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--git a/src/main/deploy/pathplanner/generatedCSV/New New Path.csv b/src/main/deploy/pathplanner/generatedCSV/New New Path.csv new file mode 100644 index 0000000..8d377a1 --- /dev/null +++ b/src/main/deploy/pathplanner/generatedCSV/New New Path.csv @@ -0,0 +1,252 @@ +# PathPlanner CSV Format: +# timeSeconds, xPositionMeters, yPositionMeters, headingDegrees, velocityMetersPerSecond, accelerationMetersPerSecondSq, curvatureRadPerMeter, holonomicRotationDegrees, angularVelocityDegreesPerSec, holonomicAngularVelocityDegreesPerSec + 0.0,1.7999927428426288,3.8077216154432314,179.91469247370898,0,-3.0,0.2502351074332771,0.0,0.0,0.0 + 0.08932077736258111,1.8119600314809683,3.807703797367394,179.91469247370898,-0.2679623320877433,-2.9999999999999996,0.2502351074332771,0.0,-4.646534199477372,0.0 + 0.12614696706378212,1.823862196330491,3.8076505300331656,179.74357832382594,-0.3784409011913463,-3.0000000000000004,0.2523425844387046,0.0,-6.09843518796973,0.0 + 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b/src/main/deploy/pathplanner/generatedCSV/OneCargoAuto1.csv @@ -0,0 +1,750 @@ +# PathPlanner CSV Format: +# timeSeconds, xPositionMeters, yPositionMeters, headingDegrees, velocityMetersPerSecond, accelerationMetersPerSecondSq, curvatureRadPerMeter, holonomicRotationDegrees, angularVelocityDegreesPerSec, holonomicAngularVelocityDegreesPerSec + 0.0,1.8771305963664562,4.960295710065105,-179.99264111882107,0,-4.0,-0.021256037157085954,0.0,0.0,0.0 + 0.07738126558159869,1.8891063167937003,4.960297248187195,-179.99264111882107,-0.30952506232639476,-4.0,-0.021256037157085954,0.0,0.45568846889011083,0.0 + 0.10932326246864799,1.9010337468288214,4.9603018101890015,-179.97808551916634,-0.4372930498745919,-3.9999999999999982,-0.02095813695056264,0.0,0.5849681085210363,0.0 + 0.13375854473417337,1.9129132896019032,4.960309317523829,-179.96379165831829,-0.5350341789366935,-4.000000000000003,-0.020650285179295125,0.0,0.683006062887011,0.0 + 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+++ b/src/main/deploy/pathplanner/generatedCSV/TwoCargoAuto2.csv @@ -0,0 +1,1000 @@ +# PathPlanner CSV Format: +# timeSeconds, xPositionMeters, yPositionMeters, headingDegrees, velocityMetersPerSecond, accelerationMetersPerSecondSq, curvatureRadPerMeter, holonomicRotationDegrees, angularVelocityDegreesPerSec, holonomicAngularVelocityDegreesPerSec + 0.0,1.7713632570122286,3.879295330019232,-0.2324123356278103,0,3.0,-0.6843423070874367,0.0,0.0,0.0 + 0.08928572269041521,1.7833210690487984,3.8792468245570344,-0.2324123356278103,0.26785716807124565,3.0000000000000004,-0.6843423070874367,0.0,-12.709282362665155,0.0 + 0.1260494163200948,1.7951949563275784,3.8791018224656773,-0.6996524986619226,0.3781482489602844,2.999999999999999,-0.6931518938611418,0.0,-16.7476245082127,0.0 + 0.1541120360699131,1.8069855956021748,3.8788610951880123,-1.1696347169486332,0.4623361082097393,2.999999999999999,-0.7018693924872376,0.0,-20.080808832496125,0.0 + 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[], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 5.404055142270748, + "y": 3.638736905265375 + }, + "prevControl": { + "x": 6.156518516510979, + "y": 4.0765337775506 + }, + "nextControl": { + "x": 4.8522650469734305, + "y": 3.3176953952742094 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.638419903813845, + "y": 3.4486347999685614 + }, + "prevControl": { + "x": 3.788912578661891, + "y": 3.4349536477096474 + }, + "nextControl": { + "x": 3.788912578661891, + "y": 3.4349536477096474 + }, + "holonomicAngle": 0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.94069188174259, + "y": 3.4223502801486703 + }, + "prevControl": { + "x": 3.858604968189111, + "y": 3.4223502801486703 + }, + "nextControl": null, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/posetesting Copy.path b/src/main/deploy/pathplanner/posetesting Copy.path new file mode 100644 index 0000000..256379f --- /dev/null +++ b/src/main/deploy/pathplanner/posetesting Copy.path @@ -0,0 +1,349 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 15.0, + "y": 7.29 + }, + "prevControl": null, + "nextControl": { + "x": 17.167053984455354, + "y": 7.479592656888528 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 1.51, + "y": 7.2862041438368585 + }, + "prevControl": { + "x": 3.0692951888340363, + "y": 7.1497834917233645 + }, + "nextControl": { + "x": -0.2155517163304319, + "y": 7.437170357343473 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 1.5, + "y": 6.25 + }, + "prevControl": { + "x": 3.100680682305914, + "y": 6.390041413626709 + }, + "nextControl": { + "x": -0.18933657659774417, + "y": 6.102202200668003 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 15.0, + "y": 6.25 + }, + "prevControl": { + "x": 12.208857129125324, + "y": 6.494193359482737 + }, + "nextControl": { + "x": 16.653794342001564, + "y": 6.105311743271548 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.6, + "y": 7.2 + }, + "prevControl": { + "x": 6.2895875039769304, + "y": 6.4793272003365425 + }, + "nextControl": { + "x": 2.070081377358277, + "y": 7.6099404594221856 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 12.8, + "y": 7.0 + }, + "prevControl": { + "x": 10.87414914775834, + "y": 6.299047614147837 + }, + "nextControl": { + "x": 14.051570059778754, + "y": 7.455534247858238 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 13.981838963677927, + "y": 8.474327805798469 + }, + "prevControl": { + "x": 13.981838963677927, + "y": 6.713381682568439 + }, + "nextControl": { + "x": 13.981838963677927, + "y": 9.353141106882468 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 2.4871004027722345, + "y": 8.488642548713669 + }, + "prevControl": { + "x": 2.4871004027744776, + "y": 10.523849241947982 + }, + "nextControl": { + "x": 2.487100402769868, + "y": 6.341431111433726 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 2.7, + "y": 6.9 + }, + "prevControl": { + "x": 2.9113076002762455, + "y": 5.396468298884738 + }, + "nextControl": { + "x": 2.4589075863987544, + "y": 8.615461660034839 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.8917091104324393, + "y": 1.9280805386255315 + }, + "prevControl": { + "x": 0.22827829078897643, + "y": 1.9280805386255315 + }, + "nextControl": { + "x": 6.52562180682926, + "y": 1.9280805386255315 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.875630465546646, + "y": 2.719801153888022 + }, + "prevControl": { + "x": 7.566176909194924, + "y": 2.719801153888022 + }, + "nextControl": { + "x": 0.29694473674661603, + "y": 2.719801153888022 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.8854472415313737, + "y": 3.5566499917118946 + }, + "prevControl": { + "x": 1.7382358042513566, + "y": 3.5566499917118946 + }, + "nextControl": { + "x": 6.03265867881139, + "y": 3.5566499917118946 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.8854472415312626, + "y": 2.202215918070216 + }, + "prevControl": { + "x": 1.6363037675234375, + "y": 2.174953572930727 + }, + "nextControl": { + "x": 6.142837364251955, + "y": 2.2295782225880427 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.871766089272349, + "y": 3.296708098783278 + }, + "prevControl": { + "x": 4.897852508690846, + "y": 3.2830269465243656 + }, + "nextControl": null, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/New Path.path b/src/main/deploy/pathplanner/two point test.path similarity index 75% rename from src/main/deploy/pathplanner/New Path.path rename to src/main/deploy/pathplanner/two point test.path index d5b41e0..c9552ab 100644 --- a/src/main/deploy/pathplanner/New Path.path +++ b/src/main/deploy/pathplanner/two point test.path @@ -2,13 +2,13 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7048335851057668, - "y": 4.987500501316792 + "x": 2.415526688196234, + "y": 2.9488370405312243 }, "prevControl": null, "nextControl": { - "x": 2.7048335851057628, - "y": 4.987500501316792 + "x": 1.4564389128778261, + "y": 3.72183315795203 }, "holonomicAngle": 0, "isReversal": false, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 2.629796487663151, - "y": 4.987500501316792 + "x": 15.112703653978734, + "y": 6.355745854348852 }, "prevControl": { - "x": 1.9662622658734565, - "y": 4.987500501316792 + "x": 14.182245364490727, + "y": 6.513208026416053 }, "nextControl": null, "holonomicAngle": 0, diff --git a/src/main/java/frc/robot/AutonomousMap.java b/src/main/java/frc/robot/AutonomousMap.java new file mode 100644 index 0000000..d8138ae --- /dev/null +++ b/src/main/java/frc/robot/AutonomousMap.java @@ -0,0 +1,30 @@ +package frc.robot; + +import java.util.HashMap; +import edu.wpi.first.wpilibj2.command.WaitCommand; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc.robot.commands.movement.AutoBalance; +import frc.robot.subsystems.arm.Arm; +import frc.robot.subsystems.drivetrain.Drivetrain; + +public class AutonomousMap { + + Arm arm; + Drivetrain drivetrain; + static HashMap eventMap = new HashMap<>(); + + public AutonomousMap(Drivetrain drivetrain, Arm arm){ + this.drivetrain = drivetrain; + this.arm = arm; + eventMap.put("Marker 1", new WaitCommand(3)); + eventMap.put("Reset Position", new InstantCommand(() -> arm.resetPosition())); + eventMap.put("Auto Balance", new AutoBalance(drivetrain)); + eventMap.put("firstCone3", arm.dropCargo(TargetMap.coneArmTargets[2])); + eventMap.put("firstCube3", arm.dropCargo(TargetMap.cubeArmTargets[2] )); + + + } + +} diff --git a/src/main/java/frc/robot/AutonomousSelector.java b/src/main/java/frc/robot/AutonomousSelector.java index 7a508c6..3401628 100644 --- a/src/main/java/frc/robot/AutonomousSelector.java +++ b/src/main/java/frc/robot/AutonomousSelector.java @@ -1,13 +1,139 @@ package frc.robot; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import io.github.oblarg.oblog.Loggable; +import io.github.oblarg.oblog.annotations.Config; +import io.github.oblarg.oblog.annotations.Log; +import io.github.oblarg.oblog.annotations.Log.Field2d; +import java.util.ArrayList; +import java.util.List; +import com.pathplanner.lib.PathConstraints; +import com.pathplanner.lib.PathPlanner; +import com.pathplanner.lib.PathPlannerTrajectory; +public class AutonomousSelector implements Loggable{ -public class AutonomousSelector { - - private final SendableChooser m_chooser = new SendableChooser<>(); + // SendableChooser> m_chooser; + int m_autoSelected; + SendableChooser> m_chooser = new SendableChooser<>(); + ArrayList> m_chooser2 = new ArrayList<>(); + ArrayList autoNames = new ArrayList(); public AutonomousSelector(){ + List oneCargoAuto1 = + PathPlanner.loadPathGroup( + "OneCargoAuto1", + new PathConstraints(3, 3)); + List oneCargoAuto2 = + PathPlanner.loadPathGroup( + "OneCargoAuto2", + new PathConstraints(3, 3)); + List oneCargoAuto3 = + PathPlanner.loadPathGroup( + "OneCargoAuto3", + new PathConstraints(3, 3)); + List twoCargoAuto1 = + PathPlanner.loadPathGroup( + "TwoCargoAuto1", + new PathConstraints(3, 3)); + List twoCargoAuto2 = + PathPlanner.loadPathGroup( + "TwoCargoAuto2", + new PathConstraints(3, 3)); + List twoCargoAuto3 = + PathPlanner.loadPathGroup( + "TwoCargoAuto3", + new PathConstraints(3, 3)); + List threeCargoAuto = //certainly don't try this first comp + PathPlanner.loadPathGroup( + "ThreeCargoAuto", + new PathConstraints(3, 3)); + List dropCone3AndLeaveComnityEndAtStation = + PathPlanner.loadPathGroup( + "dropCone3AndLeaveComnityEndAtStation", + new PathConstraints(3, 3)); + List dropCube3AndLeaveComnityEndAtStation = + PathPlanner.loadPathGroup( + "dropCube3AndLeaveComnityEndAtStation", + new PathConstraints(3, 3)); + List LeaveComnityEndAtStation = + PathPlanner.loadPathGroup( + "LeaveComnityEndAtStation", + new PathConstraints(3, 3)); + + List BasicAuto = + PathPlanner.loadPathGroup( + "BasicAuto", + new PathConstraints(3, 3)); + + m_chooser.addOption("oneCargoAuto1", oneCargoAuto1); + m_chooser.addOption("oneCargoAuto2",oneCargoAuto2); + m_chooser.addOption("oneCargoAuto3",oneCargoAuto3); + m_chooser.addOption("twoCargoAuto1",twoCargoAuto1); + m_chooser.addOption("twoCargoAuto2",twoCargoAuto2); + m_chooser.addOption("twoCargoAuto3",twoCargoAuto3); + m_chooser.addOption("threeCargoAuto",threeCargoAuto); //NOT RECCOMENDED + m_chooser.addOption("dropCone3AndLeaveComnityEndAtStation",dropCone3AndLeaveComnityEndAtStation); + m_chooser.addOption("dropCube3AndLeaveComnityEndAtStation",dropCube3AndLeaveComnityEndAtStation); + m_chooser.addOption("LeaveComnityEndAtStation",LeaveComnityEndAtStation); + m_chooser.addOption("BasicAuto",BasicAuto); + + m_chooser2.add(oneCargoAuto1); + m_chooser2.add(oneCargoAuto2); + m_chooser2.add(oneCargoAuto3); + m_chooser2.add(twoCargoAuto1); + m_chooser2.add(twoCargoAuto2); + m_chooser2.add(twoCargoAuto3); + m_chooser2.add(threeCargoAuto); //NOT RECCOMENDED + m_chooser2.add(dropCone3AndLeaveComnityEndAtStation); + m_chooser2.add(dropCube3AndLeaveComnityEndAtStation); + m_chooser2.add(LeaveComnityEndAtStation); + m_chooser2.add(BasicAuto); + + autoNames.add("One Cargo Auto 1"); + autoNames.add("One Cargo Auto 2"); + autoNames.add("One Cargo Auto 3"); + autoNames.add("Two Cargo Auto 1"); + autoNames.add("Two Cargo Auto 2"); + autoNames.add("Two Cargo Auto 3"); + autoNames.add("Three Cargo Auto"); + autoNames.add("Drop Cone 3 