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[ + "proc-macro2", + "quote", + "syn 2.0.72", +] + +[[package]] +name = "zune-core" +version = "0.4.12" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3f423a2c17029964870cfaabb1f13dfab7d092a62a29a89264f4d36990ca414a" + +[[package]] +name = "zune-inflate" +version = "0.2.54" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "73ab332fe2f6680068f3582b16a24f90ad7096d5d39b974d1c0aff0125116f02" +dependencies = [ + "simd-adler32", +] + +[[package]] +name = "zune-jpeg" +version = "0.4.13" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "16099418600b4d8f028622f73ff6e3deaabdff330fb9a2a131dea781ee8b0768" +dependencies = [ + "zune-core", +] diff --git a/Cargo.toml b/Cargo.toml index 4663322..8e70035 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -5,3 +5,5 @@ edition = "2021" [dependencies] piston_window = "0.132.0" +tokio = { version = "1.39.2", features = ["rt", "rt-multi-thread", "macros"] } +find_folder = "*" \ No newline at end of file diff --git a/assets/UbuntuMonoNerdFont-Regular.ttf b/assets/UbuntuMonoNerdFont-Regular.ttf new file mode 100644 index 0000000..53866c4 Binary files /dev/null and b/assets/UbuntuMonoNerdFont-Regular.ttf differ diff --git a/src/main.rs b/src/main.rs index e96312f..7a8d055 100644 --- a/src/main.rs +++ b/src/main.rs @@ -1,44 +1,310 @@ mod swerve_math; mod swervemodule; +mod pid; extern crate piston_window; +use std::thread; +use std::time::Duration; use piston_window::*; +use piston_window::math::Scalar; use piston_window::rectangle::square; +use piston_window::types::Color; +use crate::swerve_math::{degrees_to_radians, get_heading, get_heading_x, get_heading_y, Vector2d}; +use crate::swervemodule::SwerveModule; -fn main() { - let mut window: PistonWindow = WindowSettings::new("Line Drawing", [512, 512]) + +static SCREEN_SQUARE_SIZE:u32 = 1024; +static SWERVE_CENTER_DISTANCE:u32 = SCREEN_SQUARE_SIZE/8; + +static XY_ACCEL:f32 = 0.2; +static ROT_ACCEL:f32 = 0.001; +static MAX_ROT_VEL:f32 = 32.; + +static VECTOR_SCALE:f32 = 20.; + +static XY_FRICTION:f32 = 0.95; +static ROT_FRICTION:f32 = 0.998; +// static mut TIME: u64 = 0; + + +struct but { + key_w: bool, + key_a: bool, + key_s: bool, + key_d: bool, + + key_q: bool, + key_e: bool, +} + +static mut BUTTONS: but = but { + key_w: false, key_a: false, key_s: false, key_d: false, key_q: false, key_e: false, +}; + +static mut VEL_X: f32 = 0.; +static mut VEL_Y: f32 = 0.; +static mut VEL_R: f32 = 0.; + +static mut POS_X: f32 = 0.; +static mut POS_Y: f32 = 0.; +static mut POS_R: f32 = 0.; + +static mut W1:SwerveModule = SwerveModule::new(1); +static mut W2:SwerveModule = SwerveModule::new(2); +static mut W3:SwerveModule = SwerveModule::new(3); +static mut W4:SwerveModule = SwerveModule::new(4); + + + + +static mut TARGET_R: f32 = 0.; +static mut TARGET_R_DELTA: f32 = 2.; + +#[tokio::main] +async fn main() { + + let mut window: PistonWindow = WindowSettings::new("Line Drawing", [SCREEN_SQUARE_SIZE, SCREEN_SQUARE_SIZE]) .exit_on_esc(true) .build() .unwrap(); + let assets = find_folder::Search::ParentsThenKids(3, 3) + .for_folder("assets").unwrap(); + let ref font = assets.join("UbuntuMonoNerdFont-Regular.ttf"); + let mut glyphs = window.load_font(font).unwrap(); + fn draw_vertical_line(pos_x: f32, c: &Context, mut g: &mut G2d){ + let mut x = -pos_x % SCREEN_SQUARE_SIZE as f32; + if x < 0. {x += SCREEN_SQUARE_SIZE as f32} + + line(color::GRAY, 1., [ + x as f64, + 0., + x as f64, + SCREEN_SQUARE_SIZE as f64, + ], c.transform, g); + } + + fn draw_horizontal_line(pos_y: f32, c: &Context, mut g: &mut G2d){ + let mut y = -pos_y % SCREEN_SQUARE_SIZE as f32; + if y < 0. {y += SCREEN_SQUARE_SIZE as f32} + + line(color::GRAY, 1., [ + 0., + y as f64, + SCREEN_SQUARE_SIZE as f64, + y as f64, + ], c.transform, g); + } + + async unsafe fn update() { + // let mut pid_x: pid::PIDController = pid::PIDController::new( + // 2., + // 0.1, + // 9., + // 0. + // ); + // + // let mut pid_y: pid::PIDController = pid::PIDController::new( + // 2., + // 0.1, + // 9., + // 0. + // ); + + let mut pid_rot: pid::PIDController = pid::PIDController::new( + 5.0, + 0.1, + 100., + 0. + ); + + + loop { + if BUTTONS.key_w { + VEL_Y -= (XY_ACCEL); + } else if BUTTONS.key_s { + VEL_Y += (XY_ACCEL); + } + + if BUTTONS.key_a { + VEL_X -= (XY_ACCEL); + } else if BUTTONS.key_d { + VEL_X += (XY_ACCEL); + } + + if BUTTONS.key_q { + TARGET_R -= TARGET_R_DELTA; + pid_rot.set_setpoint(TARGET_R as f64); + } else if BUTTONS.key_e { + TARGET_R += TARGET_R_DELTA; + pid_rot.set_setpoint(TARGET_R as f64); + } + + + + + + VEL_R += ROT_ACCEL*pid_rot.update(POS_R as f64, 1.) as f32; + + + VEL_R = f32::clamp(VEL_R, -MAX_ROT_VEL, MAX_ROT_VEL); + + VEL_X *= XY_FRICTION; + VEL_Y *= XY_FRICTION; + VEL_R *= ROT_FRICTION; + + // println!("{}", VEL_R); + + POS_X += VEL_X; + POS_Y += VEL_Y; + POS_R += VEL_R; + + + + W1.swerve_rot = POS_R; + W2.swerve_rot = POS_R; + W3.swerve_rot = POS_R; + W4.swerve_rot = POS_R; + + + //Obtain joystick data and define the heading + let joyHeading = (get_heading(VEL_X, VEL_Y)); + let heading = joyHeading + POS_R; + let speed = swerve_math::get_joystick_speed(VEL_X, VEL_Y); + + //Define the steering vector components and the max vector length + let xr = VEL_R * f32::cos(degrees_to_radians(45.)); // /2D normally + let yr = VEL_R * f32::sin(degrees_to_radians(45.)); // /2D normally + + //Calculate the vectors for all wheels + let x = get_heading_x(heading); + let y = get_heading_y(heading); + + + W1.vec.set((x*speed + xr) * VECTOR_SCALE, (y*speed + yr) * VECTOR_SCALE); + W2.vec.set((x*speed + xr) * VECTOR_SCALE, (y*speed - yr) * VECTOR_SCALE); + W3.vec.set((x*speed - xr) * VECTOR_SCALE, (y*speed - yr) * VECTOR_SCALE); + W4.vec.set((x*speed - xr) * VECTOR_SCALE, (y*speed + yr) * VECTOR_SCALE); + + println!("{}", W1.vec.x); + + W1.vec.rotate(POS_R); + W2.vec.rotate(POS_R); + W3.vec.rotate(POS_R); + W4.vec.rotate(POS_R); + + thread::sleep(Duration::from_millis(10)); + // TIME += 1; + } + } + + let thread = tokio::spawn(unsafe { update() }); + while let Some(event) = window.next() { - if let Some(Button::Keyboard(key)) = event.press_args() { - println!("Key pressed: {:?}", key); - if key.code() == 113 {break;} - } - - if let Some(Button::Mouse(key)) = event.press_args() { - println!("Key pressed: {:?