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10.416884128529457 - }, - { - "x": 7.533911236843211, - "y": 0.747632064030838, - "heading": 0.00016660200784343647, - "angularVelocity": -0.004914257182865568, - "velocityX": 0.04953762671403184, - "velocityY": -0.880059794745858, - "timestamp": 10.484687610482311 - }, - { - "x": 7.535590648651123, - "y": 0.7177965044975281, - "heading": 6.3799028063140456e-37, - "angularVelocity": -0.0024571305638740005, - "velocityX": 0.024768813629371042, - "velocityY": -0.4400299022114475, - "timestamp": 10.552491092435165 - }, - { - "x": 7.535590648651123, - "y": 0.7177965044975281, - "heading": -1.0062480040007164e-36, - "angularVelocity": -2.4250035915195894e-35, - "velocityX": 0, - "velocityY": 6.773185148172867e-39, - "timestamp": 10.62029457438802 - } - ] -} \ No newline at end of file diff --git a/src/main/java/org/littletonrobotics/frc2024/Constants.java b/src/main/java/org/littletonrobotics/frc2024/Constants.java index f5f97328..6bebedc2 100644 --- a/src/main/java/org/littletonrobotics/frc2024/Constants.java +++ b/src/main/java/org/littletonrobotics/frc2024/Constants.java @@ -8,8 +8,8 @@ package org.littletonrobotics.frc2024; import edu.wpi.first.wpilibj.RobotBase; -import java.util.Map; import org.littletonrobotics.frc2024.util.Alert; +import org.littletonrobotics.frc2024.util.Alert.AlertType; /** * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean @@ -24,13 +24,10 @@ public final class Constants { private static RobotType robotType = RobotType.DEVBOT; public static final boolean tuningMode = true; - private static boolean invalidRobotAlertSent = false; - public static RobotType getRobot() { if (!disableHAL && RobotBase.isReal() && robotType == RobotType.SIMBOT) { - new Alert("Invalid Robot Selected, using COMPBOT as default", Alert.AlertType.ERROR) + new Alert("Invalid robot selected, using competition robot as default.", AlertType.ERROR) .set(true); - invalidRobotAlertSent = true; robotType = RobotType.COMPBOT; } return robotType; @@ -43,8 +40,6 @@ public static Mode getMode() { }; } - public static final Map logFolders = Map.of(RobotType.DEVBOT, "/media/sda1/"); - public enum Mode { /** Running on a real robot. */ REAL, diff --git a/src/main/java/org/littletonrobotics/frc2024/Robot.java b/src/main/java/org/littletonrobotics/frc2024/Robot.java index ebeb87c2..06d4df52 100644 --- a/src/main/java/org/littletonrobotics/frc2024/Robot.java +++ b/src/main/java/org/littletonrobotics/frc2024/Robot.java @@ -45,6 +45,9 @@ public class Robot extends LoggedRobot { @Override public void robotInit() { // Record metadata + Logger.recordMetadata("Robot", Constants.getRobot().toString()); + Logger.recordMetadata("TuningMode", Boolean.toString(Constants.tuningMode)); + Logger.recordMetadata("RuntimeType", getRuntimeType().toString()); Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); @@ -66,8 +69,7 @@ public void robotInit() { switch (Constants.getMode()) { case REAL: // Running on a real robot, log to a USB stick ("/U/logs") - String folder = Constants.logFolders.get(Constants.getRobot()); - Logger.addDataReceiver(new WPILOGWriter(folder)); + Logger.addDataReceiver(new WPILOGWriter()); Logger.addDataReceiver(new NT4Publisher()); break; @@ -85,9 +87,6 @@ public void robotInit() { break; } - // See http://bit.ly/3YIzFZ6 for more information on timestamps in AdvantageKit. - // Logger.disableDeterministicTimestamps() - // Start AdvantageKit logger Logger.start(); diff --git a/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java b/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java index e153d679..0cbb9363 100644 --- a/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java +++ b/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java @@ -62,26 +62,31 @@ public class RobotContainer { // Subsystems private Drive drive; private AprilTagVision aprilTagVision; - - private Feeder feeder; - private Indexer indexer; - private Intake intake; - private Rollers rollers; - private Flywheels flywheels; - private Arm arm; + private Rollers rollers; private Superstructure superstructure; // Controller private final CommandXboxController controller = new CommandXboxController(0); // Dashboard inputs - private final LoggedDashboardChooser autoChooser; + private final LoggedDashboardChooser autoChooser = + new LoggedDashboardChooser<>("Auto Choices"); /** The container for the robot. Contains subsystems, OI devices, and commands. */ public RobotContainer() { + // Declare component subsystems (not visible outside constructor) + Feeder feeder = null; + Indexer indexer = null; + Intake intake = null; + Arm arm = null; + + // Create subsystems if (Constants.getMode() != Constants.Mode.REPLAY) { switch (Constants.getRobot()) { + case COMPBOT -> { + // No impl yet + } case DEVBOT -> { drive = new Drive( @@ -90,15 +95,6 @@ public RobotContainer() { new ModuleIOSparkMax(DriveConstants.moduleConfigs[1]), new ModuleIOSparkMax(DriveConstants.moduleConfigs[2]), new ModuleIOSparkMax(DriveConstants.moduleConfigs[3])); - - feeder = new Feeder(new FeederIOKrakenFOC()); - indexer = new Indexer(new IndexerIOSparkFlex()); - intake = new Intake(new IntakeIOKrakenFOC()); - rollers = new Rollers(feeder, indexer, intake, new RollersSensorsIOReal()); - - flywheels = new Flywheels(new FlywheelsIOSparkFlex()); - arm = new Arm(new ArmIOKrakenFOC()); - aprilTagVision = new AprilTagVision( new AprilTagVisionIONorthstar( @@ -107,6 +103,14 @@ public RobotContainer() { new AprilTagVisionIONorthstar( AprilTagVisionConstants.instanceNames[1], AprilTagVisionConstants.cameraIds[1])); + flywheels = new Flywheels(new FlywheelsIOSparkFlex()); + + feeder = new Feeder(new FeederIOKrakenFOC()); + indexer = new Indexer(new IndexerIOSparkFlex()); + intake = new Intake(new IntakeIOKrakenFOC()); + rollers = new Rollers(feeder, indexer, intake, new RollersSensorsIOReal()); + + arm = new Arm(new ArmIOKrakenFOC()); } case SIMBOT -> { drive = @@ -116,12 +120,8 @@ public RobotContainer() { new ModuleIOSim(DriveConstants.moduleConfigs[1]), new ModuleIOSim(DriveConstants.moduleConfigs[2]), new ModuleIOSim(DriveConstants.moduleConfigs[3])); - arm = new Arm(new ArmIOSim()); flywheels = new Flywheels(new FlywheelsIOSim()); - superstructure = new Superstructure(arm, flywheels); - } - case COMPBOT -> { - // No impl yet + arm = new Arm(new