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false, - false, - false, - false, - true, - true, - true, - true, - true, - true - ], - [ - true, - true, - true, - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true, - true, - true, - true, - true - ], - [ - true, - true, - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true, - true, - true, - true - ], - [ - true, - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true, - true, - true - ], - [ - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true, - true - ], - [ - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - true, - true - ], - [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true - ], - [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true - ], - [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true - ] - ] -} diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a057877c..9224b514 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -27,7 +27,7 @@ */ public final class Constants { public static final int loopPeriodMs = 20; - private static RobotType robotType = RobotType.RAINBOWT; + private static RobotType robotType = RobotType.SIMBOT; public static final boolean tuningMode = true; public static final boolean characterizationMode = false; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 0daaf424..facacb38 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -15,7 +15,6 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj2.command.Command; @@ -25,18 +24,11 @@ import frc.robot.commands.FeedForwardCharacterization; import frc.robot.commands.TestAutos; import frc.robot.subsystems.drive.*; -import frc.robot.subsystems.shooter.Shooter; -import frc.robot.subsystems.shooter.ShooterIO; -import frc.robot.subsystems.shooter.ShooterIOSim; -import frc.robot.subsystems.shooter.ShooterIOSparkMax; +import frc.robot.subsystems.superstructure.shooter.Shooter; +import frc.robot.subsystems.superstructure.shooter.ShooterIO; +import frc.robot.subsystems.superstructure.shooter.ShooterIOSim; +import frc.robot.subsystems.superstructure.shooter.ShooterIOSparkMax; import frc.robot.util.AllianceFlipUtil; -import frc.robot.util.trajectory.ChoreoTrajectoryReader; -import frc.robot.util.trajectory.Trajectory; -import java.io.File; -import java.util.Arrays; -import java.util.Objects; -import java.util.Optional; -import java.util.function.Function; import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; /** @@ -50,7 +42,7 @@ public class RobotContainer { private final RobotState robotState = RobotState.getInstance(); // Subsystems - private Drive drive; + private final Drive drive; private final Shooter shooter; // Controller @@ -66,12 +58,13 @@ public RobotContainer() { // Real robot, instantiate hardware IO implementations\ switch (Constants.getRobot()) { default -> { - // drive = - // new Drive( - // new GyroIOPigeon2(false), - // Arrays.stream(DriveConstants.moduleConfigs) - // .map(ModuleIOSparkMax::new) - // .toArray(ModuleIO[]::new)); + drive = + new Drive( + new GyroIOPigeon2(false), + new ModuleIOSparkMax(DriveConstants.moduleConfigs[0]), + new ModuleIOSparkMax(DriveConstants.moduleConfigs[1]), + new ModuleIOSparkMax(DriveConstants.moduleConfigs[2]), + new ModuleIOSparkMax(DriveConstants.moduleConfigs[3])); shooter = new Shooter(new ShooterIOSparkMax()); } } @@ -81,9 +74,10 @@ public RobotContainer() { drive = new Drive( new GyroIO() {}, - Arrays.stream(DriveConstants.moduleConfigs) - .map(ModuleIOSim::new) - .toArray(ModuleIO[]::new)); + new ModuleIOSim(DriveConstants.moduleConfigs[0]), + new ModuleIOSim(DriveConstants.moduleConfigs[1]), + new ModuleIOSim(DriveConstants.moduleConfigs[2]), + new ModuleIOSim(DriveConstants.moduleConfigs[3])); shooter = new Shooter(new ShooterIOSim()); } default -> { @@ -91,22 +85,14 @@ public RobotContainer() { drive = new Drive( new GyroIO() {}, - new ModuleIO[] { - new ModuleIO() {}, new ModuleIO() {}, new