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Move Harshini's changes into their own MeepMeep file #10

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merged 2 commits into from
Sep 29, 2024
Merged

Move Harshini's changes into their own MeepMeep file #10

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6e50e99
tried and succeeded...? to make auto paths for observation side
TechnototesLaptop Sep 28, 2024
41e2120
Moved stuff into Harshini's separate test file
kevinfrei Sep 29, 2024
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122 changes: 122 additions & 0 deletions MeepMeepTesting/src/main/java/com/example/meepmeeptesting/HarshiniTesting.java
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package com.example.meepmeeptesting;

import static java.lang.Math.toRadians;

import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.trajectory.*;
import com.acmerobotics.roadrunner.trajectory.constraints.*;
import com.noahbres.meepmeep.MeepMeep;
import com.noahbres.meepmeep.roadrunner.*;
import com.noahbres.meepmeep.roadrunner.entity.RoadRunnerBotEntity;
import com.noahbres.meepmeep.roadrunner.trajectorysequence.TrajectorySequence;
import java.io.*;
import java.util.Arrays;
import java.util.function.*;
import javax.imageio.ImageIO;

public class HarshiniTesting {

public static class AutoConstants {

//constants for Into the Deeeeeeeep
public static Function<Pose2d, TrajectoryBuilder> func;
public static Pose2d OBSERVATION_START = new Pose2d(0, 60, toRadians(-90));
public static Pose2d SUBMARINE = new Pose2d(-5, 32, toRadians(-90));
public static Pose2d OBSERVATION_ZONE = new Pose2d(-60, 55, toRadians(120));
public static Pose2d SUBMARINE2 = new Pose2d(0, 32, toRadians(-90));
public static Pose2d PUSH_1 = new Pose2d(-32, 35, toRadians(90));
public static Pose2d PUSH_2 = new Pose2d(-32, 10, toRadians(90));
public static Pose2d PUSH_3 = new Pose2d(-44, 10, toRadians(90));
//public static Pose2d OBSERVATION_ZONE = new Pose2d(-60, 55, toRadians(135));

//Lines for Into the Deeeeeeeep
public static final Supplier<Trajectory> OBSERVATION_SIDE_CYCLE = () ->
func
.apply(OBSERVATION_START)
.lineToLinearHeading(SUBMARINE)
.lineToLinearHeading(OBSERVATION_ZONE)
.build();
public static final Supplier<Trajectory> OBSERVATION_TEST1 = () ->
func.apply(OBSERVATION_START).lineToLinearHeading(SUBMARINE).build();
public static final Supplier<Trajectory> OBSERVATION_TEST2 = () ->
func.apply(OBSERVATION_ZONE).lineToLinearHeading(SUBMARINE2).build();
public static final Supplier<Trajectory> OBSERVATION_TEST3 = () ->
func.apply(OBSERVATION_ZONE).lineToLinearHeading(SUBMARINE2).build();
public static final Supplier<Trajectory> OBSERVATION_TEST4 = () ->
func.apply(SUBMARINE).lineToLinearHeading(PUSH_1).build();
public static final Supplier<Trajectory> OBSERVATION_TEST5 = () ->
func
.apply(PUSH_1)
.splineToConstantHeading(PUSH_2.vec(), Math.PI - PUSH_2.getHeading())
.splineToConstantHeading(PUSH_3.vec(), Math.PI - PUSH_3.getHeading())
.splineToConstantHeading(
OBSERVATION_ZONE.vec(),
Math.PI - OBSERVATION_ZONE.getHeading()
)
.build();
public static final Supplier<Trajectory> OBSERVATION_TEST6 = () ->
func
.apply(PUSH_2)
.splineToConstantHeading(PUSH_3.vec(), Math.PI - PUSH_3.getHeading())
.splineToConstantHeading(
OBSERVATION_ZONE.vec(),
Math.PI - OBSERVATION_ZONE.getHeading()
)
.build();

public static final Supplier<Trajectory> OBSERVATION_TEST7 = () ->
func
.apply(PUSH_3)
.splineToConstantHeading(
OBSERVATION_ZONE.vec(),
Math.PI - OBSERVATION_ZONE.getHeading()
)
.build();
}

public static void main(String[] args) {
// Make this as large as possible while still fitting on our laptop screens:
MeepMeep meepMeep = new MeepMeep(550);
try {
// Try to load the field image from the repo:
meepMeep.setBackground(ImageIO.read(new File("Field.jpg")));
} catch (IOException io) {
// If we can't find the field image, fall back to the gray grid
meepMeep.setBackground(MeepMeep.Background.GRID_GRAY);
}
// Constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, trackWidth
// maxVel: The fastest dist/sec we'll travel (velocity)
// maxAcc: The fastest rate (dist/sec/sec) we'll change our velocity (acceleration)
// maxAngVel: the fastest degrees/sec we'll rotate (angular velocity)
// maxAngAcc: the fastest rate (deg/sec/sec) we'll change our rotation (angular acceleration) @MaxAngleAccel
// trackWidth: The width of our wheelbase (not clear what this really affects...) @TrackWidth
MinVelocityConstraint min_vel = new MinVelocityConstraint(
Arrays.asList(
new AngularVelocityConstraint(60/* @MaxAngleVelo */),
new MecanumVelocityConstraint(60/* @MaxVelo */, 14.75/* @TrackWidth */)
)
);
ProfileAccelerationConstraint prof_accel = new ProfileAccelerationConstraint(
30/* @MaxAccel */
);
AutoConstants.func = (Pose2d pose) -> new TrajectoryBuilder(pose, min_vel, prof_accel);

RoadRunnerBotEntity myBot = new DefaultBotBuilder(meepMeep)
.setDimensions(17.5, 16.5)
.followTrajectorySequence(drive -> getTestTrajectory(drive));
meepMeep.setBackgroundAlpha(0.75f).addEntity(myBot).start();
}

private static TrajectorySequence getTestTrajectory(DriveShim drive) {
return drive
.trajectorySequenceBuilder(AutoConstants.OBSERVATION_START)
.addTrajectory(AutoConstants.OBSERVATION_TEST1.get())
.addTrajectory(AutoConstants.OBSERVATION_TEST4.get())
.addTrajectory(AutoConstants.OBSERVATION_TEST5.get())
//.addTrajectory(AutoConstants.OBSERVATION_TEST6.get())
//.addTrajectory(AutoConstants.OBSERVATION_TEST7.get())
.addTrajectory(AutoConstants.OBSERVATION_TEST2.get())
//.addTrajectory(AutoConstants.OBSERVATION_TEST3.get())
.build();
}
}
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