mirror of
https://github.com/Team4388/2025RidgeScape.git
synced 2026-06-09 00:38:02 -06:00
Add Drift correction
This commit is contained in:
C4llSiqn
@@ -43,292 +43,313 @@ public class SwerveDrive extends Subsystem {
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private SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain;
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private Vision vision;
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private int gear_index = SwerveDriveConstants.STARTING_GEAR;
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private boolean stopped = false;
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public double speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * SwerveDriveConstants.GEARS[gear_index];
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public double rotSpeedAdjust = SwerveDriveConstants.MAX_ROT_SPEED;
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public double autoSpeedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * 0.25; // cap auto performance to 25%
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public double autoSpeedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * 0.25; // cap auto performance to
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// 25%
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public double rotTarget = 0.0;
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public Rotation2d orientRotTarget = new Rotation2d();
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public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
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/** Creates a new SwerveDrive. */
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public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain, Vision vision) {
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// public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain) {
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super();
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// public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder>
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// swerveDriveTrain) {
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super();
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this.swerveDriveTrain = swerveDriveTrain;
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this.vision = vision;
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this.swerveDriveTrain = swerveDriveTrain;
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this.vision = vision;
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RobotConfig config;
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try{
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config = RobotConfig.fromGUISettings();
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} catch (Exception e) {
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// Handle exception as needed
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config = null;
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}
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RobotConfig config;
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try {
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config = RobotConfig.fromGUISettings();
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} catch (Exception e) {
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// Handle exception as needed
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config = null;
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}
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// DoubleSupplier a = () -> 1.d;
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AutoBuilder.configure(
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() -> {
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() -> {
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var pose = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d());
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// pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1));
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return pose;//getRotation().times(-1)
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}, // Robot pose supplier
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swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)
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() -> swerveDriveTrain.getState().Speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
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(speeds, feedforwards) -> swerveDriveTrain.setControl(new SwerveRequest.ApplyRobotSpeeds()
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.withSpeeds(speeds)
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), // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards
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new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for holonomic drive trains
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new PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
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new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
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),
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config, // The robot configuration
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() -> {
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// Boolean supplier that controls when the path will be mirrored for the red alliance
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// This will flip the path being followed to the red side of the field.
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// THE ORIGIN WILL REMAIN ON THE BLUE SIDE
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return pose;// getRotation().times(-1)
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}, // Robot pose supplier
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swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting
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// pose)
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() -> swerveDriveTrain.getState().Speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
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(speeds, feedforwards) -> swerveDriveTrain.setControl(new SwerveRequest.ApplyRobotSpeeds()
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.withSpeeds(speeds)), // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds.
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// Also optionally outputs individual module feedforwards
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new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for
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// holonomic drive trains
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new PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
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new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
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),
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config, // The robot configuration
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() -> {
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// Boolean supplier that controls when the path will be mirrored for the red
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// alliance
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// This will flip the path being followed to the red side of the field.
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// THE ORIGIN WILL REMAIN ON THE BLUE SIDE
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var alliance = DriverStation.getAlliance();
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if (alliance.isPresent()) {
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return alliance.get() == DriverStation.Alliance.Red;
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}
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return false;
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},
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this // Reference to this subsystem to set requirements
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);
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var alliance = DriverStation.getAlliance();
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if (alliance.isPresent()) {
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return alliance.get() == DriverStation.Alliance.Red;
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}
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return false;
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},
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this // Reference to this subsystem to set requirements
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);
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}
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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());
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// // rightStick.getAngle()
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// double speed = Math.sqrt(Math.pow(leftStick.getX(), 2) + Math.pow(leftStick.getY(), 2));
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// // System.out.println(ang);
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// // module.go(ang);
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// // Rotation2d rot = Rotation2d.fromRadians(ang);
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// Rotation2d rot = new Rotation2d(rightStick.getX(), rightStick.getY());
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// SwerveModuleState state = new SwerveModuleState(speed, rot);
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// module.setDesiredState(state);
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// public void oneModuleTest(SwerveModule module, Translation2d leftStick,
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// Translation2d rightStick){
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// // double ang = Math.atan2(rightStick.getY(), rightStick.getX());
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// // rightStick.getAngle()
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// double speed = Math.sqrt(Math.pow(leftStick.getX(), 2) +
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// Math.pow(leftStick.getY(), 2));
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// // System.out.println(ang);
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// // module.go(ang);
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// // Rotation2d rot = Rotation2d.fromRadians(ang);
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// Rotation2d rot = new Rotation2d(rightStick.getX(), rightStick.getY());
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// SwerveModuleState state = new SwerveModuleState(speed, rot);
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// module.setDesiredState(state);
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// }
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public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
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stopModules(); // stop the swerve
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) //if no imput
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return; // don't bother doing swerve drive math and return early.
