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a/src/main/java/org/team1540/robot2024/Constants.java +++ b/src/main/java/org/team1540/robot2024/Constants.java @@ -19,6 +19,12 @@ * constants are needed, to reduce verbosity. */ public final class Constants { + public static final class DIO { + public static final int INTAKE_BEAM_BREAK = 6; + public static final int SHOOTER_BEAM_BREAK = 4; + public static final int INDEXER_BEAM_BREAK = 5; + public static final int TRAMP_BEAM_BREAK = 9; + } public static final boolean IS_COMPETITION_ROBOT = true; // Whether to pull PID constants from SmartDashboard private static final boolean tuningMode = true; // TODO: DO NOT SET TO TRUE FOR COMP @@ -61,11 +67,11 @@ public static class SwerveConfig { } public static class Drivetrain { - public static final boolean IS_L3 = !IS_COMPETITION_ROBOT; + public static final boolean IS_L3 = true; public static final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (IS_L3 ? 16.0 / 28.0 : 17.0 / 27.0) * (45.0 / 15.0); public static final double TURN_GEAR_RATIO = 150.0 / 7.0; public static final boolean IS_TURN_MOTOR_INVERTED = true; - public static final double WHEEL_RADIUS = Units.inchesToMeters(1.9448479168443666); + public static final double WHEEL_RADIUS = Units.inchesToMeters(1.9639138572591197); public static final double MAX_LINEAR_SPEED = Units.feetToMeters(IS_L3 ? 16.0 : 15.7); public static final double TRACK_WIDTH_X = Units.inchesToMeters(18.75); @@ -89,7 +95,6 @@ public static class Auto { } public static class Indexer { - public static final int BEAM_BREAK_ID = IS_COMPETITION_ROBOT ? 7 : 8; public static final int INTAKE_ID = 13; public static final int FEEDER_ID = 15; @@ -107,30 +112,33 @@ public static class Indexer { public static class Vision { - public static final String FRONT_CAMERA_NAME = "limelight-front"; - public static final String REAR_CAMERA_NAME = "limelight-rear"; - - public static final Pose3d FRONT_CAMERA_POSE = new Pose3d(0.086018, 0, 0.627079, new Rotation3d(0, Math.toRadians(-40.843), 0)); - public static final Pose3d REAR_CAMERA_POSE = new Pose3d(0.046049, 0, 0.540510, new Rotation3d(Math.PI, Math.toRadians(10), Math.PI+Math.toRadians(1.55))); - - public static final boolean TAKE_SNAPSHOTS = true; - public static final double SNAPSHOT_PERIOD_SECS = 1; - - public static final double XY_STD_DEV_COEFF = 0.1; - public static final double ROT_STD_DEV_COEFF = 0.5; - - public static final double MAX_AMBIGUITY_RATIO = 0.3; - public static final double MAX_ACCEPTED_ROT_SPEED_RAD_PER_SEC = 1.0; - public static final double MAX_ACCEPTED_LINEAR_SPEED_MPS = 4.0; - public static final double MIN_ACCEPTED_NUM_TAGS = 1; - public static final double MAX_ACCEPTED_AVG_TAG_DIST_METERS = 8.0; - public static final double MAX_ACCEPTED_ELEVATOR_SPEED_MPS = 0.05; - - public static final int SIM_RES_WIDTH = 1280; - public static final int SIM_RES_HEIGHT = 960; - public static final Rotation2d SIM_DIAGONAL_FOV = Rotation2d.fromDegrees(70); - public static final double SIM_FPS = 14.5; - public static final double SIM_AVG_LATENCY_MS = 100; + public static class AprilTag { + public static final String FRONT_CAMERA_NAME = "limelight-front"; + public static final String REAR_CAMERA_NAME = "limelight-rear"; + public static final Pose3d FRONT_CAMERA_POSE = new Pose3d(0.086018, 0, 0.627079, new Rotation3d(0, Math.toRadians(-40.843), 0)); + public static final Pose3d REAR_CAMERA_POSE = new Pose3d(0.046049, 0, 0.540510, new Rotation3d(Math.PI, Math.toRadians(10), Math.PI+Math.toRadians(1.55))); + public static final boolean TAKE_SNAPSHOTS = true; + public static final double SNAPSHOT_PERIOD_SECS = 1; + public static final double XY_STD_DEV_COEFF = 0.1; + public static final double ROT_STD_DEV_COEFF = 0.5; + public static final double MAX_AMBIGUITY_RATIO = 0.3; + public static final double MAX_ACCEPTED_ROT_SPEED_RAD_PER_SEC = 1.0; + public static final double MAX_ACCEPTED_LINEAR_SPEED_MPS = 4.0; + public static final double MIN_ACCEPTED_NUM_TAGS = 1; + public static final double MAX_ACCEPTED_AVG_TAG_DIST_METERS = 8.0; + public static final double MAX_ACCEPTED_ELEVATOR_SPEED_MPS = 0.05; + public static final int SIM_RES_WIDTH = 1280; + public static final int SIM_RES_HEIGHT = 960; + public static final Rotation2d SIM_DIAGONAL_FOV = Rotation2d.fromDegrees(70); + public static final double SIM_FPS = 14.5; + public static final double SIM_AVG_LATENCY_MS = 100; + } + + public static class Gamepiece { + public static final String CAMERA_NAME = "limelight-vision"; + public static final int PIPELINE_INDEX = 0; + public static final Pose3d CAMERA_POSE = new Pose3d(0, 0, 0, new Rotation3d(0, 0, 0)); //TODO FIND THIS POSE + } } @@ -160,7 +168,7 @@ public static class Pivot { // TODO: determine ratios public static final double CANCODER_TO_PIVOT = 28.0 / 15.0; public static final double MOTOR_TO_CANCODER = 56.0; - public static final Rotation2d ENCODER_OFFSET = Rotation2d.fromRadians(0.01215595); + public static final Rotation2d ENCODER_OFFSET = Rotation2d.fromRadians(0.01215595 - 0.00548239159444); public static final double CHAIN_FACTOR = 1.04; public static final double TOTAL_GEAR_RATIO = MOTOR_TO_CANCODER * CANCODER_TO_PIVOT; @@ -257,16 +265,14 @@ public enum ElevatorState { } public static class Tramp { - public static final int BEAM_BREAK_CHANNEL = 9; public static final double GEAR_RATIO = 9.0; public static final int MOTOR_ID = 17; } public static class Targeting { - // TODO: tune these - public static final double ROT_KP = 0.4; + public static final double ROT_KP = 0.3; public static final double ROT_KI = 0.0; - public static final double ROT_KD = 0.0; + public static final double ROT_KD = 0.002; public static final double SPEAKER_CENTER_HEIGHT = Units.inchesToMeters(80.4375); @@ -275,24 +281,28 @@ public static class Targeting { private static final Pose2d SPEAKER_POSE = new Pose2d(Units.inchesToMeters(8.861), Units.inchesToMeters(218), new Rotation2d()); private static final Pose2d SHUFFLE_POSE = - new Pose2d(SPEAKER_POSE.getX(), SPEAKER_POSE.getY() + 2, new Rotation2d()); + new Pose2d(SPEAKER_POSE.getX() + 2, SPEAKER_POSE.getY() + 2, new Rotation2d()); private static final Pose2d COUNTER_SHUFFLE_POSE = new Pose2d(SPEAKER_POSE.getX() + 8.27, SPEAKER_POSE.getY(), new Rotation2d()); + public static boolean getFlipped(){ + return DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Red; + } + public static Pose2d getSpeakerPose() { - return DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Red + return getFlipped() ? GeometryUtil.flipFieldPose(SPEAKER_POSE) : SPEAKER_POSE; } public static Pose2d getShufflePose() { - return DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Red + return getFlipped() ? GeometryUtil.flipFieldPose(SHUFFLE_POSE) : SHUFFLE_POSE; } public static Pose2d getCounterShufflePose() { - return DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Red + return getFlipped() ? GeometryUtil.flipFieldPose(COUNTER_SHUFFLE_POSE) : COUNTER_SHUFFLE_POSE; } diff --git a/src/main/java/org/team1540/robot2024/Robot.java b/src/main/java/org/team1540/robot2024/Robot.java index 8b510894..42a630c9 100644 --- a/src/main/java/org/team1540/robot2024/Robot.java +++ b/src/main/java/org/team1540/robot2024/Robot.java @@ -19,7 +19,6 @@ import org.team1540.robot2024.util.MechanismVisualiser; import org.team1540.robot2024.util.auto.AutoManager; import org.team1540.robot2024.util.vision.AprilTagsCrescendo; -import org.team1540.robot2024.util.vision.LimelightHelpers; /** * The VM is configured to automatically run this class, and to call the functions corresponding to @@ -105,9 +104,6 @@ public void robotInit() { PathfindingCommand.warmupCommand().schedule(); AprilTagsCrescendo.getInstance().getTag(1); - - // Init driver cam - LimelightHelpers.setCameraMode_Driver("limelight-driver"); } /** @@ -122,7 +118,6 @@ public void robotPeriodic() { // the Command-based framework to work. CommandScheduler.getInstance().run(); if (Constants.currentMode == Constants.Mode.REAL) robotContainer.odometrySignalRefresher.periodic(); - // Update mechanism visualiser in sim if (Robot.isSimulation()) MechanismVisualiser.periodic(); // robotContainer.leds.setPattern(Leds.Zone.ZONE1, SimpleLedPattern.alternating(Color.kBlueViolet, Color.kGreen)); diff --git a/src/main/java/org/team1540/robot2024/RobotContainer.java b/src/main/java/org/team1540/robot2024/RobotContainer.java index a6b00b22..5fc2a1f8 100644 --- a/src/main/java/org/team1540/robot2024/RobotContainer.java +++ b/src/main/java/org/team1540/robot2024/RobotContainer.java @@ -1,20 +1,18 @@ package org.team1540.robot2024; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.util.Units; +import com.pathplanner.lib.auto.NamedCommands; +import edu.wpi.first.math.geometry.*; 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.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; import org.littletonrobotics.junction.Logger; +import org.team1540.robot2024.Constants.SwerveConfig; import org.team1540.robot2024.commands.FeedForwardCharacterization; import org.team1540.robot2024.commands.autos.