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Auto speed depending on vision assistance toggle #310

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Auto speed depending on vision assistance toggle #310

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678bfc3
First attempt at auto speed depending on vision assistance
Rongrrz Apr 3, 2024
b7fae7d
Added a DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsidera…
Rongrrz Apr 3, 2024
8db96bc
Checkstyle
Rongrrz Apr 3, 2024
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6 changes: 5 additions & 1 deletion src/main/java/competition/auto_programs/SubwooferShotFromMidShootThenShootNearestThree.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
import competition.subsystems.drive.commands.DriveToCentralSubwooferCommand;
import competition.subsystems.drive.commands.DriveToListOfPointsCommand;
import competition.subsystems.pose.PoseSubsystem;
import competition.subsystems.vision.VisionSubsystem;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
Expand All @@ -29,7 +30,7 @@ public SubwooferShotFromMidShootThenShootNearestThree(AutonomousCommandSelector
Provider<DriveToGivenNoteAndCollectCommandGroup> driveToGivenNoteAndCollectCommandGroupProvider,
Provider<FireFromSubwooferCommandGroup> fireFromSubwooferCommandGroup,
Provider<DriveToCentralSubwooferCommand> driveToCentralSubwooferCommandProvider,
PoseSubsystem pose, DriveSubsystem drive) {
PoseSubsystem pose, DriveSubsystem drive, VisionSubsystem vision) {
this.autoSelector = autoSelector;

// Force our location
Expand All @@ -50,6 +51,7 @@ public SubwooferShotFromMidShootThenShootNearestThree(AutonomousCommandSelector
})
);
var driveToMiddleSpikeNoteAndCollect = driveToGivenNoteAndCollectCommandGroupProvider.get();
driveToMiddleSpikeNoteAndCollect.setMaximumSpeedOverride(vision.getSpeedForAuto());
this.addCommands(driveToMiddleSpikeNoteAndCollect.withTimeout(interstageTimeout));

// Drive back to subwoofer
Expand All @@ -68,6 +70,7 @@ public SubwooferShotFromMidShootThenShootNearestThree(AutonomousCommandSelector
})
);
var driveToTopSpikeNoteAndCollect = driveToGivenNoteAndCollectCommandGroupProvider.get();
driveToTopSpikeNoteAndCollect.setMaximumSpeedOverride(vision.getSpeedForAuto());
this.addCommands(driveToTopSpikeNoteAndCollect.withTimeout(interstageTimeout));

// Drive back to subwoofer
Expand All @@ -94,6 +97,7 @@ public SubwooferShotFromMidShootThenShootNearestThree(AutonomousCommandSelector

// Now, go get the bottom spike note
var driveToBottomSpikeNoteAndCollect = driveToGivenNoteAndCollectCommandGroupProvider.get();
driveToBottomSpikeNoteAndCollect.setMaximumSpeedOverride(vision.getSpeedForAuto());
this.addCommands(driveToBottomSpikeNoteAndCollect.withTimeout(interstageTimeout));

// Drive back to subwoofer
Expand Down
6 changes: 6 additions & 0 deletions src/main/java/competition/subsystems/drive/DriveSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@ public class DriveSubsystem extends BaseSwerveDriveSubsystem implements DataFram
private Translation2d specialPointAtPositionTarget = new Translation2d();
private final DoubleProperty suggestedAutonomousMaximumSpeed;
private final DoubleProperty suggestedAutonomousExtremeSpeed;
private final DoubleProperty suggestedAutonomousSpeedIfNotVisionAssisted;
private final PIDManager aggressiveGoalHeadingPidManager;

@Inject
Expand All @@ -54,6 +55,8 @@ public DriveSubsystem(PIDManagerFactory pidFactory, PropertyFactory pf,
pf.createPersistentProperty("Suggested Autonomous Maximum Speed", 3.0);
suggestedAutonomousExtremeSpeed =
pf.createPersistentProperty("Suggested Autonomous EXTREME Speed", 5.0);
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⭐ ⭐ ⭐ there are actually 2 auto speeds (normal and extreme), and I think your override should impact both of them, so we'll want another property for the no vision extreme speed?