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
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stopModules(); // stop the swerve
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leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
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if (fieldRelative) {
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swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
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.withVelocityX(leftStick.getX()*speedAdjust)
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.withVelocityY(-leftStick.getY()*speedAdjust)
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.withRotationalRate(rightStick.getX()*rotSpeedAdjust)
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);
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// double rot = 0;
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// ! drift correction
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// dependant on if the new odomitry system acounts for rotational drift, this may not be needed.
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// if (rightStick.getNorm() > 0.05) {
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// rotTarget = swerveDriveTrain.getRotation3d().toRotation2d().getDegrees();
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// swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
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// .withVelocityX(leftStick.getX()*speedAdjust)
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// .withVelocityY(leftStick.getY()*speedAdjust)
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// .withRotationalRate(rightStick.getY()*rotSpeedAdjust)
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// );
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// // SmartDashboard.putBoolean("drift correction", false);
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// stopped = false;
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// } else if(leftStick.getNorm() > 0.05) {
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// if (!stopped) {
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// stopModules();
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// stopped = true;
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// }
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) // if no imput
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return; // don't bother doing swerve drive math and return early.
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// // SmartDashboard.putBoolean("drift correction", true);
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// // rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
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leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
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if (SwerveDriveConstants.INVERT_X) leftStick = new Translation2d(-leftStick.getX(), leftStick.getY());
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if (SwerveDriveConstants.INVERT_Y) leftStick = new Translation2d(leftStick.getX(), -leftStick.getY());
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if (SwerveDriveConstants.INVERT_ROTATION) rightStick.times(-1);
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stopped = false;
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if (fieldRelative) {
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// ! drift correction
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if (rightStick.getNorm() > 0.05 || !SwerveDriveConstants.DRIFT_CORRECTION_ENABLED) {
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rotTarget = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d()).getRotation().getDegrees();
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swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
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.withVelocityX(leftStick.getX() * speedAdjust)
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.withVelocityY(leftStick.getY() * speedAdjust)
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.withRotationalRate(rightStick.getX() * rotSpeedAdjust));
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SmartDashboard.putBoolean("drift correction", false);
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} else {
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var ctrl = new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(leftStick.getX() * speedAdjust)
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.withVelocityY(leftStick.getY() * speedAdjust)
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.withTargetDirection(Rotation2d.fromDegrees(rotTarget));
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ctrl.HeadingController.setPID(
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SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kP,
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SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kI,
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SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kD
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);
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swerveDriveTrain.setControl(ctrl);
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SmartDashboard.putBoolean("drift correction", true);
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}
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// }
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// // SmartDashboard.putBoolean("drift correction", true);
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// // Use the left joystick to set speed. Apply a cubic curve and the set max speed.
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// Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
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// // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
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// // rot = ((rotTarget - gyro.getAngle()) / 360) *
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// SwerveDriveConstants.ROT_CORRECTION_SPEED;
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// // Convert field-relative speeds to robot-relative speeds.
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// // chassisSpeeds = chassisSpeeds.
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// chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction, gyro.getRotation2d().times(-1));
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} else { // Create robot-relative speeds.
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swerveDriveTrain.setControl(new SwerveRequest.RobotCentric()
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.withVelocityX(leftStick.getX()*speedAdjust)
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.withVelocityY(-leftStick.getY()*speedAdjust)
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.withRotationalRate(rightStick.getX()*rotSpeedAdjust)
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);
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}
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// }
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// // Use the left joystick to set speed. Apply a cubic curve and the set max
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// speed.
