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Update PointAtNoteCommand to use new SCL field oriented gamepad vectors #255

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Update PointAtNoteCommand to use new SCL field oriented gamepad vectors #255

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2 changes: 1 addition & 1 deletion SeriouslyCommonLib
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Submodule SeriouslyCommonLib updated 8 files
+5 −0 .pre-commit-config.yaml
+5 −1 .vscode/settings.json
+ − field_reference.png
+ − robot_frame.png
+6 −3 src/main/java/xbot/common/controls/sensors/IGamepad.java
+25 −3 src/main/java/xbot/common/controls/sensors/XFTCGamepad.java
+3 −3 src/main/java/xbot/common/controls/sensors/XJoystick.java
+27 −5 src/main/java/xbot/common/controls/sensors/XXboxController.java
4 changes: 2 additions & 2 deletions src/main/java/competition/subsystems/arm/commands/ArmMaintainerCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -152,12 +152,12 @@ protected boolean additionalAtGoalChecks() {
@Override
protected Double getHumanInput() {
double fundamentalInput = MathUtils.deadband(
oi.operatorFundamentalsGamepad.getLeftVector().y,
oi.operatorFundamentalsGamepad.getLeftVector().getY(),
oi.getOperatorGamepadTypicalDeadband(),
(x) -> x);

double advancedInput = MathUtils.deadband(
oi.operatorGamepadAdvanced.getLeftVector().y,
oi.operatorGamepadAdvanced.getLeftVector().getY(),
oi.getOperatorGamepadTypicalDeadband(),
(x) -> x);

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12 changes: 3 additions & 9 deletions src/main/java/competition/subsystems/drive/commands/PointAtNoteCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -83,8 +83,7 @@ public void execute() {
// if we're very close to the note, stop trying to rotate, it gets wonky

var movement = MathUtils.deadband(
getDriveIntent(toNoteTranslation, oi.driverGamepad.getLeftVector(),
DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue)),
getDriveIntent(toNoteTranslation, oi.driverGamepad.getLeftFieldOrientedVector()),
oi.getDriverGamepadTypicalDeadband(), (x) -> x);
double rotationPower = 0;
// if we're far enough away, rotate towards the note (if we're too close, the )
Expand All @@ -96,14 +95,9 @@ public void execute() {
drive.move(new XYPair(-movement, 0), rotationPower);
}

public static double getDriveIntent(Translation2d fieldTranslationToTarget, XYPair driveJoystick, Alliance alliance) {
public static double getDriveIntent(Translation2d fieldTranslationToTarget, Translation2d driveJoystick) {
var toNoteVector = fieldTranslationToTarget.toVector().unit();
var driverVector = VecBuilder.fill(driveJoystick.y, -driveJoystick.x);
if(alliance == DriverStation.Alliance.Red) {
// invert both axis
driverVector = driverVector.div(-1);
}
var dot = toNoteVector.dot(driverVector);
var dot = toNoteVector.dot(driveJoystick.toVector());

return dot;
}
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4 changes: 2 additions & 2 deletions src/main/java/competition/subsystems/drive/commands/TankDriveWithJoysticksCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -27,8 +27,8 @@ public void initialize() {
@Override
public void execute() {
driveSubsystem.tankDrive(
MathUtils.deadband(oi.driverGamepad.getLeftVector().y, 0.15),
MathUtils.deadband(oi.driverGamepad.getRightVector().y, 0.15)
MathUtils.deadband(oi.driverGamepad.getLeftVector().getY(), 0.15),
MathUtils.deadband(oi.driverGamepad.getRightVector().getY(), 0.15)
);
}
}
36 changes: 7 additions & 29 deletions src/test/java/competition/subsystems/drive/PointAtNoteCommandTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,46 +14,24 @@
public class PointAtNoteCommandTest extends BaseCompetitionTest {

@Test
public void testGetDriveIntentBlue() {
var alliance = Alliance.Blue;
public void testGetDriveIntent() {
// completely aligned with the direction we want to go
// exact y
assertEquals( 1.0, PointAtNoteCommand.getDriveIntent(new Translation2d(0, 5), new XYPair(-1, 0), alliance), 0.001);
assertEquals( 1.0, PointAtNoteCommand.getDriveIntent(new Translation2d(0, 5), new Translation2d(0, 1)), 0.001);
// exact x
assertEquals( 1.0, PointAtNoteCommand.getDriveIntent(new Translation2d(5, 0), new XYPair(0, 1), alliance), 0.001);
assertEquals( 1.0, PointAtNoteCommand.getDriveIntent(new Translation2d(5, 0), new Translation2d(1, 0)), 0.001);


// exact opposite y
assertEquals(-1, PointAtNoteCommand.getDriveIntent(new Translation2d(0, 5), new XYPair(1, 0), alliance), 0.001);
assertEquals(-1, PointAtNoteCommand.getDriveIntent(new Translation2d(0, 5), new Translation2d(0, -1)), 0.001);
// exact opposite x
assertEquals(-1, PointAtNoteCommand.getDriveIntent(new Translation2d(5, 0), new XYPair(0, -1), alliance), 0.001);
assertEquals(-1, PointAtNoteCommand.getDriveIntent(new Translation2d(5, 0), new Translation2d(-1, 0)), 0.001);

// 45 degrees should be half power
assertEquals(0.5, PointAtNoteCommand.getDriveIntent(new Translation2d(5, 0), new XYPair(0.5, 0.5), alliance), 0.001);
assertEquals(0.5, PointAtNoteCommand.getDriveIntent(new Translation2d(5, 0), new Translation2d(0.5, 0.5)), 0.001);

// small floating joystick number
assertTrue(Math.abs(PointAtNoteCommand.getDriveIntent(new Translation2d(5, 0), new XYPair(0.01, 0.01), alliance)) < 0.02);
assertTrue(Math.abs(PointAtNoteCommand.getDriveIntent(new Translation2d(5, 0), new Translation2d(0.01, 0.01))) < 0.02);
}

@Test
public void testGetDriveIntentRed() {
var alliance = Alliance.Red;
// completely aligned with the direction we want to go
// exact y
assertEquals( 1.0, PointAtNoteCommand.getDriveIntent(new Translation2d(0, -5), new XYPair(-1, 0), alliance), 0.001);
// exact x
assertEquals( 1.0, PointAtNoteCommand.getDriveIntent(new Translation2d(-5, 0), new XYPair(0, 1), alliance), 0.001);


// exact opposite y
assertEquals(-1, PointAtNoteCommand.getDriveIntent(new Translation2d(0, -5), new XYPair(1, 0), alliance), 0.001);
// exact opposite x
assertEquals(-1, PointAtNoteCommand.getDriveIntent(new Translation2d(-5, 0), new XYPair(0, -1), alliance), 0.001);

// 45 degrees should be half power
assertEquals(0.5, PointAtNoteCommand.getDriveIntent(new Translation2d(-5, 0), new XYPair(0.5, 0.5), alliance), 0.001);

// small floating joystick number
assertTrue(Math.abs(PointAtNoteCommand.getDriveIntent(new Translation2d(-5, 0), new XYPair(0.01, 0.01), alliance)) < 0.02);
}
}
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