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private static RobotType robotType = RobotType.DEVBOT; + private static RobotType robotType = RobotType.SIMBOT; public static final boolean tuningMode = true; private static boolean invalidRobotAlertSent = false; diff --git a/src/main/java/org/littletonrobotics/frc2024/FieldConstants.java b/src/main/java/org/littletonrobotics/frc2024/FieldConstants.java index ea186dab..8cb2b5d7 100644 --- a/src/main/java/org/littletonrobotics/frc2024/FieldConstants.java +++ b/src/main/java/org/littletonrobotics/frc2024/FieldConstants.java @@ -86,6 +86,26 @@ public static final class Speaker { (bottomLeftSpeaker.getZ() + bottomRightSpeaker.getZ()) / 2.0); } + public static final class Subwoofer { + public static Pose2d ampFaceCorner = + new Pose2d( + Units.inchesToMeters(35.775), + Units.inchesToMeters(239.366), + Rotation2d.fromDegrees(-120)); + + public static Pose2d sourceFaceCorner = + new Pose2d( + Units.inchesToMeters(35.775), + Units.inchesToMeters(197.466), + Rotation2d.fromDegrees(120)); + + public static Pose2d centerFace = + new Pose2d( + Units.inchesToMeters(35.775), + Units.inchesToMeters(218.416), + Rotation2d.fromDegrees(180)); + } + public static double aprilTagWidth = Units.inchesToMeters(6.50); public static AprilTagFieldLayout aprilTags; diff --git a/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java b/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java index 1697a8dd..bc639f79 100644 --- a/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java +++ b/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java @@ -202,11 +202,11 @@ public RobotContainer() { flywheels, flywheels::runRightCharacterizationVolts, flywheels::getRightCharacterizationVelocity)); - autoChooser.addOption("Arm get static current", arm.getStaticCurrent()); + // autoChooser.addOption("Arm get static current", arm.getStaticCurrent()); AutoCommands autoCommands = new AutoCommands(drive, superstructure); - autoChooser.addOption("Drive Straight", autoCommands.driveStraight()); + autoChooser.addOption("Davis Auto", autoCommands.davisEthicalAuto()); // Testing autos paths // Function> trajectoryCommandFactory = 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 9da4a1bd..851f66d4 100644 --- a/src/main/java/org/littletonrobotics/frc2024/commands/auto/AutoCommands.java +++ b/src/main/java/org/littletonrobotics/frc2024/commands/auto/AutoCommands.java @@ -10,8 +10,8 @@ import org.littletonrobotics.frc2024.util.trajectory.HolonomicTrajectory; public class AutoCommands { - private Drive drive; - private Superstructure superstructure; + private final Drive drive; + private final Superstructure superstructure; public AutoCommands(Drive drive, Superstructure superstructure) { this.drive = drive; @@ -38,7 +38,18 @@ private Command reset(String path) { RobotState.getInstance().resetPose(AllianceFlipUtil.apply(trajectory.getStartPose()))); } + public Command davisEthicalAuto() { + return sequence( + reset("driveToCenterline4"), + path("driveToCenterline4"), + path("driveToCenterline3"), + path("driveToPodium")); + } + ; + public Command driveStraight() { - return reset("driveStraight").andThen(path("driveStraight")); + return reset("driveToCenterline4") + .andThen(path("driveToCenterline4"), path("driveToCenterline3"), path("driveToPodium")); } + ; } diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/DriveConstants.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/DriveConstants.java index ca078ba8..bb5132a5 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/DriveConstants.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/DriveConstants.java @@ -29,6 +29,8 @@ public static class KrakenDriveConstants { Units.inchesToMeters(2.0), Units.inchesToMeters(26.0), Units.inchesToMeters(26.0), + Units.inchesToMeters(37), + Units.inchesToMeters(33), Units.feetToMeters(13.05), Units.feetToMeters(30.02), 8.86, @@ -38,6 +40,8 @@ public static class KrakenDriveConstants { Units.inchesToMeters(2.0), Units.inchesToMeters(26.0), Units.inchesToMeters(26.0), + Units.inchesToMeters(37), + Units.inchesToMeters(33), Units.feetToMeters(12.16), Units.feetToMeters(21.32), 7.93, @@ -45,10 +49,10 @@ public static class