From b3b54d8ed69804922b2fc9710d90b1617ca505dd Mon Sep 17 00:00:00 2001 From: John Joseph Date: Sun, 19 Jan 2025 21:34:37 -0500 Subject: [PATCH] backup autos with old structure --- src/main/deploy/choreo/ThreeL4/1.traj | 204 ++++++++++++ src/main/deploy/choreo/ThreeL4/2.traj | 313 ++++++++++++++++++ src/main/deploy/choreo/ThreeL4/3.traj | 108 ++++++ src/main/deploy/choreo/ThreeL4/4.traj | 198 +++++++++++ src/main/deploy/choreo/ThreeL4/5.traj | 64 ++++ src/main/deploy/choreo/ThreeL4/ThreeL4.chor | 78 +++++ src/main/deploy/modded_layout.json | 44 --- src/main/kotlin/frc/team449/auto/AutoUtil.kt | 25 +- .../frc/team449/auto/choreo/ChoreoFollower.kt | 8 +- .../frc/team449/auto/choreo/ChoreoRoutine.kt | 8 +- .../team449/auto/routines/ExampleRoutine.kt | 2 +- .../frc/team449/auto/routines/ThreeL4.kt | 91 +++++ .../commands/driveAlign/SimpleReefAlign.kt | 147 ++++++++ .../frc/team449/subsystems/FieldConstants.kt | 54 ++- .../subsystems/vision/VisionConstants.kt | 29 +- .../InterpolatedVisionDataset.kt | 2 +- 16 files changed, 1301 insertions(+), 74 deletions(-) create mode 100644 src/main/deploy/choreo/ThreeL4/1.traj create mode 100644 src/main/deploy/choreo/ThreeL4/2.traj create mode 100644 src/main/deploy/choreo/ThreeL4/3.traj create mode 100644 src/main/deploy/choreo/ThreeL4/4.traj create mode 100644 src/main/deploy/choreo/ThreeL4/5.traj create mode 100644 src/main/deploy/choreo/ThreeL4/ThreeL4.chor delete mode 100644 src/main/deploy/modded_layout.json create mode 100644 src/main/kotlin/frc/team449/auto/routines/ThreeL4.kt create mode 100644 src/main/kotlin/frc/team449/commands/driveAlign/SimpleReefAlign.kt diff --git a/src/main/deploy/choreo/ThreeL4/1.traj b/src/main/deploy/choreo/ThreeL4/1.traj new file mode 100644 index 0000000..53561c2 --- /dev/null +++ b/src/main/deploy/choreo/ThreeL4/1.traj @@ -0,0 +1,204 @@ +{ + "name":"1", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":7.173469066619873, "y":2.4849693775177, 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"omega":0.02091, "ax":4.28369, "ay":4.56697, "alpha":0.0606, "fx":[67.81378,68.25891,68.19843,67.75562], "fy":[72.68394,72.26636,72.32552,72.74024]}, + {"t":0.38021, "x":1.78742, "y":1.02359, "heading":0.95338, "vx":1.62976, "vy":1.73823, "omega":0.02321, "ax":4.28201, "ay":4.56495, "alpha":0.06063, "fx":[67.78726,68.23242,68.17174,67.72889], "fy":[72.65162,72.23403,72.29374,72.70846]}, + {"t":0.41823, "x":1.85248, "y":1.09297, "heading":0.95426, "vx":1.79257, "vy":1.91179, "omega":0.02552, "ax":4.27961, "ay":4.56218, "alpha":0.06073, "fx":[67.74898,68.19456,68.13366,67.6904], "fy":[72.60736,72.18944,72.24984,72.66489]}, + {"t":0.45625, "x":1.92373, "y":1.16896, "heading":0.95523, "vx":1.95528, "vy":2.08525, "omega":0.02782, "ax":4.27594, "ay":4.55806, "alpha":0.06094, "fx":[67.69025,68.13699,68.07586,67.63144], "fy":[72.54204,72.1231,72.18448,72.60053]}, + {"t":0.49427, "x":2.00116, "y":1.25154, "heading":0.95629, "vx":2.11786, "vy":2.25855, "omega":0.03014, "ax":4.26975, "ay":4.55125, "alpha":0.06146, "fx":[67.59057,68.04045,67.97902,67.53149], "fy":[72.43452,72.0128,72.07573,72.49453]}, + {"t":0.53229, "x":2.08477, "y":1.3407, "heading":0.95744, "vx":2.2802, "vy":2.43159, "omega":0.03248