ArmIOSim()); } } } @@ -135,7 +135,6 @@ public RobotContainer() { new ModuleIO() {}, new ModuleIO() {}); } - if (aprilTagVision == null) { switch (Constants.getRobot()) { case DEVBOT -> @@ -144,37 +143,36 @@ public RobotContainer() { default -> aprilTagVision = new AprilTagVision(); } } - if (flywheels == null) { flywheels = new Flywheels(new FlywheelsIO() {}); } - - if (intake == null) { - intake = new Intake(new IntakeIO() {}); - } - - if (arm == null) { - arm = new Arm(new ArmIO() {}); - } - if (feeder == null) { feeder = new Feeder(new FeederIO() {}); } - if (indexer == null) { indexer = new Indexer(new IndexerIO() {}); } - + if (intake == null) { + intake = new Intake(new IntakeIO() {}); + } if (rollers == null) { rollers = new Rollers(feeder, indexer, intake, new RollersSensorsIO() {}); } - - if (superstructure == null) { - superstructure = new Superstructure(arm, flywheels); + if (arm == null) { + arm = new Arm(new ArmIO() {}); } + superstructure = new Superstructure(arm); - autoChooser = new LoggedDashboardChooser<>("Auto Choices"); + // Configure autos and buttons + configureAutos(); + configureButtonBindings(); + } + + private void configureAutos() { autoChooser.addDefaultOption("Do Nothing", Commands.none()); + AutoCommands autoCommands = new AutoCommands(drive, superstructure); + autoChooser.addOption("Drive Straight", autoCommands.driveStraight()); + // Set up feedforward characterization autoChooser.addOption( "Drive FF Characterization", @@ -182,25 +180,11 @@ public RobotContainer() { drive, drive::runCharacterizationVolts, drive::getCharacterizationVelocity) .finallyDo(drive::endCharacterization)); autoChooser.addOption( - "Left Flywheels FF Characterization", - new FeedForwardCharacterization( - flywheels, - flywheels::runLeftCharacterizationVolts, - flywheels::getLeftCharacterizationVelocity)); - autoChooser.addOption( - "Right Flywheels FF Characterization", + "Flywheels FF Characterization", new FeedForwardCharacterization( flywheels, - flywheels::runRightCharacterizationVolts, - flywheels::getRightCharacterizationVelocity)); - autoChooser.addOption("Arm get static current", arm.getStaticCurrent()); - - AutoCommands autoCommands = new AutoCommands(drive, superstructure); - - autoChooser.addOption("Drive Straight", autoCommands.driveStraight()); - - // Configure the button bindings - configureButtonBindings(); + flywheels::runCharacterizationVolts, + flywheels::getCharacterizationVelocity)); } /** @@ -211,26 +195,24 @@ public RobotContainer() { private void configureButtonBindings() { // Drive Commands drive.setDefaultCommand( - drive.run( - () -> - drive.setTeleopDriveGoal( - -controller.getLeftY(), -controller.getLeftX(), -controller.getRightX()))); - - controller - .a() - .onTrue(Commands.runOnce(drive::setAutoAimGoal)) - .onFalse(Commands.runOnce(drive::clearAutoAimGoal)); - + drive + .run( + () -> + drive.setTeleopDriveGoal( + -controller.getLeftY(), -controller.getLeftX(), -controller.getRightX())) + .withName("DriveTeleop")); controller .a() - .onTrue( - Commands.runOnce( - () -> superstructure.setGoalState(Superstructure.SystemState.PREPARE_SHOOT))) - .onFalse( - Commands.runOnce(() -> superstructure.setGoalState(Superstructure.SystemState.IDLE))); + .whileTrue( + Commands.startEnd(drive::setAutoAimGoal, drive::clearAutoAimGoal) + .alongWith(superstructure.aimCommand(), flywheels.shootCommand())); Trigger readyToShootTrigger = - new Trigger(() -> drive.isAutoAimGoalCompleted() && superstructure.atShootingSetpoint()); + new Trigger( + () -> + drive.isAutoAimGoalCompleted() + && flywheels.atSetpoint() + && superstructure.atArmSetpoint()); readyToShootTrigger .whileTrue( Commands.run( @@ -242,65 +224,37 @@ private void configureButtonBindings() { .rightTrigger() .and(readyToShootTrigger) .onTrue( - Commands.runOnce( - () -> { - superstructure.setGoalState(Superstructure.SystemState.SHOOT); - rollers.setGoal(Rollers.Goal.FEED_SHOOTER); - }, - superstructure, - rollers) - .andThen(Commands.waitSeconds(1.0)) - .andThen( - Commands.runOnce( - () -> { - superstructure.setGoalState(Superstructure.SystemState.IDLE); - rollers.setGoal(Rollers.Goal.IDLE); - }))); + rollers + .feedShooterCommand() + .withTimeout(1.0) + // Take over superstructure and flywheels, cancelling the main aiming command + .deadlineWith(superstructure.aimCommand(), flywheels.shootCommand())); controller .leftTrigger() .whileTrue( - Commands.runOnce( - () -> superstructure.setGoalState(Superstructure.SystemState.INTAKE), - superstructure) - .andThen( - Commands.waitSeconds(0.25), - Commands.runOnce(() -> rollers.setGoal(Rollers.Goal.FLOOR_INTAKE), rollers), - Commands.idle()) - .finallyDo( - () -> { - rollers.setGoal(Rollers.Goal.IDLE); - superstructure.setGoalState(Superstructure.SystemState.IDLE); - })); - + superstructure + .floorIntakeCommand() + .alongWith(Commands.waitSeconds(0.25).andThen(rollers.floorIntakeCommand()))); controller .leftBumper() .whileTrue( - Commands.runOnce( - () -> superstructure.setGoalState(Superstructure.SystemState.INTAKE), - superstructure) - .andThen( - Commands.waitSeconds(0.25), - Commands.runOnce(() -> rollers.setGoal(Rollers.Goal.EJECT_TO_FLOOR), rollers), - Commands.idle()) - .finallyDo( - () -> { - rollers.setGoal(Rollers.Goal.IDLE); - superstructure.setGoalState(Superstructure.SystemState.IDLE); - })); + superstructure + .floorIntakeCommand() + .alongWith(Commands.waitSeconds(0.25).andThen(rollers.ejectFloorCommand()))); controller .y() .onTrue( Commands.runOnce( - () -> - robotState.resetPose( - AllianceFlipUtil.apply( - new Pose2d( - Units.inchesToMeters(36.0), - FieldConstants.Speaker.centerSpeakerOpening.getY(), - new Rotation2d()))))); - + () -> + robotState.resetPose( + AllianceFlipUtil.apply( + new Pose2d( + Units.inchesToMeters(36.0), + FieldConstants.Speaker.centerSpeakerOpening.getY(), + new Rotation2d())))) + .ignoringDisable(true)); controller .b() .onTrue( @@ -308,7 +262,8 @@ private void configureButtonBindings() { () -> robotState.resetPose( new Pose2d( - robotState.getEstimatedPose().getTranslation(), new Rotation2d()))) + robotState.getEstimatedPose().getTranslation(), + AllianceFlipUtil.apply(new Rotation2d())))) .ignoringDisable(true)); } diff --git a/src/main/java/org/littletonrobotics/frc2024/commands/auto/AutoCommands.java b/src/main/java/org/littletonrobotics/frc2024/commands/auto/AutoCommands.java index a4fae612..2594adc5 100644 --- a/src/main/java/org/littletonrobotics/frc2024/commands/auto/AutoCommands.java +++ b/src/main/java/org/littletonrobotics/frc2024/commands/auto/AutoCommands.java @@ -12,9 +12,9 @@ import edu.wpi.first.wpilibj2.command.Command; import org.littletonrobotics.frc2024.RobotState; import org.littletonrobotics.frc2024.subsystems.drive.Drive; +import org.littletonrobotics.frc2024.subsystems.drive.trajectory.HolonomicTrajectory; import org.littletonrobotics.frc2024.subsystems.superstructure.Superstructure; import org.littletonrobotics.frc2024.util.AllianceFlipUtil; -import org.littletonrobotics.frc2024.util.trajectory.HolonomicTrajectory; public class AutoCommands { private Drive drive; diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/apriltagvision/AprilTagVision.