KrakenDriveConstants { }; public static final Translation2d[] moduleTranslations = new Translation2d[] { - new Translation2d(driveConfig.trackwidthX() / 2.0, driveConfig.trackwidthY() / 2.0), - new Translation2d(driveConfig.trackwidthX() / 2.0, -driveConfig.trackwidthY() / 2.0), - new Translation2d(-driveConfig.trackwidthX() / 2.0, driveConfig.trackwidthY() / 2.0), - new Translation2d(-driveConfig.trackwidthX() / 2.0, -driveConfig.trackwidthY() / 2.0) + new Translation2d(driveConfig.trackWidthX() / 2.0, driveConfig.trackWidthY() / 2.0), + new Translation2d(driveConfig.trackWidthX() / 2.0, -driveConfig.trackWidthY() / 2.0), + new Translation2d(-driveConfig.trackWidthX() / 2.0, driveConfig.trackWidthY() / 2.0), + new Translation2d(-driveConfig.trackWidthX() / 2.0, -driveConfig.trackWidthY() / 2.0) }; public static final SwerveDriveKinematics kinematics = new SwerveDriveKinematics(moduleTranslations); @@ -175,14 +179,16 @@ public static class KrakenDriveConstants { public record DriveConfig( double wheelRadius, - double trackwidthX, - double trackwidthY, + double trackWidthX, + double trackWidthY, + double bumperWidthX, + double bumperWidthY, double maxLinearVelocity, double maxLinearAcceleration, double maxAngularVelocity, double maxAngularAcceleration) { public double driveBaseRadius() { - return Math.hypot(trackwidthX / 2.0, trackwidthY / 2.0); + return Math.hypot(trackWidthX / 2.0, trackWidthY / 2.0); } } diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/DriveTrajectories.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/DriveTrajectories.java index 707b2ec6..f7af5737 100644 --- a/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/DriveTrajectories.java +++ b/src/main/java/org/littletonrobotics/frc2024/subsystems/drive/trajectory/DriveTrajectories.java @@ -4,37 +4,97 @@ 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.util.Units; import java.util.HashMap; import java.util.List; import java.util.Map; import lombok.experimental.ExtensionMethod; +import org.littletonrobotics.frc2024.FieldConstants; +import org.littletonrobotics.frc2024.subsystems.drive.DriveConstants; @ExtensionMethod({TrajectoryGenerationHelpers.class}) public class DriveTrajectories { public static final Map> paths = new HashMap<>(); + // Starting locations + private static final Pose2d startingAmpFace = + FieldConstants.Subwoofer.ampFaceCorner.transformBy( + new Transform2d( + -DriveConstants.driveConfig.bumperWidthX() / 2, + -DriveConstants.driveConfig.bumperWidthY() / 2, + new Rotation2d())); + private static final Pose2d startingSourceFace = + FieldConstants.Subwoofer.sourceFaceCorner.transformBy( + new Transform2d( + -DriveConstants.driveConfig.bumperWidthX() / 2, + DriveConstants.driveConfig.bumperWidthY() / 2, + new Rotation2d())); + private static final Pose2d startingCenterFace = + FieldConstants.Subwoofer.centerFace.transformBy( + new Transform2d(DriveConstants.driveConfig.bumperWidthX() / 2, 0, new Rotation2d(0))); + + // Center intake locations + private static final double intakeOffset = 0.5; + private static final Pose2d[] intakingPoses = new Pose2d[5]; + static { + // Find locations for intaking centerline gamepieces + for (int i = 0; i < 5; i++) { + Translation2d centerLineTranslation = + FieldConstants.StagingLocations.centerlineTranslations[i]; + intakingPoses[i] = + new Pose2d( + centerLineTranslation.minus(new Translation2d(intakeOffset, 0)), + new Rotation2d(Math.PI)); + } + + // Add paths paths.put( - "driveStraight", + "driveToCenterline4", List.of( PathSegment.newBuilder() + .addPoseWaypoint(startingSourceFace) + .addTranslationWaypoint(new Translation2d(3.5, 2.5)) + .addPoseWaypoint(intakingPoses[0]) + .addPoseWaypoint(getShootingPose(new Translation2d(3.5, 2.5))) + .build())); + + paths.put( + "driveToCenterline3", + List.of( + PathSegment.newBuilder() + .addPoseWaypoint(getShootingPose(new Translation2d(3.5, 2.5))) + .addTranslationWaypoint(new Translation2d(5.5, 1.4)) + .addPoseWaypoint(intakingPoses[1]) + .addTranslationWaypoint(new Translation2d(5.5, 1.4)) + .addPoseWaypoint(getShootingPose(new Translation2d(3.5, 2.5))) + .build())); + paths.put( + "driveToPodium", + List.of( + PathSegment.newBuilder() + .addPoseWaypoint(getShootingPose(new