*; import org.team1540.robot2024.commands.climb.ClimbAlignment; -import org.team1540.robot2024.commands.drivetrain.DriveWithAmpSideLock; -import org.team1540.robot2024.commands.drivetrain.SwerveDriveCommand; -import org.team1540.robot2024.commands.drivetrain.WheelRadiusCharacterization; +import org.team1540.robot2024.commands.drivetrain.*; import org.team1540.robot2024.commands.elevator.ElevatorManualCommand; import org.team1540.robot2024.commands.indexer.ContinuousIntakeCommand; import org.team1540.robot2024.commands.indexer.IntakeAndFeed; @@ -26,18 +24,21 @@ import org.team1540.robot2024.subsystems.elevator.Elevator; import org.team1540.robot2024.subsystems.indexer.Indexer; import org.team1540.robot2024.subsystems.led.Leds; +import org.team1540.robot2024.subsystems.led.Leds.PatternLevel; import org.team1540.robot2024.subsystems.led.patterns.*; import org.team1540.robot2024.subsystems.shooter.Shooter; import org.team1540.robot2024.subsystems.tramp.Tramp; -import org.team1540.robot2024.subsystems.vision.AprilTagVision; +import org.team1540.robot2024.subsystems.vision.apriltag.AprilTagVision; +import org.team1540.robot2024.subsystems.vision.gamepiece.NoteVision; import org.team1540.robot2024.util.CommandUtils; import org.team1540.robot2024.util.PhoenixTimeSyncSignalRefresher; import org.team1540.robot2024.util.auto.AutoCommand; import org.team1540.robot2024.util.auto.AutoManager; +import org.team1540.robot2024.util.vision.AprilTagsCrescendo; +import org.team1540.robot2024.util.vision.FlipUtil; import java.util.function.BooleanSupplier; -import static org.team1540.robot2024.Constants.SwerveConfig; import static org.team1540.robot2024.Constants.isTuningMode; public class RobotContainer { @@ -48,6 +49,7 @@ public class RobotContainer { public final Elevator elevator; public final Indexer indexer; public final AprilTagVision aprilTagVision; + public final NoteVision noteVision; public final Leds leds = new Leds(); // Controller @@ -63,6 +65,7 @@ public class RobotContainer { * The container for the robot. Contains subsystems, IO devices, and commands. */ public RobotContainer() { + NamedCommands.registerCommand("",Commands.none()); //THIS IS IMPORTANT switch (Constants.currentMode) { case REAL -> { // Real robot, instantiate hardware IO implementations @@ -75,14 +78,17 @@ public RobotContainer() { aprilTagVision = AprilTagVision.createReal( drivetrain::addVisionMeasurement, elevator::getPosition, - drivetrain::getRotation); + drivetrain::getRotation, + drivetrain::getAngularVelocityRadPerSec); + noteVision = NoteVision.createReal(); } else { elevator = Elevator.createDummy(); drivetrain = Drivetrain.createReal(odometrySignalRefresher, () -> 0.0); tramp = Tramp.createDummy(); shooter = Shooter.createDummy(); indexer = Indexer.createDummy(); - aprilTagVision = AprilTagVision.createDummy(); + aprilTagVision = AprilTagVision.createDummy(drivetrain::addVisionMeasurement); + noteVision = NoteVision.createDummy(); } } case SIM -> { @@ -96,6 +102,7 @@ public RobotContainer() { drivetrain::addVisionMeasurement, drivetrain::getPose, elevator::getPosition); + noteVision = NoteVision.createSim(); } default -> { // Replayed robot, disable IO implementations @@ -104,7 +111,8 @@ public RobotContainer() { tramp = Tramp.createDummy(); shooter = Shooter.createDummy(); indexer = Indexer.createDummy(); - aprilTagVision = AprilTagVision.createDummy(); + aprilTagVision = AprilTagVision.createDummy(drivetrain::addVisionMeasurement); + noteVision = NoteVision.createDummy(); } } @@ -112,16 +120,6 @@ public RobotContainer() { configureAutoRoutines(); // Configure the button bindings configureButtonBindings(); - configureLedBindings(); - } - - private void configureLedBindings() { -// Runnable onDisconnect = () -> leds.setPatternAll(LedPatternFlame::new, Leds.PatternCriticality.HIGH); -// onDisconnect.run(); -// new Trigger(DriverStation::isDSAttached) -// .onTrue(Commands.runOnce(() -> leds.clearPatternAll(Leds.PatternCriticality.HIGH)) -// .ignoringDisable(true)) -// .onFalse(Commands.runOnce(onDisconnect).ignoringDisable(true)); } private void configureButtonBindings() { @@ -147,6 +145,7 @@ private void configureButtonBindings() { .alongWith(leds.commandShowPattern( new LedPatternProgressBar(shooter::getSpinUpPercent, "#00ffbc", 33), Leds.PatternLevel.DRIVER_LOCK)); + Command ampLock = new DriveWithAmpSideLock(drivetrain, driver.getHID()) .alongWith(leds.commandShowPattern(new LedPatternWave("#ffffff"), Leds.PatternLevel.DRIVER_LOCK)); Command cancelAlignment = Commands.runOnce(() -> { @@ -164,20 +163,78 @@ private void configureButtonBindings() { // TODO remove this if (isTuningMode()) { - driver.leftTrigger().whileTrue(new AutoShootPrepareWhileMoving(driver.getHID(), drivetrain, shooter).alongWith(leds.commandShowPattern(new LedPatternWave("#00ff00"), Leds.PatternLevel.DRIVER_LOCK))); +// driver.leftTrigger().whileTrue(new AutoShootPrepareWhileMoving(driver.getHID(), drivetrain, shooter).alongWith(leds.commandShowPattern(new LedPatternWave("#00ff00"), Leds.PatternLevel.DRIVER_LOCK))); driver.a().whileTrue(new TuneShooterCommand(shooter, indexer, drivetrain::getPose)); +// driver.leftTrigger().whileTrue(new DriveWithChainAlignment(drivetrain, driver.getHID())); + + +// drivetrain.getRotation(); +// driver.leftTrigger().whileTrue(new DriveWithCorrectionCommand(drivetrain, driver, ()-> LimelightHelpers.getTX(Constants.Vision.VISION_CAMERA_NAME))); +// driver.leftTrigger().whileTrue(new SpitShoot(shooter, indexer)); +// driver.leftTrigger().whileTrue(new DriveWithCorrectionCommand2(drivetrain, driver, +// ()-> Constants.Targeting.getSpeakerPose().getTranslation().minus(drivetrain.getPose().getTranslation()).getAngle().getDegrees())); + +// driver.leftTrigger().whileTrue( +// new DriveWithCorrectionCommand(drivetrain, driver, ()->-noteVision.getLatestDetection().rotation().toRotation2d().getDegrees()) +// ); + } + driver.rightTrigger().whileTrue( + new DriveWithCorrectionCommand2(drivetrain, driver, ()->-noteVision.getLatestDetection().rotation().toRotation2d().getDegrees()) + ); + - driver.povDown().and(() -> !DriverStation.isFMSAttached()).onTrue(Commands.runOnce(() -> drivetrain.setPose(new Pose2d(Units.inchesToMeters(260), Units.inchesToMeters(161.62), Rotation2d.fromRadians(0)))).ignoringDisable(true)); +// driver.povDown().and(() -> !DriverStation.isFMSAttached()).onTrue(Commands.runOnce(() -> drivetrain.setPose(new Pose2d(Units.inchesToMeters(260), Units.inchesToMeters(161.62), Rotation2d.fromRadians(0)))).ignoringDisable(true)); - driver.rightTrigger(0.95).toggleOnTrue(counterShuffleDrive); + driver.leftTrigger(0.95).toggleOnTrue(counterShuffleDrive); driver.rightStick().onTrue(cancelAlignment); - copilot.back().onTrue(Commands.runOnce(shooter::zeroPivotToCancoder).andThen(Commands.print("BACK IS PRESSED"))); + + driver.povLeft().whileTrue( + new DriveWithTargetingCommand(drivetrain, driver.getHID(), + ()->drivetrain.getPose().plus( + new Transform2d( + new Translation2d( 1, + ((DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue) + ? AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP) + : AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE).rotateBy(new Rotation3d(0, 0, Math.PI))) + .getRotation().toRotation2d() + ), new Rotation2d() + ) + ) + ) + ); + driver.povRight().whileTrue( + new DriveWithTargetingCommand(drivetrain, driver.getHID(), + ()->drivetrain.getPose().plus( + new Transform2d( + new Translation2d( 1, + ((DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue) + ? AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE) + : AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP).rotateBy(new Rotation3d(0, 0, Math.PI))) + .getRotation().toRotation2d() + ), new Rotation2d() + ) + ) + ) + ); + driver.povUp().whileTrue( + new DriveWithTargetingCommand(drivetrain, driver.getHID(), + ()->drivetrain.getPose().plus( + new Transform2d( + new Translation2d(1, + FlipUtil.flipIfRed(AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_FAR).getRotation().toRotation2d()) + ), new Rotation2d() + ) + ) + ) + ); + + copilot.back().onTrue(Commands.runOnce(shooter::zeroPivotToCancoder)); copilot.leftBumper().whileTrue(new AmpScoreSequence(tramp, indexer, elevator)); - Command intakeCommand = new ContinuousIntakeCommand(indexer, leds, 1) + Command intakeCommand = new ContinuousIntakeCommand(indexer, 1) .deadlineWith(CommandUtils.rumbleCommand(driver, 0.5), CommandUtils.rumbleCommand(copilot, 0.5)); copilot.rightBumper().whileTrue(intakeCommand); @@ -185,6 +242,10 @@ private void configureButtonBindings() { copilot.povUp().whileTrue(indexer.commandRunIntake(1)); copilot.povRight().whileTrue(IntakeAndFeed.withDefaults(indexer)).onFalse(cancelAlignment); copilot.povLeft().onTrue(Commands.runOnce(()->elevator.setFlipper(true))).onFalse(Commands.runOnce(()->elevator.setFlipper(false))); +// copilot.povDown().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.BOTTOM)); +// copilot.povUp().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.TOP)); +// copilot.povRight().