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/apriltagvision/AprilTagVision.java index f4e30139..20800f4e 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/apriltagvision/AprilTagVision.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/apriltagvision/AprilTagVision.java @@ -22,7 +22,6 @@ import lombok.experimental.ExtensionMethod; import org.littletonrobotics.frc2024.FieldConstants; import org.littletonrobotics.frc2024.RobotState; -import org.littletonrobotics.frc2024.util.Alert; import org.littletonrobotics.frc2024.util.GeomUtil; import org.littletonrobotics.frc2024.util.VirtualSubsystem; import org.littletonrobotics.junction.Logger; @@ -34,15 +33,10 @@ public class AprilTagVision extends VirtualSubsystem { private final AprilTagVisionIO[] io; private final AprilTagVisionIOInputs[] inputs; - private final RobotState robotState = RobotState.getInstance(); - private boolean enableVisionUpdates = true; - private final Alert enableVisionUpdatesAlert = - new Alert("Vision updates are temporarily disabled.", Alert.AlertType.WARNING); private final Map lastFrameTimes = new HashMap<>(); private final Map lastTagDetectionTimes = new HashMap<>(); public AprilTagVision(AprilTagVisionIO... io) { - System.out.println("[Init] Creating AprilTagVision"); this.io = io; inputs = new AprilTagVisionIOInputs[io.length]; for (int i = 0; i < io.length; i++) { @@ -63,12 +57,6 @@ public AprilTagVision(AprilTagVisionIO... io) { }); } - /** Sets whether vision updates for odometry are enabled. */ - public void setVisionUpdatesEnabled(boolean enabled) { - enableVisionUpdates = enabled; - enableVisionUpdatesAlert.set(!enabled); - } - public void periodic() { for (int i = 0; i < io.length; i++) { io[i].updateInputs(inputs[i]); @@ -218,10 +206,8 @@ public void periodic() { Logger.recordOutput("AprilTagVision/TagPoses", allTagPoses.toArray(Pose3d[]::new)); // Send results to robot state - if (enableVisionUpdates) { - allVisionObservations.stream() - .sorted(Comparator.comparingDouble(VisionObservation::timestamp)) - .forEach(robotState::addVisionObservation); - } + allVisionObservations.stream() + .sorted(Comparator.comparingDouble(VisionObservation::timestamp)) + .forEach(RobotState.getInstance()::addVisionObservation); } } diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/apriltagvision/AprilTagVisionIONorthstar.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/apriltagvision/AprilTagVisionIONorthstar.java index f4a25478..410b4530 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/apriltagvision/AprilTagVisionIONorthstar.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/apriltagvision/AprilTagVisionIONorthstar.java @@ -31,11 +31,8 @@ public class AprilTagVisionIONorthstar implements AprilTagVisionIO { private static final double disconnectedTimeout = 0.5; private final Alert disconnectedAlert; private final Timer disconnectedTimer = new Timer(); - private final String identifier; public AprilTagVisionIONorthstar(String instanceId, String cameraId) { - this.identifier = instanceId; - System.out.println("[Init] Creating AprilTagVisionIONorthstar (" + instanceId + ")"); var northstarTable = NetworkTableInstance.getDefault().getTable(instanceId); var configTable = northstarTable.getSubTable("config"); diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/Drive.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/Drive.java index 2791653c..6ae269cf 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/Drive.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/Drive.java @@ -26,12 +26,12 @@ import org.littletonrobotics.frc2024.subsystems.drive.controllers.AutoAlignController; import org.littletonrobotics.frc2024.subsystems.drive.controllers.TeleopDriveController; import org.littletonrobotics.frc2024.subsystems.drive.controllers.TrajectoryController; +import org.littletonrobotics.frc2024.subsystems.drive.trajectory.HolonomicTrajectory; import org.littletonrobotics.frc2024.util.GeomUtil; import org.littletonrobotics.frc2024.util.LoggedTunableNumber; import org.littletonrobotics.frc2024.util.swerve.ModuleLimits; import org.littletonrobotics.frc2024.util.swerve.SwerveSetpoint; import org.littletonrobotics.frc2024.util.swerve.SwerveSetpointGenerator; -import org.littletonrobotics.frc2024.util.trajectory.HolonomicTrajectory; import org.littletonrobotics.junction.AutoLog; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; @@ -103,7 +103,6 @@ public static class OdometryTimestampInputs { private AutoAimController autoAimController = null; public Drive(GyroIO gyroIO, ModuleIO fl, ModuleIO fr, ModuleIO bl, ModuleIO br) { - System.out.println("[Init] Creating Drive"); this.gyroIO = gyroIO; modules[0] = new Module(fl, 0); modules[1] = new Module(fr, 1); diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/ModuleIOSparkMax.java index c0d1351f..586ee20c 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/ModuleIOSparkMax.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/ModuleIOSparkMax.java @@ -38,8 +38,6 @@ public class ModuleIOSparkMax implements ModuleIO { private final Rotation2d absoluteEncoderOffset; private final Supplier absoluteEncoderValue; - private static final int shouldResetCount = 100; - private int resetCounter = shouldResetCount; public ModuleIOSparkMax(ModuleConfig config) { // Init motor & encoder objects diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/controllers/AutoAlignController.