From 560dda1f5822abd3f9f53fdaf8589b28d4d55755 Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Mon, 13 Jul 2020 14:54:42 -0600 Subject: [PATCH] rebuilt all paths, flipped odometry in auto (janky) Mostly untested --- PathWeaver/Groups/Test Auto | 1 + PathWeaver/Groups/Unnamed | 1 + PathWeaver/Paths/SixBallMid0 | 2 +- PathWeaver/Paths/Unnamed.path | 3 ++ PathWeaver/Paths/Unnamed_0.path | 3 ++ PathWeaver/pathweaver.json | 5 +- .../paths/DriveOffLineBackward.wpilib.json | 2 +- .../paths/DriveOffLineForward.wpilib.json | 2 +- .../deploy/paths/EightBallMid0.wpilib.json | 2 +- .../deploy/paths/EightBallMid1.wpilib.json | 2 +- .../deploy/paths/EightBallMid2.wpilib.json | 2 +- .../paths/EightBallMidComplete.wpilib.json | 2 +- .../paths/FiveBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid0.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid1.wpilib.json | 2 +- .../paths/SixBallMidComplete.wpilib.json | 2 +- .../paths/TenBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/Unnamed.wpilib.json | 1 + src/main/deploy/paths/Unnamed_0.wpilib.json | 1 + .../java/frc4388/robot/RobotContainer.java | 13 +++-- .../commands/auto/SixBallAutoMiddle.java | 21 ++++++++- .../java/frc4388/robot/subsystems/Drive.java | 47 +++++++++++++++---- 22 files changed, 90 insertions(+), 30 deletions(-) create mode 100644 PathWeaver/Groups/Test Auto create mode 100644 PathWeaver/Groups/Unnamed create mode 100644 PathWeaver/Paths/Unnamed.path create mode 100644 PathWeaver/Paths/Unnamed_0.path create mode 100644 src/main/deploy/paths/Unnamed.wpilib.json create mode 100644 src/main/deploy/paths/Unnamed_0.wpilib.json diff --git a/PathWeaver/Groups/Test Auto b/PathWeaver/Groups/Test Auto new file mode 100644 index 0000000..0710387 --- /dev/null +++ b/PathWeaver/Groups/Test Auto @@ -0,0 +1 @@ +DriveOffLineForward diff --git a/PathWeaver/Groups/Unnamed b/PathWeaver/Groups/Unnamed new file mode 100644 index 0000000..8cab461 --- /dev/null +++ b/PathWeaver/Groups/Unnamed @@ -0,0 +1 @@ +Unnamed_0.path diff --git a/PathWeaver/Paths/SixBallMid0 b/PathWeaver/Paths/SixBallMid0 index c392449..38bda85 100644 --- a/PathWeaver/Paths/SixBallMid0 +++ b/PathWeaver/Paths/SixBallMid0 @@ -1,3 +1,3 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -3.2,-2.4,0.2,2.5,true, +3.2,-2.4,-0.0023621783990721568,2.1247596755680735,true, 5.006107200045366,-1.3,2.0,0.0,true, diff --git a/PathWeaver/Paths/Unnamed.path b/PathWeaver/Paths/Unnamed.path new file mode 100644 index 0000000..17bb9b1 --- /dev/null +++ b/PathWeaver/Paths/Unnamed.path @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +0.0,0.0,3.048,0.0,true, +3.048,-3.048,0.0,-3.048,true, diff --git a/PathWeaver/Paths/Unnamed_0.path b/PathWeaver/Paths/Unnamed_0.path new file mode 100644 index 0000000..1c2dfb3 --- /dev/null +++ b/PathWeaver/Paths/Unnamed_0.path @@ -0,0 +1,3 @@ +X,Y,Tangent X,Tangent Y,Fixed Theta,Name +3.1500465221681786,-2.464440098338352,-0.011897824858186468,1.76087807901169,true, +7.825891691435707,-1.3460445616687653,3.4265735591578856,0.059489124290935,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index ddd52e0..0f638bc 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -1,8 +1,7 @@ { "lengthUnit": "Meter", - "exportUnit": "Always Meters", - "maxVelocity": 1.7, - "maxAcceleration": 2.7, + "maxVelocity": 1.5, + "maxAcceleration": 2.5, "wheelBase": 0.648, "gameName": "Infinite Recharge", "outputDir": ".." diff --git a/src/main/deploy/paths/DriveOffLineBackward.wpilib.json b/src/main/deploy/paths/DriveOffLineBackward.wpilib.json index 25c61f9..4025efd 100644 --- a/src/main/deploy/paths/DriveOffLineBackward.wpilib.json +++ b/src/main/deploy/paths/DriveOffLineBackward.