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.CLIMB)); +// copilot.povLeft().whileTrue(new ElevatorSetpointCommand(elevator, Constants.Elevator.ElevatorState.AMP)); copilot.rightTrigger(0.95).whileTrue(tramp.commandRun(1)); @@ -210,7 +271,10 @@ private void configureButtonBindings() { new Trigger(indexer::isNoteStaged).debounce(0.05) .onTrue(CommandUtils.rumbleCommandTimed(driver.getHID(), 1, 1)) - .whileTrue(leds.commandShowIntakePattern(SimpleLedPattern.solid("#ff0000"))); + .whileTrue(leds.commandShowFullPattern(SimpleLedPattern.solid("#ff0000"), PatternLevel.INTAKE_STATE)); + + new Trigger(() -> indexer.getNoteState() == Indexer.NotePosition.INTAKE).debounce(0.05) + .whileTrue(leds.commandShowFullPattern(SimpleLedPattern.solid("#ffff00"), PatternLevel.INTAKE_PREREADY)); new Trigger(tramp::isNoteStaged).debounce(0.1) .whileTrue(leds.commandShowTrampPattern(SimpleLedPattern.solid("#ff9900"))); @@ -260,38 +324,47 @@ private void configureAutoRoutines() { ) ); + autos.add(new AutoCommand("WheelRadiusChar", new WheelRadiusCharacterization(drivetrain, WheelRadiusCharacterization.Direction.COUNTER_CLOCKWISE))); + + autos.add(new PathTesting(drivetrain)); } - autos.add(new AutoCommand("WheelRadiusChar", new WheelRadiusCharacterization(drivetrain, WheelRadiusCharacterization.Direction.COUNTER_CLOCKWISE))); autos.addDefault(new AutoCommand("Dwayne :skull:")); + autos.add(new AutoCommand("Subwoofer Shot", ShootSequence.forAutoSubwoofer(shooter, indexer))); +// autos.addDefault(new ATestAuto(drivetrain, shooter, indexer)); + autos.add(new AmpLanePADESprint(drivetrain, shooter, indexer)); + autos.add(new AmpLanePAEDSprint(drivetrain, shooter, indexer)); autos.add(new AmpLanePADEF(drivetrain, shooter, indexer)); autos.add(new AmpLanePAEDF(drivetrain, shooter, indexer)); -// autos.add(new AutoCommand("SubwooferShot", new ShootSequence(shooter, indexer))); -// autos.add(new DriveSinglePath("Taxi", drivetrain)); -// autos.add(new DriveSinglePath("Sprint", drivetrain)); -// autos.add(new DriveSinglePath("CenterLaneSprint", drivetrain, true, true)); -// autos.add(new AmpLanePADESprint(drivetrain, shooter, indexer)); -// autos.add(new CenterLanePSubSprint(drivetrain, shooter, indexer)); -// autos.add(new CenterLanePCBADSprint(drivetrain, shooter, indexer)); + autos.add(new AmpLanePABCSprint(drivetrain, shooter, indexer)); +//// autos.add(new AutoCommand("SubwooferShot", new ShootSequence(shooter, indexer))); +//// autos.add(new DriveSinglePath("Taxi", drivetrain)); +//// autos.add(new DriveSinglePath("Sprint", drivetrain)); +//// autos.add(new DriveSinglePath("CenterLaneSprint", drivetrain, true, true)); +//// autos.add(new CenterLanePSubSprint(drivetrain, shooter, indexer)); +//// autos.add(new CenterLanePCBADSprint(drivetrain, shooter, indexer)); + autos.add(new CenterLanePCBA(drivetrain, shooter, indexer)); + autos.add(new CenterLanePCBFSprint(drivetrain, shooter, indexer)); autos.add(new CenterLanePCBAFSprint(drivetrain, shooter, indexer)); - autos.add(new CenterLanePCBAFE(drivetrain, shooter, indexer)); + autos.add(new CenterLanePBFCA(drivetrain, shooter, indexer)); autos.add(new CenterLanePDEABC(drivetrain, shooter, indexer)); - autos.add(new CenterLanePCBAFG(drivetrain, shooter, indexer)); autos.add(new CenterLanePCBAEF(drivetrain, shooter, indexer)); + autos.add(new CenterLanePCBAFE(drivetrain, shooter, indexer)); autos.add(new CenterLanePCBAGF(drivetrain, shooter, indexer)); - autos.add(new CenterLanePCBADE(drivetrain, shooter, indexer)); - autos.add(new CenterLanePCBAED(drivetrain, shooter, indexer)); - autos.add(new CenterLanePCBA(drivetrain, shooter, indexer)); + autos.add(new CenterLanePCBAFG(drivetrain, shooter, indexer)); +// autos.add(new CenterLanePCBADE(drivetrain, shooter, indexer)); +// autos.add(new CenterLanePCBAED(drivetrain, shooter, indexer)); // autos.add(new CenterLanePCBA(drivetrain, shooter, indexer)); -// autos.add(new CenterLanePBDA(drivetrain, shooter, indexer)); -// autos.add(new CenterLanePSubCSubBSubASubFSub(drivetrain, shooter, indexer)); -//// autos.add(new CenterLanePSubCSubBSubFSub(drivetrain, shooter, indexer)); -// autos.add(new CenterLanePSubCSubBSubASub(drivetrain, shooter, indexer)); - autos.add(new SourceLanePHGF(drivetrain, shooter, indexer)); +//// autos.add(new CenterLanePBDA(drivetrain, shooter, indexer)); +//// autos.add(new CenterLanePSubCSubBSubASubFSub(drivetrain, shooter, indexer)); +////// autos.add(new CenterLanePSubCSubBSubFSub(drivetrain, shooter, indexer)); +//// autos.add(new CenterLanePSubCSubBSubASub(drivetrain, shooter, indexer)); autos.add(new SourceLanePGHSprint(drivetrain, shooter, indexer)); + autos.add(new SourceLanePHGF(drivetrain, shooter, indexer)); autos.add(new SourceLanePGFE(drivetrain, shooter, indexer)); autos.add(new SourceLanePGFH(drivetrain, shooter, indexer)); -// autos.addDefault(new ATestAuto(drivetrain, shooter, indexer)); - autos.add(new AutoCommand("Subwoofer Shot", ShootSequence.forAutoSubwoofer(shooter, indexer))); + autos.add(new SourceLaneCBASprint(drivetrain, shooter, indexer)); + autos.add(new WeirdSourceLanePHGF(drivetrain, shooter, indexer)); +//// autos.addDefault(new ATestAuto(drivetrain, shooter, indexer)); } diff --git a/src/main/java/org/team1540/robot2024/commands/autos/ATestAuto.java b/src/main/java/org/team1540/robot2024/commands/autos/ATestAuto.java deleted file mode 100644 index a2146f03..00000000 --- a/src/main/java/org/team1540/robot2024/commands/autos/ATestAuto.java +++ /dev/null @@ -1,58 +0,0 @@ -package org.team1540.robot2024.commands.autos; - -import com.pathplanner.lib.auto.AutoBuilder; -import edu.wpi.first.wpilibj2.command.*; -import org.team1540.robot2024.commands.shooter.AutoShootPrepare; -import org.team1540.robot2024.commands.shooter.ShootSequence; -import org.team1540.robot2024.subsystems.drive.Drivetrain; -import org.team1540.robot2024.subsystems.indexer.Indexer; -import org.team1540.robot2024.subsystems.shooter.Shooter; -import org.team1540.robot2024.util.auto.AutoCommand; -import org.team1540.robot2024.util.auto.PathHelper; - -public class ATestAuto extends AutoCommand { - - public ATestAuto(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { - super("!ATestAuto"); - addPath( - PathHelper.fromChoreoPath("CenterLaneSprint.1", true, true), - PathHelper.fromChoreoPath("CenterLaneSprint.1", false, true) - ); - - addCommands( - ShootSequence.forAutoSubwoofer(shooter, indexer), - Commands.parallel( - new AutoShootPrepare(drivetrain, shooter), - Commands.sequence( - drivetrain.commandCopyVisionPose(), -// Commands.deadline( - Commands.race( - getPath(0).getCommand(drivetrain), - Commands.sequence( - Commands.waitSeconds(1), - Commands.either( -// Commands.waitSeconds(0), - Commands.runOnce(()->{}), - Commands.waitSeconds(100), - ()->false - ) - ) - ), -// Commands.print("YO YO DIGGITY DAWG"), -// Commands.runOnce(drivetrain::stop) -// Commands.sequence( -// Commands.waitSeconds(1) -// Commands.runOnce(()->CommandScheduler.getInstance().cancelAll()) -// ) -// ), -// Commands.runOnce(drivetrain::stop) - drivetrain.commandStop(), - getPath(1).getCommand(drivetrain,true) - - ) - ) - ); - - addRequirements(drivetrain, shooter, indexer); - } -} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePABCSprint.java b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePABCSprint.java new file mode 100644 index 00000000..0501ca59 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePABCSprint.java @@ -0,0 +1,35 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.shooter.LeadingShootPrepare; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class AmpLanePABCSprint extends AutoCommand { + public AmpLanePABCSprint(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("AmpLanePABCSprint"); + + addPath( + PathHelper.fromChoreoPath("AmpLanePABCSprint.1", true, true), + PathHelper.fromChoreoPath("AmpLanePABCSprint.2"), + PathHelper.fromChoreoPath("AmpLanePABCSprint.3"), + PathHelper.fromChoreoPath("AmpLanePABCSprint.4"), + PathHelper.fromChoreoPath("AmpLanePABCSprint.5") + ); + addCommands( + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), + Commands.sequence( + createCancoderSegmentSequence(drivetrain, shooter, indexer, 0), + createSegmentSequence(drivetrain, shooter, indexer, 1), + createSegmentSequence(drivetrain, shooter, indexer, 2), + createSegmentSequence(drivetrain, shooter, indexer, 3), + createSegmentSequence(drivetrain, shooter, indexer, 4) + ) + ) + ); + } +} \ No newline at end of file diff --git a/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePAEDSprint.java b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePAEDSprint.java new file mode 100644 index 00000000..bfe217f4 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePAEDSprint.java @@ -0,0 +1,67 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.shooter.AutoShootPrepare; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class AmpLanePAEDSprint extends AutoCommand { + + public