, "ax":4.25727, "ay":4.53767, "alpha":0.06302, "fx":[67.38772,67.84783,67.78572,67.32807], "fy":[72.22202,71.79103,71.85728,72.2852]}, + {"t":0.57031, "x":2.17454, "y":1.43643, "heading":0.95867, "vx":2.44206, "vy":2.60412, "omega":0.03487, "ax":4.21974, "ay":4.49708, "alpha":0.07151, "fx":[66.76483,67.28296,67.21659,66.70157], "fy":[71.5976,71.11339,71.19333,71.67368]}, + {"t":0.60833, "x":2.27044, "y":1.53869, "heading":0.96, "vx":2.6025, "vy":2.7751, "omega":0.03759, "ax":0.83948, "ay":0.86929, "alpha":2.98807, "fx":[2.60726,15.78907,23.64637,11.26642], "fy":[12.44188,3.07137,15.37559,24.31366]}, + {"t":0.64635, "x":2.37, "y":1.64483, "heading":0.96143, "vx":2.63441, "vy":2.80815, "omega":0.1512, "ax":-4.21292, "ay":-4.49196, "alpha":0.61956, "fx":[-68.77797,-64.42571,-64.87281,-69.45657], "fy":[-69.64652,-73.67115,-73.124,-68.81075]}, + {"t":0.68437, "x":2.46711, "y":1.74835, "heading":0.96718, "vx":2.47424, "vy":2.63736, "omega":0.17476, "ax":-4.25547, "ay":-4.5366, "alpha":0.29051, "fx":[-68.45187,-66.3657,-66.63996,-68.77741], "fy":[-71.20924,-73.15233,-72.86696,-70.85873]}, + {"t":0.72239, "x":2.55811, "y":1.84534, "heading":0.97382, "vx":2.31244, "vy":2.46488, "omega":0.1858, "ax":-4.26902, "ay":-4.55078, "alpha":0.17593, "fx":[-68.3124,-67.04064,-67.22597,-68.51641], "fy":[-71.75185,-72.93934,-72.75428,-71.54267]}, + {"t":0.76041, "x":2.64294, "y":1.93577, "heading":0.98089, "vx":2.15013, "vy":2.29185, "omega":0.19249, "ax":-4.27566, "ay":-4.55772, "alpha":0.11778, "fx":[-68.23719,-67.3835,-67.51723,-68.37921], "fy":[-72.02638,-72.82452,-72.69342,-71.8844]}, + {"t":0.79843, "x":2.7216, "y":2.01962, "heading":0.9882, "vx":1.98757, "vy":2.11857, "omega":0.19697, "ax":-4.2796, "ay":-4.56183, "alpha":0.08263, "fx":[-68.19071,-67.59118,-67.69091,-68.29447], "fy":[-72.19166,-72.75261,-72.65583,-72.0895]}, + {"t":0.83645, "x":2.79408, "y":2.09687, "heading":0.99569, "vx":1.82485, "vy":1.94512, "omega":0.20011, "ax":-4.28221, "ay":-4.56455, "alpha":0.05909, "fx":[-68.15947,-67.73066,-67.80592,-68.23675], "fy":[-72.30175,-72.70318,-72.63063,-72.22644]}, + {"t":0.87448, "x":2.86036, "y":2.16752, "heading":1.0033, "vx":1.66204, "vy":1.77158, "omega":0.20236, "ax":-4.28406, "ay":-4.56647, "alpha":0.04222, "fx":[-68.13725,-67.83094,-67.88742,-68.19475], "fy":[-72.38013,-72.66699,-72.61278,-72.32451]}, + {"t":0.9125, "x":2.92046, "y":2.23158, "heading":1.011, "vx":1.49916, "vy":1.59796, "omega":0.20396, "ax":-4.28544, "ay":-4.56791, "alpha":0.02955, "fx":[-68.12083,-67.90663,-67.94799,-68.16269], "fy":[-72.43858,-72.63925,-72.59968,-72.39832]}, + {"t":0.95052, "x":2.97436, "y":2.28903, "heading":1.01875, "vx":1.33622, "vy":1.42428, "omega":0.20509, "ax":-4.28651, "ay":-4.56903, "alpha":0.01967, "fx":[-68.10835,-67.96587,-67.99461,-68.1373], "fy":[-72.48372,-72.61723,-72.5898,-72.45598]}, + {"t":0.98854, "x":3.02207, "y":2.33988, "heading":1.02655, "vx":1.17325, "vy":1.25056, "omega":0.20583, "ax":-4.28737, "ay":-4.56992, "alpha":0.01176, "fx":[-68.09866,-68.01356,-68.03145,-68.11663], "fy":[-72.51951,-72.59927,-72.58222,-72.50235]}, + {"t":1.02656, "x":3.06358, "y":2.38413, "heading":1.03437, "vx":1.01024, "vy":1.07681, "omega":0.20628, "ax":-4.28806, "ay":-