ModuleIO() {}, new ModuleIO() {} - }); + new ModuleIO() {}, + new ModuleIO() {}, + new ModuleIO() {}, + new ModuleIO() {}); shooter = new Shooter(new ShooterIO() {}); } } - if (drive == null) { - drive = - new Drive( - new GyroIO() {}, - new ModuleIO[] { - new ModuleIO() {}, new ModuleIO() {}, new ModuleIO() {}, new ModuleIO() {} - }); - } - autoChooser = new LoggedDashboardChooser<>("Auto Choices"); // Set up feedforward characterization @@ -131,33 +117,35 @@ public RobotContainer() { .beforeStarting(() -> shooter.setCharacterizing(true)) .finallyDo(() -> shooter.setCharacterizing(false))); - autoChooser.addOption("Three Spike Smooth", TestAutos.threeSpikeSmooth(drive)); + autoChooser.addOption( + "Five Note Leave Podium Spike", TestAutos.fiveNoteLeavePodiumSpike(drive)); + autoChooser.addOption("Davis Auto (4 note)", TestAutos.davisAuto(drive)); // Testing autos paths - Function> trajectoryCommandFactory = - trajectoryFile -> { - Optional trajectory = ChoreoTrajectoryReader.generate(trajectoryFile); - return trajectory.map( - traj -> - Commands.runOnce( - () -> { - robotState.resetPose( - AllianceFlipUtil.apply(traj.getStartPose()), - drive.getWheelPositions(), - drive.getGyroYaw()); - drive.getMotionPlanner().setTrajectory(traj); - }, - drive)); - }; - final File rootTrajectoryDir = new File(Filesystem.getDeployDirectory(), "choreo"); - for (File trajectoryFile : Objects.requireNonNull(rootTrajectoryDir.listFiles())) { - trajectoryCommandFactory - .apply(trajectoryFile) - .ifPresent( - command -> { - autoChooser.addOption(trajectoryFile.getName(), command); - }); - } + // Function> trajectoryCommandFactory = + // trajectoryFile -> { + // Optional trajectory = ChoreoTrajectoryReader.generate(trajectoryFile); + // return trajectory.map( + // traj -> + // Commands.runOnce( + // () -> { + // robotState.resetPose( + // AllianceFlipUtil.apply(traj.getStartPose()), + // drive.getWheelPositions(), + // drive.getGyroYaw()); + // drive.getMotionPlanner().setTrajectory(traj); + // }, + // drive)); + // }; + // final File rootTrajectoryDir = new File(Filesystem.getDeployDirectory(), "choreo"); + // for (File trajectoryFile : Objects.requireNonNull(rootTrajectoryDir.listFiles())) { + // trajectoryCommandFactory + // .apply(trajectoryFile) + // .ifPresent( + // command -> { + // autoChooser.addOption(trajectoryFile.getName(), command); + // }); + // } // Configure the button bindings configureButtonBindings(); @@ -176,6 +164,7 @@ private void configureButtonBindings() { () -> -controller.getLeftY(), () -> -controller.getLeftX(), () -> -controller.getRightX())); + controller.a().onTrue(DriveCommands.toggleCalculateShotWhileMovingRotation(drive)); controller.x().onTrue(Commands.runOnce(drive.getMotionPlanner()::requestEnableXMode, drive)); controller .b() @@ -186,18 +175,10 @@ private void configureButtonBindings() { .resetPose( new Pose2d( robotState.getEstimatedPose().getTranslation(), - AllianceFlipUtil.apply(new Rotation2d())), - drive.getWheelPositions(), - drive.getGyroYaw()), + AllianceFlipUtil.apply(new Rotation2d()))), drive) .ignoringDisable(true)); - controller - .y() - .onTrue( - Commands.runOnce( - () -> - RobotState.getInstance() - .resetPose(new Pose2d(), drive.getWheelPositions(), drive.getGyroYaw()))); + controller.y().onTrue(Commands.runOnce(() -> RobotState.getInstance().resetPose(new Pose2d()))); } /** diff --git a/src/main/java/frc/robot/RobotState.java b/src/main/java/frc/robot/RobotState.java index 6dc07959..484fbffc 100644 --- a/src/main/java/frc/robot/RobotState.java +++ b/src/main/java/frc/robot/RobotState.java @@ -15,12 +15,16 @@ import org.littletonrobotics.junction.AutoLogOutput; public class RobotState { - /** Odometry data from one main robot loop cycle */ + // Pose Estimation public record OdometryObservation( SwerveDriveWheelPositions wheelPositions, Rotation2d gyroAngle, double timestamp) {} public record VisionObservation(Pose2d