AmpLanePAEDSprint(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("AmpLanePAEDSprint"); + + addPath( + PathHelper.fromChoreoPath("AmpLanePAEDSprint.1", true, true), + PathHelper.fromChoreoPath("AmpLanePAEDSprint.2"), + PathHelper.fromChoreoPath("AmpLanePAEDSprint.3"), + PathHelper.fromChoreoPath("AmpLanePAEDSprint.4"), + PathHelper.fromChoreoPath("AmpLanePAEDSprint.5") + ); + + addCommands( +// Commands.runOnce(drivetrain::unblockTags), + Commands.parallel( + new AutoShootPrepare(drivetrain, shooter), +// Commands.sequence( +// Commands.deadline( +// getPath(0).getCommand(drivetrain), +// Commands.sequence( +// Commands.waitSeconds(0.25), +// new InstantCommand(shooter::zeroPivotToCancoder), +// Commands.waitSeconds(1), +// IntakeAndFeed.withDefaults(indexer).withTimeout(2), +// new IntakeCommand(indexer, () -> false, 1) +// ) +// ), +// Commands.sequence( +// Commands.waitSeconds(0.25), +// new InstantCommand(shooter::zeroPivotToCancoder) +// ), +// drivetrain.commandCopyVisionPose(), +// Commands.parallel( +// new DriveWithTargetingCommand(drivetrain, null).withTimeout(0.4), +// Commands.sequence( +// new ParallelDeadlineGroup( +// Commands.sequence( +// Commands.waitUntil(()->!indexer.isNoteStaged()), +// Commands.waitSeconds(0.2) +// ).withTimeout(1), +// IntakeAndFeed.withDefaults(indexer) +// ) +// ) +// ), + Commands.sequence( + createCancoderSegmentSequence(drivetrain, shooter, indexer, 0), + createSegmentSequence(drivetrain, shooter, indexer, 1), + createSegmentSequence(drivetrain, shooter, indexer, 2), + createSegmentSequence(drivetrain, shooter, indexer, 3), + createSegmentSequence(drivetrain, shooter, indexer, 4) + ) +// ) + ) + ); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePBFCA.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePBFCA.java new file mode 100644 index 00000000..4675faaf --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePBFCA.java @@ -0,0 +1,35 @@ +package org.team1540.robot2024.commands.autos; + +import org.team1540.robot2024.commands.shooter.ShootSequence; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.util.auto.PathHelper; +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.shooter.LeadingShootPrepare; + +public class CenterLanePBFCA extends AutoCommand { + public CenterLanePBFCA(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("CenterLanePBFCA"); + + addPath( + PathHelper.fromChoreoPath("CenterLanePBFCA.1", true, true), + PathHelper.fromChoreoPath("CenterLanePBFCA.2"), + PathHelper.fromChoreoPath("CenterLanePBFCA.3"), + PathHelper.fromChoreoPath("CenterLanePBFCA.4") + ); + addCommands( + ShootSequence.forAutoSubwoofer(shooter, indexer), + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), + Commands.sequence( + createCancoderSegmentSequence(drivetrain, shooter, indexer, 0), + createSegmentSequence(drivetrain, shooter, indexer, 1), + createSegmentSequence(drivetrain, shooter, indexer, 2), + createSegmentSequence(drivetrain, shooter, indexer, 3) + ) + ) + ); + } +} \ No newline at end of file diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBA.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBA.java index 1338bab0..a8e0765c 100644 --- a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBA.java +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBA.java @@ -26,9 +26,9 @@ public CenterLanePCBA(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { new AutoShootPrepare(drivetrain, shooter), Commands.sequence( drivetrain.commandCopyVisionPose(), - createSegmentSequence(drivetrain, shooter, indexer, 0, false, false, false), - createSegmentSequence(drivetrain, shooter, indexer, 1, false, false, true), - createSegmentSequence(drivetrain, shooter, indexer, 2, false, false, true) + createSegmentSequence(drivetrain, shooter, indexer, 0, false, true, false), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, true, true), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, true, true) ) ) ); diff --git a/src/main/java/org/team1540/robot2024/commands/autos/PathTesting.java b/src/main/java/org/team1540/robot2024/commands/autos/PathTesting.java new file mode 100644 index 00000000..b3089452 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/PathTesting.java @@ -0,0 +1,20 @@ +package org.team1540.robot2024.commands.autos; + +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class PathTesting extends AutoCommand { + + public PathTesting(Drivetrain drivetrain) { + super("PathTesting"); + addPath( + PathHelper.fromChoreoPath("TestPath.1", true, true), + PathHelper.fromChoreoPath("TestPath.3", true, true), + PathHelper.fromChoreoPath("TestPath.6", true, true) + ); + addCommands( + getPath(2).getCommand(drivetrain) + ); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/SourceLaneCBASprint.java b/src/main/java/org/team1540/robot2024/commands/autos/SourceLaneCBASprint.java new file mode 100644 index 00000000..5f765a1f --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/SourceLaneCBASprint.java @@ -0,0 +1,35 @@ +package org.team1540.robot2024.commands.autos; + +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.util.auto.PathHelper; +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.shooter.LeadingShootPrepare; + +public class SourceLaneCBASprint extends AutoCommand { + public SourceLaneCBASprint(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("SourceLaneCBASprint"); + + addPath( + PathHelper.fromChoreoPath("SourceLaneCBASprint.1", true, true), + PathHelper.fromChoreoPath("SourceLaneCBASprint.2"), + PathHelper.fromChoreoPath("SourceLaneCBASprint.3"), + PathHelper.fromChoreoPath("SourceLaneCBASprint.4"), + PathHelper.fromChoreoPath("SourceLaneCBASprint.5") + ); + addCommands( + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), + Commands.sequence( + createCancoderSegmentSequence(drivetrain, shooter, indexer, 0), + createSegmentSequence(drivetrain, shooter, indexer, 1), + createSegmentSequence(drivetrain, shooter, indexer, 2), + createSegmentSequence(drivetrain, shooter, indexer, 3), + getPath(4).getCommand(drivetrain) + ) + ) + ); + } +} \ No newline at end of file diff --git a/src/main/java/org/team1540/robot2024/commands/autos/WeirdSourceLanePHGF.java b/src/main/java/org/team1540/robot2024/commands/autos/WeirdSourceLanePHGF.java new file mode 100644 index 00000000..a526bd19 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/WeirdSourceLanePHGF.java @@ -0,0 +1,35 @@ +package org.team1540.robot2024.commands.autos; + +import org.team1540.robot2024.Constants; +import org.team1540.robot2024.commands.shooter.DefaultShooterCommand; +import org.team1540.robot2024.commands.shooter.SpitShoot; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.util.auto.PathHelper; +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.shooter.LeadingShootPrepare; + +public class WeirdSourceLanePHGF extends AutoCommand { + public WeirdSourceLanePHGF(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("WeirdSourceLanePHGF"); + + addPath( + PathHelper.fromChoreoPath("WeirdSourceLanePHGF.1", true, true), + PathHelper.fromChoreoPath("WeirdSourceLanePHGF.2"), + PathHelper.fromChoreoPath("WeirdSourceLanePHGF.3") + ); + addCommands( + new SpitShoot(shooter, indexer, Constants.Shooter.Flywheels.LEFT_RPM, Constants.Shooter.Flywheels.RIGHT_RPM, 1, 1, 0.25), + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), + Commands.sequence( + createCancoderSegmentSequence(drivetrain, shooter, indexer, 0), + createSegmentSequence(drivetrain, shooter, indexer, 1), + createSegmentSequence(drivetrain, shooter, indexer, 2) + ) + ) + ); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/testAuto.java b/src/main/java/org/team1540/robot2024/commands/autos/testAuto.java new file mode 100644 index 00000000..8df21c28 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/testAuto.java @@ -0,0 +1,83 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.*; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; +import org.team1540.robot2024.util.math.Triplet; + +public class testAuto extends AutoCommand { + + public testAuto(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("!ATestAuto"); + addPath( + PathHelper.fromChoreoPath("New Path.1", true, true), + PathHelper.fromChoreoPath("New Path.2", false, true), + PathHelper.fromChoreoPath("New Path.3", false, true), + PathHelper.fromChoreoPath("New Path Switch 1.1", false, true), + PathHelper.fromChoreoPath("New Path Switch 2.1", false, true) + ); + addCommands( +// getPath(0).getCommand(drivetrain), + + getPath(0).withInterrupt( + ()->Commands.sequence( + getPath(0).getCommand(drivetrain), + Commands.waitSeconds(1), + getPath(1).withInterrupt( + ()-> + Commands.sequence( + getPath(1).getCommand(drivetrain), + Commands.waitSeconds(1), + getPath(2).getCommand(drivetrain) + ), + ()->getPath(4).getCommand(drivetrain, false), + new Triplet<>(0, ()->true, Commands::none), + new Triplet<>(1, ()->false, Commands::none) + ) + ), + ()->Commands.sequence( + getPath(3).getCommand(drivetrain, false), + Commands.waitSeconds(1), + getPath(2).getCommand(drivetrain) + ), + new Triplet<>(0, ()->true, Commands::none), + new Triplet<>(1, ()->false, Commands::none) + ) + + //, +// +// getPath(0).withInterrupt(drivetrain, false, +// new Triplet<>(0, ()->false, getPath(3).getCommand(drivetrain, false)), +// new Triplet<>(1, ()->false, getPath(3).getCommand(drivetrain,false)) +// ), +// Commands.waitSeconds(1), +// getPath(1).getCommand(drivetrain), +// getPath(1).withInterrupt(drivetrain, false, +// new Triplet<>(0, ()->false, getPath(4).getCommand(drivetrain, false)), +// new Triplet<>(1, ()->false, getPath(4).getCommand(drivetrain,false)) +// ), +// Commands.waitSeconds(1), +// getPath(2).getCommand(drivetrain) + ); + addRequirements(drivetrain, shooter, indexer); + + + +// addPath( +// PathHelper.fromChoreoPath("TestPath.1", true, true), +// PathHelper.fromChoreoPath("TestPath.2", false, true), +// PathHelper.fromChoreoPath("TestPath.3", false, true) +// ); +// addCommands( +// getPath(0).withInterrupt(drivetrain, false, +// new Triplet<>(0, ()->false, getPath(3).getCommand(drivetrain, false)), +// new Triplet<>(1, ()->false, getPath(3).getCommand(drivetrain,false)) +// ), +// +// ); + } +} + diff --git a/src/main/java/org/team1540/robot2024/commands/climb/ClimbSequence.java b/src/main/java/org/team1540/robot2024/commands/climb/ClimbSequence.java index 1a01db20..0c9adbfa 100644 --- a/src/main/java/org/team1540/robot2024/commands/climb/ClimbSequence.java +++ b/src/main/java/org/team1540/robot2024/commands/climb/ClimbSequence.java @@ -8,7 +8,6 @@ import org.team1540.robot2024.subsystems.drive.Drivetrain; import org.team1540.robot2024.subsystems.elevator.Elevator; import org.team1540.robot2024.subsystems.indexer.Indexer; -import org.team1540.robot2024.subsystems.shooter.Shooter; import org.team1540.robot2024.subsystems.tramp.Tramp; public class ClimbSequence extends ParallelRaceGroup { @@ -21,7 +20,7 @@ public ClimbSequence(Drivetrain drivetrain, Elevator elevator, Tramp tramp, Inde Commands.waitUntil(controller.a()), new ElevatorSetpointCommand(elevator, ElevatorState.TOP), Commands.waitSeconds(5), // Confirm that nothing will break. Also might need to be tuned if chain does weird things - Commands.startEnd(()->elevator.setVoltage(-10), elevator::holdPosition, elevator).until(elevator::getLowerLimit) + Commands.startEnd(()->elevator.setPercent(-0.8), elevator::holdPosition, elevator).until(elevator::getLowerLimit) ) ); } diff --git a/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithChainAlignment.java b/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithChainAlignment.java new file mode 100644 index 00000000..d2c96309 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithChainAlignment.java @@ -0,0 +1,55 @@ +package org.team1540.robot2024.commands.drivetrain; + +import com.pathplanner.lib.auto.AutoBuilder; +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.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.util.auto.PathHelper; +import org.team1540.robot2024.util.vision.AprilTagsCrescendo; + +import java.util.function.Supplier; + +import static org.team1540.robot2024.Constants.Auto.STAGE_PATH_CONSTRAINTS; + +public class DriveWithChainAlignment extends SequentialCommandGroup { + public DriveWithChainAlignment(Drivetrain drivetrain, XboxController controller){ +// new DriveWithTargetingCommand(drivetrain, controller, ()->drivetrain.getPose().plus(new Transform2d(0, DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Blue ? -1 : 1, new Rotation2d()))); +// new DriveWithTargetingCommand(drivetrain, controller, ()->drivetrain.getPose().plus(new Transform2d( +// AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.AMP).getRotation().toRotation2d().getCos(), +// AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.AMP).getRotation().toRotation2d().getSin(), +// new Rotation2d() +// ))); + addCommands( + new DriveWithTargetingCommand(drivetrain, controller, ()->drivetrain.getPose().plus(aim(drivetrain::getPose))) + ); + } + + + private Transform2d aim(Supplier position){ + double far = position.get().getTranslation().getDistance( + AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_FAR).getTranslation().toTranslation2d()); + double amp = position.get().getTranslation().getDistance( + AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP).getTranslation().toTranslation2d()); + double source = position.get().getTranslation().getDistance( + AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE).getTranslation().toTranslation2d()); + Rotation2d targetAngle; + if(far < amp && far < source){ + targetAngle = AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_FAR).getRotation().toRotation2d(); + } + else if(amp < source){ + targetAngle = AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_AMP).getRotation().toRotation2d(); + } + else{ + targetAngle = AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_SOURCE).getRotation().toRotation2d(); + } + return new Transform2d(targetAngle.getCos(), targetAngle.getSin(), new Rotation2d()); + } +} + + diff --git a/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithCorrectionCommand.java b/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithCorrectionCommand.java new file mode 100644 index 00000000..f14e056b --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithCorrectionCommand.java @@ -0,0 +1,85 @@ +package org.team1540.robot2024.commands.drivetrain; + +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.wpilibj.DriverStation; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import org.littletonrobotics.junction.Logger; +import org.team1540.robot2024.Constants; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.util.math.JoystickUtils; + +import java.util.function.Supplier; + +import static org.team1540.robot2024.Constants.Targeting.*; + +public class DriveWithCorrectionCommand extends Command { + private final Drivetrain drivetrain; + private final CommandXboxController controller; + + private final Supplier angleDegrees; + private final Supplier target; + private static final double deadzone = 0.03; + + private boolean isFlipped; + + private final PIDController rotController = new PIDController(ROT_KP, ROT_KI, ROT_KD); + + + public DriveWithCorrectionCommand(Drivetrain drivetrain, CommandXboxController controller, Supplier angleDegrees, Supplier target) { + + this.drivetrain = drivetrain; + this.controller = controller; + this.angleDegrees = angleDegrees; + this.target = target; + rotController.enableContinuousInput(-Math.PI, Math.PI); + addRequirements(drivetrain); + } + + public DriveWithCorrectionCommand(Drivetrain drivetrain, CommandXboxController controller, Supplier angleDegrees) { + this(drivetrain, controller, angleDegrees, null); + } + + @Override + public void initialize() { + rotController.reset(); + isFlipped = Constants.Targeting.getFlipped(); + } + + @Override + public void execute() { + Rotation2d targetRot = null; + if(target != null){ + targetRot = + drivetrain.getPose() + .minus(target.get()).getTranslation().getAngle() + .rotateBy(isFlipped ? Rotation2d.fromDegrees(180) : Rotation2d.fromDegrees(0)); + drivetrain.setTargetPose(new Pose2d(drivetrain.getPose().getTranslation(), targetRot)); + Logger.recordOutput("Targeting/rotError", targetRot.minus(drivetrain.getRotation())); + Logger.recordOutput("Targeting/target", target.get()); + } + + + double xPercent = -controller.getLeftY() * (Constants.IS_COMPETITION_ROBOT ? 1 : -1); + + + Rotation2d linearDirection = drivetrain.getRotation().rotateBy(Rotation2d.fromDegrees(angleDegrees.get())); + + Logger.recordOutput("Targeting/targetDirection", new Pose2d( + drivetrain.getPose().getTranslation(), + linearDirection + )); + + double rotPercent = target == null + ? JoystickUtils.smartDeadzone(-controller.getRightX(), deadzone) * (Constants.IS_COMPETITION_ROBOT ? 1 : -1) + : rotController.calculate(drivetrain.getRotation().getRadians(), targetRot.getRadians());; + drivetrain.drivePercent((xPercent)*(linearDirection.getCos()>0?1:-1), linearDirection, rotPercent, true); + } + + @Override + public void end(boolean interrupted) { + drivetrain.stop(); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithCorrectionCommand2.java b/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithCorrectionCommand2.java new file mode 100644 index 00000000..6607be9f --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithCorrectionCommand2.java @@ -0,0 +1,106 @@ +package org.team1540.robot2024.commands.drivetrain; + +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.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import org.littletonrobotics.junction.Logger; +import org.team1540.robot2024.Constants; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.util.LoggedTunableNumber; +import org.team1540.robot2024.util.math.JoystickUtils; + +import java.util.function.Supplier; + +import static org.team1540.robot2024.Constants.Targeting.