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/controllers/AutoAlignController.java index a248bee5..e186c750 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/controllers/AutoAlignController.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/controllers/AutoAlignController.java @@ -59,9 +59,6 @@ public class AutoAlignController { private final ProfiledPIDController linearController; private final ProfiledPIDController thetaController; - // Store previous velocities for acceleration limiting - private Translation2d prevLinearVelocity; - public AutoAlignController(Pose2d goalPose) { this.goalPose = goalPose; // Set up both controllers @@ -100,9 +97,6 @@ public AutoAlignController(Pose2d goalPose) { linearController.setGoal(0.0); thetaController.setGoal(goalPose.getRotation().getRadians()); - // Store linear velocity for acceleration limiting - prevLinearVelocity = new Translation2d(fieldVelocity.dx, fieldVelocity.dy); - // Log goal pose Logger.recordOutput("AutoAlign/GoalPose", goalPose); } diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/controllers/TrajectoryController.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/controllers/TrajectoryController.java index 6bbca426..622b5b74 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/controllers/TrajectoryController.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/controllers/TrajectoryController.java @@ -8,68 +8,62 @@ package org.littletonrobotics.frc2024.subsystems.drive.controllers; import static org.littletonrobotics.frc2024.subsystems.drive.DriveConstants.trajectoryConstants; -import static org.littletonrobotics.vehicletrajectoryservice.VehicleTrajectoryServiceOuterClass.*; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Twist2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj.Timer; import java.util.Arrays; +import lombok.experimental.ExtensionMethod; import org.littletonrobotics.frc2024.RobotState; +import org.littletonrobotics.frc2024.subsystems.drive.trajectory.HolonomicTrajectory; +import org.littletonrobotics.frc2024.subsystems.drive.trajectory.TrajectoryGenerationHelpers; import org.littletonrobotics.frc2024.util.AllianceFlipUtil; import org.littletonrobotics.frc2024.util.LoggedTunableNumber; -import org.littletonrobotics.frc2024.util.trajectory.HolonomicDriveController; -import org.littletonrobotics.frc2024.util.trajectory.HolonomicTrajectory; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.vehicletrajectoryservice.VehicleTrajectoryServiceOuterClass.VehicleState; +@ExtensionMethod({TrajectoryGenerationHelpers.class}) public class TrajectoryController { - private static LoggedTunableNumber trajectoryLinearkP = + private static LoggedTunableNumber linearkP = new LoggedTunableNumber("Trajectory/linearkP", trajectoryConstants.linearkP()); - private static LoggedTunableNumber trajectoryLinearkD = + private static LoggedTunableNumber linearkD = new LoggedTunableNumber("Trajectory/linearkD", trajectoryConstants.linearkD()); - private static LoggedTunableNumber trajectoryThetakP = + private static LoggedTunableNumber thetakP = new LoggedTunableNumber("Trajectory/thetakP", trajectoryConstants.thetakP()); - private static LoggedTunableNumber trajectoryThetakD = + private static LoggedTunableNumber thetakD = new LoggedTunableNumber("Trajectory/thetakD", trajectoryConstants.thetakD()); - private HolonomicDriveController controller; - private HolonomicTrajectory trajectory; - private double startTime; + private final HolonomicTrajectory trajectory; + private final PIDController xController; + private final PIDController yController; + private final PIDController thetaController; + private Timer timer = new Timer(); public TrajectoryController(HolonomicTrajectory trajectory) { this.trajectory = trajectory; - controller = - new HolonomicDriveController( - trajectoryLinearkP.get(), - trajectoryLinearkD.get(), - trajectoryThetakP.get(), - trajectoryThetakD.get()); + xController = new PIDController(linearkP.get(), 0, linearkD.get()); + yController = new PIDController(linearkP.get(), 0, linearkD.get()); + thetaController = new PIDController(thetakP.get(), 0, thetakD.get()); + thetaController.enableContinuousInput(-Math.PI, Math.PI); + timer.start(); - startTime = Timer.getFPGATimestamp(); // Log poses Logger.recordOutput( - "Trajectory/trajectoryPoses", + "Trajectory/TrajectoryPoses", Arrays.stream(trajectory.getTrajectoryPoses()) .map(AllianceFlipUtil::apply) .toArray(Pose2d[]::new)); } public ChassisSpeeds update() { - // Update PID Controllers - LoggedTunableNumber.ifChanged( - hashCode(), - pid -> controller.setPID(pid[0], pid[1], pid[2], pid[3]), - trajectoryLinearkP, - trajectoryLinearkD, - trajectoryThetakP, - trajectoryThetakD); - // Run trajectory Pose2d currentPose = RobotState.getInstance().getEstimatedPose(); Twist2d fieldVelocity = RobotState.getInstance().fieldVelocity(); - double sampletime = Timer.getFPGATimestamp() - startTime; + double sampletime = timer.get(); VehicleState currentState = VehicleState.newBuilder() .setX(currentPose.getTranslation().getX()) @@ -79,36 +73,47 @@ public ChassisSpeeds update() { .setVy(fieldVelocity.dy) .setOmega(fieldVelocity.dtheta) .build(); + // Sample and flip state VehicleState setpointState = trajectory.sample(sampletime); setpointState = AllianceFlipUtil.apply(setpointState); - // calculate trajectory speeds - ChassisSpeeds speeds = controller.calculate(currentState, setpointState); + // Calculate feedback velocities (based on position error). + double xFeedback = xController.calculate(currentState.getX(), setpointState.getX()); + double yFeedback = yController.calculate(currentState.getY(), setpointState.getY()); + double thetaFeedback = + thetaController.calculate( + MathUtil.angleModulus(currentState.getTheta()), + MathUtil.angleModulus(setpointState.getTheta())); + + // Return next output. + ChassisSpeeds outputSpeeds = + ChassisSpeeds.fromFieldRelativeSpeeds( + setpointState.getVx() + xFeedback, + setpointState.getVy() + yFeedback, + setpointState.getOmega() + thetaFeedback, + currentPose.getRotation()); + // Log trajectory data - Logger.recordOutput( - "Trajectory/SetpointPose", - new Pose2d( - setpointState.getX(), setpointState.getY(), new Rotation2d(setpointState.getTheta()))); + Logger.recordOutput("Trajectory/SetpointPose", setpointState.getPose()); Logger.recordOutput("Trajectory/SetpointSpeeds/vx", setpointState.getVx()); Logger.recordOutput("Trajectory/SetpointSpeeds/vy", setpointState.getVy()); Logger.recordOutput("Trajectory/SetpointSpeeds/omega", setpointState.getOmega()); - Logger.recordOutput("Trajectory/FieldRelativeSpeeds", speeds); - return