}", key); - } - - window.draw_2d(&event, |c, g, _d| { + window.draw_2d(&event, |c, g, _d| unsafe { clear(color::BLACK, g); - // Ellipse::new_border(color::WHITE, 1.0).draw( - // rectangle::centered_square(10.0, 10.0, 50.0), - // &c.draw_state, - // c.transform, - // g, - // ); - swervemodule::SwerveModule::draw(&c,); - - Rectangle::new_border(color::WHITE, 1.0).draw(square(0.0, 0.0, 512.0), &c.draw_state, c.transform, g); + line(color::RED, 1., [ + SCREEN_SQUARE_SIZE as f64/2., + SCREEN_SQUARE_SIZE as f64/2., + (f32::cos(degrees_to_radians(TARGET_R as f32)) * SWERVE_CENTER_DISTANCE as f32 + (SCREEN_SQUARE_SIZE/2) as f32) as f64, + (f32::sin(degrees_to_radians(TARGET_R as f32)) * SWERVE_CENTER_DISTANCE as f32 + (SCREEN_SQUARE_SIZE/2) as f32) as f64, + ], c.transform, g); + draw_horizontal_line(POS_Y, &c, g); + draw_horizontal_line(POS_Y + SCREEN_SQUARE_SIZE as f32 /2., &c, g); + draw_vertical_line(POS_X, &c, g); + draw_vertical_line(POS_X + SCREEN_SQUARE_SIZE as f32 /2., &c, g); + + // if ROBO_RELATIVE { + SwerveModule::draw(&mut W1, &c, g, + ((f32::cos(degrees_to_radians(POS_R - 45.)) * SWERVE_CENTER_DISTANCE as f32) + (SCREEN_SQUARE_SIZE/2) as f32) as u32, + ((f32::sin(degrees_to_radians(POS_R - 45.)) * SWERVE_CENTER_DISTANCE as f32) + (SCREEN_SQUARE_SIZE/2) as f32) as u32); + + SwerveModule::draw(&mut W2, &c, g, + ((f32::cos(degrees_to_radians(POS_R - 135.)) * SWERVE_CENTER_DISTANCE as f32) + (SCREEN_SQUARE_SIZE/2) as f32) as u32, + ((f32::sin(degrees_to_radians(POS_R - 135.)) * SWERVE_CENTER_DISTANCE as f32) + (SCREEN_SQUARE_SIZE/2) as f32) as u32); + + SwerveModule::draw(&mut W3, &c, g, + ((f32::cos(degrees_to_radians(POS_R + 135.)) * SWERVE_CENTER_DISTANCE as f32) + (SCREEN_SQUARE_SIZE/2) as f32) as u32, + ((f32::sin(degrees_to_radians(POS_R + 135.)) * SWERVE_CENTER_DISTANCE as f32) + (SCREEN_SQUARE_SIZE/2) as f32) as u32); + + SwerveModule::draw(&mut W4, &c, g, + ((f32::cos(degrees_to_radians(POS_R + 45.)) * SWERVE_CENTER_DISTANCE as f32) + (SCREEN_SQUARE_SIZE/2) as f32) as u32, + ((f32::sin(degrees_to_radians(POS_R + 45.)) * SWERVE_CENTER_DISTANCE as f32) + (SCREEN_SQUARE_SIZE/2) as f32) as u32); + + + draw_text(&c, g, &mut glyphs, color::WHITE, 0., 15., format!("POS: [{},{}] VEL_XY: [{},{}]", POS_X, POS_Y, VEL_X, VEL_Y).as_str()); + draw_text(&c, g, &mut glyphs, color::WHITE, 0., 30., format!("ROT: {} VEL_ROT: {}", POS_R, VEL_R).as_str()); + + Rectangle::new_border(color::WHITE, 1.0).draw(square(0.0, 0.0, SCREEN_SQUARE_SIZE as Scalar), &c.draw_state, c.transform, g); + + glyphs.factory.encoder.flush(_d); }); + + unsafe { + if let Some(Button::Keyboard(key)) = event.press_args() { + if key.code() == 119 { + BUTTONS.key_w = true; + } else if (key.code() == 97) { + BUTTONS.key_a = true; + } else if (key.code() == 115) { + BUTTONS.key_s = true; + } else if (key.code() == 100) { + BUTTONS.key_d = true; + } else if (key.code() == 113) { + BUTTONS.key_q = true; + } else if (key.code() == 101) { + BUTTONS.key_e = true; + } else if key.code() == 114 { + // ROBO_RELATIVE = !ROBO_RELATIVE; + } else if key.code() == 120 { + thread.abort(); + break; + } + } + + if let Some(Button::Keyboard(key)) = event.release_args() { + if key.code() == 119 { + BUTTONS.key_w = false; + } else if (key.code() == 97) { + BUTTONS.key_a = false; + } else if (key.code() == 115) { + BUTTONS.key_s = false; + } else if (key.code() == 100) { + BUTTONS.key_d = false; + } else if (key.code() == 113) { + BUTTONS.key_q = false; + } else if (key.code() == 101) { + BUTTONS.key_e = false; + } + } + } } +} + +pub fn draw_text( + ctx: &Context, + graphics: &mut G2d, + glyphs: &mut Glyphs, + color: Color, + x: f64, + y: f64, + text: &str, +) { + text::Text::new_color(color, 