*; + +public class DriveWithCorrectionCommand2 extends Command { + private final Drivetrain drivetrain; + private final CommandXboxController controller; + + private final Supplier angleDegrees; + private final Supplier target; + private static final double deadzone = 0.03; + + private boolean isFlipped; + + private final LoggedTunableNumber kP = new LoggedTunableNumber("Targeting/COR_KP", 0.9); + private final LoggedTunableNumber kI = new LoggedTunableNumber("Targeting/COR_KI", 0); + private final LoggedTunableNumber kD = new LoggedTunableNumber("Targeting/COR_KD", 0); + private final PIDController rotController = new PIDController(ROT_KP, ROT_KI, ROT_KD); + private final PIDController correctionController = new PIDController(kP.get(), kI.get(), kD.get()); + + + public DriveWithCorrectionCommand2(Drivetrain drivetrain, CommandXboxController controller, Supplier angleDegrees, Supplier target) { + + this.drivetrain = drivetrain; + this.controller = controller; + this.angleDegrees = angleDegrees; + this.target = target; + rotController.enableContinuousInput(-Math.PI, Math.PI); + addRequirements(drivetrain); + } + + public DriveWithCorrectionCommand2(Drivetrain drivetrain, CommandXboxController controller, Supplier angleDegrees) { + this(drivetrain, controller, angleDegrees, null); + } + + @Override + public void initialize() { + rotController.reset(); + isFlipped = Constants.Targeting.getFlipped(); + } + + @Override + public void execute() { +// if(kP.hasChanged(hashCode())){ +// correctionController.setD(kP.get()); +// } +// if(kI.hasChanged(hashCode())){ +// correctionController.setD(kI.get()); +// } +// if(kD.hasChanged(hashCode())){ +// correctionController.setD(kD.get()); +// } + + + + Rotation2d targetRot = null; + if(target != null){ + targetRot = + drivetrain.getPose() + .minus(target.get()).getTranslation().getAngle() + .rotateBy(isFlipped ? Rotation2d.fromDegrees(180) : Rotation2d.fromDegrees(0)); + drivetrain.setTargetPose(new Pose2d(drivetrain.getPose().getTranslation(), targetRot)); + Logger.recordOutput("Targeting/rotError", targetRot.minus(drivetrain.getRotation())); + Logger.recordOutput("Targeting/target", target.get()); + } + + double xPercent = -controller.getLeftY() * (Constants.IS_COMPETITION_ROBOT ? 1 : -1); + double yPercent = -controller.getLeftX() * (Constants.IS_COMPETITION_ROBOT ? 1 : -1); + double linearMagnitude = JoystickUtils.smartDeadzone(Math.hypot(xPercent, yPercent), deadzone); + Rotation2d linearDirection = new Rotation2d(xPercent, yPercent); + +// if(drivetrain.getRotation().rotateBy(Rotation2d.fromDegrees(angleDegrees.get())).getCos() * xPercent > 0){ + linearDirection = linearDirection.minus(Rotation2d.fromDegrees(correctionController.calculate(angleDegrees.get(), 0))); +// } + + Logger.recordOutput("Targeting/targetDirection", new Pose2d( + drivetrain.getPose().getTranslation(), + linearDirection.rotateBy(Rotation2d.fromDegrees(180)) + )); + Logger.recordOutput("Targeting/angle", angleDegrees.get()); + Logger.recordOutput("Targeting/target", Constants.Targeting.getSpeakerPose()); + + double rotPercent = target == null + ? JoystickUtils.smartDeadzone(-controller.getRightX(), deadzone) * (Constants.IS_COMPETITION_ROBOT ? 1 : -1) + : rotController.calculate(drivetrain.getRotation().getRadians(), targetRot.getRadians());; + drivetrain.drivePercent(linearMagnitude, linearDirection, rotPercent, true); + } + + @Override + public void end(boolean interrupted) { + drivetrain.stop(); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithTargetingCommand.java b/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithTargetingCommand.java index 04317c5e..b84ba94f 100644 --- a/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithTargetingCommand.java +++ b/src/main/java/org/team1540/robot2024/commands/drivetrain/DriveWithTargetingCommand.java @@ -50,6 +50,10 @@ public void initialize() { @Override public void execute() { + if (Constants.isTuningMode()) { + rotController.setPID(kP.get(), kI.get(), kD.get()); + } + Rotation2d targetRot = drivetrain.getPose() .minus(target.get()).getTranslation().getAngle() diff --git a/src/main/java/org/team1540/robot2024/commands/elevator/ElevatorManualCommand.java b/src/main/java/org/team1540/robot2024/commands/elevator/ElevatorManualCommand.java index 4cc1fe53..7c95a9b3 100644 --- a/src/main/java/org/team1540/robot2024/commands/elevator/ElevatorManualCommand.java +++ b/src/main/java/org/team1540/robot2024/commands/elevator/ElevatorManualCommand.java @@ -2,7 +2,6 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import org.team1540.robot2024.Constants; import org.team1540.robot2024.subsystems.elevator.Elevator; public class ElevatorManualCommand extends Command { @@ -25,7 +24,7 @@ public void execute() { } else { val -= DEADZONE; } - elevator.setVoltage(-val * 12 * 0.18); + elevator.setPercent(-val * 2.16); } else { elevator.holdPosition(); } diff --git a/src/main/java/org/team1540/robot2024/commands/indexer/ContinuousIntakeCommand.java b/src/main/java/org/team1540/robot2024/commands/indexer/ContinuousIntakeCommand.java index ce644fba..ec5e3436 100644 --- a/src/main/java/org/team1540/robot2024/commands/indexer/ContinuousIntakeCommand.java +++ b/src/main/java/org/team1540/robot2024/commands/indexer/ContinuousIntakeCommand.java @@ -1,54 +1,25 @@ package org.team1540.robot2024.commands.indexer; -import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import org.team1540.robot2024.subsystems.indexer.Indexer; -import org.team1540.robot2024.subsystems.led.Leds; -import org.team1540.robot2024.subsystems.led.patterns.LedPattern; -import org.team1540.robot2024.subsystems.led.patterns.SimpleLedPattern; public class ContinuousIntakeCommand extends Command { private final Indexer indexer; - private final Leds leds; private final double percent; - private static final LedPattern detected = SimpleLedPattern.solid("#ffff00"); - private final Timer timer = new Timer(); - public ContinuousIntakeCommand(Indexer indexer, Leds leds, double percent) { - this.indexer = indexer; - this.leds = leds; - this.percent = percent; - addRequirements(indexer); - } + public ContinuousIntakeCommand(Indexer indexer, double percent) { this.indexer = indexer; - this.leds = null; this.percent = percent; addRequirements(indexer); } - @Override - public void initialize() { - timer.restart(); - } - @Override public void execute() { - if (indexer.isNoteStaged()) { + if (indexer.getNoteState() == Indexer.NotePosition.INDEXER) { indexer.stopIntake(); - if (leds != null) { - leds.clearPatternAll(Leds.PatternLevel.INTAKE_PREREADY); - } } else { - if (leds != null) { - if (indexer.getIntakeVoltage() == 0) { - timer.restart(); - } - if (timer.hasElapsed(0.3) && indexer.getIntakeCurrent() > 30) { - leds.setPatternAll(detected, Leds.PatternLevel.INTAKE_PREREADY); - } - } indexer.setIntakePercent(percent); } } @@ -56,8 +27,5 @@ public void execute() { @Override public void end(boolean interrupted) { indexer.stopIntake(); - if (leds != null) { - leds.clearPatternAll(Leds.PatternLevel.INTAKE_PREREADY); - } } } diff --git a/src/main/java/org/team1540/robot2024/commands/indexer/IntakeAndFeed.java b/src/main/java/org/team1540/robot2024/commands/indexer/IntakeAndFeed.java index 0123bf2a..e02cc55b 100644 --- a/src/main/java/org/team1540/robot2024/commands/indexer/IntakeAndFeed.java +++ b/src/main/java/org/team1540/robot2024/commands/indexer/IntakeAndFeed.java @@ -11,7 +11,7 @@ public class IntakeAndFeed extends Command { private final DoubleSupplier feederPercent; public static Command withDefaults(Indexer indexer) { - return new IntakeAndFeed(indexer, () -> 1, () -> 1); + return new IntakeAndFeed(indexer, () -> 0.9, () -> 1); } public IntakeAndFeed(Indexer indexer, DoubleSupplier intakePercent, DoubleSupplier feederPercent) { diff --git a/src/main/java/org/team1540/robot2024/commands/shooter/OverStageShootPrepare.java b/src/main/java/org/team1540/robot2024/commands/shooter/OverStageShootPrepare.java index ce738058..5e78fade 100644 --- a/src/main/java/org/team1540/robot2024/commands/shooter/OverStageShootPrepare.java +++ b/src/main/java/org/team1540/robot2024/commands/shooter/OverStageShootPrepare.java @@ -20,7 +20,7 @@ public OverStageShootPrepare(Supplier positionSupplier, Shooter shooter, addCommands( new PrepareShooterCommand(shooter, () -> new ShooterSetpoint( Rotation2d.fromRadians( - Math.atan2(Constants.Targeting.STAGE_MAX_HEIGHT + 1.5 - Constants.Shooter.Pivot.PIVOT_HEIGHT, + Math.atan2(Constants.Targeting.STAGE_MAX_HEIGHT + 3.5 - Constants.Shooter.Pivot.PIVOT_HEIGHT, positionSupplier.get().getTranslation().getDistance( AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_FAR).toPose2d().getTranslation() ) diff --git a/src/main/java/org/team1540/robot2024/commands/shooter/SpitShoot.java b/src/main/java/org/team1540/robot2024/commands/shooter/SpitShoot.java new file mode 100644 index 00000000..bf5cc558 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/shooter/SpitShoot.java @@ -0,0 +1,27 @@ +package org.team1540.robot2024.commands.shooter; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import org.team1540.robot2024.Constants; +import org.team1540.robot2024.commands.indexer.IntakeAndFeed; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.shooter.ShooterSetpoint; +import org.team1540.robot2024.util.vision.AprilTagsCrescendo; + +import java.util.function.Supplier; + +public