and Leave Community End at Station"); + autoNames.add("Drop Cube 3 and Leave Community End at Station"); + autoNames.add("Leave Community End at Station"); + autoNames.add("BasicAuto"); + SmartDashboard.putData("choose auto path" ,m_chooser); + + } + + public int getSelectedAuto() { + return m_autoSelected; + } + + public List getAutoPath(int i) { + return m_chooser2.get(i); + } + + + @Config.NumberSlider(name = "Auto Selectcor", min = -1, max = 6, blockIncrement = 1 ,defaultValue = -1, tabName = "Target Selector", columnIndex = 1, rowIndex = 4) + double setauto1(double auto1){ + return m_autoSelected = (int)auto1; } -} + + @Log.ToString(name = "Selected Auto" , tabName = "Target Selector", columnIndex = 4, rowIndex = 4) + String getSelectedAutoName(){ + if (m_autoSelected == -1) { + return "Do Nothing"; + } + return autoNames.get(m_autoSelected); + } + + + + + } + + + diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 61d7399..5a1c5f7 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -7,18 +7,18 @@ -public final class Constants { +public final class Constants { public static final int kTimoutms = 30; public static final double wheelRad = Units.inchesToMeters(3); - public static final double wheelBaseWidth = Units.inchesToMeters(28); // test robot - // public final double wheelbwidth = Units.inchesToMeters(26); // new robot + // public static final double wheelBaseWidth = Units.inchesToMeters(28); // test robot + public static final double wheelBaseWidth = Units.inchesToMeters(26); // new robot public static final double wheelBaseLength =30; - public static final double gearRatio = 10; // test robot - // public final double gearratio = 9.8; // new robot + // public static final double gearRatio = 10; // test robot + public static final double gearRatio = 9.8; // new robot public static final double maxSpeed = 4.267; //m/s - public static final double maxTurn = 10.0; //rad/s + public static final double maxTurn = 6.0; //rad/s public static final double dKf = 1023.0 / 18252; public static final double dKp = 0.05; @@ -26,7 +26,7 @@ public final class Constants { public static final double dKd = 0; public static final double dIz= 300; public static final int encoderCounts = 2048; - + public static final int voltageDropThreshold = 3; public static final int dkslot = 0; public static final int dkloop = 0; @@ -36,15 +36,23 @@ static class FieldConstants { static final double width = Units.feetToMeters(27); } - static class VisionConstants { - static final Transform3d robotToCam = + public static class VisionConstants { + public static final Transform3d robotToCam = new Transform3d( - new Translation3d(0.5, 0.0, 0.5), + new Translation3d(Units.inchesToMeters(-6), Units.inchesToMeters(7), 0.5), new Rotation3d( 0, 0, 0)); // Cam mounted facing forward, half a meter forward of center, half a meter up // from center. - static final String cameraName = "OV5647"; + public static final String cameraName = "OV5647"; + // public static final Transform3d robotToCam2 = + // new Transform3d( + // new Translation3d(0.5, 0.0, 0.5), + // new Rotation3d( + // 0, 0, + // 0)); // Cam mounted facing forward, half a meter forward of center, half a meter up + // // from center. + // public static final String cameraName2 = "OV5647"; } } diff --git a/src/main/java/frc/robot/ControllerButtons.java b/src/main/java/frc/robot/ControllerButtons.java new file mode 100644 index 0000000..e69c8ad --- /dev/null +++ b/src/main/java/frc/robot/ControllerButtons.java @@ -0,0 +1,130 @@ +package frc.robot; + +import java.util.EnumMap; + +import edu.wpi.first.wpilibj.GenericHID; +import edu.wpi.first.wpilibj2.command.button.JoystickButton; + +@SuppressWarnings({"WeakerAccess"}) +public class ControllerButtons extends GenericHID { + + //Constructor + public ControllerButtons(int port) { + super(port); + } + + //Represent buttons on StratComInterface + public enum Button { + SC1(1), + SC2(2), + SC3(3), + SC4(4), + SC5(5), + SC6(6), + SCPlus(7), + SCMinus(8), + SCSideTop(9), + SCSideMid(10), + SCSideBot(11), + ArcadeBlackLeft(12), + ArcadeBlackRight(13), + ArcadeWhiteLeft(14), + ArcadeWhiteRight(15), + SingleToggle(16), + DoubleToggleDown(17), + DoubleToggleUp(18), + KeySwitch(19); + + public final int value; + + Button(int value) { + this.value = value; + } + } + + private final EnumMap m_buttons = new EnumMap(Button.class); + + private JoystickButton build(Button button) { + return new JoystickButton(this, button.value); + } + + public JoystickButton sc1() { + return m_buttons.computeIfAbsent(Button.SC1, this::build); + } + + public JoystickButton sc2() { + return m_buttons.computeIfAbsent(Button.SC2, this::build); + } + + public JoystickButton sc3() { + return m_buttons.computeIfAbsent(Button.SC3, this::build); + } + + public JoystickButton sc4() { + return m_buttons.computeIfAbsent(Button.SC4, this::build); + } + + public JoystickButton sc5() { + return m_buttons.computeIfAbsent(Button.SC5, this::build); + } + + public JoystickButton sc6() { + return m_buttons.computeIfAbsent(Button.SC6, this::build); + } + + public JoystickButton scPlus() { + return m_buttons.computeIfAbsent(Button.SCPlus, this::build); + } + + public JoystickButton scMinus() { + return m_buttons.computeIfAbsent(Button.SCMinus, this::build); + } + + public JoystickButton scSideTop() { + return m_buttons.computeIfAbsent(Button.SCSideTop, this::build); + } + + public JoystickButton scSideMid() { + return m_buttons.computeIfAbsent(Button.SCSideMid, this::build); + } + + public JoystickButton scSideBot() { + return m_buttons.computeIfAbsent(Button.SCSideBot, this::build); + } + + public JoystickButton arcadeBlackLeft() { + return m_buttons.computeIfAbsent(Button.ArcadeBlackLeft, this::build); + } + + public JoystickButton arcadeBlackRight() { + return m_buttons.computeIfAbsent(Button.ArcadeBlackRight, this::build); + } + + public JoystickButton arcadeWhiteLeft() { + return m_buttons.computeIfAbsent(Button.ArcadeWhiteLeft, this::build); + } + + public JoystickButton arcadeWhiteRight() { + return m_buttons.computeIfAbsent(Button.ArcadeWhiteRight, this::build); + } + + public JoystickButton singleToggle() { + return m_buttons.computeIfAbsent(Button.SingleToggle, this::build); + } + + public JoystickButton doubleToggleUp() { + return m_buttons.computeIfAbsent(Button.DoubleToggleUp, this::build); + } + + public JoystickButton doubleToggleDown() { + return m_buttons.computeIfAbsent(Button.DoubleToggleDown, this::build); + } + + public JoystickButton keySwitch() { + return m_buttons.computeIfAbsent(Button.KeySwitch, this::build); + } + + public double getLeftSlider() { return getRawAxis(0); } + + public double getRightSlider() { return getRawAxis(1); } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/PhotonCameraWrapper.java b/src/main/java/frc/robot/PhotonCameraWrapper.java index 6758a6b..1b9cc3e 100644 --- a/src/main/java/frc/robot/PhotonCameraWrapper.java +++ b/src/main/java/frc/robot/PhotonCameraWrapper.java @@ -3,6 +3,7 @@ import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.apriltag.AprilTagFields; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.wpilibj.DriverStation; import frc.robot.Constants.VisionConstants; import io.github.oblarg.oblog.annotations.Config; @@ -18,9 +19,9 @@ public class PhotonCameraWrapper { private PhotonCamera photonCamera; private PhotonPoseEstimator photonPoseEstimator; - public PhotonCameraWrapper() { + public PhotonCameraWrapper(String cameraName, Transform3d cameraOffset) { // Change the name of your camera here to whatever it is in the PhotonVision UI. - photonCamera = new PhotonCamera(VisionConstants.cameraName); + photonCamera = new PhotonCamera(cameraName); try { // Attempt to load the AprilTagFieldLayout that will tell us where the tags are on the field. @@ -28,7 +29,7 @@ public PhotonCameraWrapper() { // Create pose estimator photonPoseEstimator = new PhotonPoseEstimator( - fieldLayout, PoseStrategy.MULTI_TAG_PNP, photonCamera, VisionConstants.robotToCam); + fieldLayout, PoseStrategy.MULTI_TAG_PNP, photonCamera, cameraOffset); photonPoseEstimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY); } catch (IOException e) { // The AprilTagFieldLayout failed to load. We won't be able to estimate poses if we don't know diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index da69b51..3fa5868 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -4,12 +4,14 @@ package frc.robot; +import com.pathplanner.lib.server.PathPlannerServer; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.subsystems.arm.Arm; import frc.robot.subsystems.drivetrain.Drivetrain; import io.github.oblarg.oblog.Logger; @@ -19,14 +21,13 @@ public class Robot extends TimedRobot { private RobotContainer m_robotContainer; - private Drivetrain m_drivetrain; - XboxController xboxController; @Override public void robotInit() { m_robotContainer = new RobotContainer(); Logger.configureLoggingAndConfig(m_robotContainer, false); // true for verbose logging + PathPlannerServer.startServer(5811); } @Override @@ -64,6 +65,7 @@ public void teleopInit() { if (m_autonomousCommand != null) { m_autonomousCommand.cancel(); } + } @Override diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index c138c73..e0df4c9 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,6 +4,13 @@ package frc.robot; +import java.util.List; +import com.pathplanner.lib.PathConstraints; +import com.pathplanner.lib.PathPlanner; +import com.pathplanner.lib.PathPlannerTrajectory; +import com.pathplanner.lib.auto.RamseteAutoBuilder; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; @@ -11,63 +18,261 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.WaitCommand; +import edu.wpi.first.wpilibj2.command.button.CommandGenericHID; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import frc.robot.subsystems.arm.Arm; import frc.robot.subsystems.drivetrain.Drivetrain; import io.github.oblarg.oblog.Logger; +import io.github.oblarg.oblog.annotations.Config; import io.github.oblarg.oblog.annotations.Log; + public class RobotContainer { private final CommandXboxController m_driverController = new CommandXboxController(0); + private final ControllerButtons m_operator = new ControllerButtons(1); + private final Drivetrain m_drivetrain = new Drivetrain(); - private final SendableChooser m_chooser = new SendableChooser<>(); - + public static final Arm m_arm = new Arm(); + + public final AutonomousSelector m_autoSelector = new AutonomousSelector(); + + public final TargetSelector m_targetSelector = new TargetSelector(); + private final NetworkTableInstance ntinst = NetworkTableInstance.getDefault(); + + + final private double k_extrastend = 0; + private double extrastend = k_extrastend; + Boolean safe = false; + Boolean motion = false; + public RobotContainer() { - + configureBindings(); ntinst.startServer(); - - // m_drivetrain.setDefaultCommand(Commands.run(() -> { - // double Smodifier = m_driverController.getRightTriggerAxis() * 0.5 + 0.5-m_driverController.getLeftTriggerAxis()*0.5; - // double Tmodifer =1-(( m_driverController.leftBumper().getAsBoolean()?0:1 )* (m_driverController.getRightTriggerAxis()>0.5?1:0)*0.4); - - // m_drivetrain.arcadeDrive(m_driverController.getLeftY() * Smodifier, - // m_driverController.getRightX() * Smodifier * Tmodifer); + // m_drivetrain.setDefaultCommand(new InstantCommand (() -> { + // double Smodifier = m_driverController.getRightTriggerAxis() * 0.5 + + // 0.5-m_driverController.getLeftTriggerAxis()*0.5; + // double Tmodifer =1-(( m_driverController.leftBumper().getAsBoolean()?0:1 )* + // (m_driverController.getRightTriggerAxis()>0.5?1:0)*0.4); + + + // m_drivetrain.arcadeDrive(m_driverController.getLeftY() * Smodifier, + // m_driverController.getRightX() * Smodifier * Tmodifer); // }, m_drivetrain)); - // m_drivetrain.setDefaultCommand(Commands.run(() -> { - // double Smodifier = m_driverController.getRightTriggerAxis() * 0.5 + 0.5-m_driverController.getLeftTriggerAxis()*0.5; - // // double Tmodifer =1-(( m_driverController.leftBumper().getAsBoolean()?0:1 )* (m_driverController.getRightTriggerAxis()>0.5?1:0)*0.4); - // if (m_driverController.getLeftTriggerAxis()>0.5){ - // m_drivetrain.curvatureDrive(m_driverController.getLeftY() * Smodifier, m_driverController.getRightX()*Smodifier, m_driverController.leftBumper().getAsBoolean()); - // }else{ - // m_drivetrain.arcadeDrive(m_driverController.getLeftY() * Smodifier, - // m_driverController.getRightX() * Smodifier); - // } + // m_drivetrain.setDefaultCommand(new InstantCommand (() -> { + // double Smodifier = m_driverController.getRightTriggerAxis() * 0.5 + + // 0.5-m_driverController.getLeftTriggerAxis()*0.5; + // // double Tmodifer =1-(( m_driverController.leftBumper().getAsBoolean()?0:1 )* + // (m_driverController.getRightTriggerAxis()>0.5?1:0)*0.4); + // if (m_driverController.getLeftTriggerAxis()>0.5){ + // m_drivetrain.curvatureDrive(m_driverController.getLeftY() * Smodifier, + // m_driverController.getRightX()*Smodifier, m_driverController.leftBumper().getAsBoolean()); + // }else{ + + + + // m_drivetrain.arcadeDrive(m_driverController.getLeftY() * Smodifier, + // m_driverController.getRightX() * Smodifier); + // } // }, m_drivetrain)); m_drivetrain.setDefaultCommand(Commands.run(() -> { - double