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// Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
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// // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00),
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// Math.pow(speed.getY(), 3.00));
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// // Convert field-relative speeds to robot-relative speeds.
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// // chassisSpeeds = chassisSpeeds.
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// chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 *
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// speed.getY(), (-1 * rightStick.getX() * rotSpeedAdjust) - rot_correction,
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// gyro.getRotation2d().times(-1));
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} else { // Create robot-relative speeds.
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swerveDriveTrain.setControl(new SwerveRequest.RobotCentric()
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.withVelocityX(leftStick.getX() * speedAdjust)
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.withVelocityY(-leftStick.getY() * speedAdjust)
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.withRotationalRate(rightStick.getX() * rotSpeedAdjust));
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}
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}
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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
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
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stopModules(); // stop the swerve
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) //if no imput
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return; // don't bother doing swerve drive math and return early.
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public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick) { // there is no practical
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// reason to have a robot
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// relitive version of
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// this, and no pre
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// provided version
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve
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// drive is still going:
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stopModules(); // stop the swerve
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leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
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swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(leftStick.getX()*speedAdjust)
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.withVelocityY(leftStick.getY()*speedAdjust)
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.withTargetDirection(rightStick.getAngle())
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);
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if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) // if no imput
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return; // don't bother doing swerve drive math and return early.
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leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
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swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(leftStick.getX() * speedAdjust)
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.withVelocityY(leftStick.getY() * speedAdjust)
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.withTargetDirection(rightStick.getAngle()));
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}
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public boolean rotateToTarget(double angle) {
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swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(0)
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.withVelocityY(0)
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.withTargetDirection(Rotation2d.fromDegrees(angle))
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);
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swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(0)
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.withVelocityY(0)
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.withTargetDirection(Rotation2d.fromDegrees(angle)));
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if (Math.abs(angle - getGyroAngle()) < 5.0) {
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return true;
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}
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if (Math.abs(angle - getGyroAngle()) < 5.0) {
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return true;
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}
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return false;
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return false;
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}
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public void driveWithInputRotation(Translation2d leftStick, Rotation2d rot) {
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// if (leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
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// stopModules(); // stop the swerve
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// if (leftStick.getNorm() < 0.05) //if no imput
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// return; // don't bother doing swerve drive math and return early.
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// if (leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the
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// swerve drive is still going:
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// stopModules(); // stop the swerve
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leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
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swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(leftStick.getX()*-speedAdjust)
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.withVelocityY(leftStick.getY()*speedAdjust)
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.withTargetDirection(rot)
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);
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// double
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// if (leftStick.getNorm() < 0.05) //if no imput
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// return; // don't bother doing swerve drive math and return early.
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leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
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swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
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.withVelocityX(leftStick.getX() * -speedAdjust)
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.withVelocityY(leftStick.getY() * speedAdjust)
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.withTargetDirection(rot));
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// double
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}
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public double getGyroAngle() {
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return swerveDriveTrain.getRotation3d().getAngle();
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return swerveDriveTrain.getRotation3d().getAngle();
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}
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public void resetGyro() {
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swerveDriveTrain.tareEverything();
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swerveDriveTrain.tareEverything();
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}
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public void stopModules() {
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swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
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}
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public void stopModules() {
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stopped = true;
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swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run\
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SmartDashboard.putNumber("Gyro", getGyroAngle());
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SmartDashboard.putNumber("RotTartget", rotTarget);
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// This method will be called once per scheduler run\
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SmartDashboard.putNumber("Gyro", getGyroAngle());
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SmartDashboard.putNumber("RotTartget", rotTarget);
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double time = Vision.getTime();
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double time = Vision.getTime();
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vision.setLastOdomPose(swerveDriveTrain.samplePoseAt(time));
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vision.setLastOdomPose(swerveDriveTrain.samplePoseAt(time));
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if(vision.isTag()){
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swerveDriveTrain.addVisionMeasurement(vision.getPose2d(), time);
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}
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if (vision.isTag()) {
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swerveDriveTrain.addVisionMeasurement(vision.getPose2d(), time);
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}
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// if(e.isPresent())
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// if(e.isPresent())
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}
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private void reset_index() {
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gear_index = SwerveDriveConstants.STARTING_GEAR; // however we wish to initialize the gear (What gear does the robot start in?)