suggestedAutonomousSpeedIfNotVisionAssisted =
pf.createPersistentProperty("Suggested Autonomous NO VISION Speed", 1.5);

aggressiveGoalHeadingPidManager = aggressiveGoalHeadingPidFactory.create(
this.getPrefix() + "AggressiveGoalHeadingPID",
Expand All @@ -77,6 +80,9 @@ public double getSuggestedAutonomousMaximumSpeed() {
}

public double getSuggestedAutonomousExtremeSpeed() { return suggestedAutonomousExtremeSpeed.get(); }
public double getSuggestedAutonomousNoAutoSpeed() {
return suggestedAutonomousSpeedIfNotVisionAssisted.get();
}

@Override
protected PIDDefaults getPositionalPIDDefaults() {
Expand Down
32 changes: 32 additions & 0 deletions ...ve/commands/DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,32 @@
package competition.subsystems.drive.commands;

import competition.subsystems.collector.CollectorSubsystem;
import competition.subsystems.drive.DriveSubsystem;
import competition.subsystems.oracle.DynamicOracle;
import competition.subsystems.pose.PoseSubsystem;
import competition.subsystems.vision.NoteSeekLogic;
import competition.subsystems.vision.VisionSubsystem;
import xbot.common.properties.PropertyFactory;
import xbot.common.subsystems.drive.control_logic.HeadingModule;

import javax.inject.Inject;

public class DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand extends DriveToGivenNoteWithBearingVisionCommand{

VisionSubsystem vision;

@Inject
DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand(
PoseSubsystem pose, DriveSubsystem drive, DynamicOracle oracle,
PropertyFactory pf, HeadingModule.HeadingModuleFactory headingModuleFactory,
VisionSubsystem vision, CollectorSubsystem collector, NoteSeekLogic noteSeekLogic) {
super(pose, drive, oracle, pf, headingModuleFactory, vision, collector, noteSeekLogic);
this.vision = vision;
}

@Override
public void execute() {
super.setMaximumSpeedOverride(vision.getSpeedForAuto());
super.execute();
}
}
17 changes: 16 additions & 1 deletion src/main/java/competition/subsystems/vision/VisionSubsystem.java
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
package competition.subsystems.vision;

import competition.electrical_contract.CompetitionContract;
import competition.subsystems.drive.DriveSubsystem;
import competition.subsystems.pose.PoseSubsystem;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
Expand Down Expand Up @@ -39,6 +40,7 @@
@Singleton
public class VisionSubsystem extends BaseSubsystem implements DataFrameRefreshable {

DriveSubsystem drive;
final RobotAssertionManager assertionManager;
final BooleanProperty isInverted;
final DoubleProperty yawOffset;
Expand Down Expand Up @@ -73,11 +75,14 @@ public class VisionSubsystem extends BaseSubsystem implements DataFrameRefreshab
public final double terminalNotePitch = 0.0;

public final DoubleProperty terminalNoteYawRange;
BooleanProperty usingVisionForAuto;


@Inject
public VisionSubsystem(PropertyFactory pf, XCameraElectricalContract electricalContract, RobotAssertionManager assertionManager) {
public VisionSubsystem(PropertyFactory pf, XCameraElectricalContract electricalContract, RobotAssertionManager assertionManager,
DriveSubsystem drive) {
this.assertionManager = assertionManager;
this.drive = drive;

pf.setPrefix(this);
isInverted = pf.createPersistentProperty("Yaw inverted", true);
Expand All @@ -89,6 +94,8 @@ public VisionSubsystem(PropertyFactory pf, XCameraElectricalContract electricalC
minNoteConfidence = pf.createPersistentProperty("Min note confidence", 0.8);
minNoteArea = pf.createPersistentProperty("Minimum note area", 0.5);

usingVisionForAuto = pf.createPersistentProperty("Using vision for auto", true);

terminalNoteYawRange = pf.createPersistentProperty("Terminal Note Yaw Range", 5.0);

bestRangeFromStaticNoteToSearchForNote = pf.createPersistentProperty("BestRangeFromStaticNoteToSearchForNote", 1.2);
Expand Down Expand Up @@ -487,4 +494,12 @@ else if (allCameras.stream().allMatch(state -> !state.isCameraWorking())) {
// If some of the cameras are working, return 2
return 2;
}

public double getSpeedForAuto() {
if (usingVisionForAuto.get()) {
return drive.getSuggestedAutonomousExtremeSpeed();
} else {
return drive.getSuggestedAutonomousNoAutoSpeed();
}
}
}