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Rename AutoAimController.java to HeadingController.java (#23)
Use profile for turning in HeadingController Clear up drive method names Co-authored-by: Jonah <[email protected]>
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53 changes: 0 additions & 53 deletions
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,79 @@ | ||
| // Copyright (c) 2024 FRC 6328 | ||
| // http://github.com/Mechanical-Advantage | ||
| // | ||
| // Use of this source code is governed by an MIT-style | ||
| // license that can be found in the LICENSE file at | ||
| // the root directory of this project. | ||
|
|
||
| package org.littletonrobotics.frc2024.subsystems.drive.controllers; | ||
|
|
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| import static org.littletonrobotics.frc2024.subsystems.drive.DriveConstants.headingControllerConstants; | ||
|
|
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| import edu.wpi.first.math.controller.ProfiledPIDController; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.trajectory.TrapezoidProfile; | ||
| import edu.wpi.first.math.util.Units; | ||
| import java.util.function.Supplier; | ||
| import org.littletonrobotics.frc2024.Constants; | ||
| import org.littletonrobotics.frc2024.RobotState; | ||
| import org.littletonrobotics.frc2024.util.LoggedTunableNumber; | ||
| import org.littletonrobotics.junction.AutoLogOutput; | ||
| import org.littletonrobotics.junction.Logger; | ||
|
|
||
| public class HeadingController { | ||
| private static final LoggedTunableNumber kP = | ||
| new LoggedTunableNumber("HeadingController/kP", headingControllerConstants.kP()); | ||
| private static final LoggedTunableNumber kD = | ||
| new LoggedTunableNumber("HeadingController/kD", headingControllerConstants.kD()); | ||
| private static final LoggedTunableNumber maxVelocity = | ||
| new LoggedTunableNumber( | ||
| "HeadingController/MaxVelocity", headingControllerConstants.maxVelocity()); | ||
| private static final LoggedTunableNumber maxAcceleration = | ||
| new LoggedTunableNumber( | ||
| "HeadingController/MaxAcceleration", headingControllerConstants.maxAcceleration()); | ||
| private static final LoggedTunableNumber toleranceDegrees = | ||
| new LoggedTunableNumber("HeadingController/ToleranceDegrees", 4.0); | ||
|
|
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| private final ProfiledPIDController controller; | ||
| private final Supplier<Rotation2d> goalHeadingSupplier; | ||
|
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| public HeadingController(Supplier<Rotation2d> goalHeadingSupplier) { | ||
| controller = | ||
| new ProfiledPIDController( | ||
| kP.get(), | ||
| 0, | ||
| kD.get(), | ||
| new TrapezoidProfile.Constraints(maxVelocity.get(), maxAcceleration.get()), | ||
| Constants.loopPeriodSecs); | ||
| controller.enableContinuousInput(-Math.PI, Math.PI); | ||
| controller.setTolerance(Units.degreesToRadians(toleranceDegrees.get())); | ||
| this.goalHeadingSupplier = goalHeadingSupplier; | ||
|
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||
| controller.reset( | ||
| RobotState.getInstance().getEstimatedPose().getRotation().getRadians(), | ||
| RobotState.getInstance().fieldVelocity().dtheta); | ||
| } | ||
|
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||
| /** Returns the rotation rate to turn to aim at speaker */ | ||
| public double update() { | ||
| // Update controller | ||
| controller.setPID(kP.get(), 0, kD.get()); | ||
| controller.setTolerance(Units.degreesToRadians(toleranceDegrees.get())); | ||
| controller.setConstraints( | ||
| new TrapezoidProfile.Constraints(maxVelocity.get(), maxAcceleration.get())); | ||
|
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||
| var output = | ||
| controller.calculate( | ||
| RobotState.getInstance().getEstimatedPose().getRotation().getRadians(), | ||
| goalHeadingSupplier.get().getRadians()); | ||
|
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||
| Logger.recordOutput("Drive/HeadingController/HeadingError", controller.getPositionError()); | ||
| return output + controller.getSetpoint().velocity; | ||
| } | ||
|
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| /** Returns true if within tolerance of aiming at speaker */ | ||
| @AutoLogOutput(key = "Drive/HeadingController/AtGoal") | ||
| public boolean atGoal() { | ||
| return controller.atGoal(); | ||
| } | ||
| } |