class SpitShoot extends ParallelCommandGroup { + public SpitShoot(Shooter shooter, Indexer indexer, double leftSetpoint, double rightSetpoint, double indexerPercent, double feederPercent, double waitSeconds) { + addCommands( + Commands.waitSeconds(waitSeconds).andThen(new IntakeAndFeed(indexer, ()->indexerPercent, ()->feederPercent)), + new PrepareShooterCommand(shooter, ()-> new ShooterSetpoint(0, leftSetpoint, rightSetpoint)) + ); + } + + public SpitShoot(Shooter shooter, Indexer indexer){ + this(shooter, indexer, Constants.Shooter.Flywheels.LEFT_RPM, Constants.Shooter.Flywheels.RIGHT_RPM, 1, 1, 0); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/shooter/SpitShootWithTargeting.java b/src/main/java/org/team1540/robot2024/commands/shooter/SpitShootWithTargeting.java new file mode 100644 index 00000000..aaab8bff --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/shooter/SpitShootWithTargeting.java @@ -0,0 +1,18 @@ +package org.team1540.robot2024.commands.shooter; + +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import org.team1540.robot2024.Constants; +import org.team1540.robot2024.commands.drivetrain.DriveWithTargetingCommand; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; + +public class SpitShootWithTargeting extends ParallelCommandGroup { + public SpitShootWithTargeting(XboxController controller, Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + addCommands( + new DriveWithTargetingCommand(drivetrain,controller, Constants.Targeting::getSpeakerPose), + new SpitShoot(shooter, indexer) + ); + } +} diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java b/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java index 7e9a7abe..ecae66ac 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java +++ b/src/main/java/org/team1540/robot2024/subsystems/drive/Drivetrain.java @@ -1,7 +1,6 @@ package org.team1540.robot2024.subsystems.drive; import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.commands.FollowPathHolonomic; import com.pathplanner.lib.controllers.PPHolonomicDriveController; import com.pathplanner.lib.pathfinding.Pathfinding; import com.pathplanner.lib.util.HolonomicPathFollowerConfig; @@ -28,6 +27,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; +import org.team1540.robot2024.util.LoggedTunableNumber; import org.team1540.robot2024.util.auto.LocalADStarAK; import org.team1540.robot2024.Constants; import org.team1540.robot2024.util.PhoenixTimeSyncSignalRefresher; @@ -104,7 +104,7 @@ private Drivetrain( this::setPose, () -> kinematics.toChassisSpeeds(getModuleStates()), this::runVelocity, - new HolonomicPathFollowerConfig(new PIDConstants(5.0, 0.0, 0.0),new PIDConstants(7.0, 0.0, 0.0),MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()), + new HolonomicPathFollowerConfig(new PIDConstants(6.0, 0.0, 0.05),new PIDConstants(12.0, 0.0, 0.05),MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()), () -> DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == DriverStation.Alliance.Red, this); PPHolonomicDriveController.setRotationTargetOverride(this::getOverrideTargetRotationToSpeaker); @@ -192,7 +192,6 @@ public void periodic() { // Update odometry poseEstimator.update(rawGyroRotation, getModulePositions()); visionPoseEstimator.update(rawGyroRotation, getModulePositions()); - } /** @@ -285,6 +284,7 @@ public double getCharacterizationVelocity() { } return driveVelocityAverage / 4.0; } + @AutoLogOutput(key = "Odometry/ChassisSpeeds") public ChassisSpeeds getChassisSpeeds() { return kinematics.toChassisSpeeds(getModuleStates()); @@ -331,6 +331,10 @@ public Rotation2d getRawGyroRotation() { return rawGyroRotation; } + public double getAngularVelocityRadPerSec() { + return gyroInputs.yawVelocityRadPerSec; + } + public void zeroFieldOrientationManual() { fieldOrientationOffset = rawGyroRotation; } diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/Module.java b/src/main/java/org/team1540/robot2024/subsystems/drive/Module.java index f04a6a53..738a7ff9 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/drive/Module.java +++ b/src/main/java/org/team1540/robot2024/subsystems/drive/Module.java @@ -32,7 +32,7 @@ public Module(ModuleIO io, int index) { switch (Constants.currentMode) { case REAL: case REPLAY: - driveFeedforward = new SimpleMotorFeedforward(0.258, 0.128); + driveFeedforward = new SimpleMotorFeedforward(0.22906946972684633, 0.12468104575529199); // driveFeedforward = new SimpleMotorFeedforward(0.206, 0.117); driveFeedback = new PIDController(0.05, 0.0, 0.0); turnFeedback = new PIDController(7.0, 0.0, 0.0); diff --git a/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java b/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java index 7c9eb6a0..2379ad26 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java +++ b/src/main/java/org/team1540/robot2024/subsystems/elevator/Elevator.java @@ -88,12 +88,12 @@ public boolean isAtSetpoint() { return MathUtil.isNear(setpointMeters, positionFilter.getAverage(), POS_ERR_TOLERANCE_METERS) || (inputs.atLowerLimit && setpointMeters <= 0); } - public void setVoltage(double voltage) { - io.setVoltage(voltage); + public void setPercent(double percent) { + io.setDutyCycle(percent); } public void stop() { - io.setVoltage(0.0); + io.setDutyCycle(0.0); } @AutoLogOutput(key = "Elevator/setpoint") diff --git a/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIO.java b/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIO.java index 385a6395..c0ac5bad 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIO.java +++ b/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIO.java @@ -7,7 +7,7 @@ public interface ElevatorIO { class ElevatorIOInputs { public double positionMeters = 0.0; public double velocityMPS = 0.0; - public double voltage = 0.0; + public double[] voltage = new double[]{}; public double[] currentAmps = new double[]{}; public double[] tempCelsius = new double[]{}; public boolean atUpperLimit = false; @@ -19,7 +19,7 @@ default void updateInputs(ElevatorIOInputs inputs) {} default void setSetpointMeters(double position) {} - default void setVoltage(double voltage) {} + default void setDutyCycle(double dutyCycle) {} default void setBrakeMode(boolean isBrakeMode) {} diff --git a/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOSim.java index 8c6e0242..32f805ba 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOSim.java +++ b/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOSim.java @@ -47,7 +47,7 @@ public void updateInputs(ElevatorIOInputs inputs) { inputs.positionMeters = elevatorSim.getPositionMeters(); inputs.velocityMPS = elevatorSim.getVelocityMetersPerSecond(); - inputs.voltage = elevatorAppliedVolts; + inputs.voltage = new double[]{elevatorAppliedVolts}; inputs.currentAmps = new double[]{elevatorSim.getCurrentDrawAmps()}; inputs.atUpperLimit = elevatorSim.hasHitUpperLimit(); inputs.atLowerLimit = elevatorSim.hasHitLowerLimit(); @@ -55,9 +55,9 @@ public void updateInputs(ElevatorIOInputs inputs) { } @Override - public void setVoltage(double volts) { + public void setDutyCycle(double dutyCycle) { isClosedLoop = false; - elevatorAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0); + elevatorAppliedVolts = MathUtil.clamp(dutyCycle * 12, -12.0, 12.0); } @Override diff --git a/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOTalonFX.java index ce7b236f..48590bf3 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOTalonFX.java +++ b/src/main/java/org/team1540/robot2024/subsystems/elevator/ElevatorIOTalonFX.java @@ -7,28 +7,34 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.controls.Follower; import com.ctre.phoenix6.controls.MotionMagicVoltage; +import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.signals.