Smodifier = m_driverController.getRightTriggerAxis() * 0.5 + 0.5-m_driverController.getLeftTriggerAxis()*0.42; - // double Tmodifer =1-(( m_driverController.leftBumper().getAsBoolean()?0:1 )* (m_driverController.getRightTriggerAxis()>0.5 && m_driverController.getLeftTriggerAxis()<0.5?1:0)*0.4); // - double Tmodifier = (Math.abs( m_driverController.getLeftY())<0.25?Smodifier:0.5); + double Smodifier = m_driverController.getRightTriggerAxis() * 0.5 + 0.5 + - m_driverController.getLeftTriggerAxis() * 0.42; + // double Tmodifer =1-(( m_driverController.leftBumper().getAsBoolean()?0:1 )* + // (m_driverController.getRightTriggerAxis()>0.5 && + // m_driverController.getLeftTriggerAxis()<0.5?1:0)*0.4); // + double Tmodifier = + (Math.abs(m_driverController.getLeftY()) < 0.25 ? Smodifier : Math.min(0.5, Smodifier)); - m_drivetrain.smoothDrive(m_driverController.getLeftY() * Math.abs(m_driverController.getLeftY())* Smodifier * Constants.maxSpeed, - m_driverController.getRightX() * Math.abs(m_driverController.getRightX())* Tmodifier * Constants.maxTurn); + m_drivetrain.smoothDrive( + -1 * m_driverController.getLeftY() * Math.abs(m_driverController.getLeftY()) * Smodifier + * Constants.maxSpeed, + m_driverController.getRightX() * -1 * Math.abs(m_driverController.getRightX()) * Tmodifier + * Constants.maxTurn); }, m_drivetrain)); - + + + + m_operator.arcadeBlackLeft().onTrue(new InstantCommand(() -> { + safe = true; + motion = false; + + })); + m_operator.arcadeBlackLeft().onFalse(new InstantCommand(() -> { + safe = false; + motion = false; + + })); + m_operator.arcadeBlackRight().onTrue(new InstantCommand(() -> { + safe = false; + motion = true; + + })); + m_operator.arcadeBlackRight().onFalse(new InstantCommand(() -> { + safe = false; + motion = false; + + })); + + + if (!safe && !motion) { + m_arm.setDefaultCommand(Commands.run(() -> { + m_arm.setExtendPosition(m_operator.getLeftSlider()); + m_arm.setRaisePosition(-m_operator.getRightSlider()); + // m_arm.setClawPosition(m_operator.arcadeWhiteLeft().getAsBoolean()?1:-1); + }, m_arm)); + } + m_operator.arcadeWhiteLeft().onTrue(new InstantCommand(() -> { + m_arm.toggleGripCone(); + })); + m_operator.arcadeWhiteRight().onTrue(new InstantCommand(() -> { + m_arm.toggleGripCube(); + })); + if (safe && !motion) { + m_arm.setDefaultCommand(Commands.run(() -> { + m_arm.setExtendPositionSafe(m_operator.getLeftSlider()); + m_arm.setRaisePositionSafe(-m_operator.getRightSlider()); + m_arm.setClawPosition(m_operator.arcadeWhiteLeft().getAsBoolean() ? 1 : -1); + }, m_arm)); + } + if (!safe && motion) { + m_arm.setDefaultCommand(Commands.run(() -> { + m_arm.setExtendMotion(m_operator.getLeftSlider()); + m_arm.setRaiseMotion(-m_operator.getRightSlider()); + m_arm.setClawMotion(m_operator.arcadeWhiteLeft().getAsBoolean() ? 1 : -1); + }, m_arm)); + } + // set driver buttons + // m_driverController.x().whileTrue(m_drivetrain.goToPoseCommand( + // TargetMap.getTargetPose( TargetSelector.getTargetIdx()), + // 3, 3)); + // m_driverController.y().whileTrue(m_drivetrain.goToPoseCommand(TargetMap.getStationPose(0),3,3)); + // m_driverController.b().whileTrue(m_drivetrain.goToPoseCommand(TargetMap.getStationPose(1),3,3)); + // m_driverController.a().whileTrue(m_drivetrain.goToPoseCommand(TargetMap.getStationPose(2),3,3)); + + + // //set the operator buttons for the arm + // //sets the arm to the currently selected target + // m_operator.arcadeBlackRight().whileTrue(new InstantCommand(()->{ + // m_arm.setArmPosition(TargetMap.getArmTarget(TargetSelector.getTargetIdx())); + // }, m_arm)); + // //sets the arm to the target dual station + // m_operator.arcadeWhiteRight().whileTrue(new InstantCommand(()->{ + // m_arm.setArmPosition(TargetMap.stationArmTargets[0]); + // }, m_arm)); + + // set the butons on the strat conm to select the target for autoalignment, NOT for autonomous + m_operator.sc1().onTrue(new InstantCommand(() -> { + TargetSelector.setA(); + })); + m_operator.sc2().onTrue(new InstantCommand(() -> { + TargetSelector.setB(); + })); + m_operator.sc3().onTrue(new InstantCommand(() -> { + TargetSelector.setC(); + })); + + m_operator.sc4().onTrue(new InstantCommand(() -> { + TargetSelector.setLeft(); + })); + m_operator.sc5().onTrue(new InstantCommand(() -> { + TargetSelector.setMid(); + })); + m_operator.sc6().onTrue(new InstantCommand(() -> { + TargetSelector.setRight(); + })); + + m_operator.scSideTop().onTrue(new InstantCommand(() -> { + TargetSelector.setBack(); + })); + m_operator.scSideMid().onTrue(new InstantCommand(() -> { + TargetSelector.setMid(); + })); + m_operator.scSideBot().onTrue(new InstantCommand(() -> { + TargetSelector.setFront(); + })); } - private void configureBindings() {} + private void configureBindings() { + + } + + @Log(name = "Get button Configs", tabName = "Buttons") + public double getSliderConfig() { + return m_operator.getLeftSlider(); + } + + @Config.NumberSlider(name = "Set left slider") + public void setLeftSliderConfig() { + m_operator.getLeftSlider(); + } + + + AutonomousMap m_autonMap = new AutonomousMap(m_drivetrain, m_arm); public Command getAutonomousCommand() { - return m_chooser.getSelected(); + RamseteAutoBuilder autoBuilder = new RamseteAutoBuilder(m_drivetrain::getPose, + m_drivetrain::resetOdometry, m_drivetrain.m_ramseteController, m_drivetrain.m_kinematics, + m_drivetrain::setSpeeds, AutonomousMap.eventMap, true, m_drivetrain); + + Command fullAuto; + // if(m_autoSelector.getSelectedAuto() >=0 ){ + // fullAuto = autoBuilder.fullAuto(m_autoSelector.getAutoPath(m_autoSelector.getSelectedAuto())) + // ; + // } + // else{ + // fullAuto = new WaitCommand(2); + // } + fullAuto = autoBuilder.fullAuto(m_autoSelector.getAutoPath(m_autoSelector.getSelectedAuto())); + return fullAuto; + } + + public Command getAutonomousCommand2() { + // cammad drive backwards 3 meters wait 2 seconds then drive forward 1.2 meters then back .2 + // meters using just velocity control + return new SequentialCommandGroup( + new InstantCommand(() -> m_drivetrain.setSpeedsCONT(-1, -1)).withTimeout(2), + new WaitCommand(2), + new InstantCommand(() -> m_drivetrain.setSpeedsCONT(1, 1)).withTimeout(1.2), + new WaitCommand(0.5), + new InstantCommand(() -> m_drivetrain.setSpeedsCONT(-1, -1)).withTimeout(.2), + new InstantCommand(() -> m_drivetrain.setSpeedsCONT(0, 0)).withTimeout(5)); + + } + + + + @Config.Command(name = "Reset Position", tabName = "Arm PID") + InstantCommand resetPosition = new InstantCommand(() -> { + m_arm.resetPosition(); + }, m_arm); + + + @Log(name = "Extra Stend get", tabName = "Arm PID") + private double getExtraStend() { + return extrastend; + } + + @Config.NumberSlider(name = "Extra Stend set", tabName = "Arm PID", min = 0, max = .2, + defaultValue = k_extrastend) + private void setExtraStend(double value) { + extrastend = value; + } + + } diff --git a/src/main/java/frc/robot/TargetMap.java b/src/main/java/frc/robot/TargetMap.java new file mode 100644 index 0000000..e960a5c --- /dev/null +++ b/src/main/java/frc/robot/TargetMap.java @@ -0,0 +1,186 @@ +package frc.robot; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.RobotState; + + +public class TargetMap { + + public static Pose2d[] blueTargetPoses = new Pose2d[9]; + public static Pose2d[] redTargetPoses = new Pose2d[9]; + public static Translation2d[] coneArmTargets= new Translation2d[3]; + public static Translation2d[] cubeArmTargets= new Translation2d[3]; + + public static Pose2d[] blueStationPose = new Pose2d[4]; + public static Pose2d[] redStationPose = new Pose2d[4]; + public static Translation2d[] stationArmTargets = new Translation2d[4]; + + public static Pose2d[] blueChargeingPose = new Pose2d[3]; + public static Pose2d[] redChargeingPose = new Pose2d[3]; + + public static Pose2d[] blueChargeingPose2bot = new Pose2d[2]; + public static Pose2d[] redChargeingPose2bot = new Pose2d[2]; + + TargetMap() { + //collum 1 is bottom of field + blueTargetPoses[0] = new Pose2d(new Translation2d(2, 0.52), new Rotation2d(Math.toRadians(180))); + blueTargetPoses[1] = new Pose2d(new Translation2d(2, 1.06), new Rotation2d(Math.toRadians(180))); + blueTargetPoses[2] = new Pose2d(new Translation2d(2, 1.62), new Rotation2d(Math.toRadians(180))); + blueTargetPoses[3] = new Pose2d(new Translation2d(2, 2.19), new Rotation2d(Math.toRadians(180))); + blueTargetPoses[4] = new Pose2d(new Translation2d(2, 2.75), new Rotation2d(Math.toRadians(180))); + blueTargetPoses[5] = new Pose2d(new Translation2d(2, 3.31), new Rotation2d(Math.toRadians(180))); + blueTargetPoses[6] = new Pose2d(new Translation2d(2, 3.87), new Rotation2d(Math.toRadians(180))); + blueTargetPoses[7] = new Pose2d(new Translation2d(2, 4.43), new Rotation2d(Math.toRadians(180))); + blueTargetPoses[8] = new Pose2d(new Translation2d(2, 4.98), new Rotation2d(Math.toRadians(180))); + + redTargetPoses[8] = new Pose2d(new Translation2d(14.54, 0.52), new Rotation2d(Math.toRadians(0))); + redTargetPoses[7] = new Pose2d(new Translation2d(14.54, 1.06), new Rotation2d(Math.toRadians(0))); + redTargetPoses[6] = new Pose2d(new Translation2d(14.54, 1.62), new Rotation2d(Math.toRadians(0))); + redTargetPoses[5] = new Pose2d(new Translation2d(14.54, 2.19), new Rotation2d(Math.toRadians(0))); + redTargetPoses[4] = new Pose2d(new Translation2d(14.54, 2.75), new Rotation2d(Math.toRadians(0))); + redTargetPoses[3] = new Pose2d(new Translation2d(14.54, 3.31), new Rotation2d(Math.toRadians(0))); + redTargetPoses[2] = new Pose2d(new Translation2d(14.54, 3.87), new Rotation2d(Math.toRadians(0))); + redTargetPoses[1] = new Pose2d(new Translation2d(14.54, 4.43), new Rotation2d(Math.toRadians(0))); + redTargetPoses[0] = new Pose2d(new Translation2d(14.54, 4.98), new Rotation2d(Math.toRadians(0))); + + coneArmTargets[0] = new Translation2d(0.25, 0.25); //0 + coneArmTargets[1] = new Translation2d(0.61, 0.97); //87 4inchs higher + coneArmTargets[2] = new Translation2d(1.01, 1.27); //117 4inchs higher + + cubeArmTargets[0] = new Translation2d(0.25, 0.25); //0 + cubeArmTargets[1] = new Translation2d(0.61, 0.75); //60 6inchs higher + cubeArmTargets[2] = new Translation2d(1.01, 1.05); //90 6inchs higher + + //charging stations + //top to bottom third is ground sigle sitation 4th is lined up with single station + + redStationPose[0] = new Pose2d(new Translation2d(1.50, 7.29), new Rotation2d(Math.toRadians(171))); + redStationPose[1] = new Pose2d(new Translation2d(1.50, 6.25), new Rotation2d(Math.toRadians(191))); + redStationPose[2] = new Pose2d(new Translation2d(3.6, 7.2), new Rotation2d(Math.toRadians(165))); + redStationPose[3] = new Pose2d(new Translation2d(2.70, 6.90), new Rotation2d(Math.toRadians(98))); + + blueStationPose[0] = new Pose2d(new Translation2d(15, 7.29), new Rotation2d(Math.toRadians(9.0))); + blueStationPose[1] = new Pose2d(new Translation2d(15, 6.25), new Rotation2d(Math.toRadians(345))); + blueStationPose[2] = new Pose2d(new Translation2d(12.9, 7.2), new Rotation2d(Math.toRadians(15))); + blueStationPose[3] = new Pose2d(new Translation2d(13.8, 6.90), new Rotation2d(Math.toRadians(82))); + + stationArmTargets[0] = new Translation2d(0.90, 1.05); //95 + stationArmTargets[1] = new Translation2d(0.90, 1.05); //95 + stationArmTargets[2] = new Translation2d(0.65, .2); //ground + stationArmTargets[3] = new Translation2d(0.51, .69); //.69 + + + //charging stations + // goes from bottom to top facing the grid + blueChargeingPose[0] = new Pose2d(new Translation2d(3.90, 1.93), new Rotation2d(Math.toRadians(180))); + blueChargeingPose[1] = new Pose2d(new Translation2d(3.90, 2.72), new Rotation2d(Math.toRadians(180))); + blueChargeingPose[2] = new Pose2d(new Translation2d(3.90, 3.52), new Rotation2d(Math.toRadians(180))); + + redChargeingPose[0] = new Pose2d(new Translation2d(12.64, 1.93), new Rotation2d(Math.toRadians(0))); + redChargeingPose[1] = new Pose2d(new Translation2d(12.64, 2.72), new Rotation2d(Math.toRadians(0))); + redChargeingPose[2] = new Pose2d(new Translation2d(12.64, 3.52), new Rotation2d(Math.toRadians(0))); + + // charging staion posers that onlly leave room for 2 robots + blueChargeingPose2bot[0] = new Pose2d(new Translation2d(3.90, 2.2), new Rotation2d(Math.toRadians(180))); + blueChargeingPose2bot[1] = new Pose2d(new Translation2d(3.90, 3.3), new Rotation2d(Math.toRadians(180))); + + redChargeingPose2bot[0] = new Pose2d(new Translation2d(12.64, 2.2), new Rotation2d(Math.toRadians(0))); + redChargeingPose2bot[1] = new Pose2d(new Translation2d(12.64, 3.3), new Rotation2d(Math.toRadians(0))); + + + } + + public static Pose2d getBlueTargetPose(int target) { + return blueTargetPoses[target%9]; + } + + public static Pose2d getRedTargetPose(int target) { + return redTargetPoses[target%9]; + } + public static Pose2d getBlueStationPose(int target) { + return blueStationPose[target%4]; + } + public static Pose2d getRedStationPose(int target) { + return redStationPose[target%4]; + } + public static Pose2d getBlueChargeingPose(int target) { + return blueChargeingPose[target%3]; + } + public static Pose2d getRedChargeingPose(int target) { + return redChargeingPose[target%3]; + } + public static Pose2d getBlueChargeingPose2bot(int target) { + return blueChargeingPose2bot[target%2]; + } + public static