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gear_index = SwerveDriveConstants.STARTING_GEAR; // however we wish to initialize the gear (What gear does the
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// robot start in?)
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}
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public void shiftDown() {
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if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length) reset_index(); // If outof bounds: reset index
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int i = gear_index - 1;
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if (i == -1) i = 0;
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setPercentOutput(SwerveDriveConstants.GEARS[i]);
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gear_index = i;
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if (gear_index == -1 || gear_index >= SwerveDriveConstants.GEARS.length)
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reset_index(); // If outof bounds: reset index
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int i = gear_index - 1;
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if (i == -1)
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i = 0;
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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;
|
||||
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;
|
||||
speedAdjust = SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * speed;
|
||||
gear_index = -1;
|
||||
}
|
||||
|
||||
public void setToSlow() {
|
||||
setPercentOutput(SwerveDriveConstants.SLOW_SPEED);
|
||||
gear_index = 0;
|
||||
setPercentOutput(SwerveDriveConstants.SLOW_SPEED);
|
||||
gear_index = 0;
|
||||
}
|
||||
|
||||
public void setToFast() {
|
||||
setPercentOutput(SwerveDriveConstants.FAST_SPEED);
|
||||
gear_index = 1;
|
||||
setPercentOutput(SwerveDriveConstants.FAST_SPEED);
|
||||
gear_index = 1;
|
||||
}
|
||||
|
||||
public void setToTurbo() {
|
||||
setPercentOutput(SwerveDriveConstants.TURBO_SPEED);
|
||||
gear_index = 2;
|
||||
setPercentOutput(SwerveDriveConstants.TURBO_SPEED);
|
||||
gear_index = 2;
|
||||
}
|
||||
|
||||
public void shiftUpRot() {
|
||||
rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
|
||||
rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
|
||||
}
|
||||
|
||||
public void shiftDownRot() {
|
||||
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
|
||||
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
|
||||
}
|
||||
|
||||
@Override
|
||||
public String getSubsystemName() {
|
||||
return "Swerve Drive Controller";
|
||||
return "Swerve Drive Controller";
|
||||
}
|
||||
|
||||
ShuffleboardLayout subsystemLayout = Shuffleboard.getTab("Subsystems")
|
||||
.getLayout(getSubsystemName(), BuiltInLayouts.kList)
|
||||
.withSize(2, 2);
|
||||
.getLayout(getSubsystemName(), BuiltInLayouts.kList)
|
||||
.withSize(2, 2);
|
||||
|
||||
GenericEntry sbGyro = subsystemLayout
|
||||
.add("Gyro angle", 0)
|
||||
.withWidget(BuiltInWidgets.kGyro)
|
||||
.getEntry();
|
||||
.add("Gyro angle", 0)
|
||||
.withWidget(BuiltInWidgets.kGyro)
|
||||
.getEntry();
|
||||
|
||||
GenericEntry sbShiftState = subsystemLayout
|
||||
.add("Shift State", 0)
|
||||
.withWidget(BuiltInWidgets.kNumberBar)
|
||||
.getEntry();
|
||||
.add("Shift State", 0)
|
||||
.withWidget(BuiltInWidgets.kNumberBar)
|
||||
.getEntry();
|
||||
|
||||
@Override
|
||||
public void queryStatus() {
|
||||
sbGyro.setDouble(getGyroAngle());
|
||||
sbShiftState.setDouble(this.speedAdjust);
|
||||
|
||||
//TODO: Add more status things
|
||||
sbGyro.setDouble(getGyroAngle());
|
||||
sbShiftState.setDouble(this.speedAdjust);
|
||||
|
||||
// TODO: Add more status things
|
||||
}
|
||||
|
||||
@Override
|
||||
public Status diagnosticStatus() {
|
||||
Status status = new Status();
|
||||
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;
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user