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 940694c..1720c3b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.RobotDrive; import edu.wpi.first.wpilibj.controller.RamseteController; import edu.wpi.first.wpilibj.geometry.Pose2d; import edu.wpi.first.wpilibj.geometry.Rotation2d; @@ -316,7 +317,9 @@ public class RobotContainer { //resetOdometry(new Pose2d(0, 0, new Rotation2d(180))); String[] sixBallAutoMiddlePaths = new String[]{ - "SixBallMidComplete" + "SixBallMid0", + "SixBallMid1" + //"Unnamed_0" }; m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths)); @@ -369,12 +372,12 @@ public class RobotContainer { try { SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto); - //return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_driveOffLinfeBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); - return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); } catch (Exception e) { System.err.println("ERROR"); @@ -382,6 +385,7 @@ public class RobotContainer { return new InstantCommand(); } + TrajectoryConfig getTrajectoryConfig() { return new TrajectoryConfig( DriveConstants.MAX_SPEED_METERS_PER_SECOND, @@ -432,7 +436,8 @@ public class RobotContainer { SmartDashboard.putString("trajectoryPath Initial", trajectoryPath.toString()); Trajectory trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath); - initialTrajectory = trajectory; + //Transform2d transform = m_robotDrive.getPose().minus(trajectory.getInitialPose()); + initialTrajectory = trajectory;//.transformBy(transform); RamseteCommand ramseteCommand = getRamseteCommand(trajectory.relativeTo(initialTrajectory.getInitialPose())); ramseteCommands[0] = ramseteCommand; diff --git a/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java b/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java index 9900c65..e66cca7 100644 --- a/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java +++ b/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java @@ -10,8 +10,10 @@ package frc4388.robot.commands.auto; import java.nio.file.Path; import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.geometry.Pose2d; import edu.wpi.first.wpilibj.trajectory.Trajectory; import edu.wpi.first.wpilibj.trajectory.TrajectoryUtil; +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import frc4388.robot.RobotContainer; @@ -27,9 +29,24 @@ public class SixBallAutoMiddle extends SequentialCommandGroup { public SixBallAutoMiddle(Drive drive, RamseteCommand[] paths) { // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); - + + /* TODO + * Flip line 41 to true, and test positive and negative directions with smart dash + * If those match to the picture on Ryan's phone, figure out what else could be wrong + * If they don't match, make them match + * Sincerly, Past Ryan and Keenan + */ addCommands( - paths[0] + new InstantCommand(() -> drive.getPose(), drive), + new InstantCommand(() -> drive.SetHeading(true), drive), + new InstantCommand(() -> drive.updatePosition(), drive), + new InstantCommand(() -> drive.setOdometry(drive.savedOdometry), drive), + paths[0], + paths[1], + new InstantCommand(() -> drive.getPose(), drive), + new InstantCommand(() -> drive.SetHeading(false), drive), + new InstantCommand(() -> drive.updatePosition(), drive), + new InstantCommand(() -> drive.setOdometry(drive.savedOdometry), drive) ); } } diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 5860235..fd05afb 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -162,7 +162,7 @@ public class Drive