Pose2d getRedChargeingPose2bot(int target) { + return redChargeingPose2bot[target%2]; + } + public static Translation2d getRedConeArmTarget(int target) { + return coneArmTargets[target%3]; + } + public static Translation2d getBlueConeArmTarget(int target) { + return coneArmTargets[target%3]; + } + public static Translation2d getRedCubeArmTarget(int target) { + return cubeArmTargets[target%3]; + } + public static Translation2d getBlueCubeArmTarget(int target) { + return cubeArmTargets[target%3]; + } + public static Translation2d getRedStationArmTarget(int target) { + return stationArmTargets[target%4]; + } + public static Translation2d getBlueStationArmTarget(int target) { + return stationArmTargets[target%4]; + + } +public static Pose2d getTargetPose(int idx){ + //get alliance color + if (DriverStation.getAlliance() == DriverStation.Alliance.Red) { + return redTargetPoses[idx]; + } else { + return blueTargetPoses[idx]; + } +} +public static Pose2d getStationPose(int idx){ + //get alliance color + if (DriverStation.getAlliance() == DriverStation.Alliance.Red) { + return redStationPose[idx]; + } else { + return blueStationPose[idx]; + } + +} +public static Pose2d getChargeingPose(int idx){ + //get alliance color + if (DriverStation.getAlliance() == DriverStation.Alliance.Red) { + return redChargeingPose[idx]; + } else { + return blueChargeingPose[idx]; + } +} +public static Pose2d getChargeingPose2bot(int idx){ + //get alliance color + if (DriverStation.getAlliance() == DriverStation.Alliance.Red) { + return redChargeingPose2bot[idx]; + } else { + return blueChargeingPose2bot[idx]; + } +} +public static Translation2d getArmTarget(int idx){ + //get alliance color + int col = idx%9; + int row = (int)Math.floor(idx/9.0); + if (col%3==1){ + return cubeArmTargets[row]; + } + else + return coneArmTargets[row]; + + +} + +} diff --git a/src/main/java/frc/robot/TargetSelector.java b/src/main/java/frc/robot/TargetSelector.java new file mode 100644 index 0000000..48b5704 --- /dev/null +++ b/src/main/java/frc/robot/TargetSelector.java @@ -0,0 +1,293 @@ +package frc.robot; +import io.github.oblarg.oblog.Loggable; +import io.github.oblarg.oblog.annotations.Config; +import io.github.oblarg.oblog.annotations.Log; + +public class TargetSelector implements Loggable { + //indacate which target is selected for automatic aiming + + static boolean row[] = new boolean[3]; + static boolean column[] = new boolean[3]; + static boolean grid[] = new boolean[3]; + + static boolean target[][][] = new boolean[3][3][3]; + + + + final static String tabname = "Target Selector"; + + @Log.BooleanBox(rowIndex = 1, columnIndex = 1, tabName = tabname) + static boolean backleftA = false; + + @Log.BooleanBox(rowIndex = 1, columnIndex = 2, tabName = tabname) + static boolean backcenterA = false; + @Log.BooleanBox(rowIndex = 1, columnIndex = 3, tabName = tabname) + static boolean backrightA = false; + @Log.BooleanBox(rowIndex = 2, columnIndex = 1, tabName = tabname) + static boolean midleftA = false; + @Log.BooleanBox(rowIndex = 2, columnIndex = 2, tabName = tabname) + static boolean midcenterA = false; + @Log.BooleanBox(rowIndex = 2, columnIndex = 3, tabName = tabname) + static boolean midrightA = false; + @Log.BooleanBox(rowIndex = 3, columnIndex = 1, tabName = tabname) + static boolean frontleftA = false; + @Log.BooleanBox(rowIndex = 3, columnIndex = 2, tabName = tabname) + static boolean frontcenterA = false; + @Log.BooleanBox(rowIndex = 3, columnIndex = 3, tabName = tabname) + static boolean frontrightA = false; + + @Log.BooleanBox(rowIndex = 1, columnIndex = 5, tabName = tabname) + static boolean backleftB = false; + @Log.BooleanBox(rowIndex = 1, columnIndex = 6, tabName = tabname) + static boolean backcenterB = false; + @Log.BooleanBox(rowIndex = 1, columnIndex = 7, tabName = tabname) + static boolean backrightB = false; + @Log.BooleanBox(rowIndex = 2, columnIndex = 5, tabName = tabname) + static boolean midleftB = false; + @Log.BooleanBox(rowIndex = 2, columnIndex = 6, tabName = tabname) + static boolean midcenterB = false; + @Log.BooleanBox(rowIndex = 2, columnIndex = 7, tabName = tabname) + static boolean midrightB = false; + @Log.BooleanBox(rowIndex = 3, columnIndex = 5, tabName = tabname) + static boolean frontleftB = false; + @Log.BooleanBox(rowIndex = 3, columnIndex = 6, tabName = tabname) + static boolean frontcenterB = false; + @Log.BooleanBox(rowIndex = 3, columnIndex = 7, tabName = tabname) + static boolean frontrightB = false; + + @Log.BooleanBox(rowIndex = 1, columnIndex = 9, tabName = tabname) + static boolean backleftC = false; + @Log.BooleanBox(rowIndex = 1, columnIndex = 10, tabName = tabname) + static boolean backcenterC = false; + @Log.BooleanBox(rowIndex = 1, columnIndex = 11, tabName = tabname) + static boolean backrightC = false; + @Log.BooleanBox(rowIndex = 2, columnIndex = 9, tabName = tabname) + static boolean midleftC = false; + @Log.BooleanBox(rowIndex = 2, columnIndex = 10, tabName = tabname) + static boolean midcenterC = false; + @Log.BooleanBox(rowIndex = 2, columnIndex = 11, tabName = tabname) + static boolean midrightC = false; + @Log.BooleanBox(rowIndex = 3, columnIndex = 9, tabName = tabname) + static boolean frontleftC = false; + @Log.BooleanBox(rowIndex = 3, columnIndex = 10, tabName = tabname) + static boolean frontcenterC = false; + @Log.BooleanBox(rowIndex = 3, columnIndex = 11, tabName = tabname) + static boolean frontrightC = false; + TargetSelector(){ + + row[1] = true; + column[1] = true; + grid[1] = true; + update(); + + } + + + + +static void setA(){ + + grid[0] = true; + grid[1] = false; + grid[2] = false; + update(); + +} +static void setB(){ + + grid[0] = false; + grid[1] = true; + grid[2] = false; + update(); +} +static void setC(){ + + grid[0] = false; + grid[1] = false; + grid[2] = true; + update(); +} + +static void setLeft(){ + + column[0] = true; + column[1] = false; + column[2] = false; + update(); +} +static void setCenter(){ + + column[0] = false; + column[1] = true; + column[2] = false; + update(); +} +static void setRight(){ + + column[0] = false; + column[1] = false; + column[2] = true; + update(); +} + +static void setBack(){ + + row[0] = true; + row[1] = false; + row[2] = false; + update(); +} +static void setMid(){ + + row[0] = false; + row[1] = true; + row[2] = false; + update(); +} +static void setFront(){ + + row[0] = false; + row[1] = false; + row[2] = true; + update(); +} + +static int getTargetIdx(){ + //retunrs the index of the target in a flatend array + //the index reprents targets from left to right the up to down + //[col][row][grid] + int targetidx = 0; + for(int i = 0; i < 3; i++){ + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + if(target[i][j][k]) { + targetidx = i + j*9 + k*3; + } + } + } + } + return targetidx; +} + + +static void update(){ + + //create 3d array of booleans to hold the acutalized values of the grid, column, and row + boolean [][][] gtarget = new boolean[3][3][3]; + boolean [][][] ctarget = new boolean[3][3][3]; + boolean [][][] rtarget = new boolean[3][3][3]; + //[column][row][grid] + + + // fill the 3d array with the values of the grid, column, and row depending on which is selected for each + for(int i = 0; i < 3; i++){ + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + gtarget[i][j][k] = grid[k]; + ctarget[i][j][k] = column[i]; + rtarget[i][j][k] = row[j]; + } + } + } + //set the values of the targets to the intersection of the three + + + + //set the values of the targets to the intersection of the three + //if a target is in all three, it will be true + backleftA = target[0][0][0] = gtarget[0][0][0] && ctarget[0][0][0] && rtarget[0][0][0]; + backcenterA = target[1][0][0] = gtarget[1][0][0] && ctarget[1][0][0] && rtarget[1][0][0]; + backrightA = target[2][0][0] = gtarget[2][0][0] && ctarget[2][0][0] && rtarget[2][0][0]; + midleftA = target[0][1][0] = gtarget[0][1][0] && ctarget[0][1][0] && rtarget[0][1][0]; + midcenterA = target[1][1][0] = gtarget[1][1][0] && ctarget[1][1][0] && rtarget[1][1][0]; + midrightA = target[2][1][0] = gtarget[2][1][0] && ctarget[2][1][0] && rtarget[2][1][0]; + frontleftA = target[0][2][0] = gtarget[0][2][0] && ctarget[0][2][0] && rtarget[0][2][0]; + frontcenterA = target[1][2][0] = gtarget[1][2][0] && ctarget[1][2][0] && rtarget[1][2][0]; + frontrightA = target[2][2][0] = gtarget[2][2][0] && ctarget[2][2][0] && rtarget[2][2][0]; + + backleftB = target[0][0][1] = gtarget[0][0][1] && ctarget[0][0][1] && rtarget[0][0][1]; + backcenterB = target[1][0][1] = gtarget[1][0][1] && ctarget[1][0][1] && rtarget[1][0][1]; + backrightB = target[2][0][1] = gtarget[2][0][1] && ctarget[2][0][1] && rtarget[2][0][1]; + midleftB = target[0][1][1] = gtarget[0][1][1] && ctarget[0][1][1] && rtarget[0][1][1]; + midcenterB = target[1][1][1] = gtarget[1][1][1] && ctarget[1][1][1] && rtarget[1][1][1]; + midrightB = target[2][1][1] = gtarget[2][1][1] && ctarget[2][1][1] && rtarget[2][1][1]; + frontleftB = target[0][2][1] = gtarget[0][2][1] && ctarget[0][2][1] && rtarget[0][2][1]; + frontcenterB = target[1][2][1] = gtarget[1][2][1] && ctarget[1][2][1] && rtarget[1][2][1]; + frontrightB = target[2][2][1] = gtarget[2][2][1] && ctarget[2][2][1] && rtarget[2][2][1]; + + backleftC = target[0][0][2] = gtarget[0][0][2] && ctarget[0][0][2] && rtarget[0][0][2]; + backcenterC = target[1][0][2] = gtarget[1][0][2] && ctarget[1][0][2] && rtarget[1][0][2]; + backrightC = target[2][0][2] = gtarget[2][0][2] && ctarget[2][0][2] && rtarget[2][0][2]; + midleftC = target[0][1][2] = gtarget[0][1][2] && ctarget[0][1][2] && rtarget[0][1][2]; + midcenterC = target[1][1][2] = gtarget[1][1][2] && ctarget[1][1][2] && rtarget[1][1][2]; + midrightC = target[2][1][2] = gtarget[2][1][2] && ctarget[2][1][2] && rtarget[2][1][2]; + frontleftC = target[0][2][2] = gtarget[0][2][2] && ctarget[0][2][2] && rtarget[0][2][2]; + frontcenterC = target[1][2][2] = gtarget[1][2][2] && ctarget[1][2][2] && rtarget[1][2][2]; + frontrightC = target[2][2][2] = gtarget[2][2][2] && ctarget[2][2][2] && rtarget[2][2][2]; + + + + //[column][row][grid] + + + + + + + } + + // void clearA(){ + // backleftA = false; + // backcenterA = false; + // backrightA = false; + // midleftA = false; + // midcenterA = false; + // midrightA = false; + // frontleftA = false; + // frontcenterA = false; + // frontrightA = false; + // } + // void clearB(){ + // backleftB = false; + // backcenterB = false; + // backrightB = false; + // midleftB = false; + // midcenterB = false; + // midrightB = false; + // frontleftB = false; + // frontcenterB = false; + // frontrightB = false; + // } + // void clearC(){ + // backleftC = false; + // backcenterC = false; + // backrightC = false; + // midleftC = false; + // midcenterC = false; + // midrightC = false; + // frontleftC = false; + // frontcenterC = false; + // frontrightC = false; + // } + // public boolean newSelection(){ + // //check if three or less targets are selected + // // used to determin if the operator is midway through selecting a target or a new selection + // //one of three buttons slect which grid is targeted + // //and the other three buttons select which column is targeted + // //theese can be chosen in any order, and this function is used to determin if one is already selected and the other needs to only activate the intersection of the two + // //or if the operator is starting a new selection + // //the row will be selected after and the other selection must come first + // //if so, return true + // //if not, return false + // //im sorry + // int targetcount = backleftA ? 1 : backcenterA ? 1 : backrightA ? 1 : midleftA ? 1 : midcenterA ? 1 : midrightA ? 1 : frontleftA ? 1 : frontcenterA ? 1 : frontrightA ? 1 : + // backleftB ? 1 : backcenterB ? 1 : backrightB ? 1 : midleftB ? 1 : midcenterB ? 1 : midrightB ? 1 : frontleftB ? 1 : frontcenterB ? 1 : frontrightB ? 1 : + // backleftC ? 1 : backcenterC ? 1 : backrightC ? 1 : midleftC ? 1 : midcenterC ? 1 : midrightC ? 1 : frontleftC ? 1 : frontcenterC ? 1 : frontrightC ? 