speeds; - } - - @AutoLogOutput(key = "Trajectory/TranslationError") - public double getTranslationError() { - return controller.getPoseError().getTranslation().getNorm(); - } - - @AutoLogOutput(key = "Trajectory/RotationError") - public Rotation2d getRotationError() { - return controller.getPoseError().getRotation(); + Logger.recordOutput("Trajectory/OutputSpeeds", outputSpeeds); + Logger.recordOutput( + "Trajectory/TranslationError", + currentState + .getPose() + .getTranslation() + .getDistance(setpointState.getPose().getTranslation())); + Logger.recordOutput( + "Trajectory/RotationError", + currentState.getPose().getRotation().minus(setpointState.getPose().getRotation())); + return outputSpeeds; } @AutoLogOutput(key = "Trajectory/Finished") public boolean isFinished() { - return Timer.getFPGATimestamp() - startTime > trajectory.getDuration(); + return timer.hasElapsed(trajectory.getDuration()); } } diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/GenerateTrajectories.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/GenerateTrajectories.java index bca595a0..add3301f 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/GenerateTrajectories.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/GenerateTrajectories.java @@ -7,8 +7,6 @@ package org.littletonrobotics.frc2024.subsystems.drive.trajectory; -import static org.littletonrobotics.vehicletrajectoryservice.VehicleTrajectoryServiceOuterClass.*; - import com.google.common.hash.Hashing; import io.grpc.Grpc; import io.grpc.InsecureChannelCredentials; @@ -151,6 +149,7 @@ private static String getHashCode(VehicleModel model, List segement hashString.append(format.format(waypoint.getVehicleVelocity().getVy())); hashString.append(format.format(waypoint.getVehicleVelocity().getOmega())); } + case VELOCITYCONSTRAINT_NOT_SET -> {} } } diff --git a/src/main/java/org/littletonrobotics/frc2024/util/trajectory/HolonomicTrajectory.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/HolonomicTrajectory.java similarity index 98% rename from src/main/java/org/littletonrobotics/frc2024/util/trajectory/HolonomicTrajectory.java rename to src/main/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/HolonomicTrajectory.java index 40b72e5d..3ecbc71a 100644 --- a/src/main/java/org/littletonrobotics/frc2024/util/trajectory/HolonomicTrajectory.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/HolonomicTrajectory.java @@ -5,7 +5,7 @@ // license that can be found in the LICENSE file at // the root directory of this project. -package org.littletonrobotics.frc2024.util.trajectory; +package org.littletonrobotics.frc2024.subsystems.drive.trajectory; import static org.littletonrobotics.vehicletrajectoryservice.VehicleTrajectoryServiceOuterClass.*; diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/flywheels/Flywheels.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/flywheels/Flywheels.java index 1ba0dad2..622cca30 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/flywheels/Flywheels.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/flywheels/Flywheels.java @@ -11,12 +11,10 @@ import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; import java.util.function.DoubleSupplier; import lombok.Getter; import lombok.RequiredArgsConstructor; -import lombok.Setter; import org.littletonrobotics.frc2024.util.LoggedTunableNumber; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; @@ -67,15 +65,11 @@ private double getRightSetpoint() { } } - @Getter @Setter private Goal goal = Goal.IDLE; - private double characterizationVolts = 0.0; - private boolean characterizing = false; + @Getter private Goal goal = Goal.IDLE; public Flywheels(FlywheelsIO io) { - System.out.println("[Init] Creating Shooter"); this.io = io; - - setDefaultCommand(idleCommand()); + setDefaultCommand(runOnce(() -> goal = Goal.IDLE).withName("FlywheelsIdle")); } @Override @@ -89,7 +83,7 @@ public void periodic() { hashCode(), kSVA -> io.setFF(kSVA[0], kSVA[1], kSVA[2]), kS, kV, kA); if (DriverStation.isDisabled()) { - setGoal(Goal.STOP); + goal = Goal.STOP; } switch (goal) { @@ -105,22 +99,14 @@ public void periodic() { Logger.recordOutput("Flywheels/RightRPM", inputs.rightVelocityRpm); } - public void runLeftCharacterizationVolts(double volts) { - setGoal(Goal.CHARACTERIZING); + public void runCharacterizationVolts(double volts) { + goal = Goal.CHARACTERIZING; io.runCharacterizationLeftVolts(volts); - } - - public void runRightCharacterizationVolts(double volts) { - setGoal(Goal.CHARACTERIZING); io.runCharacterizationRightVolts(volts); } - public double getLeftCharacterizationVelocity() { - return inputs.leftVelocityRpm; - } - - public double getRightCharacterizationVelocity() { - return inputs.rightVelocityRpm; + public double getCharacterizationVelocity() { + return (inputs.leftVelocityRpm + inputs.rightVelocityRpm) / 2.0; } @AutoLogOutput(key = "Shooter/AtSetpoint") @@ -131,23 +117,11 @@ public boolean atSetpoint() { <= shooterTolerance.get(); } - public Command stopCommand() { - return runOnce(() -> setGoal(Goal.STOP)).andThen(Commands.idle()).withName("Flywheels Stop"); - } - - public Command idleCommand() { - return runOnce(() -> setGoal(Goal.IDLE)).andThen(Commands.idle()).withName("Flywheels Idle"); - } - - public Command shootingCommand() { - return runOnce(() -> setGoal(Goal.SHOOTING)) - .andThen(Commands.idle()) - .withName("Flywheels Shooting"); + public Command shootCommand() { + return startEnd(() -> goal = Goal.SHOOTING, () -> goal = Goal.IDLE).withName("FlywheelsShoot"); } - public Command intakingCommand() { - return runOnce(() -> setGoal(Goal.INTAKING)) - .andThen(Commands.idle()) - .withName("Flywheels Intaking"); + public Command intakeCommand() { + return startEnd(() -> goal = Goal.INTAKING, () -> goal = Goal.IDLE).withName("FlywheelsIntake"); } } diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/GenericRollerSystem.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/GenericRollerSystem.java index 64cc7122..37d3ba91 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/GenericRollerSystem.