extends SubsystemBase { m_leftBackMotor.config_kI(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kI, DriveConstants.DRIVE_TIMEOUT_MS); m_leftBackMotor.config_kD(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kD, DriveConstants.DRIVE_TIMEOUT_MS); m_leftBackMotor.configClosedLoopPeakOutput(DriveConstants.SLOT_VELOCITY, m_gainsVelocityBack.m_kPeakOutput, DriveConstants.DRIVE_TIMEOUT_MS); - + /* Reset Sensors for WPI_TalonFXs */ resetEncoders(); @@ -339,9 +339,15 @@ public class Drive extends SubsystemBase { m_totalRightDistanceInches += ticksToInches(m_currentRightPosTicks - m_lastRightPosTicks); m_totalLeftDistanceInches += ticksToInches(m_currentLeftPosTicks - m_lastLeftPosTicks); - m_odometry.update(Rotation2d.fromDegrees( getHeading()), + if (m_isFront) { + m_odometry.update(Rotation2d.fromDegrees( getHeading()), + inchesToMeters(getDistanceInches(m_rightFrontMotor)), + -inchesToMeters(getDistanceInches(m_leftFrontMotor))); + } else { + m_odometry.update(Rotation2d.fromDegrees( getHeading()), inchesToMeters(getDistanceInches(m_leftFrontMotor)), -inchesToMeters(getDistanceInches(m_rightFrontMotor))); + } } /** @@ -461,8 +467,18 @@ public class Drive extends SubsystemBase { // m_currentAngleYaw+(360)); // double targetGyro = (m_kinematicsTargetAngle / 360) * // DriveConstants.TICKS_PER_GYRO_REV; - double moveVelLeft = inchesToTicks(metersToInches(leftSpeed)) / DriveConstants.SECONDS_TO_TICK_TIME; - double moveVelRight = inchesToTicks(metersToInches(rightSpeed)) / DriveConstants.SECONDS_TO_TICK_TIME; + double moveVelRight; + double moveVelLeft; + if (m_isFront) + { + moveVelRight = -inchesToTicks(metersToInches(leftSpeed)) / DriveConstants.SECONDS_TO_TICK_TIME; + moveVelLeft = -inchesToTicks(metersToInches(rightSpeed)) / DriveConstants.SECONDS_TO_TICK_TIME; + } + else + { + moveVelLeft = inchesToTicks(metersToInches(leftSpeed)) / DriveConstants.SECONDS_TO_TICK_TIME; + moveVelRight = inchesToTicks(metersToInches(rightSpeed)) / DriveConstants.SECONDS_TO_TICK_TIME; + } // SmartDashboard.putNumber("Move Vel Left", moveVelLeft); // SmartDashboard.putNumber("Move Vel Right", moveVelRight); @@ -480,6 +496,12 @@ public class Drive extends SubsystemBase { m_driveTrain.feedWatchdog(); } + boolean m_isFront; + public void SetHeading (boolean isFront) + { + m_isFront = isFront; + } + /** * Selects a song to play! * @@ -613,7 +635,14 @@ public class Drive extends SubsystemBase { * @return The robot's heading in degrees, from -180 to 180 */ public double getHeading() { - return Math.IEEEremainder(getGyroYaw(), 360); + if (m_isFront) + { + return Math.IEEEremainder(getGyroYaw()+180, 360); + } + else + { + return Math.IEEEremainder(getGyroYaw(), 360); + } } /** @@ -627,13 +656,15 @@ public class Drive extends SubsystemBase { return turnRate; } + public Pose2d savedOdometry; /** * Returns the currently-estimated pose of the robot. * * @return The pose. */ public Pose2d getPose() { - return m_odometry.getPoseMeters(); + savedOdometry = m_odometry.getPoseMeters(); + return savedOdometry; } /** @@ -910,7 +941,7 @@ public class Drive extends SubsystemBase { //SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN)); SmartDashboard.putString("Odometry Values Meters", getPose().toString()); - //SmartDashboard.putNumber("Odometry Heading", getHeading()); + SmartDashboard.putNumber("Odometry Heading", getHeading()); //SmartDashboard.putNumber("Time Seconds", m_currentTimeSec); //SmartDashboard.putNumber("Delta Time", m_deltaTimeMs); @@ -926,6 +957,4 @@ public class Drive extends SubsystemBase { // e.printStackTrace(System.err); } } - - }