Translation2d(3.5, 2.5))) + .addTranslationWaypoint(new Translation2d(1.6 - Units.inchesToMeters(20), 3.75)) .addPoseWaypoint( new Pose2d( - Units.inchesToMeters(60.112), - Units.inchesToMeters(161.638), - new Rotation2d())) - .addPoseWaypoint( - new Pose2d( - Units.inchesToMeters(130), Units.inchesToMeters(70), new Rotation2d())) - .addPoseWaypoint( - new Pose2d( - Units.inchesToMeters(318.640), - Units.inchesToMeters(29.003), - new Rotation2d())) - .addPoseWaypoint( - new Pose2d( - Units.inchesToMeters(130), Units.inchesToMeters(70), new Rotation2d())) + FieldConstants.StagingLocations.spikeTranslations[0].getX() + - Units.inchesToMeters(20), + FieldConstants.StagingLocations.spikeTranslations[0].getY(), + new Rotation2d(Math.PI))) .build())); } + + // calculate Pose2d of robot given a translation + private static Pose2d getShootingPose(Translation2d translation) { + return new Pose2d( + translation, + FieldConstants.Speaker.centerSpeakerOpening + .toTranslation2d() + .minus(translation) + .getAngle()); + } + + private DriveTrajectories() {} } 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 8981d0b6..31d2c2ab 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 @@ -26,10 +26,10 @@ public static void main(String[] args) { VehicleModel.newBuilder() .setMass(70) .setMoi(6) - .setVehicleLength(DriveConstants.driveConfig.trackwidthX()) - .setVehicleWidth(DriveConstants.driveConfig.trackwidthY()) + .setVehicleLength(DriveConstants.driveConfig.trackWidthX()) + .setVehicleWidth(DriveConstants.driveConfig.trackWidthY()) .setWheelRadius(DriveConstants.driveConfig.wheelRadius()) - .setMaxWheelTorque(2) + .setMaxWheelTorque(6) .setMaxWheelOmega( DriveConstants.moduleLimits.maxDriveVelocity() / DriveConstants.driveConfig.wheelRadius()) diff --git a/src/main/java/org/littletonrobotics/frc2024/util/trajectory/HolonomicTrajectory.java b/src/main/java/org/littletonrobotics/frc2024/util/trajectory/HolonomicTrajectory.java index 5d42ad9a..fc67f4e1 100644 --- a/src/main/java/org/littletonrobotics/frc2024/util/trajectory/HolonomicTrajectory.java +++ b/src/main/java/org/littletonrobotics/frc2024/util/trajectory/HolonomicTrajectory.java @@ -11,8 +11,11 @@ import java.io.IOException; import java.io.InputStream; import java.nio.file.Path; +import lombok.experimental.ExtensionMethod; +import org.littletonrobotics.frc2024.subsystems.drive.trajectory.TrajectoryGenerationHelpers; import org.littletonrobotics.vehicletrajectoryservice.VehicleTrajectoryServiceOuterClass.VehicleState; +@ExtensionMethod({TrajectoryGenerationHelpers.class}) public class HolonomicTrajectory { private final Trajectory trajectory; @@ -85,18 +88,17 @@ public VehicleState sample(double timeSeconds) { double s = (timeSeconds - before.getTime()) / (after.getTime() - before.getTime()); - Pose2d beforePose = - new Pose2d( - before.getState().getX(), - before.getState().getY(), - new Rotation2d(before.getState().getTheta())); - Pose2d afterPose = - new Pose2d( - after.getState().getX(), - after.getState().getY(), - new Rotation2d(after.getState().getTheta())); - - Pose2d interpolatedPose = beforePose.interpolate(afterPose, s); + double interpolatedPoseX = + MathUtil.interpolate(before.getState().getX(), after.getState().getX(), s); + double interpolatedPoseY = + MathUtil.interpolate(before.getState().getY(), after.getState().getY(), s); + Rotation2d interpolatedRotation = + before + .getState() + .getPose() + .getRotation() + .interpolate(after.getState().getPose().getRotation(), s); + double interpolatedVelocityX = MathUtil.interpolate(before.getState().getVx(), after.getState().getVx(), s); double interpolatedVelocityY = @@ -105,9 +107,9 @@ public VehicleState sample(double timeSeconds) { MathUtil.interpolate(before.getState().getOmega(), after.getState().getOmega(), s); return VehicleState.newBuilder() - .setX(interpolatedPose.getTranslation().getX()) - .setY(interpolatedPose.getTranslation().getY()) - .setTheta(interpolatedPose.getRotation().getRadians()) + .setX(interpolatedPoseX) + .setY(interpolatedPoseY) + .setTheta(interpolatedRotation.getRadians()) .setVx(interpolatedVelocityX) .setVy(interpolatedVelocityY) .setOmega(interpolatedAngularVelocity)