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/GenericRollerSystem.java @@ -13,7 +13,7 @@ @RequiredArgsConstructor public abstract class GenericRollerSystem { - protected interface VoltageGoal { + public interface VoltageGoal { DoubleSupplier getVoltageSupplier(); } diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/Rollers.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/Rollers.java index dc93f084..da0037ed 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/Rollers.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/Rollers.java @@ -7,11 +7,9 @@ package org.littletonrobotics.frc2024.subsystems.rollers; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import lombok.Getter; -import lombok.Setter; import org.littletonrobotics.frc2024.subsystems.rollers.feeder.Feeder; import org.littletonrobotics.frc2024.subsystems.rollers.indexer.Indexer; import org.littletonrobotics.frc2024.subsystems.rollers.intake.Intake; @@ -34,15 +32,13 @@ public enum Goal { FEED_SHOOTER } - @Getter @Setter private Goal goal = Goal.IDLE; - public Rollers(Feeder feeder, Indexer indexer, Intake intake, RollersSensorsIO sensorsIO) { this.feeder = feeder; this.indexer = indexer; this.intake = intake; this.sensorsIO = sensorsIO; - setDefaultCommand(idleCommand()); + setDefaultCommand(runOnce(this::goIdle).withName("RollersIdle")); } @Override @@ -50,24 +46,23 @@ public void periodic() { sensorsIO.updateInputs(sensorInputs); Logger.processInputs("RollersSensors", sensorInputs); + if (DriverStation.isDisabled()) { + goIdle(); + } + feeder.periodic(); indexer.periodic(); intake.periodic(); } - public Command idleCommand() { - return runOnce( - () -> { - feeder.setGoal(Feeder.Goal.IDLE); - indexer.setGoal(Indexer.Goal.IDLE); - intake.setGoal(Intake.Goal.IDLE); - }) - .andThen(Commands.idle()) - .withName("Rollers Idle"); + private void goIdle() { + feeder.setGoal(Feeder.Goal.IDLE); + indexer.setGoal(Indexer.Goal.IDLE); + intake.setGoal(Intake.Goal.IDLE); } public Command floorIntakeCommand() { - return runOnce( + return startEnd( () -> { feeder.setGoal(Feeder.Goal.FLOOR_INTAKING); indexer.setGoal(Indexer.Goal.FLOOR_INTAKING); @@ -75,13 +70,13 @@ public Command floorIntakeCommand() { if (sensorInputs.shooterStaged) { indexer.setGoal(Indexer.Goal.IDLE); } - }) - .andThen(Commands.idle()) - .withName("Rollers Floor Intake"); + }, + this::goIdle) + .withName("RollersFloorIntake"); } public Command stationIntakeCommand() { - return runOnce( + return startEnd( () -> { feeder.setGoal(Feeder.Goal.IDLE); indexer.setGoal(Indexer.Goal.STATION_INTAKING); @@ -89,30 +84,30 @@ public Command stationIntakeCommand() { if (sensorInputs.shooterStaged) { // TODO: ADD THIS BANNER indexer.setGoal(Indexer.Goal.IDLE); } - }) - .andThen(Commands.idle()) - .withName("Rollers Station Intake"); + }, + this::goIdle) + .withName("RollersStationIntake"); } public Command ejectFloorCommand() { - return runOnce( + return startEnd( () -> { feeder.setGoal(Feeder.Goal.EJECTING); indexer.setGoal(Indexer.Goal.EJECTING); intake.setGoal(Intake.Goal.EJECTING); - }) - .andThen(Commands.idle()) - .withName("Rollers Eject Floor"); + }, + this::goIdle) + .withName("RollersEjectFloor"); } public Command feedShooterCommand() { - return runOnce( + return startEnd( () -> { feeder.setGoal(Feeder.Goal.SHOOTING); indexer.setGoal(Indexer.Goal.SHOOTING); intake.setGoal(Intake.Goal.IDLE); - }) - .andThen(Commands.idle()) - .withName("Rollers Feed Shooter"); + }, + this::goIdle) + .withName("RollersFeedShooter"); } } diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/RollersSensorsIO.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/RollersSensorsIO.java index f33cb2ee..c1bd90f4 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/RollersSensorsIO.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/RollersSensorsIO.java @@ -12,9 +12,9 @@ public interface RollersSensorsIO { @AutoLog class RollersSensorsIOInputs { - boolean shooterStaged; - boolean backbackStaged; - boolean indexerCleared; + boolean shooterStaged = false; + boolean backbackStaged = false; + boolean indexerCleared = false; } default void updateInputs(RollersSensorsIOInputs inputs) {} diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/RollersSensorsIOReal.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/RollersSensorsIOReal.java index 3700c854..d2035033 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/RollersSensorsIOReal.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/RollersSensorsIOReal.java @@ -13,9 +13,9 @@ public class RollersSensorsIOReal implements RollersSensorsIO { private final DigitalInput shooterStagedSensor = new DigitalInput(0); + private final DigitalGlitchFilter glitchFilter = new DigitalGlitchFilter(); public RollersSensorsIOReal() { - DigitalGlitchFilter glitchFilter = new DigitalGlitchFilter(); glitchFilter.setPeriodNanoSeconds(Duration.ofMillis(5).toNanos()); glitchFilter.add(shooterStagedSensor); } diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/Indexer.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/Indexer.java index 4d67d00c..c5255613 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/Indexer.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/Indexer.java @@ -19,7 +19,7 @@ public class Indexer extends GenericRollerSystem { @RequiredArgsConstructor @Getter - public enum Goal implements VoltageGoal { + public enum Goal implements GenericRollerSystem.VoltageGoal { IDLE(() -> 0.0), FLOOR_INTAKING(new LoggedTunableNumber("Indexer/FloorIntakingVoltage", 2.0)), STATION_INTAKING(new LoggedTunableNumber("Indexer/StationIntakingVoltage", -2.0)), diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/Intake.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/Intake.java index 61bf965d..f414ea0e 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/Intake.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/Intake.java @@ -19,7 +19,7 @@ public class Intake extends GenericRollerSystem { @RequiredArgsConstructor @Getter - public enum Goal implements VoltageGoal { + public enum Goal implements GenericRollerSystem.VoltageGoal { IDLE(() -> 0.0), FLOOR_INTAKING(new LoggedTunableNumber("Intake/FloorIntakingVoltage", 8.0)), SHOOTING(new LoggedTunableNumber("Intake/Shooting", 6.0)), diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/Superstructure.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/Superstructure.java index 65764eff..8a0e2ee2 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/Superstructure.