Initial commit

2026-06-09 08:38:00 -06:00 · 2024-12-09 08:01:09 -07:00
commit 9e4ab26005
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+/*
+ * MIT License
+ *
+ * Copyright (c) PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+package frc.robot;
+
+import static frc.robot.Constants.Vision.*;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.simulation.BatterySim;
+import edu.wpi.first.wpilibj.simulation.RoboRioSim;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc.robot.subsystems.drivetrain.SwerveDrive;
+import org.photonvision.PhotonCamera;
+import org.photonvision.PhotonUtils;
+
+public class Robot extends TimedRobot {
+    private SwerveDrive drivetrain;
+    private VisionSim visionSim;
+    private PhotonCamera camera;
+
+    private final double VISION_TURN_kP = 0.01;
+    private final double VISION_DES_ANGLE_deg = 0.0;
+    private final double VISION_STRAFE_kP = 0.5;
+    private final double VISION_DES_RANGE_m = 1.25;
+
+    private XboxController controller;
+
+    @Override
+    public void robotInit() {
+        drivetrain = new SwerveDrive();
+        camera = new PhotonCamera(kCameraName);
+
+        visionSim = new VisionSim(camera);
+
+        controller = new XboxController(0);
+    }
+
+    @Override
+    public void robotPeriodic() {
+        // Update drivetrain subsystem
+        drivetrain.periodic();
+
+        // Log values to the dashboard
+        drivetrain.log();
+    }
+
+    @Override
+    public void disabledPeriodic() {
+        drivetrain.stop();
+    }
+
+    @Override
+    public void teleopInit() {
+        resetPose();
+    }
+
+    @Override
+    public void teleopPeriodic() {
+        // Calculate drivetrain commands from Joystick values
+        double forward = -controller.getLeftY() * Constants.Swerve.kMaxLinearSpeed;
+        double strafe = -controller.getLeftX() * Constants.Swerve.kMaxLinearSpeed;
+        double turn = -controller.getRightX() * Constants.Swerve.kMaxAngularSpeed;
+
+        // Read in relevant data from the Camera
+        boolean targetVisible = false;
+        double targetYaw = 0.0;
+        double targetRange = 0.0;
+        var results = camera.getAllUnreadResults();
+        if (!results.isEmpty()) {
+            // Camera processed a new frame since last
+            // Get the last one in the list.
+            var result = results.get(results.size() - 1);
+            if (result.hasTargets()) {
+                // At least one AprilTag was seen by the camera
+                for (var target : result.getTargets()) {
+                    if (target.getFiducialId() == 7) {
+                        // Found Tag 7, record its information
+                        targetYaw = target.getYaw();
+                        targetRange =
+                                PhotonUtils.calculateDistanceToTargetMeters(
+                                        0.5, // Measured with a tape measure, or in CAD.
+                                        1.435, // From 2024 game manual for ID 7
+                                        Units.degreesToRadians(-30.0), // Measured with a protractor, or in CAD.
+                                        Units.degreesToRadians(target.getPitch()));
+
+                        targetVisible = true;
+                    }
+                }
+            }
+        }
+
+        // Auto-align when requested
+        if (controller.getAButton() && targetVisible) {
+            // Driver wants auto-alignment to tag 7
+            // And, tag 7 is in sight, so we can turn toward it.
+            // Override the driver's turn and fwd/rev command with an automatic one
+            // That turns toward the tag, and gets the range right.
+            turn =
+                    (VISION_DES_ANGLE_deg - targetYaw) * VISION_TURN_kP * Constants.Swerve.kMaxAngularSpeed;
+            forward =
+                    (VISION_DES_RANGE_m - targetRange) * VISION_STRAFE_kP * Constants.Swerve.kMaxLinearSpeed;
+        }
+
+        // Command drivetrain motors based on target speeds
+        drivetrain.drive(forward, strafe, turn);
+
+        // Put debug information to the dashboard
+        SmartDashboard.putBoolean("Vision Target Visible", targetVisible);
+        SmartDashboard.putNumber("Vision Target Range (m)", targetRange);
+    }
+
+    @Override
+    public void simulationPeriodic() {
+        // Update drivetrain simulation
+        drivetrain.simulationPeriodic();
+
+        // Update camera simulation
+        visionSim.simulationPeriodic(drivetrain.getSimPose());
+
+        var debugField = visionSim.getSimDebugField();
+        debugField.getObject("EstimatedRobot").setPose(drivetrain.getPose());
+        debugField.getObject("EstimatedRobotModules").setPoses(drivetrain.getModulePoses());
+
+        // Calculate battery voltage sag due to current draw
+        var batteryVoltage =
+                BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw());
+
+        // Using max(0.1, voltage) here isn't a *physically correct* solution,
+        // but it avoids problems with battery voltage measuring 0.
+        RoboRioSim.setVInVoltage(Math.max(0.1, batteryVoltage));
+    }
+
+    public void resetPose() {
+        // Example Only - startPose should be derived from some assumption
+        // of where your robot was placed on the field.
+        // The first pose in an autonomous path is often a good choice.
+        var startPose = new Pose2d(1, 1, new Rotation2d());
+        drivetrain.resetPose(startPose, true);
+        visionSim.resetSimPose(startPose);
+    }
+}