4.57065, "alpha":0.00529, "fx":[-68.09102,-68.05282,-68.06118,-68.0994], "fy":[-72.5485,-72.5843,-72.57635,-72.54052]}, + {"t":1.06458, "x":3.09889, "y":2.42176, "heading":1.04222, "vx":0.8472, "vy":0.90303, "omega":0.20648, "ax":-4.28864, "ay":-4.57126, "alpha":-0.00011, "fx":[-68.08495,-68.08577,-68.08558,-68.08476], "fy":[-72.57236,-72.5716,-72.57178,-72.57254]}, + {"t":1.1026, "x":3.128, "y":2.45279, "heading":1.05007, "vx":0.68415, "vy":0.72923, "omega":0.20648, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/ThreeL4/ThreeL4.chor b/src/main/deploy/choreo/ThreeL4/ThreeL4.chor new file mode 100644 index 0000000..81da6d0 --- /dev/null +++ b/src/main/deploy/choreo/ThreeL4/ThreeL4.chor @@ -0,0 +1,78 @@ +{ + "name":"ThreeL4", + "version":1, + "type":"Swerve", + "variables":{ + "expressions":{}, + "poses":{} + }, + "config":{ + "frontLeft":{ + "x":{ + "exp":"11.625 in", + "val":0.295275 + }, + "y":{ + "exp":"11.625 in", + "val":0.295275 + } + }, + "backLeft":{ + "x":{ + "exp":"-11.625 in", + "val":-0.295275 + }, + "y":{ + "exp":"11.625 in", + "val":0.295275 + } + }, + "mass":{ + "exp":"140 lbs", + "val":63.502931800000006 + }, + "inertia":{ + "exp":"6 kg m ^ 2", + "val":6.0 + }, + "gearing":{ + "exp":"6.75", + "val":6.75 + }, + "radius":{ + "exp":"2 in", + "val":0.0508 + }, + "vmax":{ + "exp":"5000 RPM", + "val":523.5987755982989 + }, + "tmax":{ + "exp":"0.75 N * m", + "val":0.75 + }, + "cof":{ + "exp":"0.8", + "val":0.8 + }, + "bumper":{ + "front":{ + "exp":"17.5 in", + "val":0.4445 + }, + "side":{ + "exp":"17.5 in", + "val":0.4445 + }, + "back":{ + "exp":"17.5 in", + "val":0.4445 + } + }, + "differentialTrackWidth":{ + "exp":"22 in", + "val":0.5588 + } + }, + "generationFeatures":[] +} diff --git a/src/main/deploy/modded_layout.json b/src/main/deploy/modded_layout.json deleted file mode 100644 index 6095911..0000000 --- a/src/main/deploy/modded_layout.json +++ /dev/null @@ -1,44 +0,0 @@ -{ - "tags": [ - { - "ID": 3, - "pose": { - "translation": { - "x": 16.579342, - "y": 4.982717999999999, - "z": 1.4511020000000001 - }, - "rotation": { - "quaternion": { - "W": 6.123233995736766e-17, - "X": 0.0, - "Y": 0.0, - "Z": 1.0 - } - } - } - }, - { - "ID": 7, - "pose": { - "translation": { - "x": -0.038099999999999995, - "y": 5.547867999999999, - "z": 1.4511020000000001 - }, - "rotation": { - "quaternion": { - "W": 1.0, - "X": 0.0, - "Y": 0.0, - "Z": 0.0 - } - } - } - } - ], - "field": { - "length": 16.541, - "width": 8.211 - } -} \ No newline at end of file diff --git a/src/main/kotlin/frc/team449/auto/AutoUtil.kt b/src/main/kotlin/frc/team449/auto/AutoUtil.kt index 2784090..bd3cfef 100644 --- a/src/main/kotlin/frc/team449/auto/AutoUtil.kt +++ b/src/main/kotlin/frc/team449/auto/AutoUtil.kt @@ -21,7 +21,7 @@ object AutoUtil { ) /** You will need to change this based on how the field is set up each year */ - fun transformForRed(pathGroup: MutableList): MutableList { + fun transformForRedAlliance(pathGroup: MutableList): MutableList { for (index in 0 until pathGroup.size) { for (time in pathGroup[index].objectiveTimestamps) { val currentMatrix = pathGroup[index].stateMap.get(time) @@ -44,6 +44,29 @@ object AutoUtil { return pathGroup } + fun transformForBlueStage(pathGroup: MutableList): MutableList { + for (index in 0 until pathGroup.size) { + for (time in pathGroup[index].objectiveTimestamps) { + val currentMatrix = pathGroup[index].stateMap.get(time) + + val newMatrix = MatBuilder.fill( + Nat.N2(), + Nat.N3(), + currentMatrix[0, 0], + FieldConstants.fieldWidth - currentMatrix[0, 1], + -currentMatrix[0, 2], + currentMatrix[1, 0], + -currentMatrix[1, 1], + -currentMatrix[1, 2] + ) + + pathGroup[index].stateMap.put(time, newMatrix) + } + } + + return pathGroup + } + /** Add other methods that return commands that do groups of actions that are done * across different auto routines. For Charged UP, these methods were things such as * dropping a cone/cube, or getting in ground intake position, etc. diff --git a/src/main/kotlin/frc/team449/auto/choreo/ChoreoFollower.kt b/src/main/kotlin/frc/team449/auto/choreo/ChoreoFollower.kt index 727deac..a02bc00 100644 --- a/src/main/kotlin/frc/team449/auto/choreo/ChoreoFollower.kt +++ b/src/main/kotlin/frc/team449/auto/choreo/ChoreoFollower.kt @@ -34,7 +34,8 @@ class ChoreoFollower( poseTol: Pose2d = Pose2d(0.035, 0.035, Rotation2d(0.035)), private val timeout: Double = 0.65, private val resetPose: Boolean = false, - private val debug: Boolean = false + private val debug: Boolean = false, + private val stopDriveAfterTraj: Boolean = true ) : Command() { private val timer = Timer() @@ -101,6 +102,9 @@ class ChoreoFollower( override fun end(interrupted: Boolean) { timer.stop() timer.reset() - drivetrain.stop() + + if (stopDriveAfterTraj) { + drivetrain.stop() + } } } diff --git a/src/main/kotlin/frc/team449/auto/choreo/ChoreoRoutine.kt b/src/main/kotlin/frc/team449/auto/choreo/ChoreoRoutine.kt index c9b0140..1c24849 100644 --- a/src/main/kotlin/frc/team449/auto/choreo/ChoreoRoutine.kt +++ b/src/main/kotlin/frc/team449/auto/choreo/ChoreoRoutine.kt @@ -35,7 +35,8 @@ class ChoreoRoutine( private val resetPosition: Boolean = false, private val resetPositionTolerance: Pose2d = Pose2d(0.0, 0.0, Rotation2d.fromDegrees(0.0)), private val timeout: Double = 0.65, - private val debug: Boolean = false + private val debug: Boolean = false, + private val stopDriveAfterTraj: Boolean = true ) { private fun resetPose(trajectory: ChoreoTrajectory): Command { @@ -74,8 +75,9 @@ class ChoreoRoutine( poseTol, timeout, resetPosition, - debug - ).andThen(drive::stop, drive), + debug, + stopDriveAfterTraj + ), parallelEventMap.getOrDefault(i, InstantCommand()) ) ) diff --git a/src/main/kotlin/frc/team449/auto/routines/ExampleRoutine.kt b/src/main/kotlin/frc/team449/auto/routines/ExampleRoutine.kt index a1d0f93..d4d3457 100644 --- a/src/main/kotlin/frc/team449/auto/routines/ExampleRoutine.kt +++ b/src/main/kotlin/frc/team449/auto/routines/ExampleRoutine.kt @@ -32,7 +32,7 @@ class ExampleRoutine( override val trajectory: MutableList = if (isRed) { - AutoUtil.transformForRed( + AutoUtil.transformForRedAlliance( ChoreoTrajectory.createTrajectory(arrayListOf("part1", "part2"), "example") ) } else { diff --git a/src/main/kotlin/frc/team449/auto/routines/ThreeL4.kt b/src/main/kotlin/frc/team449/auto/routines/ThreeL4.kt new file mode 100644 index 0000000..9038fbb --- /dev/null +++ b/src/main/kotlin/frc/team449/auto/routines/ThreeL4.kt @@ -0,0 +1,91 @@ +package frc.team449.auto.routines + +import edu.wpi.first.wpilibj2.command.Command +import edu.wpi.first.wpilibj2.command.InstantCommand +import edu.wpi.first.wpilibj2.command.PrintCommand +import edu.wpi.first.wpilibj2.command.WaitCommand +import frc.team449.Robot +import frc.team449.auto.AutoUtil +import frc.team449.auto.choreo.ChoreoRoutine +import frc.team449.auto.choreo.ChoreoRoutineStructure +import frc.team449.auto.choreo.ChoreoTrajectory +import frc.team449.commands.driveAlign.SimpleReefAlign +import frc.team449.subsystems.superstructure.SuperstructureGoal + +class ThreeL4( + robot: Robot, + isRedAlliance: Boolean, + isRedStage: Boolean +) : ChoreoRoutineStructure { + + /** TODO: Add logic to scoring to outtake and wait until coral isn't detected + * TODO: Add logic to substation to intake and wait until coral is detected + */ + override val routine = + ChoreoRoutine( + drive = robot.drive, + poseSubsystem = robot.poseSubsystem, + parallelEventMap = hashMapOf( + 0 to premoveL4(robot), + 1 to premoveSubstation(robot), + 2 to premoveL4(robot), + 3 to premoveSubstation(robot), + 4 to premoveL4(robot), + ), + stopEventMap = hashMapOf( + 1 to scoreL4(robot), + 2 to intakeSubstation(robot), + 3 to scoreL4(robot), + 4 to intakeSubstation(robot), + 5 to scoreL4(robot) + .andThen(robot.superstructureManager.requestGoal(SuperstructureGoal.STOW)), + ), + debug = false, + timeout = 0.0, + stopDriveAfterTraj = false + ) + + private fun premoveL4(robot: Robot): Command { + return robot.superstructureManager.requestGoal(SuperstructureGoal.L4_PREMOVE) + } + + private fun premoveSubstation(robot: Robot): Command { + return robot.superstructureManager.requestGoal(SuperstructureGoal.SUBSTATION_INTAKE) + .alongWith(PrintCommand("start intaking")) + } + + private fun scoreL4(robot: Robot): Command { + return robot.superstructureManager.requestGoal(SuperstructureGoal.L4) + .alongWith(SimpleReefAlign(robot.drive, robot.poseSubsystem)) + } + + private fun intakeSubstation(robot: Robot): Command { + return InstantCommand(robot.drive::stop) + .andThen(robot.superstructureManager.requestGoal(SuperstructureGoal.SUBSTATION_INTAKE)) + .andThen(PrintCommand("wait until coral detected placeholder ")) + .andThen(WaitCommand(1.0)) + } + + override val trajectory: MutableList = + if (isRedAlliance) { + if (isRedStage) { + AutoUtil.transformForRedAlliance( + ChoreoTrajectory.createTrajectory(arrayListOf("1", "2", "3", "4", "5"), "ThreeL4") + ) + } else { + AutoUtil.transformForBlueStage( + AutoUtil.transformForRedAlliance( + ChoreoTrajectory.createTrajectory(arrayListOf("1", "2", "3", "4", "5"), "ThreeL4") + ) + ) + } + } else { + if (isRedStage) { + ChoreoTrajectory.createTrajectory(arrayListOf("1", "2", "3", "4", "5"), "ThreeL4") + } else { + AutoUtil.transformForBlueStage( + ChoreoTrajectory.createTrajectory(arrayListOf("1", "2", "3", "4", "5"), "ThreeL4") + ) + } + } +} diff --git a/src/main/kotlin/frc/team449/commands/driveAlign/SimpleReefAlign.kt b/src/main/kotlin/frc/team449/commands/driveAlign/SimpleReefAlign.kt new file mode 100644 index 0000000..69f1b0d --- /dev/null +++ b/src/main/kotlin/frc/team449/commands/driveAlign/SimpleReefAlign.kt @@ -0,0 +1,147 @@ +package frc.team449.commands.driveAlign + +import edu.wpi.first.math.MathUtil +import edu.wpi.first.math.controller.ProfiledPIDController +import edu.wpi.first.math.geometry.Pose2d +import edu.wpi.first.math.geometry.Rotation2d +import edu.wpi.first.math.geometry.Transform2d +import edu.wpi.first.math.geometry.Translation2d +import edu.wpi.first.math.kinematics.ChassisSpeeds +import edu.wpi.first.math.trajectory.TrapezoidProfile +import edu.wpi.first.math.util.Units +import edu.wpi.first.wpilibj2.command.Command +import frc.team449.subsystems.FieldConstants +import frc.team449.subsystems.RobotConstants +import frc.team449.subsystems.drive.swerve.SwerveDrive +import frc.team449.subsystems.vision.PoseSubsystem +import kotlin.math.PI +import kotlin.math.abs +import kotlin.math.min + +/** + * @param drive The holonomic drive you want to align with + */ +class SimpleReefAlign( + private val drive: SwerveDrive, + private val poseSubsystem: PoseSubsystem, + translationSpeedLim: Double = 0.8 * RobotConstants.MAX_LINEAR_SPEED, + translationAccelLim: Double = 7.0, + headingSpeedLim: Double = PI, + headingAccelLim: Double = 5 * PI, + translationPID: Triple = Triple(7.5, 0.0, 0.0), + headingPID: Triple = Triple(7.5, 0.0, 0.0), + private val translationTolerance: Double = Units.inchesToMeters(0.75), + private val headingTolerance: Double = Units.degreesToRadians(1.25), + private val speedTol: Double = 0.10, + private val speedTolRot: Double = PI / 16, + private val ffMinRadius: Double = 0.2, + private val ffMaxRadius: Double = 0.8 +) : Command() { + init { + addRequirements(drive) + } + + private val translationController = ProfiledPIDController( + translationPID.first, + translationPID.second, + translationPID.third, + TrapezoidProfile.Constraints(translationSpeedLim, translationAccelLim) + ) + + private val headingController = ProfiledPIDController( + headingPID.first, + headingPID.second, + headingPID.third, + TrapezoidProfile.Constraints(headingSpeedLim, headingAccelLim) + ) + + var targetPose: Pose2d = Pose2d() + + override fun initialize() { + headingController.enableContinuousInput(-PI, PI) + + // Set tolerances from the given pose tolerance + translationController.setTolerance(translationTolerance, speedTol) + headingController.setTolerance(headingTolerance, speedTolRot) + + targetPose = if (FieldConstants.REEF_LOCATIONS.isNotEmpty()) poseSubsystem.pose.nearest(FieldConstants.REEF_LOCATIONS) else Pose2d() + val currentPose = poseSubsystem.pose + val fieldRelative = ChassisSpeeds.fromRobotRelativeSpeeds( + drive.currentSpeeds.vxMetersPerSecond, + drive.currentSpeeds.vyMetersPerSecond, + drive.currentSpeeds.omegaRadiansPerSecond, + currentPose.rotation + ) + + translationController.reset( + currentPose.translation.getDistance(targetPose.translation), + min( + 0.0, + -Translation2d(fieldRelative.vxMetersPerSecond, fieldRelative.vyMetersPerSecond) + .rotateBy( + targetPose + .translation + .minus(currentPose.translation) + .angle + .unaryMinus() + ) + .x + ) + ) + + headingController.reset( + currentPose.rotation.radians, + fieldRelative.omegaRadiansPerSecond + ) + } + + override fun execute() { + val currentPose: Pose2d = poseSubsystem.pose + + val currentDistance = currentPose.translation.getDistance(targetPose.translation) + val ffScaler = MathUtil.clamp( + (currentDistance - ffMinRadius) / (ffMaxRadius - ffMinRadius), + 0.0, + 1.0 + ) + + var driveVelocityScalar: Double = (translationController.setpoint.velocity * ffScaler + translationController.calculate(currentDistance, 0.0)) + if (currentDistance < translationController.positionTolerance) { + driveVelocityScalar = 0.0 + } + + val headingError = currentPose.rotation.minus(targetPose.rotation).radians + var headingVelocity: Double = ( + headingController.setpoint.velocity * ffScaler + headingController.calculate( + currentPose.rotation.radians, + targetPose.rotation.radians + ) + ) + + if (abs(headingError) < headingController.positionTolerance) { + headingVelocity = 0.0 + } + + // 254 math + val driveVelocity = Pose2d( + 0.0, + 0.0, + currentPose.translation.minus(targetPose.translation).angle + ).transformBy(Transform2d(driveVelocityScalar, 0.0, Rotation2d())).translation + val speeds = ChassisSpeeds.fromFieldRelativeSpeeds( + driveVelocity.x, + driveVelocity.y, + headingVelocity, + currentPose.rotation + ) + drive.set(speeds) + } + + override fun isFinished(): Boolean { + return translationController.atGoal() && headingController.atGoal() + } + + override fun end(interrupted: Boolean) { + drive.stop() + } +} diff --git a/src/main/kotlin/frc/team449/subsystems/FieldConstants.kt b/src/main/kotlin/frc/team449/subsystems/FieldConstants.kt index 4206aea..14c4d12 100644 --- a/src/main/kotlin/frc/team449/subsystems/FieldConstants.kt +++ b/src/main/kotlin/frc/team449/subsystems/FieldConstants.kt @@ -1,6 +1,56 @@ package frc.team449.subsystems +import edu.wpi.first.math.MathUtil +import edu.wpi.first.math.geometry.Pose2d +import edu.wpi.first.math.geometry.Rotation2d +import edu.wpi.first.wpilibj.DriverStation.Alliance +import kotlin.math.PI + object FieldConstants { - const val fieldLength = 16.4592 - const val fieldWidth = 8.2296 + const val fieldLength = 17.55 + const val fieldWidth = 8.05 + + val REEF_LOCATIONS = arrayListOf() + + fun configureReef(alliance: Alliance) { + val allianceComp = alliance == Alliance.Red + + val REEF_A = findPose(3.192615509033203, 4.189684867858887, 0.0, allianceComp) + val REEF_B = findPose(3.192615509033203, 3.8614695072174072, 0.0, allianceComp) + val REEF_C = findPose(3.695124626159668, 2.985105037689209, PI / 3, allianceComp) + val REEF_D = findPose(3.9832611083984375, 2.820899248123169, PI / 3, allianceComp) + val REEF_E = findPose(4.9979729652404785, 2.8225479125976562, 2 * PI / 3, allianceComp) + val REEF_F = findPose(5.282362937927246, 2.989065647125244, 2 * PI / 3, allianceComp) + val REEF_G = findPose(5.78605842590332, 3.860325813293457, PI, allianceComp) + val REEF_H = findPose(5.78605842590332, 4.188675880432129, PI, allianceComp) + val REEF_I = findPose(5.282362937927246, 5.065289497375488, -2 * PI / 3, allianceComp) + val REEF_J = findPose(4.9979729652404785, 5.229397296905518, -2 * PI / 3, allianceComp) + val REEF_K = findPose(3.9832611083984375, 5.231619358062744, -PI / 3, allianceComp) + val REEF_L = findPose(3.695124626159668, 5.066085338592529, -PI / 