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/Superstructure.java @@ -7,63 +7,91 @@ package org.littletonrobotics.frc2024.subsystems.superstructure; -import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; import lombok.Getter; -import lombok.RequiredArgsConstructor; import lombok.Setter; -import org.littletonrobotics.frc2024.subsystems.flywheels.Flywheels; import org.littletonrobotics.frc2024.subsystems.superstructure.arm.Arm; import org.littletonrobotics.junction.AutoLogOutput; -import org.littletonrobotics.junction.Logger; -@RequiredArgsConstructor public class Superstructure extends SubsystemBase { public enum SystemState { - PREPARE_SHOOT, - SHOOT, - PREPARE_INTAKE, - INTAKE, + // PREPARE_SHOOT, + AIM, + // PREPARE_INTAKE, + FLOOR_INTAKE, STATION_INTAKE, - REVERSE_INTAKE, + // REVERSE_INTAKE, IDLE } public enum GamepieceState { NO_GAMEPIECE, - HOLDING_SHOOTER, - HOLDING_BACKPACK } - @Getter private SystemState currentState = SystemState.IDLE; - @Getter @Setter private SystemState goalState = SystemState.IDLE; - + @AutoLogOutput @Getter private SystemState currentState = SystemState.IDLE; + @AutoLogOutput @Getter private SystemState goalState = SystemState.IDLE; @Getter @Setter private GamepieceState gamepieceState = GamepieceState.NO_GAMEPIECE; private final Arm arm; - private final Flywheels flywheels; - private final Timer followThroughTimer = new Timer(); + public Superstructure(Arm arm) { + this.arm = arm; + setDefaultCommand(runOnce(() -> goalState = SystemState.IDLE).withName("SuperstructureIdle")); + } @Override public void periodic() { + if (DriverStation.isDisabled()) { + goalState = SystemState.IDLE; + } + switch (goalState) { - case IDLE -> currentState = SystemState.IDLE; + case AIM -> currentState = SystemState.AIM; + case FLOOR_INTAKE -> currentState = SystemState.FLOOR_INTAKE; case STATION_INTAKE -> currentState = SystemState.STATION_INTAKE; - case INTAKE -> currentState = SystemState.INTAKE; - case PREPARE_SHOOT -> currentState = SystemState.PREPARE_SHOOT; - case SHOOT -> currentState = SystemState.SHOOT; + case IDLE -> currentState = SystemState.IDLE; } - Logger.recordOutput("Superstructure/GoalState", goalState); - Logger.recordOutput("Superstructure/CurrentState", currentState); + switch (currentState) { + case AIM -> { + arm.setGoal(Arm.Goal.AIM); + } + case FLOOR_INTAKE -> { + arm.setGoal(Arm.Goal.FLOOR_INTAKE); + } + case STATION_INTAKE -> { + arm.setGoal(Arm.Goal.STATION_INTAKE); + } + case IDLE -> { + arm.setGoal(Arm.Goal.STOW); + } + } + + arm.periodic(); + } + + public boolean atArmSetpoint() { + return arm.atSetpoint(); + } + + public Command aimCommand() { + return startEnd(() -> goalState = SystemState.AIM, () -> goalState = SystemState.IDLE) + .withName("SuperstructureAim"); + } + + public Command floorIntakeCommand() { + return startEnd(() -> goalState = SystemState.FLOOR_INTAKE, () -> goalState = SystemState.IDLE) + .withName("SuperstructureFloorIntake"); } - @AutoLogOutput(key = "Superstructure/ReadyToShoot") - public boolean atShootingSetpoint() { - return flywheels.atSetpoint(); + public Command stationIntakeCommand() { + return startEnd( + () -> goalState = SystemState.STATION_INTAKE, () -> goalState = SystemState.IDLE) + .withName("SuperstructureStationIntake"); } } diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/arm/Arm.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/arm/Arm.java index ec2c34cf..0629d53f 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/arm/Arm.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/arm/Arm.java @@ -13,10 +13,6 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.SubsystemBase; import java.util.function.DoubleSupplier; import lombok.Getter; import lombok.RequiredArgsConstructor; @@ -26,7 +22,7 @@ import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; -public class Arm extends SubsystemBase { +public class Arm { private static final LoggedTunableNumber kP = new LoggedTunableNumber("Arm/kP", gains.kP()); private static final LoggedTunableNumber kI = new LoggedTunableNumber("Arm/kI", gains.kI()); private static final LoggedTunableNumber kD = new LoggedTunableNumber("Arm/kD", gains.kD()); @@ -53,10 +49,10 @@ public class Arm extends SubsystemBase { @RequiredArgsConstructor public enum Goal { - STOW(() -> Units.degreesToRadians(armStowDegrees.get())), FLOOR_INTAKE(() -> Units.degreesToRadians(armIntakeDegrees.get())), - STATION_INTAKE(() -> Units.degreesToRadians(armStowDegrees.get())), - AIM(() -> RobotState.getInstance().getAimingParameters().armAngle().getRadians()); + STATION_INTAKE(() -> Units.degreesToRadians(armStationIntakeDegrees.get())), + AIM(() -> RobotState.getInstance().getAimingParameters().armAngle().getRadians()), + STOW(() -> Units.degreesToRadians(armStowDegrees.get())); private final DoubleSupplier armSetpointSupplier; @@ -65,22 +61,16 @@ private double getArmSetpointRads() { } } - @Getter @Setter Goal goal; + @Getter @Setter Goal goal = Goal.STOW; private final ArmIO io; private final ArmIOInputsAutoLogged inputs = new ArmIOInputsAutoLogged(); - private boolean homed = false; - public Arm(ArmIO io) { - System.out.println("[Init] Creating Arm"); this.io = io; io.setBrakeMode(true); - - setDefaultCommand(stowCommand()); } - @Override public void periodic() { // Process inputs io.updateInputs(inputs); @@ -123,43 +113,18 @@ public Rotation2d getSetpoint() { return Rotation2d.fromRadians(goal.getArmSetpointRads()); } - @AutoLogOutput(key = "Arm/Homed") - public boolean homed() { - return homed; - } - @AutoLogOutput(key = "Arm/AtSetpoint") public boolean atSetpoint() { return Math.abs(inputs.armPositionRads - goal.getArmSetpointRads()) <= Units.degreesToRadians(armToleranceDegreees.get()); } - public Command stowCommand() { - return runOnce(() -> setGoal(Goal.STOW)).andThen(Commands.idle()).withName("Arm Stow"); - } - - public Command intakeCommand() { - return runOnce(() -> setGoal(Goal.FLOOR_INTAKE)) - .andThen(Commands.idle()) - .withName("Arm Intake"); - } - - public Command stationIntakeCommand() { - return runOnce(() -> setGoal(Goal.STATION_INTAKE)) - .andThen(Commands.idle()) - .withName("Arm Station Intake"); - } - - public Command aimCommand() { - return runOnce(() -> setGoal(Goal.AIM)).andThen(Commands.idle()).withName("Arm