Initial commit

2026-06-09 00:28:06 -06:00 · 2024-12-09 08:01:09 -07:00
commit 9e4ab26005
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+#!/usr/bin/env python3
+###################################################################################
+# 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.
+###################################################################################
+
+import math
+
+import drivetrain
+import wpilib
+from photonlibpy import PhotonCamera
+
+VISION_TURN_kP = 0.01
+VISION_DES_ANGLE_deg = 0.0
+VISION_STRAFE_kP = 0.5
+VISION_DES_RANGE_m = 1.25
+CAM_MOUNT_HEIGHT_m = 0.5  # Measured with a tape measure, or in CAD
+CAM_MOUNT_PITCH_deg = -30.0  # Measured with a protractor, or in CAD
+TAG_7_MOUNT_HEIGHT_m = 1.435  # From the 2024 game manual
+
+
+class MyRobot(wpilib.TimedRobot):
+    def robotInit(self) -> None:
+        """Robot initialization function"""
+        self.controller = wpilib.XboxController(0)
+        self.swerve = drivetrain.Drivetrain()
+        self.cam = PhotonCamera("YOUR CAMERA NAME")
+
+    def robotPeriodic(self) -> None:
+        self.swerve.updateOdometry()
+        self.swerve.log()
+
+    def teleopPeriodic(self) -> None:
+        xSpeed = -1.0 * self.controller.getLeftY() * drivetrain.kMaxSpeed
+        ySpeed = -1.0 * self.controller.getLeftX() * drivetrain.kMaxSpeed
+        rot = -1.0 * self.controller.getRightX() * drivetrain.kMaxAngularSpeed
+
+        # Get information from the camera
+        targetYaw = 0.0
+        targetRange = 0.0
+        targetVisible = False
+        results = self.cam.getAllUnreadResults()
+        if len(results) > 0:
+            result = results[-1]  # take the most recent result the camera had
+            # At least one apriltag was seen by the camera
+            for target in result.getTargets():
+                if target.getFiducialId() == 7:
+                    # Found tag 7, record its information
+                    targetVisible = True
+                    targetYaw = target.getYaw()
+                    heightDelta = CAM_MOUNT_HEIGHT_m - TAG_7_MOUNT_HEIGHT_m
+                    angleDelta = math.radians(CAM_MOUNT_PITCH_deg - target.getPitch())
+                    targetRange = heightDelta / math.tan(angleDelta)
+
+        if self.controller.getAButton() and 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 x-vel command with
+            # an automatic one that turns toward the tag
+            # and puts us at the right distance
+            rot = (
+                (VISION_DES_ANGLE_deg - targetYaw)
+                * VISION_TURN_kP
+                * drivetrain.kMaxAngularSpeed
+            )
+            xSpeed = (
+                (VISION_DES_RANGE_m - targetRange)
+                * VISION_STRAFE_kP
+                * drivetrain.kMaxSpeed
+            )
+
+        self.swerve.drive(xSpeed, ySpeed, rot, True, self.getPeriod())
+
+    def _simulationPeriodic(self) -> None:
+        self.swerve.simulationPeriodic()
+        return super()._simulationPeriodic()