3, allianceComp) + + REEF_LOCATIONS.addAll( + listOf( + REEF_A, + REEF_B, + REEF_C, + REEF_D, + REEF_E, + REEF_F, + REEF_G, + REEF_H, + REEF_I, + REEF_J, + REEF_K, + REEF_L + ) + ) + } + + private fun findPose(x: Double, y: Double, angle: Double, isRed: Boolean): Pose2d { + return if (isRed) { + Pose2d(fieldLength - x, fieldWidth - y, Rotation2d(MathUtil.angleModulus(angle + PI))) + } else { + Pose2d(x, y, Rotation2d(angle)) + } + } } diff --git a/src/main/kotlin/frc/team449/subsystems/vision/VisionConstants.kt b/src/main/kotlin/frc/team449/subsystems/vision/VisionConstants.kt index 61d9254..4a00ed0 100644 --- a/src/main/kotlin/frc/team449/subsystems/vision/VisionConstants.kt +++ b/src/main/kotlin/frc/team449/subsystems/vision/VisionConstants.kt @@ -35,14 +35,9 @@ object VisionConstants { val TAG_LAYOUT: AprilTagFieldLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape) /** Robot to Camera distance */ - val backLeft = Transform3d( - Translation3d(Units.inchesToMeters(-10.696), Units.inchesToMeters(10.848), Units.inchesToMeters(9.11)), - Rotation3d(0.0, Units.degreesToRadians(-20.0), Units.degreesToRadians(180.0 + 7.5)) - ) - - val backRight = Transform3d( - Translation3d(Units.inchesToMeters(-10.696), Units.inchesToMeters(-10.848), Units.inchesToMeters(9.11)), - Rotation3d(0.0, Units.degreesToRadians(-28.125), Units.degreesToRadians(180.0 - 7.5)) + val front = Transform3d( + Translation3d(Units.inchesToMeters(-2.0), Units.inchesToMeters(-8.75), Units.inchesToMeters(8.0)), + Rotation3d(0.0, Units.degreesToRadians(-28.5), Units.degreesToRadians(25.0)) ) val TAG_MODEL = TargetModel( @@ -68,9 +63,9 @@ object VisionConstants { /** Vision Sim Setup Constants */ const val SIM_FPS = 25.0 - const val SIM_CAMERA_HEIGHT_PX = 800 - const val SIM_CAMERA_WIDTH_PX = 1280 - const val SIM_FOV_DEG = 79.09 + const val SIM_CAMERA_HEIGHT_PX = 1200 // 800 + const val SIM_CAMERA_WIDTH_PX = 1600 // 1280 + const val SIM_FOV_DEG = 87.6115 // 79.09 const val SIM_CALIB_AVG_ERR_PX = 0.35 const val SIM_CALIB_ERR_STDDEV_PX = 0.30 const val SIM_AVG_LATENCY = 40.0 @@ -80,21 +75,15 @@ object VisionConstants { /** List of cameras that we want to use */ val ESTIMATORS: ArrayList = arrayListOf( // ApriltagCamera( -// "back_left", +// "reefCam", // TAG_LAYOUT, -// backLeft, +// front, // VISION_SIM // ), -// ApriltagCamera( -// "back_right", -// TAG_LAYOUT, -// backRight, -// VISION_SIM -// ) ) val interpolatedVisionSets: List = listOf( -// InterpolatedVisionDataset.HOMELEFT, +// InterpolatedVisionDataset.HOMEFRONT, // InterpolatedVisionDataset.HOMERIGHT ) diff --git a/src/main/kotlin/frc/team449/subsystems/vision/interpolation/InterpolatedVisionDataset.kt b/src/main/kotlin/frc/team449/subsystems/vision/interpolation/InterpolatedVisionDataset.kt index f6f99ea..3cf811f 100644 --- a/src/main/kotlin/frc/team449/subsystems/vision/interpolation/InterpolatedVisionDataset.kt +++ b/src/main/kotlin/frc/team449/subsystems/vision/interpolation/InterpolatedVisionDataset.kt @@ -6,7 +6,7 @@ package frc.team449.subsystems.vision.interpolation import edu.wpi.first.math.geometry.Translation2d enum class InterpolatedVisionDataset(red: List, blue: List) { - HOMELEFT( + HOMEFRONT( listOf( VisionInterpolationData( Translation2d(15.2245, 5.522),