1 : 0; + // if(targetcount <= 3){ + // return true; + // } + + // return false; + // } + +} diff --git a/src/main/java/frc/robot/commands/arm/ExtendArm.java b/src/main/java/frc/robot/commands/arm/ExtendArm.java deleted file mode 100644 index 33fc4d1..0000000 --- a/src/main/java/frc/robot/commands/arm/ExtendArm.java +++ /dev/null @@ -1,5 +0,0 @@ -package frc.robot.commands.arm; - -public class ExtendArm { - -} diff --git a/src/main/java/frc/robot/commands/arm/RetractArm.java b/src/main/java/frc/robot/commands/arm/RetractArm.java deleted file mode 100644 index 332bdd0..0000000 --- a/src/main/java/frc/robot/commands/arm/RetractArm.java +++ /dev/null @@ -1,5 +0,0 @@ -package frc.robot.commands.arm; - -public class RetractArm { - -} diff --git a/src/main/java/frc/robot/commands/autonomous/BasicAutoCommand.java b/src/main/java/frc/robot/commands/autonomous/BasicAutoCommand.java deleted file mode 100644 index 55d3e75..0000000 --- a/src/main/java/frc/robot/commands/autonomous/BasicAutoCommand.java +++ /dev/null @@ -1,13 +0,0 @@ -package frc.robot.commands.autonomous; - -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import frc.robot.subsystems.drivetrain.Drivetrain; - -public class BasicAutoCommand extends SequentialCommandGroup{ - public BasicAutoCommand(Drivetrain drivetrain){ - addRequirements(drivetrain); - addCommands( - - ); - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/claw/CloseClaw.java b/src/main/java/frc/robot/commands/claw/CloseClaw.java deleted file mode 100644 index d79958c..0000000 --- a/src/main/java/frc/robot/commands/claw/CloseClaw.java +++ /dev/null @@ -1,5 +0,0 @@ -package frc.robot.commands.claw; - -public class CloseClaw { - -} diff --git a/src/main/java/frc/robot/commands/claw/OpenClaw.java b/src/main/java/frc/robot/commands/claw/OpenClaw.java deleted file mode 100644 index 6d130ec..0000000 --- a/src/main/java/frc/robot/commands/claw/OpenClaw.java +++ /dev/null @@ -1 +0,0 @@ -package frc.robot.commands.claw; diff --git a/src/main/java/frc/robot/commands/gripper/ConeGrip.java b/src/main/java/frc/robot/commands/gripper/ConeGrip.java new file mode 100644 index 0000000..7f301b6 --- /dev/null +++ b/src/main/java/frc/robot/commands/gripper/ConeGrip.java @@ -0,0 +1,14 @@ +package frc.robot.commands.gripper; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.RobotContainer; +import frc.robot.subsystems.arm.Arm; + +public class ConeGrip extends CommandBase{ + + /*Just grab as much as possible for the cone */ + public ConeGrip(Arm arm){ + addRequirements(arm); + } + +} diff --git a/src/main/java/frc/robot/commands/gripper/CubeGrip.java b/src/main/java/frc/robot/commands/gripper/CubeGrip.java new file mode 100644 index 0000000..4f26c3d --- /dev/null +++ b/src/main/java/frc/robot/commands/gripper/CubeGrip.java @@ -0,0 +1,14 @@ +package frc.robot.commands.gripper; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.RobotContainer; +import frc.robot.subsystems.arm.Arm; + +public class CubeGrip extends CommandBase{ + + /*Be more precise grabbing a cube, but a similar process to the cone*/ + public CubeGrip(Arm arm){ + addRequirements(arm); + } + +} diff --git a/src/main/java/frc/robot/commands/movement/AlignWithAprilTag.java b/src/main/java/frc/robot/commands/movement/AlignWithAprilTag.java new file mode 100644 index 0000000..3627441 --- /dev/null +++ b/src/main/java/frc/robot/commands/movement/AlignWithAprilTag.java @@ -0,0 +1,7 @@ +package frc.robot.commands.movement; + +public class AlignWithAprilTag { + /*Use getPose to determine the Apriltag target distance, + generate a path on the fly as the first point, + and set a point on the field as the second pos */ +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/movement/AutoBalance.java b/src/main/java/frc/robot/commands/movement/AutoBalance.java new file mode 100644 index 0000000..5cf673f --- /dev/null +++ b/src/main/java/frc/robot/commands/movement/AutoBalance.java @@ -0,0 +1,59 @@ +package frc.robot.commands.movement; + +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.RobotContainer; +import frc.robot.subsystems.drivetrain.Drivetrain; +import io.github.oblarg.oblog.Loggable; +import io.github.oblarg.oblog.annotations.Log; + +public class AutoBalance extends CommandBase implements Loggable{ + + Drivetrain m_drivetrain; + Double lastAngle; + Timer endTimer; + public AutoBalance(Drivetrain drive) { + // Use addRequirements() here to declare subsystem dependencies. + m_drivetrain = drive; + addRequirements(drive); + endTimer = new Timer(); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + lastAngle = m_drivetrain.getGyroRoll(); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + endTimer.start(); + Double currentAngle = m_drivetrain.getGyroRoll(); + Double angleDifference = currentAngle - lastAngle; + if (angleDifference > 2){ + m_drivetrain.arcadeDriveV(0.5,0); + } else if (angleDifference < 2){ + m_drivetrain.arcadeDriveV(-0.5, 0); + } else { + m_drivetrain.arcadeDriveV(0, 0); + } + + lastAngle = m_drivetrain.getGyroRoll(); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + // m_drivetrain.m_leftMotors.stopMotor(); + // m_drivetrain.m_rightMotors.stopMotor(); + } + + + // Returns true when the command should end. + @Override + public boolean isFinished() { + boolean finished = (m_drivetrain.getGyroRoll() < 2 && m_drivetrain.getGyroRoll() > -2 && endTimer.get() > 1? true: false); + return finished; + } +} diff --git a/src/main/java/frc/robot/commands/placement/level/PlaceHigh.java b/src/main/java/frc/robot/commands/placement/level/PlaceHigh.java index e69de29..80d4693 100644 --- a/src/main/java/frc/robot/commands/placement/level/PlaceHigh.java +++ b/src/main/java/frc/robot/commands/placement/level/PlaceHigh.java @@ -0,0 +1,57 @@ +package frc.robot.commands.placement.level; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.ParallelRaceGroup; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.WaitCommand; +import edu.wpi.first.wpilibj2.command.WaitUntilCommand; +import frc.robot.subsystems.arm.Arm; + +public class PlaceHigh extends SequentialCommandGroup{ + + Arm arm; + double initExtPos, initRaisePos, initGripPos; + double extendError, raiseError; + public PlaceHigh(Arm arm){ + this.arm = arm; + addRequirements(arm); + + initExtPos = arm.getExtendedPosition(); + initRaisePos = arm.getRaisedPosition(); + initGripPos = arm.getGripPosition(); + + extendError = (arm.k_targetExtPosHigh - initExtPos); + raiseError = (arm.k_targetRaisePosHigh - initRaisePos); + + addCommands( + new SequentialCommandGroup( + new ParallelRaceGroup( + new InstantCommand(() -> arm.setExtendPosition(initExtPos + extendError * 0.5)), + new InstantCommand(() -> arm.setRaisePosition(initRaisePos + raiseError * 0.5)), + new InstantCommand(() -> arm.setClawPosition(initGripPos + arm.k_targetGripPosHigh - initGripPos)), + new WaitCommand(0.5), + new InstantCommand(() -> arm.setClawPosition(-0.5)), + new InstantCommand(() -> arm.setRaisePosition(0)), + new InstantCommand(() -> arm.setClawPosition(0))) + ) + ); //, + // new ParallelRaceGroup( + // new InstantCommand(() -> arm.setExtendedPosition(initExtPos + extendError * 0.75)), + // new InstantCommand(() -> arm.setRaisedPosition(initRaisePos + raiseError * 0.75)), + // new InstantCommand(() -> arm.setGripPosition(initGripPos + arm.k_targetGripPosHigh - initGripPos)), + // new WaitCommand(0.5) + // ), + // new ParallelRaceGroup( + // new InstantCommand(() -> arm.setExtendedPosition(initExtPos + extendError)), + // new InstantCommand(() -> arm.setRaisedPosition(initRaisePos + raiseError)), + // new InstantCommand(() -> arm.setGripPosition(initGripPos + arm.k_targetGripPosHigh - initGripPos)), + // new WaitCommand(0.5) + } + + // @Override + // public void end(boolean interrupted) { + + // } + +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/placement/level/SetArmPosition.java b/src/main/java/frc/robot/commands/placement/level/SetArmPosition.java new file mode 100644 index 0000000..c338ad1 --- /dev/null +++ b/src/main/java/frc/robot/commands/placement/level/SetArmPosition.java @@ -0,0 +1,35 @@ +package frc.robot.commands.placement.level; + +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.RobotContainer; +import io.github.oblarg.oblog.Loggable; + +public class SetArmPosition extends CommandBase implements Loggable { + + public SetArmPosition() { + // Use addRequirements() here to declare subsystem dependencies. + addRequirements(RobotContainer.m_arm); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return false; + } +} diff --git a/src/main/java/frc/robot/subsystems/arm/Arm.java b/src/main/java/frc/robot/subsystems/arm/Arm.java index cb16e46..d233762 100644 --- a/src/main/java/frc/robot/subsystems/arm/Arm.java +++ b/src/main/java/frc/robot/subsystems/arm/Arm.java @@ -1,17 +1,881 @@ package frc.robot.subsystems.arm; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import edu.wpi.first.wpilibj2.command.WaitCommand; + import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants; +import io.github.oblarg.oblog.Loggable; +import io.github.oblarg.oblog.annotations.Config; +import io.github.oblarg.oblog.annotations.Log; +import com.revrobotics.AbsoluteEncoder; +import com.revrobotics.RelativeEncoder; +import com.revrobotics.CANSparkMax.ControlType; +import com.revrobotics.CANSparkMax.IdleMode; +import com.revrobotics.CANSparkMax.SoftLimitDirection; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkMaxLowLevel.MotorType; +import com.revrobotics.SparkMaxAbsoluteEncoder.Type; +import com.revrobotics.SparkMaxPIDController; + +public class Arm extends SubsystemBase implements Loggable{ + +public final CANSparkMax m_extendMotor; +public final CANSparkMax m_raiseMotor; +public final CANSparkMax m_gripMotor; + +RelativeEncoder m_extendEncoder ; +RelativeEncoder m_raiseEncoder ; +RelativeEncoder m_gripEncoder; + +SparkMaxPIDController m_extendPID; +SparkMaxPIDController m_raisePID; +SparkMaxPIDController m_gripPID; + + +private final double k_maxLengthPos = 55;//38.3//postion at the max length we mesures in units +private final double k_minLengthPos = 0;//postion at the max length we mesures in units + + + +private final double k_maxLeanglePos = 116 ; //max length of the angle control in units +private final double k_minLeanglePos = 0 ; //max length of the angle control in units +private final double k_maxClawPos = 43.3; //43.3 +private final double k_minClawPos = 0; + +// private final double k_rangeLengthPos = k_maxLengthPos - k_minLengthPos; +// private final double k_rangeLeanglePos = k_maxLeanglePos- k_minLeanglePos; +private final double k_rangeLengthPos = 55; +private final double k_rangeLeanglePos =116;//needs to be tuned, adjust tilll the arm is at the right angle at bottom should be nearly correct + +private final double k_rangeClawPos = k_maxClawPos - k_minClawPos; //also should be checked and tuned + + +private final double k_maxHeight = Units.inchesToMeters((12*6.25)) ;// height in feet that the robot is alowed to be + +private final double k_pivotHeight = Units.inchesToMeters(21); // height in inches that the pivot point oi the arm is of the floor +private double k_minArmHeight = Units.inchesToMeters(0); // height in inches that the arm is alowed to be at the bottom +private final double d_minArmHeight = 5; + + +private final double k_defaultLength = 0; // the length we want the ar m to be most of the time +private final double k_defaultLeanglle= 0;//the lenght of the angle motor we want most of the time + +private final double k_coneClaw=0; +private final double k_cubeClaw=0; + +private final double k_coneLeangle1= 0 ; +private final double k_coneLeangle2= 0 ; +private final double k_coneLeangle3= 0 ; +private final double k_coneLeangleS= 0 ; + +private final double k_cubeLeangle1= 0 ; +private final double k_cubeLeangle2= 0 ; +private final double k_cubeLeangle3= 0 ; +private final double k_cubeLeangleS= 0 ; + + +private final double k_coneLength1= 0 ; +private final double k_coneLength2= 0 ; +private final double k_coneLength3= 0 ; +private final double k_coneLengthS= 0 ; + +private final double k_cubeLength1= 0 ; +private final double k_cubeLength2= 0 ; +private final double k_cubeLength3= 0 ; +private final double k_cubeLengthS= 0 ; + + +// private final double k_pivotLenght = Units.inchesToMeters(17.5);//? the hieght of the arm pivot from the base of the angle actuator fill in actual +private final double k_pivotLenght = Units.inchesToMeters(16.5); +private final double k_pivotOffset = Units.inchesToMeters(5.25); //distance between the arm pirvot point and the place where the angle motor attaches to the arm, +// private final double k_minLeangle= Units.inchesToMeters(13.4);//used for kinematics +private final double k_minLeangle= Units.inchesToMeters(14.87); +// private final double k_maxLeangle= Units.inchesToMeters(21.2);//used for kinemati +private final double k_maxLeangle= Units.inchesToMeters(21.0); +private final double k_minLength= Units.inchesToMeters(30.75); +private final double k_maxLength= Units.inchesToMeters(70);//59 +private final double k_columtToFront = Units.inchesToMeters(18); //distance of the colloum from the front of the robot + +private final double k_ticksPerInchExtend=1; +private final double k_ticksPerInchRaise=1; +private final double k_ticksPerInchGrip= 1; + + //pid constants + //extend + public final double kPE_out = 0.06;//0.14 + public final double kIE_out = 0.0008;//was 0.05 + public final double kDE_out = 0.0000;//was 0.01 + public final double kIzE_out = 4; + public final double kFFE_out = 0.0; + + public final double kPE_in = 0.06;//0.14 + public final double kIE_in = 0.0008;//was 0.05 + public final double kDE_in = 0.0000;//was 0.01 + public final double kIzE_in = 4; + public final double kFFE_in = 0.0; + + public final double kMaxOutputE = 0.4; //arm oout? + public final double kMinOutputE = 0.3;//arm in? + public final double maxRPME = 5; + public final double maxAccelE = 2; + +//raise + public final double kPR_up = 0.06;//0.6 + public final double kIR_up = 0.0001;//was 0.0005 + public final double kDR_up = 0.0000;//was 0.001 + public final double kIzR_up = 2; + public final double kFFR_up = 0.0; + + public final double kPR_down = 0.06;//0.6 + public final double kIR_down = 0.0001;//was 0.0005 + public final double kDR_down = 0.0000;//was 0.001 + public final double kIzR_down = 2; + public final double kFFR_down = 0.0; + + public final double kMaxOutputR = 0.4;//arm up + public