Aim"); - } - - public Command getStaticCurrent() { - Timer timer = new Timer(); - return run(() -> io.runCurrent(0.5 * timer.get())) - .beforeStarting(timer::restart) - .until(() -> Math.abs(inputs.armVelocityRadsPerSec) >= Units.degreesToRadians(10)) - .andThen(() -> Logger.recordOutput("Arm/staticCurrent", inputs.armTorqueCurrentAmps[0])) - .andThen(io::stop); - } + // public Command getStaticCurrent() { + // Timer timer = new Timer(); + // return run(() -> io.runCurrent(0.5 * timer.get())) + // .beforeStarting(timer::restart) + // .until(() -> Math.abs(inputs.armVelocityRadsPerSec) >= Units.degreesToRadians(10)) + // .andThen(() -> Logger.recordOutput("Arm/staticCurrent", inputs.armTorqueCurrentAmps[0])) + // .andThen(io::stop); + // } } diff --git a/src/main/java/org/littletonrobotics/frc2024/util/swerve/SwerveSetpointGenerator.java b/src/main/java/org/littletonrobotics/frc2024/util/swerve/SwerveSetpointGenerator.java index 148bb45f..60cdada1 100644 --- a/src/main/java/org/littletonrobotics/frc2024/util/swerve/SwerveSetpointGenerator.java +++ b/src/main/java/org/littletonrobotics/frc2024/util/swerve/SwerveSetpointGenerator.java @@ -160,27 +160,27 @@ protected double findDriveMaxS( return findRoot(func, x_0, y_0, f_0 - offset, x_1, y_1, f_1 - offset, max_iterations); } - protected double findDriveMaxS( - double x_0, double y_0, double x_1, double y_1, double max_vel_step) { - // Our drive velocity between s=0 and s=1 is quadratic in s: - // v^2 = ((x_1 - x_0) * s + x_0)^2 + ((y_1 - y_0) * s + y_0)^2 - // = a * s^2 + b * s + c - // Where: - // a = (x_1 - x_0)^2 + (y_1 - y_0)^2 - // b = 2 * x_0 * (x_1 - x_0) + 2 * y_0 * (y_1 - y_0) - // c = x_0^2 + y_0^2 - // We want to find where this quadratic results in a velocity that is > max_vel_step from our - // velocity at s=0: - // sqrt(x_0^2 + y_0^2) +/- max_vel_step = ...quadratic... - final double dx = x_1 - x_0; - final double dy = y_1 - y_0; - final double a = dx * dx + dy * dy; - final double b = 2.0 * x_0 * dx + 2.0 * y_0 * dy; - final double c = x_0 * x_0 + y_0 * y_0; - final double v_limit_upper_2 = Math.pow(Math.hypot(x_0, y_0) + max_vel_step, 2.0); - final double v_limit_lower_2 = Math.pow(Math.hypot(x_0, y_0) - max_vel_step, 2.0); - return 0.0; - } + // protected double findDriveMaxS( + // double x_0, double y_0, double x_1, double y_1, double max_vel_step) { + // // Our drive velocity between s=0 and s=1 is quadratic in s: + // // v^2 = ((x_1 - x_0) * s + x_0)^2 + ((y_1 - y_0) * s + y_0)^2 + // // = a * s^2 + b * s + c + // // Where: + // // a = (x_1 - x_0)^2 + (y_1 - y_0)^2 + // // b = 2 * x_0 * (x_1 - x_0) + 2 * y_0 * (y_1 - y_0) + // // c = x_0^2 + y_0^2 + // // We want to find where this quadratic results in a velocity that is > max_vel_step from our + // // velocity at s=0: + // // sqrt(x_0^2 + y_0^2) +/- max_vel_step = ...quadratic... + // final double dx = x_1 - x_0; + // final double dy = y_1 - y_0; + // final double a = dx * dx + dy * dy; + // final double b = 2.0 * x_0 * dx + 2.0 * y_0 * dy; + // final double c = x_0 * x_0 + y_0 * y_0; + // final double v_limit_upper_2 = Math.pow(Math.hypot(x_0, y_0) + max_vel_step, 2.0); + // final double v_limit_lower_2 = Math.pow(Math.hypot(x_0, y_0) - max_vel_step, 2.0); + // return 0.0; + // } /** * Generate a new setpoint. diff --git a/src/main/java/org/littletonrobotics/frc2024/util/trajectory/HolonomicDriveController.java b/src/main/java/org/littletonrobotics/frc2024/util/trajectory/HolonomicDriveController.java deleted file mode 100644 index a0c752c6..00000000 --- a/src/main/java/org/littletonrobotics/frc2024/util/trajectory/HolonomicDriveController.java +++ /dev/null @@ -1,84 +0,0 @@ -// 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.util.trajectory; - -import static org.littletonrobotics.vehicletrajectoryservice.VehicleTrajectoryServiceOuterClass.*; - -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import lombok.Getter; - -public class HolonomicDriveController { - private final PIDController linearController; - private final PIDController thetaController; - - @Getter private Pose2d poseError; - - public HolonomicDriveController( - double linearkP, double linearkD, double thetakP, double thetakD) { - linearController = new PIDController(linearkP, 0, linearkD); - thetaController = new PIDController(thetakP, 0, thetakD); - - thetaController.enableContinuousInput(-Math.PI, Math.PI); - } - - /** Reset all controllers */ - public void resetControllers() { - linearController.reset(); - thetaController.reset(); - } - - public void resetThetaController() { - thetaController.reset(); - } - - public void setControllerTolerance(Pose2d controllerTolerance) { - linearController.setTolerance(controllerTolerance.getTranslation().getNorm()); - thetaController.setTolerance(controllerTolerance.getRotation().getRadians()); - } - - /** Set PID values */ - public void setPID(double linearkP, double linearkD, double thetakP, double thetakD) { - linearController.setPID(linearkP, 0, linearkD); - thetaController.setPID(thetakP, 0, thetakD); - } - - /** Calculate robot relative chassis speeds */ - public ChassisSpeeds calculate(VehicleState currentState, VehicleState setpointState) { - Pose2d currentPose = - new Pose2d( - currentState.getX(), currentState.getY(), new Rotation2d(currentState.getTheta())); - Pose2d setpointPose = - new Pose2d( - setpointState.getX(), setpointState.getY(), new Rotation2d(setpointState.getTheta())); - poseError = setpointPose.relativeTo(currentPose); - - // Calculate feedback velocities (based on position error). - double linearFeedback = - linearController.calculate( - 0, currentPose.getTranslation().getDistance(setpointPose.getTranslation())); - Rotation2d currentToStateAngle = - setpointPose.getTranslation().minus(currentPose.getTranslation()).getAngle(); - double xFeedback = linearFeedback * currentToStateAngle.getCos(); - double yFeedback = linearFeedback * currentToStateAngle.getSin(); - double thetaFeedback = - thetaController.calculate( - MathUtil.angleModulus(currentPose.getRotation().getRadians()), - MathUtil.angleModulus(setpointPose.getRotation().getRadians())); - - // Return next output. - return ChassisSpeeds.fromFieldRelativeSpeeds( - setpointState.getVx() + xFeedback, - setpointState.getVy() + yFeedback, - setpointState.getOmega() + thetaFeedback, - currentPose.getRotation()); - } -}