = new Status();
status.addReport(ReportLevel.ERROR, "Don't know how to diganose new CTRE swerve systems. please check under the CAN(t) section for more detailed information about the swerves there.");
return status;
}
}