final double kMinOutputR = 0.3;//arm down + + public final double maxRPMR = 5; + public final double maxAccelR = 2; + + +//grip + public final double kPG = 1; + public final double kIG = 0; + public final double kDG = 0; + public final double kIzG = 0; + public final double kFFG = 0; + public final double kMaxOutputG = 0.3;//grip open? + public final double kMinOutputG = 0.3;//grip close? + public final double maxRPMG = 5; + public final double maxAccelG = 2; + + + public double vExtendPos = 0; + + public double vRaisePos = 0; + public double vGripPos = 0; + + @Log.Graph(name = "minArmHeight") + public double vMaxExtention = 0; + @Log.Graph(name = "minAgnle") + public double vMinAngle = 0; + public double k_targetRaisePosHigh; + public double k_targetExtPosHigh; + public double k_targetGripPosHigh; + + +// private final AbsoluteEncoder m_Encoder; + + +//Sets max velocity, acceleration, and state + private TrapezoidProfile armSmother = new TrapezoidProfile(new TrapezoidProfile.Constraints(0,0), + new TrapezoidProfile.State(0, 0), + new TrapezoidProfile.State(0,0)); + public Arm(){ + m_extendMotor = new CANSparkMax(20, MotorType.kBrushless); + m_raiseMotor = new CANSparkMax(21,MotorType.kBrushless); + m_gripMotor = new CANSparkMax(22,MotorType.kBrushless) ; + + //cuewnt limit + m_extendMotor.setSmartCurrentLimit(50 , 50,0); + m_raiseMotor.setSmartCurrentLimit(50,50,0); + m_gripMotor.setSmartCurrentLimit(16,28,0); + + m_extendMotor.setSoftLimit(SoftLimitDirection.kForward, (float)k_rangeLengthPos); + m_extendMotor.setSoftLimit(SoftLimitDirection.kReverse, (float)-1); + + m_raiseMotor.setSoftLimit(SoftLimitDirection.kForward, (float) 1); + m_raiseMotor.setSoftLimit(SoftLimitDirection.kReverse, (float)-k_rangeLeanglePos); + + + + + // neutral mode + m_extendMotor.setIdleMode(IdleMode.kBrake); + m_raiseMotor.setIdleMode(IdleMode.kBrake); + m_gripMotor.setIdleMode(IdleMode.kBrake); + + + // m_extendMotor.setIdleMode(IdleMode.kCoast); + // m_raiseMotor.setIdleMode(IdleMode.kCoast); + // m_gripMotor.setIdleMode(IdleMode.kCoast); + + // m_extendMotor.setSoftLimit(SoftLimitDirection.kForward, (float)k_rangeLengthPos); + // m_raiseMotor.setSoftLimit(SoftLimitDirection.kReverse, (float)-k_rangeLeanglePos); + + // m_extendMotor.setSoftLimit(SoftLimitDirection.kReverse, 0); + // m_raiseMotor.setSoftLimit(SoftLimitDirection + + + + + + + //encoder + m_extendEncoder = m_extendMotor.getEncoder(); + m_raiseEncoder = m_raiseMotor.getEncoder(); + m_gripEncoder = m_gripMotor.getEncoder(); + + + m_extendEncoder.setPositionConversionFactor(k_ticksPerInchExtend); + m_raiseEncoder.setPositionConversionFactor(k_ticksPerInchRaise ); + m_gripEncoder.setPositionConversionFactor(k_ticksPerInchGrip); + + +// pid controllers + m_extendPID = m_extendMotor.getPIDController(); + m_raisePID = m_raiseMotor.getPIDController(); + m_gripPID = m_gripMotor.getPIDController(); + + + + + + m_extendPID.setP(kPE_out,0); + m_extendPID.setI(kIE_out,0); + m_extendPID.setD(kDE_out,0); + m_extendPID.setIZone(kIzE_out,0); + m_extendPID.setFF(kFFE_out,0); + + m_extendPID.setP(kPE_in,1); + m_extendPID.setI(kIE_in,1); + m_extendPID.setD(kIE_in, 1); + m_extendPID.setIZone(kIzE_in,1); + m_extendPID.setFF(kFFE_in,1); + + m_extendPID.setOutputRange(-kMinOutputE, kMaxOutputE,0); + + m_raisePID.setP(kPR_up,0); + m_raisePID.setI(kIR_up,0); + m_raisePID.setD(kDR_up,0); + m_raisePID.setIZone(kIzR_up,0); + m_raisePID.setFF(kFFR_up,0); + m_raisePID.setOutputRange(-kMinOutputR, kMaxOutputR,0); + + + m_gripPID.setP(kPG,0); + m_gripPID.setI(kIG,0); + m_gripPID.setD(kDG,0); + m_gripPID.setIZone(kIzG,0); + m_gripPID.setFF(kFFG,0); + m_gripPID.setOutputRange(-kMinOutputG, kMaxOutputG,0); + + // motion contfiguration + int kSlotIdxE = 0; + m_extendPID.setSmartMotionMaxVelocity(maxRPME, kSlotIdxE); + m_extendPID.setSmartMotionMinOutputVelocity(-maxRPME, kSlotIdxE); + m_extendPID.setSmartMotionMaxAccel(maxAccelE, kSlotIdxE); + m_extendPID.setSmartMotionAllowedClosedLoopError(10, kSlotIdxE); + + int kSlotIdxR = 0; + m_raisePID.setSmartMotionMaxVelocity(maxRPMR, kSlotIdxR); + m_raisePID.setSmartMotionMinOutputVelocity(-maxRPMR, kSlotIdxR); + m_raisePID.setSmartMotionMaxAccel(maxAccelR, kSlotIdxR); + m_raisePID.setSmartMotionAllowedClosedLoopError(10, kSlotIdxR); + + int kSlotIdxG = 0; + m_gripPID.setSmartMotionMaxVelocity(maxRPMG, kSlotIdxG); + m_gripPID.setSmartMotionMinOutputVelocity(-maxRPMG, kSlotIdxG); + m_gripPID.setSmartMotionMaxAccel(maxAccelG, kSlotIdxG); + m_gripPID.setSmartMotionAllowedClosedLoopError(10, kSlotIdxG); + + + + //set some soft limit to prevent full extension (illegal) + } + + @Override + public void periodic() { + // This method will be called once per scheduler run + // checkIfStalled(); + } + + // @Log(name = "Pivot Encoder Counts", tabName = "Arm") + // public double getAbsoluteEncoderCounts(){ + // return m_Encoder.getPosition(); + // } + + // @Log(name = "Check if Stalled") + // public boolean checkIfStalled(){ + // //Check pulse per 10 ms. If the rate of pulse immediately drops, then we are stalled. + // boolean isStalled = (m_armMotor.getOutputCurrent() < Constants.voltageDropThreshold); + // if(isStalled){ + // m_armMotor.setSmartCurrentLimit(0, 0); //TBD + // } + // return isStalled; + // } + + @Log.Graph(name = "Extend Motor Curent") + public double getExtendCurrentP(){ + return m_extendMotor.getOutputCurrent(); + } + + @Log.Graph(name = "Raise Motor Curent") + public double getRaiseCurrent(){ + return m_raiseMotor.getOutputCurrent(); + } + + @Log(name = "Extend Motor Temp") + public double getExtendTemp(){ + return m_extendMotor.getMotorTemperature(); + } + + @Log(name = "Raise Motor Temp" ) + public double getRaiseTemp(){ + return m_raiseMotor.getMotorTemperature(); + } + +@Log.ToString(name = "Arm Pose") +public Translation2d getArmPose(){ + +double armangle = getArmAngle(); + +double armlength = k_minLength + m_extendEncoder.getPosition()/k_rangeLengthPos * (k_maxLength-k_minLength); + +double clawhieght = k_pivotHeight+ Math.sin(Math.toRadians(armangle))*armlength; +double clawlength = Math.cos(Math.toRadians(armangle))*armlength-k_columtToFront; + + + + + Translation2d armpos = new Translation2d(clawlength, clawhieght); + return armpos; +} +@Log(name = "Arm Angle") +public double getArmAngle(){ + double angle = 0; + //use law of cosines because we have three sides + //c^2 = a^2+b^2-2ab*cos(C)% + //a^2+b^2 - c^2 = 2ab*cos(C) + //C = acos((a^2+b^2 - c^2) /2ab) + double a = k_pivotLenght; + double b = k_pivotOffset; + double c = k_maxLeangle+( m_raiseEncoder.getPosition()/k_rangeLeanglePos *(k_maxLeangle-k_minLeangle));//negative positoning lead to subtracting from max angle + // System.out.println("c: "+c); + // System.out.println("a: "+a); + // System.out.println("b: "+b); + double temp = (Math.pow(a, 2)+Math.pow(b, 2)-Math.pow(c, 2))/(2*a*b); + // System.out.println("temp: "+temp); + angle = Math.toDegrees( Math.acos(temp)); // angle of obtuse triangle formed by arm + angle = angle -90;// i of arm above or below horizontal + + //calibrated fudging + double measuredmin = -23.8; + double measuredmax = 62; + double calcmin =-26.9; + double calcmax = 52.4; + double zerooffset = -5.27; + + + angle = (angle-calcmin)/(calcmax-calcmin)*(measuredmax-measuredmin)+measuredmin; + + + return angle; +} + +public double getArmLength(){ + double length = 0; + //use law of cosines because we have three sides + //c^2 = a^2+b^2-2ab*cos(C) + //a^2+b^2 - c^2 = 2ab*cos(C) + //C = acos((a^2+b^2 - c^2) /2ab) + // double a = k_pivotLenght; + // double b = k_pivotOffset; + // double c = m_raiseEncoder.getPosition()/k_rangeLena*(k_maxLeangle-k_minLeangle)+k_minLeangle; + double extent = m_extendEncoder.getPosition()/k_rangeLengthPos*(k_maxLength-k_minLength)+k_minLength; + length = extent * Math.cos(getArmAngle())- k_columtToFront; + return length; + +} + + + +public double angleToLeangle(double angle){ + //TAKES DEGREES + //angle is the angle of the arm above or below horizontal + //use law of cosines because we have 2 sides and an included angle + //c^2 = a^2+b^2-2ab*cos(C) + // solve for c + //C = the moving angle of the arm +double measuredmin = -23.8; +double measuredmax = 62; +double calcmin =-26.9; +double calcmax = 52.4; +double zerooffset = -5.27; + + + angle = (angle-measuredmin)/(calcmax-calcmin)*(measuredmax-measuredmin)+calcmin; + + + + + double C = angle + 90; + C = Math.toRadians(angle); + double a = k_pivotLenght; + double b = k_pivotOffset; + double c = Math.sqrt(Math.pow(a, 2)+Math.pow(b, 2)-2*a*b*Math.cos(C)); + double leangle = (c-k_minLeangle)/(k_maxLeangle-k_minLeangle)*k_maxLeanglePos; + return leangle; + + +} + +public Translation2d radialToLengths(double angle, double length){ + //calculate the lengths of the arm and angle motor to get to the desired position + //angle is the angle of the arm above or below horizontal + //length is the distance from the front of the robot to the desired position + + double leangle = angleToLeangle(angle); + length = length/Math.cos(angle) - k_columtToFront; + + + + return new Translation2d(leangle,length); +} + +public Translation2d cartToLengths(double length, double height){ + //calculate the lengths of the arm and angle motor to get to the desired position + //height is the hieght of the desired position + //length is the distance from the front of the robot to the desired position + height = height - k_pivotHeight; + length = length + k_columtToFront; + double angle = Math.atan(height/length); + double leangle = angleToLeangle(angle); + length = length/Math.cos(angle); + + + + return new Translation2d(leangle,length); + } + +@Log(name = "Extent Position") +public double getExtendedPosition(){ + return m_extendEncoder.getPosition(); +} + +@Log(name = "Extent") +public double getExtent(){ + return m_extendEncoder.getPosition()/k_rangeLengthPos*(k_maxLength-k_minLength)+k_minLength; +} + +@Log(name = "Raise Position") +public double getRaisedPosition(){ + return m_raiseEncoder.getPosition(); +} +@Log(name = "Grip Position") +public double getGripPosition(){ + return m_gripEncoder.getPosition(); +} + public void setArmPosition(Translation2d position){ + //takes in a pose and sets the arm to that position + Translation2d setpoints = cartToLengths(position.getX(), position.getY()); + + setExtendPosition(setpoints.getY()); + setRaisePosition(setpoints.getX()); + + // setExtendMotion(setpoints.getY()); + // setRaiseMotion(setpoints.getX()); + + // setExtendMotionSafe(setpoints.getY()); + // setRaiseMotionSafe(setpoints.getX()); + + } + public Command dropCargo(Translation2d position){ + return new SequentialCommandGroup( + new InstantCommand(()->setClawPosition(0)), + new InstantCommand(()->setArmPosition(position)), + new WaitCommand(0.5), + new InstantCommand(()->setClawPosition(1)), + new WaitCommand(0.5), + new InstantCommand(()->setClawPosition(0)), + new InstantCommand(()->setArmPosition(new Translation2d(0,0))) + ); + } + + +public void setExtendPosition(double position){ + //inpoutrange -1 to 1 + // pos zero is fully retracted + //1 is fully extended + // armSmother.calculate(5); + position = position +1; + position = position/2; + position = position * (k_rangeLengthPos-1); + position = position+1; + vExtendPos=position; + m_extendPID.setReference(position, CANSparkMax.ControlType.kPosition); +} +public void setRaisePosition(double position){ + //inpoutrange -1 to 1 + //pos 0 is fully raised + //negative pos is goint down + position = position +1; + position = position/2; + position = position * (k_rangeLeanglePos-0.5) *-1; + position = position -0.5; + vRaisePos=position; + + m_raisePID.setReference(position, CANSparkMax.ControlType.kPosition); + + +} +public void setClawPosition(double position){ + //inpoutrange -1 to 1 + //pos 0 is fully raised + //negative pos is goint down + position = position +1; + position = position/2; + position = position * k_rangeClawPos ; + vGripPos=position; + m_gripPID.setReference(position, CANSparkMax.ControlType.kPosition); + + +} + +public void setExtendMotion(double position){ + //inpoutrange -1 to 1 + // pos zero is fully retracted + //1 is fully extended + position = position +1; + position = position/2; + position = position * (k_rangeLengthPos-2); + position = position+2; + vExtendPos=position; + m_extendPID.setReference(position, CANSparkMax.ControlType.kSmartMotion,0); +} +public void setExtendMotionOnboard(double position){ + //inpoutrange -1 to 1 + // pos zero is fully retracted + //1 is fully extended + position = position +1; + position = position/2; + position = position * (k_rangeLengthPos-2); + position = position+2; + vExtendPos=position; + + m_extendPID.setReference(position, CANSparkMax.ControlType.kSmartMotion,0); +} + +public void setRaiseMotion(double position){ + //inpoutrange -1 to 1 + //pos 0 is fully raised + //negative pos is goint down + position = position +1; + position = position/2; + position = position * (k_rangeLeanglePos-2) *-1; + position = position -2; + vRaisePos=position; + + + m_raisePID.setReference(position, CANSparkMax.ControlType.kSmartMotion,0); +} +public void setClawMotion(double position){ + //inpoutrange -1 to 1 + //pos 0 is fully raised + //negative pos is goint down + position = position +1; + position = position/2; + position = position * k_rangeClawPos ; + vGripPos=position; + m_gripPID.setReference(position, CANSparkMax.ControlType.kSmartMotion,0); + + +}public void setExtendPositionSafe(double position){ + //inpoutrange -1 to 1 + // pos zero is fully retracted + //1 is fully extended + position = position +1; + position = position/2; + position = position * (k_rangeLengthPos-2); + position = position+2; + + position = position +1; + position = position/2; + position = position * (k_rangeLengthPos-2); + position = position+2; + // calculate max extension based on arm angle so it doesnt hit the floor + //max extion == k_pivotHeight/Math.cos(angle) + + // final double k_horizontalPos = -50;//????? this is a guess, fill in with actual value + // final double k_minAngle = -30;// ????? this is a guess, fill in with actual value by mesuring the angle of the arm + double angle = Math.toRadians( getArmAngle()); + double maxExtension = position; + if (angle < 0){ + maxExtension = ( k_pivotHeight-k_minArmHeight ) / Math.cos(angle); + } + maxExtension = (maxExtension-k_minLength)/(k_maxLength-k_minLength)*(k_rangeLengthPos); + + if (position > maxExtension){ + position = maxExtension; + } + vExtendPos=position; + vMaxExtention = maxExtension; + + + vExtendPos=position; + m_extendPID.setReference(position, CANSparkMax.ControlType.kPosition); +} +public void setRaisePositionSafe(double position){ + //inpoutrange -1 to 1 + //pos 0 is fully raised + //negative pos is goint down + position = position +1; + position = position/2; + position = position * (k_rangeLeanglePos-2) *-1; + position = position -2; + + + double lenght = getExtent(); + // min angle = Math.cos(angle)= k_pivotHeight/length + double minAngle = -Math.acos((k_pivotHeight-k_minArmHeight)/lenght); + minAngle = angleToLeangle(minAngle)*k_rangeLeanglePos; + + + if (position < minAngle){ + position = minAngle; + } + vRaisePos=position; + vMinAngle = minAngle; + + + vRaisePos=position; + + + + m_raisePID.setReference(position, CANSparkMax.ControlType.kPosition); + + +} + +public void setExtendMotionSafe(double position){ + //inpoutrange -1 to 1 + // pos zero is fully retracted + //1 is fully extended + position = position +1; + position = position/2; + position = position * (k_rangeLengthPos-2); + position = position+2; + // calculate max extension based on arm angle so it doesnt hit the floor + //max extion == k_pivotHeight/Math.cos(angle) + + // final double k_horizontalPos = -50;//????? this is a guess, fill in with actual value + // final double k_minAngle = -30;// ????? this is a guess, fill in with actual value by mesuring the angle of the arm + double angle = getArmAngle(); + double maxExtension = position; + if (angle < 0){ + maxExtension = ( k_pivotHeight-k_minArmHeight ) / Math.cos(angle); + } + maxExtension = (maxExtension-k_minLength)/(k_maxLength-k_minLength)*(k_rangeLengthPos); + + if (position > maxExtension){ + position = maxExtension; + } + vExtendPos=position; + vMaxExtention = maxExtension; + + m_extendPID.setReference(position, CANSparkMax.ControlType.kSmartMotion); +} + +public void setRaiseMotionSafe( double position){ + //inpoutrange -1 to 1 + //pos 0 is fully raised + //negative pos is goint down + position = position +1; + position = position/2; + position = position * (k_rangeLeanglePos-2) *-1; + position = position -2; + // calcuate min angle/leangle based on arm extension so it doesnt hit the floor + + double lenght = getExtent(); + // min angle = Math.cos(angle)= k_pivotHeight/length + double minAngle =Math.toDegrees( -Math.acos((k_pivotHeight-k_minArmHeight)/lenght)); + double minLeangle = angleToLeangle(minAngle)*k_rangeLeanglePos; + + if (position < minLeangle){ + position = minLeangle; + } + vRaisePos=position; + vMinAngle = minAngle; + + m_raisePID.setReference(position, CANSparkMax.ControlType.kSmartMotion); + +} +public void toggleGripCone(){ + if(m_gripEncoder.getPosition()<38) + setClawPosition(.94); + + else + setClawPosition(-1); + +} +public void toggleGripCube(){ + if(m_gripEncoder.getPosition()<5 || m_gripEncoder.getPosition()>30) + setClawPosition(0.1); + + else + setClawPosition(-1); +} + +public void resetPosition(){ + m_extendEncoder.setPosition(0); + m_raiseEncoder.setPosition(0); + m_gripEncoder.setPosition(0); +} + + + +// @Config(name = "Extend PID", tabName = "Arm PID") +// void setExtenPIDIzF(@Config(defaultValueNumeric = kPE) double p , @Config(defaultValueNumeric = kIE) double i, @Config(defaultValueNumeric = kDE) double d, @Config(defaultValueNumeric = kIzE) double iz, @Config(defaultValueNumeric = kFFE) double f){ +// m_extendPID.setP(p); +// m_extendPID.setI(i); +// m_extendPID.setD(d); +// m_extendPID.setIZone(iz); +// m_extendPID.setFF(f); + +// } +@Config (name = "Extend P", tabName = "Arm PID", defaultValueNumeric = kPE_out) +void setExtendP(double p){ + m_extendPID.setP(p); +} +@Config (name = "Extend I", tabName = "Arm PID", defaultValueNumeric = kIE_out) +void setExtendI(double i){ + m_extendPID.setI(i); +} +@Config (name = "Extend D", tabName = "Arm PID", defaultValueNumeric = kDE_out) +void setExtendD(double d){ + m_extendPID.setD(d); +} +@Config (name = "Extend Iz", tabName = "Arm PID", defaultValueNumeric = kIzE_out) +void setExtendIz(double iz){ + m_extendPID.setIZone(iz); +} +@Config (name = "Extend FF", tabName = "Arm PID", defaultValueNumeric = kFFE_out) +void setExtendFF(double f){ + m_extendPID.setFF(f); +} + + +// @Config (name = "Raise PID", tabName = "Arm PID") +// void setRaisePIDIzF(@Config(defaultValueNumeric = kPR) double p , @Config(defaultValueNumeric = kIR) double i, @Config(defaultValueNumeric = kDR) double d, @Config(defaultValueNumeric = kIzR) double iz, @Config(defaultValueNumeric = kFFR) double f) { +// m_raisePID.setP(p); +// m_raisePID.setI(i); +// m_raisePID.setD(d); +// m_raisePID.setIZone(iz); +// m_raisePID.setFF(f); +// } +@Config (name = "Raise P", tabName = "Arm PID", defaultValueNumeric = kPR_up) +void setRaiseP(double p){ + m_raisePID.setP(p); +} +@Config (name = "Raise I", tabName = "Arm PID", defaultValueNumeric = kIR_up) +void setRaiseI(double i){ + m_raisePID.setI(i); +} +@Config (name = "Raise D", tabName = "Arm PID", defaultValueNumeric = kDR_up) +void setRaiseD(double d){ + m_raisePID.setD(d); +} +@Config (name = "Raise Iz", tabName = "Arm PID", defaultValueNumeric = kIzR_up) +void setRaiseIz(double iz){ + m_raisePID.setIZone(iz); +} +@Config (name = "Raise FF", tabName = "Arm PID", defaultValueNumeric = kFFR_up) +void setRaiseFF(double f){ + m_raisePID.setFF(f); +} + + +// @Config (name = "Grip PID", tabName = "Arm PID") +// void setGripPIDIzF( @Config( defaultValueNumeric = kPG) double p , @Config(defaultValueNumeric = kIG) double i, @Config(defaultValueNumeric = kDG) double d, @Config(defaultValueNumeric = kIzG) double iz, @Config(defaultValueNumeric = kFFG) double f) { +// m_gripPID.setP(p); +// m_gripPID.setI(i); +// m_gripPID.setD(d); +// m_gripPID.setIZone(iz); +// m_gripPID.setFF(f); +// } + +// @Config (name = "Extend Max Motion", tabName = "Arm PID") +// void setExtendMaxVelocityAndAccel(@Config(defaultValueNumeric = maxRPME) double maxVelocity, @Config(defaultValueNumeric = maxAccelE) double maxAccel){ +// m_extendPID.setSmartMotionMaxVelocity(maxVelocity, 0); +// m_extendPID.setSmartMotionMaxAccel(maxAccel, 0); +// } + +// @Config (name = "Raise Max Motion", tabName = "Arm PID") +// void setRaiseMaxVelocityAndAccel(@Config(defaultValueNumeric = maxRPMR) double maxVelocity, @Config(defaultValueNumeric = maxAccelR) double maxAccel){ +// m_raisePID.setSmartMotionMaxVelocity(maxVelocity, 0); +// m_raisePID.setSmartMotionMaxAccel(maxAccel, 0); +// } + +// @Config (name = "Grip Max Motion", tabName = "Arm PID") +// void setGripMaxVelocityAndAccel(@Config(defaultValueNumeric = maxRPMG) double maxVelocity, @Config(defaultValueNumeric = maxAccelG) double maxAccel){ +// m_gripPID.setSmartMotionMaxVelocity(maxVelocity, 0); +// m_gripPID.setSmartMotionMaxAccel(maxAccel, 0); +// } + + +@Config (name = "Extend Max Output", tabName = "Arm PID") +void setExtendMaxOutput(@Config(defaultValueNumeric = kMaxOutputE) double outPower, @Config(defaultValueNumeric = kMinOutputE) double inPower){ + + m_extendPID.setOutputRange(-inPower, outPower); +} + + +@Config (name = "Raise Max Output", tabName = "Arm PID") +void setRaiseMaxOutput(@Config(defaultValueNumeric = kMinOutputR) double upPower, @Config(defaultValueNumeric = kMaxOutputR) double downPower){ + + m_raisePID.setOutputRange(-upPower, downPower); +} + +@Config (name = "Grip Max Output", tabName = "Arm PID") +void setGripMaxOutput(@Config(defaultValueNumeric = kMaxOutputG) double gripPower, @Config(defaultValueNumeric = kMinOutputG) double releasePower){ + + m_gripPID.setOutputRange(-gripPower, releasePower); +} + + + +@Config.NumberSlider (name = "min height", tabName = "Arm PID", min = 0, max = 8, defaultValue = d_minArmHeight) +void setMinArmHeight( double minHeight){ + k_minArmHeight = minHeight; + -public class Arm extends SubsystemBase { - public Arm() { +} +@Log.Graph(name = "Extend Setpoint") +double vExtendPos(){ + return vExtendPos; +} +@Log.Graph(name = "Raise Setpoint") +double vRaisePos(){ + return vRaisePos; +} +@Log.Graph(name = "Grip Setpoint") +double vGripPos(){ + return vGripPos; +} - } +@Log.Graph (name = "Extend Error", tabName = "Arm PID") + public double getExtendError(){ + return m_extendEncoder.getPosition() - vExtendPos; + } + @Log.Graph (name = "Raise Error", tabName = "Arm PID") + public double getRaiseError(){ + return m_raiseEncoder.getPosition() - vRaisePos; + } + @Log.Graph (name = "Grip Error", tabName = "Arm PID") + public double getGripError(){ + return m_gripEncoder.getPosition() - vGripPos; + } - @Override - public void periodic() { - // This method will be called once per scheduler run - } } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java index 64a3c4e..8079fbe 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java @@ -11,15 +11,19 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.DifferentialDriveKinematics; +import edu.wpi.first.math.controller.RamseteController; import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator; - +import edu.wpi.first.math.filter.SlewRateLimiter; import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.RobotController; +import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandBase; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim; @@ -30,10 +34,8 @@ import java.util.Optional; - import org.photonvision.EstimatedRobotPose; -import org.photonvision.PhotonPoseEstimator; -import org.photonvision.PhotonPoseEstimator.PoseStrategy; + import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXFeedbackDevice; import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration; @@ -41,6 +43,13 @@ import com.ctre.phoenix.motorcontrol.ControlMode; import com.ctre.phoenix.motorcontrol.FeedbackDevice; import com.ctre.phoenix.sensors.WPI_Pigeon2; + +import com.pathplanner.lib.PathPlanner; +import com.pathplanner.lib.PathPlannerTrajectory; +import com.pathplanner.lib.PathConstraints; +import com.pathplanner.lib.PathPoint; +import com.pathplanner.lib.commands.PPRamseteCommand; + import com.ctre.phoenix.motorcontrol.TalonFXSimCollection; import com.ctre.phoenix.sensors.BasePigeonSimCollection; @@ -63,12 +72,14 @@ public class Drivetrain extends SubsystemBase implements Loggable { private final WPI_Pigeon2 m_gyro = new WPI_Pigeon2(0); //motor groups - @Log.MotorController(name = "Left Motors", tabName = "Drivetrain") - private final MotorControllerGroup m_leftMotors = - new MotorControllerGroup(m_leftMaster, m_leftDrone); - @Log.MotorController(name = "Right Motors", tabName = "Drivetrain") - private final MotorControllerGroup m_rightMotors = - new MotorControllerGroup(m_rightMaster, m_rightDrone); + // @Log.MotorController(name = "Left Motors", tabName = "Drivetrain") + // public + // final MotorControllerGroup m_leftMotors = + // new MotorControllerGroup(m_leftMaster, m_leftDrone); + // @Log.MotorController(name = "Right Motors", tabName = "Drivetrain") + // public + // final MotorControllerGroup m_rightMotors = + // new MotorControllerGroup(m_rightMaster, m_rightDrone); //camera public PhotonCameraWrapper pcw; @@ -90,10 +101,11 @@ public class Drivetrain extends SubsystemBase implements Loggable { // public final DifferentialDrive m_differentialDrive = // new DifferentialDrive(m_leftMotors, m_rightMotors); - +//ramsete controller + public final RamseteController m_ramseteController = new RamseteController(); // Simulation classes help us simulate our robot - private final BasePigeonSimCollection m_gyroSim = m_gyro.getSimCollection(); +// private final BasePigeonSimCollection m_gyroSim = m_gyro.getSimCollection(); private final TalonFXSimCollection m_leftDriveSim = m_leftMaster.getSimCollection(); private final TalonFXSimCollection m_rightDriveSim = m_rightMaster.getSimCollection(); @@ -104,26 +116,32 @@ public class Drivetrain extends SubsystemBase implements Loggable { final int k100msPerSecond = 10; - private final Field2d m_fieldSim = new Field2d(); - private final LinearSystem m_drivetrainSystem = - LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3); - private final DifferentialDrivetrainSim m_driveSim = - new DifferentialDrivetrainSim( - m_drivetrainSystem, - DCMotor.getFalcon500(2), - 8, - Constants.wheelBaseWidth, - Constants.wheelRad, - null); - +// private final Field2d m_fieldSim = new Field2d(); +// private final LinearSystem m_drivetrainSystem = +// LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3); +// private final DifferentialDrivetrainSim m_driveSim = +// new DifferentialDrivetrainSim( +// m_drivetrainSystem, +// DCMotor.getFalcon500(2), +// 8, +// Constants.wheelBaseWidth, +// Constants.wheelRad, +// null); + private SlewRateLimiter driveSmother = new SlewRateLimiter(6,-6,0); public Drivetrain() { m_gyro.reset(); + // m_gyro.inver - m_rightMotors.setInverted(true); - m_rightMaster.setInverted(true); - m_rightDrone.setInverted(true); + // m_rightMotors.setInverted(true); + // m_rightMaster.setInverted(true); + // m_rightDrone.setInverted(true); + + m_rightMaster.setInverted(false); + m_rightDrone.setInverted(false); + m_leftMaster.setInverted(true); + m_leftDrone.setInverted(true); m_leftMaster.setNeutralMode(NeutralMode.Brake); m_leftDrone.setNeutralMode(NeutralMode.Brake); @@ -165,7 +183,7 @@ public Drivetrain() { //Odometry - m_rightMotors.setInverted(true); + // m_rightMotors.setInverted(true); m_leftMaster.