visionPose, double timestamp, Matrix stdDevs) {} + // Subsystem data + public record DriveData( + SwerveDriveWheelPositions wheelPositions, Rotation2d robotHeading, Twist2d fieldVelocity) {} + private static final double poseBufferSizeSeconds = 2.0; private static RobotState instance; @@ -48,14 +52,17 @@ public static RobotState getInstance() { }); private Rotation2d lastGyroAngle = new Rotation2d(); + // Subsystem state members + private DriveData currentDriveData; + private RobotState() { odometryStdDevs.setColumn(0, DriveConstants.odometryStateStdDevs.extractColumnVector(0)); kinematics = DriveConstants.kinematics; } - public void addOdometryData(OdometryObservation observation) { + /** Add odometry observation */ + public void addOdometryObservation(OdometryObservation observation) { Pose2d lastOdometryPose = odometryPose; - // take minimum Twist2d twist = kinematics.toTwist2d(lastWheelPositions, observation.wheelPositions()); lastWheelPositions = observation.wheelPositions(); // Check gyro connected @@ -124,18 +131,26 @@ public void addVisionObservation(VisionObservation observation) { estimatedPose = estimateAtTime.exp(scaledTwist).plus(sampleToOdometryTransform); } + public void addDriveData( + SwerveDriveWheelPositions wheelPositions, Rotation2d robotHeading, Twist2d fieldVelocity) { + currentDriveData = new DriveData(wheelPositions, robotHeading, fieldVelocity); + } + /** * Reset estimated pose and odometry pose to pose
* Clear pose buffer */ - public void resetPose( - Pose2d pose, SwerveDriveWheelPositions wheelPositions, Rotation2d gyroAngle) { - estimatedPose = pose; + public void resetPose(Pose2d initialPose) { + estimatedPose = initialPose; poseBuffer.clear(); - odometryPose = pose; - lastWheelPositions = wheelPositions; - lastGyroAngle = gyroAngle; + odometryPose = initialPose; + lastWheelPositions = currentDriveData.wheelPositions(); + lastGyroAngle = currentDriveData.robotHeading(); + } + + public Twist2d fieldVelocity() { + return currentDriveData.fieldVelocity(); } @AutoLogOutput(key = "Odometry/Robot") diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java index 4893d918..aebf80a0 100644 --- a/src/main/java/frc/robot/commands/DriveCommands.java +++ b/src/main/java/frc/robot/commands/DriveCommands.java @@ -14,17 +14,18 @@ package frc.robot.commands; import edu.wpi.first.math.MathUtil; -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.geometry.*; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.FieldConstants; import frc.robot.RobotState; import frc.robot.subsystems.drive.Drive; import frc.robot.subsystems.drive.DriveConstants; +import frc.robot.subsystems.superstructure.ShotCalculator; +import frc.robot.util.AllianceFlipUtil; import java.util.function.DoubleSupplier; +import java.util.function.Supplier; public class DriveCommands { private static final double DEADBAND = 0.1; @@ -67,8 +68,32 @@ public static Command joystickDrive( linearVelocity.getX() * DriveConstants.drivetrainConfig.maxLinearVelocity(), linearVelocity.getY() * DriveConstants.drivetrainConfig.maxLinearVelocity(), omega * DriveConstants.drivetrainConfig.maxAngularVelocity(), - RobotState.getInstance().getEstimatedPose().getRotation())); + AllianceFlipUtil.apply( + RobotState.getInstance().getEstimatedPose().getRotation()))); }, drive); } + + public static Command toggleCalculateShotWhileMovingRotation(Drive drive) { + Supplier shotRotation = + () -> { + Twist2d fieldVel = RobotState.getInstance().fieldVelocity(); + ShotCalculator.ShotData shotData = + ShotCalculator.calculate( + AllianceFlipUtil.apply( + FieldConstants.Speaker.centerSpeakerOpening.getTranslation()), + RobotState.getInstance().getEstimatedPose().getTranslation(), + new Translation2d(fieldVel.dx, fieldVel.dy)); + return shotData.goalHeading(); + }; + + return Commands.runOnce( + () -> { + if (drive.getMotionPlanner().isHeadingControlled()) { + drive.getMotionPlanner().disableHeadingSupplier(); + } else { + drive.getMotionPlanner().setHeadingSupplier(shotRotation); + } + }); + } } diff --git a/src/main/java/frc/robot/commands/TestAutos.java b/src/main/java/frc/robot/commands/TestAutos.java index 05a343f3..6af8d2f1 100644 --- a/src/main/java/frc/robot/commands/TestAutos.java +++ b/src/main/java/frc/robot/commands/TestAutos.java @@ -4,6 +4,8 @@ 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.math.geometry.Twist2d; import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; @@ -11,84 +13,72 @@ import frc.robot.RobotState; import frc.robot.subsystems.drive.Drive; import frc.robot.subsystems.drive.DriveMotionPlanner; -import frc.robot.util.trajectory.HolonomicDriveController; +import frc.robot.subsystems.superstructure.ShotCalculator; +import frc.robot.util.AllianceFlipUtil; import frc.robot.util.trajectory.Trajectory; import java.io.File; public class TestAutos { + private static final RobotState robotState = RobotState.getInstance(); - private static Trajectory nullTrajectory = - new Trajectory() { - @Override - public double getDuration() { - return 0; - } + public static Command fiveNoteLeavePodiumSpike(Drive drive) { + Trajectory trajectory = getTrajectory("FiveNoteLeavePodiumSpike.traj"); + DriveMotionPlanner driveMotionPlanner = drive.getMotionPlanner(); - @Override - public Pose2d getStartPose() { - return null; - } - - @Override - public Pose2d[] getTrajectoryPoses() { - return new Pose2d[0]; - } - - @Override - public HolonomicDriveController.HolonomicDriveState getStartState() { - return null; - } - - @Override - public HolonomicDriveController.HolonomicDriveState getEndState() { - return null; - } - - @Override - public HolonomicDriveController.HolonomicDriveState sample(double timeSeconds) { - return null; - } - }; + return Commands.sequence( + reset(trajectory.getStartPose()), + Commands.waitSeconds(1.0), // Initial rev time + Commands.runOnce(() -> driveMotionPlanner.setTrajectory(trajectory)), + moveWhileShooting(driveMotionPlanner), // 0.7 secs + Commands.waitSeconds(0.8), // 1.5 secs + moveWhileShooting(driveMotionPlanner), // 2.2 secs + Commands.waitSeconds(1.2), // 3.4 secs + moveWhileShooting(driveMotionPlanner), // 4.1 secs + Commands.waitSeconds(2.85), // 6.95 secs + moveWhileShooting(driveMotionPlanner), // 7.65 secs + Commands.waitSeconds(2.35), // 10 secs + moveWhileShooting(driveMotionPlanner)); // Finish path with last shot + } - public static Command threeSpikeSmooth(Drive drive) { - File trajFile = new File(Filesystem.getDeployDirectory(), "/choreo/3SpikeSmooth.traj"); - Trajectory trajectory = generate(trajFile).orElse(nullTrajectory); - DriveMotionPlanner motionPlanner = drive.getMotionPlanner(); + public static Command davisAuto(Drive drive) { + Trajectory trajectory = getTrajectory("DavisAutoPossible.traj"); + DriveMotionPlanner driveMotionPlanner = drive.getMotionPlanner(); - // Waiting inbetween shots is to fake intaking - // Would not be time based on real robot return Commands.sequence( - reset(trajectory.getStartPose(), drive), - Commands.waitSeconds(1.5), // Shoot first 1.5 secs - Commands.runOnce(() -> motionPlanner.setTrajectory(trajectory)), - Commands.waitSeconds(0.7), // 2.2 secs - moveWhileShooting(motionPlanner), // 2.9 secs - Commands.waitSeconds(0.3), // 3.2 secs - moveWhileShooting(motionPlanner), // 3.9 secs - Commands.waitSeconds(0.61), // 4.51 secs - moveWhileShooting(motionPlanner)); // 5.21 secs + reset(trajectory.getStartPose()), + Commands.waitSeconds(1.2), // Preload shot + Commands.runOnce(() -> driveMotionPlanner.setTrajectory(trajectory)), // start trajectory + Commands.waitSeconds(1.0), // 1.0 secs + moveWhileShooting(driveMotionPlanner), // 1.7 secs + Commands.waitSeconds(1.6), // 3.3 secs + moveWhileShooting(driveMotionPlanner), // 4.0 secs + Commands.waitSeconds(3.0), // 7.0 secs + moveWhileShooting(driveMotionPlanner) // 7.7 secs + finish rest of trajectory + ); } - private static Command moveWhileShooting(DriveMotionPlanner motionPlanner) { - return Commands.runOnce(() -> motionPlanner.setHeadingSupplier(TestAutos::getShootHeading)) + private static Command moveWhileShooting(DriveMotionPlanner driveMotionPlanner) { + return Commands.runOnce(() -> driveMotionPlanner.setHeadingSupplier(TestAutos::getShootHeading)) .andThen( - Commands.waitSeconds(0.7) - .andThen( - Commands.runOnce(motionPlanner::disableHeadingSupplier))); // Time to shoot ig + Commands.waitSeconds(0.7) // Estimated shoot time + .andThen(Commands.runOnce(driveMotionPlanner::disableHeadingSupplier))); } private static Rotation2d getShootHeading() { - return FieldConstants.Speaker.centerSpeakerOpening - .getTranslation() - .minus(RobotState.getInstance().getEstimatedPose().getTranslation()) - .getAngle() - .plus(Rotation2d.fromRadians(Math.PI)); + Twist2d fieldVel = RobotState.getInstance().fieldVelocity(); + return ShotCalculator.calculate( + AllianceFlipUtil.apply(FieldConstants.Speaker.centerSpeakerOpening.getTranslation()), + RobotState.getInstance().getEstimatedPose().getTranslation(), + new Translation2d(fieldVel.dx, fieldVel.dy)) + .goalHeading(); + } + + private static Command reset(Pose2d pose) { + return Commands.runOnce(() -> robotState.resetPose(AllianceFlipUtil.apply(pose))); } - private static Command reset(Pose2d pose, Drive drive) { - return Commands.runOnce( - () -> - RobotState.getInstance() - .resetPose(pose, drive.getWheelPositions(), drive.getGyroYaw())); + private static Trajectory getTrajectory(String fileName) { + File trajFile = new File(Filesystem.getDeployDirectory(), "/choreo/" + fileName); + return generate(trajFile).orElseThrow(); } } diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index a2a4e12e..ff746a53 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -15,6 +15,7 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Twist2d; import edu.wpi.first.math.kinematics.*; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Timer; @@ -40,9 +41,12 @@ public class Drive extends SubsystemBase { private ChassisSpeeds robotVelocity = new ChassisSpeeds(); private ChassisSpeeds fieldVelocity = new ChassisSpeeds(); - public Drive(GyroIO gyroIO, ModuleIO[] moduleIOS) { + public Drive(GyroIO gyroIO, ModuleIO fl, ModuleIO fr, ModuleIO bl, ModuleIO br) { this.gyroIO = gyroIO; - IntStream.range(0, moduleIOS.length).forEach(i -> modules[i] = new Module(moduleIOS[i], i)); + modules[0] = new Module(fl, 0); + modules[1] = new Module(fr, 1); + modules[2] = new Module(bl, 2); + modules[3] = new Module(br, 3); } public void periodic() { @@ -89,7 +93,8 @@ public void periodic() { .map(module -> module.getModulePositions()[odometryIndex]) .toArray(SwerveModulePosition[]::new)); RobotState.getInstance() - .addOdometryData(new RobotState.OdometryObservation(wheelPositions, yaw, timestamps[i])); + .addOdometryObservation( + new RobotState.OdometryObservation(wheelPositions, yaw, timestamps[i])); } if (DriverStation.isDisabled()) { @@ -120,6 +125,16 @@ public void periodic() { linearFieldVel.getY(), robotRelativeVelocity.omegaRadiansPerSecond); + // Add drive data + RobotState.getInstance() + .addDriveData( + getWheelPositions(), + getGyroYaw(), + new Twist2d( + fieldVelocity.vxMetersPerSecond, + fieldVelocity.vyMetersPerSecond, + fieldVelocity.omegaRadiansPerSecond)); + // Get motion planner velocity and run ChassisSpeeds speeds = motionPlanner.update( @@ -197,7 +212,9 @@ public SwerveDriveWheelPositions getWheelPositions() { @AutoLogOutput(key = "Odometry/GyroYaw") public Rotation2d getGyroYaw() { - return gyroInputs.yawPosition; + return gyroInputs.connected + ? gyroInputs.yawPosition + : RobotState.getInstance().getEstimatedPose().getRotation(); } /** Returns the module states (turn angles and drive velocities) for all of the modules. */ diff --git a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java