15 + ) + .draw( + text, + glyphs, + &ctx.draw_state, + ctx.transform.trans(x,y), + graphics, + ) + .unwrap(); } \ No newline at end of file diff --git a/src/pid.rs b/src/pid.rs new file mode 100644 index 0000000..90468e7 --- /dev/null +++ b/src/pid.rs @@ -0,0 +1,44 @@ +pub(crate) struct PIDController { + pub kp: f64, + pub ki: f64, + pub kd: f64, + setpoint: f64, + integral: f64, + prev_error: f64, +} + +impl PIDController { + pub(crate) fn new(kp: f64, ki: f64, kd: f64, setpoint: f64) -> Self { + PIDController { + kp, + ki, + kd, + setpoint, + integral: 0.0, + prev_error: 0.0, + } + } + + pub fn update(&mut self, process_variable: f64, dt: f64) -> f64 { + let error = self.setpoint - process_variable; + + // Proportional term + let p = self.kp * error; + + // Integral term + self.integral += error * dt; + let i = self.ki * self.integral; + + // Derivative term + let d = self.kd * (error - self.prev_error) / dt; + + self.prev_error = error; + + // Calculate and return the control output + p + i + d + } + + pub fn set_setpoint(&mut self, setpoint: f64) { + self.setpoint = setpoint; + } +} \ No newline at end of file diff --git a/src/swerve_math.rs b/src/swerve_math.rs index 33ee2fb..0f48edf 100644 --- a/src/swerve_math.rs +++ b/src/swerve_math.rs @@ -3,19 +3,25 @@ use std::f32::consts::PI; //https://github.com/Pantherbotics/SwerveSim/blob/master/src/main/java/com/pantherbotics/swervesim/util/Vector2d.java #[derive(Clone, Copy)] pub struct Vector2d { - x: f32, - y: f32 + pub(crate) x: f32, + pub(crate) y: f32 } impl Vector2d { - pub fn create(mut self, x:f32, y:f32) { + pub const fn create(mut self, x:f32, y:f32) { self.x = x; self.y = y; } - pub fn rotate(mut self, angle: f32) { - let cos_a:f32 = f32::cos(angle * (PI / 180.0)); - let sin_a:f32 = f32::sin(angle * (PI / 180.0)); - self.x = self.x * cos_a - self.y * sin_a; - self.y = self.x * sin_a + self.y * cos_a; + + pub fn set(&mut self, x:f32, y:f32) { + self.x = x; + self.y = y; + } + + pub fn rotate(&mut self, angle: f32) { + let mag = f32::sqrt(self.x*self.x+self.y*self.y); + let ang = ((f32::atan2(self.y, self.x) + degrees_to_radians(angle))); + self.x = f32::cos(ang)*mag; + self.y = f32::sin(ang)*mag; } /** @@ -24,7 +30,7 @@ impl Vector2d { * @param vec Vector with which to perform dot product. * @return Dot product of this vector with argument. */ - pub fn dot(mut self, vec: Vector2d) -> f32 { + pub fn dot(&mut self, vec: Vector2d) -> f32 { return self.x * vec.x + self.y * vec.y; } @@ -104,7 +110,7 @@ pub fn get_heading_x(mut angle:f32) -> f32 { * The angles are in degrees from getHeading() * @param angle The angle (from getHeading()) to get the Y value for */ -pub fn getHeadingY(mut angle:f32) -> f32 { +pub fn get_heading_y(mut angle:f32) -> f32 { //Ensure values are [0, 360) while angle > 360. { angle -= 360.; } while angle < 0. { angle += 360.; } @@ -141,8 +147,8 @@ pub fn approach_zero(value:f32, shift:f32) -> f32 { * @param X the X of a coordinate [-1, 1] * @param Y the Y of a coordinate [-1, 1] */ -pub fn get_joystick_speed(Y:f32, X:f32) -> f32 { - let mut v: Vector2d = Vector2d {x:X, y:Y}; +pub fn get_joystick_speed(y:f32, x:f32) -> f32 { + let mut v: Vector2d = Vector2d {x:x, y:y}; let angle = f32::atan2(v.x, v.y); let max_magnitude = if f32::abs(v.x) > f32::abs(v.y) {1. / f32::sin(angle)} else {1. / f32::cos(angle)}; diff --git a/src/swervemodule.rs b/src/swervemodule.rs index 21263b3..fa2a367 100644 --- a/src/swervemodule.rs +++ b/src/swervemodule.rs @@ -1,46 +1,70 @@ -use piston_window::{color, Context, Ellipse, G2d, rectangle}; +use piston_window::{color, Context, Ellipse, G2d, Line, line, rectangle}; +use piston_window::math::Scalar; use crate::swerve_math; +use crate::swerve_math::{get_heading, get_heading_x, get_heading_y, Vector2d}; +#[derive(Clone, Copy)] pub struct SwerveModule { - id:i32, - w:i32, - h: i32, - swerve_rot: f32 + pub(crate) id:i32, + pub(crate) swerve_rot: f32, + pub(crate) vec: Vector2d, + + // pub(crate) vec_x: f32, + // pub(crate) vec_y: f32, + // pub(crate) vec_speed: f32, + // pub(crate) vec_angle: f32, } impl SwerveModule { - - /** - * Draws the wheel vector given wheel data and screen data. - * @param g the Graphics2D object to draw with - * @param angle the angle of the wheel, in degrees - * @param speed the speed of the wheel [-1, 1] - * @param font the font size currently in use - * @param startFactor the factor [0, 1] to start the vector at, when scaling towards the center - * @param width the width of the swerve box (in pixels) - * @param height the height of the swerve box (in pixels) - * @param vecScale the scalar for the wheel vector - */ - pub fn draw(c: &Context, mut g: &mut G2d, - angle:f32, speed:f32, font:i32, startFactor:f32, width:f32, height:f32, vecScale:f32) { + pub const fn new(id: i32) -> Self { + SwerveModule { + id:id, + swerve_rot:0., + vec:Vector2d {x:0.,y:0.} + } + } + pub fn draw(&mut self, c: &Context, mut g: &mut G2d, screen_x:u32, screen_y:u32) { // pub fn draw(c: &Context, mut g: &mut G2d) { Ellipse::new_border(color::WHITE, 1.0).draw( - rectangle::centered_square(10.0, 10.0, 50.0), + rectangle::centered_square(screen_x as Scalar, screen_y as Scalar, 50.0), &c.draw_state, c.transform, g, ); + + // let vec_x = get_heading_x(self.vec_angle) * 50.; + // let vec_y = get_heading_y(self.vec_angle * 50.); + + line(color::WHITE, 1.0, + [screen_x as f64, + screen_y as f64, + (screen_x as f32 + self.vec.x) as f64, + (screen_y as f32 + self.vec.y) as f64], + c.transform, g); } - fn get_swerve_corner_x(id: i8) -> f32 { - if (id == 1) { - return swerve_math::get_heading_x(-45 + swerve_rot); - }else if (id == 2) { - return swerve_math::get_heading_x(45 + swerve_rot); - }else if (id == 3) { - return swerve_math::get_heading_x(135 + swerve_rot); - }else if (id == 4) { - return swerve_math::get_heading_x(-135 + swerve_rot); + fn get_swerve_corner_x(&mut self, id: i8) -> f32 { + if id == 1 { + return swerve_math::get_heading_x(-45. + self.swerve_rot); + }else if id == 2 { + return swerve_math::get_heading_x(45. + self.swerve_rot); + }else if id == 3 { + return swerve_math::get_heading_x(135. + self.swerve_rot); + }else if id == 4 { + return swerve_math::get_heading_x(-135. + self.swerve_rot); } - return 0; + return 0.; + } + + fn get_swerve_corner_y(&mut self, id: i8) -> f32 { + if id == 1 { + return swerve_math::get_heading_y(45. + self.swerve_rot); + }else if id == 2 { + return swerve_math::get_heading_y(45. + self.swerve_rot); + }else if id == 3 { + return swerve_math::get_heading_y(135. + self.swerve_rot); + }else if id == 4 { + return swerve_math::get_heading_y(-135. + self.swerve_rot); + } + return 0.; } } \ No newline at end of file