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor, 0, 0); m_rightMaster.configSelectedFeedbackSensor(FeedbackDevice.IntegratedSensor, 0, 0); @@ -180,7 +198,8 @@ public Drivetrain() { //Vision - pcw = new PhotonCameraWrapper(); + pcw = new PhotonCameraWrapper(Constants.VisionConstants.cameraName, Constants.VisionConstants.robotToCam); + //pcw2 = new PhotonCameraWrapper(Constants.VisionConstants.cameraName2, Constants.VisionConstants.robotToCam2) @@ -201,7 +220,18 @@ public Drivetrain() { // private final WPI_Pigeon2 m_gyro = new WPI_Pigeon2(0); //fix canID - + public void setSpeedsCONT(double left, double right) { + //continuously set speeds until interrupted do not use lightly + while(true) { + + m_leftMaster.set(ControlMode.Velocity, left); + m_rightMaster.set(ControlMode.Velocity, right); + } + } + + public void resetOdometry(Pose2d initialPose) { + m_poseEstimator.resetPosition(m_gyro.getRotation2d(), nativeUnitsToDistanceMeters( m_leftMaster.getSelectedSensorPosition()), nativeUnitsToDistanceMeters( m_rightMaster.getSelectedSensorPosition()), initialPose); + } @Override public void periodic() { @@ -213,9 +243,9 @@ public void periodic() { @Override public void simulationPeriodic() { /* Pass the robot battery voltage to the simulated Talon SRXs */ - m_leftDriveSim.setBusVoltage(RobotController.getBatteryVoltage()); - m_rightDriveSim.setBusVoltage(RobotController.getBatteryVoltage()); - updateOdometry(); + // m_leftDriveSim.setBusVoltage(RobotController.getBatteryVoltage()); + // m_rightDriveSim.setBusVoltage(RobotController.getBatteryVoltage()); + // updateOdometry(); /* * CTRE simulation is low-level, so SimCollection inputs * and outputs are not affected by SetInverted(). Only @@ -230,15 +260,15 @@ public void simulationPeriodic() { * using getInverted() so we can catch a possible bug in the * robot code where the wrong value is passed to setInverted(). */ - m_driveSim.setInputs(m_leftDriveSim.getMotorOutputLeadVoltage(), - -m_rightDriveSim.getMotorOutputLeadVoltage()); + // m_driveSim.setInputs(m_leftDriveSim.getMotorOutputLeadVoltage(), + // -m_rightDriveSim.getMotorOutputLeadVoltage()); /* * Advance the model by 20 ms. Note that if you are running this * subsystem in a separate thread or have changed the nominal * timestep of TimedRobot, this value needs to match it. */ - m_driveSim.update(0.02); + // m_driveSim.update(0.02); /* * Update all of our sensors. @@ -254,24 +284,24 @@ public void simulationPeriodic() { * the output any further. * If we had observed that a positive voltage results in a negative * sensor velocity, we would need to negate the output once more. - */ - m_leftDriveSim.setIntegratedSensorRawPosition( - distanceToNativeUnits( - m_driveSim.getLeftPositionMeters() - )); - m_leftDriveSim.setIntegratedSensorRawPosition( - velocityToNativeUnits( - m_driveSim.getLeftVelocityMetersPerSecond() - )); - m_rightDriveSim.setIntegratedSensorRawPosition( - distanceToNativeUnits( - -m_driveSim.getRightPositionMeters() - )); - m_rightDriveSim.setIntegratedSensorRawPosition( - velocityToNativeUnits( - -m_driveSim.getRightVelocityMetersPerSecond() - )); - m_gyroSim.setRawHeading(m_driveSim.getHeading().getDegrees()); + // */ + // m_leftDriveSim.setIntegratedSensorRawPosition( + // distanceToNativeUnits( + // m_driveSim.getLeftPositionMeters() + // )); + // m_leftDriveSim.setIntegratedSensorRawPosition( + // velocityToNativeUnits( + // m_driveSim.getLeftVelocityMetersPerSecond() + // )); + // m_rightDriveSim.setIntegratedSensorRawPosition( + // distanceToNativeUnits( + // -m_driveSim.getRightPositionMeters() + // )); + // m_rightDriveSim.setIntegratedSensorRawPosition( + // velocityToNativeUnits( + // -m_driveSim.getRightVelocityMetersPerSecond() + // )); + // m_gyroSim.setRawHeading(m_driveSim.getHeading().getDegrees()); } @@ -311,15 +341,22 @@ public void arcadeDriveV(double speed, double rotation){ } + double kFiltercoeff = 0; + + // @Config.NumberSlider(name = " Smothing Filter coeff" , min = 0, max = 0.5,defaultValue = 0 ) + // private void setSmothing(double filtervalue){ + // kFiltercoeff = filtervalue; + // // return kFiltercoeff; + // } public void smoothDrive(double speed, double rotation){ - final double kFiltercoeff = 0;//filter coefficient for the low pass filter high value means more smoothing + //filter coefficient for the low pass filter high value means more smoothing //apply a low pass filter to the speed input //takes a percentage of the new speed and the oposite percentage of the old speed and adds them together - speed = speed * (1-kFiltercoeff) + filtspeed * kFiltercoeff ; - + // speed = speed * (1-kFiltercoeff) + filtspeed * kFiltercoeff ; + speed = driveSmother.calculate(speed); //use the differntial drive invers kinematics class to set the motor controllers directly in velocity control mode DifferentialDriveWheelSpeeds wheelSpeeds = m_kinematics.toWheelSpeeds(new ChassisSpeeds(speed, 0, rotation)); @@ -353,39 +390,94 @@ public void smoothDrive(double speed, double rotation){ // m_differentialDrive.tankDrive(leftSpeed, rightSpeed); // } + // public void stop() { + // // m_differentialDrive.stopMotor(); + // m_leftMotors.stopMotor(); + // m_rightMotors.stopMotor(); - public void stop() { - // m_differentialDrive.stopMotor(); - m_leftMotors.stopMotor(); - m_rightMotors.stopMotor(); - } + // } + + + public Command followTrajectoryCommand(PathPlannerTrajectory traj, boolean isFirstPath) { + return new SequentialCommandGroup( + new InstantCommand(() -> { + // Reset odometry for the first path you run during auto + if(isFirstPath){ + this.resetOdometry(traj.getInitialPose()); + } + }), + new PPRamseteCommand(traj,this::getPose, m_ramseteController, m_kinematics, this::setSpeeds, this) + + ); +} + +public Command goToPoseCommand(Pose2d tpose, double speed, double accel) { + //take a target pose and generate a path to it + + + Pose2d ipose = this.getPose(); + PathPlannerTrajectory traj = PathPlanner.generatePath( + new PathConstraints(4, 3), + new PathPoint(ipose.getTranslation(), ipose.getRotation()), // position, heading + new PathPoint(tpose.getTranslation(), tpose.getRotation()) // position, heading + ); + - @Config(name = "Max Output", defaultValueNumeric = 1) - // public void setMaxOutput(double maxOutput) { - // m_differentialDrive.setMaxOutput(maxOutput); - // } + + return followTrajectoryCommand(traj, false); +} + public void updateOdometry() { + Rotation2d rotation = m_gyro.getRotation2d(); + rotation = rotation.times(-1); m_poseEstimator.update( - m_gyro.getRotation2d(), nativeUnitsToDistanceMeters( m_leftMaster.getSelectedSensorPosition()),nativeUnitsToDistanceMeters( m_rightMaster.getSelectedSensorPosition())); + rotation, nativeUnitsToDistanceMeters( m_rightMaster.getSelectedSensorPosition()),nativeUnitsToDistanceMeters( m_leftMaster.getSelectedSensorPosition())); Optional result = pcw.getEstimatedGlobalPose(m_poseEstimator.getEstimatedPosition()); - - if (result.isPresent()) { + + // System.out.println("left"+native- + if (result.isPresent()) { EstimatedRobotPose camPose = result.get(); m_poseEstimator.addVisionMeasurement( camPose.estimatedPose.toPose2d(), camPose.timestampSeconds); - m_fieldSim.getObject("Cam Est Pos").setPose(camPose.estimatedPose.toPose2d()); + // System.out.println("got camera"); + // m_fieldSim.getObject("Cam Est Pos").setPose(camPose.estimatedPose.toPose2d()); } else { // move it way off the screen to make it disappear - m_fieldSim.getObject("Cam Est Pos").setPose(new Pose2d(-100, -100, new Rotation2d())); + // m_fieldSim.getObject("Cam Est Pos").setPose(new Pose2d(-100, -100, new Rotation2d())); } + // Optional result2 = + // pcw2.getEstimatedGlobalPose(m_poseEstimator.getEstimatedPosition()); + // if (result2.isPresent()) { + // EstimatedRobotPose camPose = result2.get(); + // m_poseEstimator.addVisionMeasurement( + // camPose.estimatedPose.toPose2d(), camPose.timestampSeconds); + // m_fieldSim.getObject("Cam Est Pos").setPose(camPose.estimatedPose.toPose2d()); + // } else { + // // move it way off the screen to make it disappear + // m_fieldSim.getObject("Cam Est Pos").setPose(new Pose2d(-100, -100, new Rotation2d())); + // } + + // m_fieldSim.getObject("Actual Pos").setPose(m_driveSim.getPose()); + // m_fieldSim.setRobotPose(m_poseEstimator.getEstimatedPosition()); +} + +@Log(name = "left enc") +public double getLeftPositionMeters(){ + return nativeUnitsToDistanceMeters(m_leftMaster.getSelectedSensorPosition()); - m_fieldSim.getObject("Actual Pos").setPose(m_driveSim.getPose()); - m_fieldSim.setRobotPose(m_poseEstimator.getEstimatedPosition()); } -// @Log.ToString(name = "Pose") +@Log(name = "right enc") +public double getRightPositionMeters(){ + return nativeUnitsToDistanceMeters(m_rightMaster.getSelectedSensorPosition()); + +} + + + +@Log.ToString(name = "Pose") public Pose2d getPose() { return m_poseEstimator.getEstimatedPosition(); } @@ -399,18 +491,30 @@ public Rotation2d getRot() { } @Log(name = "Gyro Yaw") -private double getGyroPos(){ +public double getGyroPos(){ return m_gyro.getYaw(); } -@Log.Graph(name = "lefterror") -public double lerror(){ - return m_leftMaster.getClosedLoopError(); -} -@Log.Graph(name = "righterror") -public double rerror(){ - return m_rightMaster.getClosedLoopError(); + +@Log(name = "Gyro Roll") +public double getGyroRoll(){ + return m_gyro.getRoll(); } +// @Log.Graph(name = "lefterror") +// public double lerror(){ +// return m_leftMaster.getClosedLoopError(); +// } +// @Log.Graph(name = "righterror") +// public double rerror(){ +// return m_rightMaster.getClosedLoopError(); +// } + + + + + + + private int distanceToNativeUnits(double positionMeters){ double wheelRotations = positionMeters/(2 * Math.PI * Units.inchesToMeters(kWheelRadiusInches)); @@ -434,6 +538,12 @@ private double nativeUnitsToDistanceMeters(double sensorCounts){ return positionMeters; } +public void setSpeeds(Double left, Double right){ + m_leftMaster.set(ControlMode.Velocity, left); + m_rightMaster.set(ControlMode.Velocity, right); + m_leftDrone.set(ControlMode.Follower, 1); + m_rightDrone.set(ControlMode.Follower, 3); + } private int moveTenFeet(){ //move 10 feet in native units double tenFeet = Units.feetToMeters(10); @@ -459,4 +569,18 @@ public boolean isFinished() { } }; } + +// @Config(name = "set Drive pid" ) +// public void setDrivePID(@Config(defaultValueNumeric = Constants.dKp) double p, @Config(defaultValueNumeric = Constants.dKi) double i, @Config(defaultValueNumeric = Constants.dKd) double d, @Config(defaultValueNumeric = Constants.dKf) double f){ +// m_leftMaster.config_kP(0, p); +// m_leftMaster.config_kI(0, i); +// m_leftMaster.config_kD(0, d); +// m_leftMaster.config_kF(0, f); +// m_rightMaster.config_kP(0, p); +// m_rightMaster.config_kI(0, i); +// m_rightMaster.config_kD(0, d); +// m_rightMaster.config_kF(0, f); + +// } + } \ No newline at end of file diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json new file mode 100644 index 0000000..69fddcd --- /dev/null +++ b/vendordeps/PathplannerLib.json @@ -0,0 +1,35 @@ +{ + "fileName": "PathplannerLib.json", + "name": "PathplannerLib", + "version": "2023.4.3", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2023.4.3" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2023.4.3", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json new file mode 100644 index 0000000..f2d0b7d --- /dev/null +++ b/vendordeps/REVLib.json @@ -0,0 +1,73 @@ +{ + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2023.1.3", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2023.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2023.1.3" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2023.1.3", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2023.1.3", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2023.1.3", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "windowsx86", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file