index 4ced5587..8445d723 100644 --- a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java +++ b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java @@ -106,10 +106,10 @@ public final class DriveConstants { drivetrainConfig.maxAngularVelocity()); case SIMBOT -> new TrajectoryConstants( - 5.0, - 0.0, 4.0, - 0.0001, + 0.0, + 2.0, + 0.0, Units.inchesToMeters(4.0), Units.degreesToRadians(5.0), Units.inchesToMeters(12.0), diff --git a/src/main/java/frc/robot/subsystems/drive/DriveMotionPlanner.java b/src/main/java/frc/robot/subsystems/drive/DriveMotionPlanner.java index 3243140f..cea69e95 100644 --- a/src/main/java/frc/robot/subsystems/drive/DriveMotionPlanner.java +++ b/src/main/java/frc/robot/subsystems/drive/DriveMotionPlanner.java @@ -92,10 +92,12 @@ public void setTrajectory(Trajectory trajectory) { public void setHeadingSupplier(Supplier headingSupplier) { this.headingSupplier = Optional.ofNullable(headingSupplier); + headingController.reset(); } public void disableHeadingSupplier() { headingSupplier = Optional.empty(); + trajectoryController.resetThetaController(); } public void acceptDriveInput(ChassisSpeeds driveInputSpeeds) { @@ -194,7 +196,7 @@ public ChassisSpeeds update(double timestamp, Pose2d robot, ChassisSpeeds fieldV }) .orElse(driveInputSpeeds); // Otherwise use inputted speeds - // Use heading controller if there + // Use heading controller headingSupplier.ifPresent( headingSupplier -> { Rotation2d setpointHeading = headingSupplier.get(); diff --git a/src/main/java/frc/robot/subsystems/superstructure/ShotCalculator.java b/src/main/java/frc/robot/subsystems/superstructure/ShotCalculator.java new file mode 100644 index 00000000..4bfa500a --- /dev/null +++ b/src/main/java/frc/robot/subsystems/superstructure/ShotCalculator.java @@ -0,0 +1,56 @@ +package frc.robot.subsystems.superstructure; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import org.littletonrobotics.junction.Logger; + +/** + * Util class to calculate robot rotation and shooter feedforward values for shooting while moving. + *
+ * Based off of 254 Rapid React code from class ShootingUtil.java + *
+ * Units in meters, radians, and m/s + */ +public class ShotCalculator { + public record ShotData( + double effectiveRobotToSpeakerDist, + double radialFeedforward, // ff value due to radial velocity of robot to speaker + Rotation2d goalHeading) {} // heading of robot to match tangential velocity + + /** In theory we will aim at different locations inside speaker */ + public static ShotData calculate( + Translation2d speaker, Translation2d robot, Translation2d linearFieldVelocity) { + // Calculate radial and tangential velocity from speaker + Rotation2d speakerToRobotAngle = robot.minus(speaker).getAngle(); + Translation2d tangentialVelocity = + linearFieldVelocity.rotateBy(speakerToRobotAngle.unaryMinus()); + // Positive when velocity is away from speaker + double radialComponent = tangentialVelocity.getX(); + // Positive when traveling CCW about speaker + double tangentialComponent = tangentialVelocity.getY(); + + // TODO: what does this do + // Ig this is the estimated time of the note in the air + // later on this will be a function of the distance + final double shotTime = 1.05; + + // Add robot velocity to raw shot speed + double rawDistToGoal = robot.getDistance(speaker); + double shotSpeed = rawDistToGoal / shotTime + radialComponent; + if (shotSpeed <= 0.0) shotSpeed = 0.0; + // Aim opposite of tangentialComponent (negative lead when tangentialComponent is positive) + // rotate back into field frame then add take opposite since shooter is on back + Rotation2d goalHeading = + new Rotation2d(shotSpeed, tangentialComponent) + .rotateBy(speaker.minus(robot).getAngle()) + .plus(Rotation2d.fromRadians(Math.PI)); + double effectiveDist = shotTime * Math.hypot(tangentialComponent, shotSpeed); + + Logger.recordOutput("ShootWhileMoving/heading", goalHeading); + Logger.recordOutput("ShootWhileMoving/radialFF", radialComponent); + Logger.recordOutput("ShootWhileMoving/effectiveDistance", effectiveDist); + // Use radial component of velocity for ff value + return new ShotData(effectiveDist, radialComponent, goalHeading); + } +} diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/superstructure/shooter/Shooter.java similarity index 99% rename from src/main/java/frc/robot/subsystems/shooter/Shooter.java rename to src/main/java/frc/robot/subsystems/superstructure/shooter/Shooter.java index b0aaced8..239eae95 100644 --- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/superstructure/shooter/Shooter.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems.shooter; +package frc.robot.subsystems.superstructure.shooter; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj2.command.SubsystemBase; diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterConstants.java similarity index 94% rename from src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java rename to src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterConstants.java index 328ef6bc..ddd54e67 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java +++ b/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterConstants.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems.shooter; +package frc.robot.subsystems.superstructure.shooter; public class ShooterConstants { // encoder / flywheelReduction = flywheel diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIO.java similarity index 96% rename from src/main/java/frc/robot/subsystems/shooter/ShooterIO.java rename to src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIO.java index ec9236ab..151e7d07 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java +++ b/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIO.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems.shooter; +package frc.robot.subsystems.superstructure.shooter; import org.littletonrobotics.junction.AutoLog; diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIOSim.java similarity index 98% rename from src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java rename to src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIOSim.java index 11e3c755..33167fb0 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java +++ b/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIOSim.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems.shooter; +package frc.robot.subsystems.superstructure.shooter; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.controller.PIDController; diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkMax.java b/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIOSparkMax.java similarity index 99% rename from src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkMax.java rename to src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIOSparkMax.java index d98b7ea2..1af45049 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkMax.java +++ b/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIOSparkMax.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems.shooter; +package frc.robot.subsystems.superstructure.shooter; import com.revrobotics.CANSparkBase; import com.revrobotics.CANSparkFlex; diff --git a/src/main/java/frc/robot/util/trajectory/HolonomicDriveController.java b/src/main/java/frc/robot/util/trajectory/HolonomicDriveController.java index f2dce88d..c1612fba 100644 --- a/src/main/java/frc/robot/util/trajectory/HolonomicDriveController.java +++ b/src/main/java/frc/robot/util/trajectory/HolonomicDriveController.java @@ -44,6 +44,10 @@ public void resetControllers() { thetaController.reset(); } + public void resetThetaController() { + thetaController.reset(); + } + /** Set PID values */ public void setPID(double linearKp, double linearKd, double thetaKp, double thetaKd) { linearController.setPID(linearKp, 0, linearKd);