*; import edu.wpi.first.wpilibj.Servo; import org.team1540.robot2024.Constants; public class ElevatorIOTalonFX implements ElevatorIO { - - private final MotionMagicVoltage motionMagicOut = new MotionMagicVoltage(0).withEnableFOC(true); private final TalonFX leader = new TalonFX(Constants.Elevator.LEADER_ID); private final TalonFX follower = new TalonFX(Constants.Elevator.FOLLOWER_ID); + + private final MotionMagicVoltage motionMagicOut = new MotionMagicVoltage(0).withEnableFOC(true); + private final VoltageOut voltageOut = new VoltageOut(0).withEnableFOC(true); + private final Follower followerReq = new Follower(leader.getDeviceID(), false); + private final Servo leftFlipper = new Servo(Constants.Elevator.LEFT_FLIPPER_ID); private final Servo rightFlipper = new Servo(Constants.Elevator.RIGHT_FLIPPER_ID); + private final StatusSignal leaderPosition = leader.getPosition(); private final StatusSignal leaderVelocity = leader.getVelocity(); private final StatusSignal leaderAppliedVolts = leader.getMotorVoltage(); + private final StatusSignal followerAppliedVolts = follower.getMotorVoltage(); private final StatusSignal leaderCurrent = leader.getStatorCurrent(); private final StatusSignal followerCurrent = follower.getStatorCurrent(); private final StatusSignal leaderTemp = leader.getDeviceTemp(); private final StatusSignal followerTemp = follower.getDeviceTemp(); private final StatusSignal topLimitStatus = leader.getForwardLimit(); private final StatusSignal bottomLimitStatus = leader.getReverseLimit(); - TalonFXConfiguration config; + private final TalonFXConfiguration config; public ElevatorIOTalonFX() { @@ -45,6 +51,7 @@ public ElevatorIOTalonFX() { leaderPosition, leaderVelocity, leaderAppliedVolts, + followerAppliedVolts, leaderCurrent, followerCurrent, leaderTemp, @@ -55,7 +62,7 @@ public ElevatorIOTalonFX() { follower.optimizeBusUtilization(); // setting slot 0 gains - Slot0Configs slot0Configs = config.Slot0; + Slot0Configs slot0Configs = new Slot0Configs(); slot0Configs.kS = Constants.Elevator.KS; slot0Configs.kV = Constants.Elevator.KV; slot0Configs.kA = Constants.Elevator.KA; @@ -64,21 +71,22 @@ public ElevatorIOTalonFX() { slot0Configs.kD = Constants.Elevator.KD; slot0Configs.kG = Constants.Elevator.KG; slot0Configs.GravityType = GravityTypeValue.Elevator_Static; + config.Slot0 = slot0Configs; // setting Motion Magic Settings - MotionMagicConfigs motionMagicConfigs = config.MotionMagic; + MotionMagicConfigs motionMagicConfigs = new MotionMagicConfigs(); motionMagicConfigs.MotionMagicCruiseVelocity = Constants.Elevator.CRUISE_VELOCITY_MPS; motionMagicConfigs.MotionMagicAcceleration = Constants.Elevator.MAXIMUM_ACCELERATION_MPS2; motionMagicConfigs.MotionMagicJerk = Constants.Elevator.JERK_MPS3; + config.MotionMagic = motionMagicConfigs; config.HardwareLimitSwitch.ForwardLimitEnable = true; config.HardwareLimitSwitch.ReverseLimitEnable = true; config.HardwareLimitSwitch.ReverseLimitAutosetPositionEnable = true; config.HardwareLimitSwitch.ReverseLimitAutosetPositionValue = 0; leader.getConfigurator().apply(config); - config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; follower.getConfigurator().apply(config); - follower.setControl(new Follower(leader.getDeviceID(), false)); + follower.setControl(followerReq); } @Override @@ -87,6 +95,7 @@ public void updateInputs(ElevatorIOInputs inputs) { leaderPosition, leaderVelocity, leaderAppliedVolts, + followerAppliedVolts, leaderCurrent, followerCurrent, leaderTemp, @@ -96,7 +105,7 @@ public void updateInputs(ElevatorIOInputs inputs) { inputs.positionMeters = leaderPosition.getValueAsDouble(); inputs.velocityMPS = leaderVelocity.getValueAsDouble(); - inputs.voltage = leaderAppliedVolts.getValueAsDouble(); + inputs.voltage = new double[]{leaderAppliedVolts.getValueAsDouble(), followerAppliedVolts.getValueAsDouble()}; inputs.currentAmps = new double[]{leaderCurrent.getValueAsDouble(), followerCurrent.getValueAsDouble()}; inputs.tempCelsius = new double[]{leaderTemp.getValueAsDouble(), followerTemp.getValueAsDouble()}; inputs.atUpperLimit = topLimitStatus.getValue() == ForwardLimitValue.ClosedToGround; @@ -110,14 +119,15 @@ public void setSetpointMeters(double positionMeters) { } @Override - public void setVoltage(double voltage) { - leader.set(voltage); + public void setDutyCycle(double dutyCycle) { + leader.set(dutyCycle); } @Override public void setBrakeMode(boolean isBrakeMode) { leader.setNeutralMode(isBrakeMode ? NeutralModeValue.Brake : NeutralModeValue.Coast); follower.setNeutralMode(isBrakeMode ? NeutralModeValue.Brake : NeutralModeValue.Coast); + follower.setControl(followerReq); } @Override @@ -134,5 +144,6 @@ public void configPID(double kP, double kI, double kD) { configs.kI = kI; configs.kD = kD; leader.getConfigurator().apply(configs); + follower.setControl(followerReq); } } diff --git a/src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java b/src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java index db69b3ac..96fb7c0d 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java +++ b/src/main/java/org/team1540/robot2024/subsystems/indexer/Indexer.java @@ -4,12 +4,12 @@ import edu.wpi.first.wpilibj.RobotState; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.FunctionalCommand; import edu.wpi.first.wpilibj2.command.SubsystemBase; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; import org.team1540.robot2024.Constants; -import org.team1540.robot2024.util.LoggedTunableNumber; + +import java.util.function.BooleanSupplier; import static org.team1540.robot2024.Constants.Indexer.*; @@ -18,10 +18,6 @@ public class Indexer extends SubsystemBase { private final IndexerIO io; private final IndexerIOInputsAutoLogged inputs = new IndexerIOInputsAutoLogged(); - private final LoggedTunableNumber kP = new LoggedTunableNumber("Indexer/kP", FEEDER_KP); - private final LoggedTunableNumber kI = new LoggedTunableNumber("Indexer/kI", FEEDER_KI); - private final LoggedTunableNumber kD = new LoggedTunableNumber("Indexer/kD", FEEDER_KD); - private double feederSetpointRPM = 0.0; private static boolean hasInstance = false; @@ -68,7 +64,23 @@ public void setIntakePercent(double percent) { } public boolean isNoteStaged() { - return inputs.noteInIntake; + return inputs.noteInIndexer; + } + + public BooleanSupplier checkNoteReached(NotePosition position) { + return () -> getNoteState().ordinal() >= position.ordinal(); + } + public NotePosition getNoteState() { + if (inputs.noteInShooter) { + return NotePosition.SHOOTER; + } + if (inputs.noteInIndexer) { + return NotePosition.INDEXER; + } + if (inputs.noteInIntake) { + return NotePosition.INTAKE; + } + return NotePosition.NONE; } public void setFeederVelocity(double setpointRPM) { @@ -114,16 +126,6 @@ public Command feedToAmp() { public Command feedToShooter() { return Commands.runOnce(() -> io.setFeederVelocity(1200), this); } - - public Command moveNoteOut() { - return new FunctionalCommand( - () -> setIntakePercent(-1), - () -> {}, - (interrupted) -> stopIntake(), - () -> !isNoteStaged(), - this - ); - } public Command commandRunIntake(double percent) { return Commands.startEnd( @@ -133,6 +135,13 @@ public Command commandRunIntake(double percent) { ); } + public Command moveNoteTo(NotePosition position) { + return Commands.startEnd(() -> { + this.setIntakePercent(1); + this.setFeederPercent(1); + }, this::stopAll).until(this.checkNoteReached(NotePosition.SHOOTER)); + } + public void setIntakeBrakeMode(boolean isBrake) { io.setIntakeBrakeMode(isBrake); } @@ -145,4 +154,10 @@ public double getIntakeCurrent() { return inputs.intakeCurrentAmps; } + public enum NotePosition { + NONE, + INTAKE, + INDEXER, + SHOOTER; + } } diff --git a/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIO.java b/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIO.java index 3d1b8ef7..26046cc5 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIO.java +++ b/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIO.java @@ -14,7 +14,9 @@ class IndexerIOInputs { public double feederCurrentAmps = 0.0; public double feederVelocityRPM = 0.0; public double feederTempCelsius = 0.0; + public boolean noteInIndexer = false; public boolean noteInIntake = false; + public boolean noteInShooter = false; } /** diff --git a/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSim.java index 0346dda0..fbf5d079 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSim.java +++ b/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSim.java @@ -15,7 +15,7 @@ public class IndexerIOSim implements IndexerIO { private final DCMotorSim intakeSim = new DCMotorSim(DCMotor.getNEO(1), INTAKE_GEAR_RATIO, INTAKE_MOI); private final DCMotorSim feederSim = new DCMotorSim(DCMotor.getNEO(1), FEEDER_GEAR_RATIO, FEEDER_MOI); // private final SimDeviceSim beamBreakSim = new SimDeviceSim("Indexer Beam Break"); - private final DigitalInput indexerBeamBreak = new DigitalInput(BEAM_BREAK_ID); + private final DigitalInput indexerBeamBreak = new DigitalInput(Constants.DIO.INDEXER_BEAM_BREAK); private final PIDController feederSimPID = new PIDController(FEEDER_KP, FEEDER_KI, FEEDER_KD); private boolean isClosedLoop = true; private double intakeVoltage = 0.0; @@ -39,7 +39,7 @@ public void updateInputs(IndexerIOInputs inputs) { inputs.feederCurrentAmps = feederSim.getCurrentDrawAmps(); inputs.feederVoltage = feederVoltage; inputs.feederVelocityRPM = feederSim.getAngularVelocityRPM(); - inputs.noteInIntake = indexerBeamBreak.get(); + inputs.noteInIndexer = indexerBeamBreak.get(); } @Override diff --git a/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSparkMax.java b/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSparkMax.java deleted file mode 100644 index df790fe4..00000000 --- a/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSparkMax.java +++ /dev/null @@ -1,81 +0,0 @@ -package org.team1540.robot2024.subsystems.indexer; - -import com.revrobotics.*; -import edu.wpi.first.wpilibj.DigitalInput; - -import static org.team1540.robot2024.Constants.Indexer.*; - - -public class IndexerIOSparkMax implements IndexerIO { - private final CANSparkMax intakeMotor = new CANSparkMax(INTAKE_ID, CANSparkLowLevel.MotorType.kBrushless); - private final CANSparkMax feederMotor = new CANSparkMax(FEEDER_ID, CANSparkLowLevel.MotorType.kBrushless); - private final DigitalInput indexerBeamBreak = new DigitalInput(7); - - private final RelativeEncoder intakeEncoder = intakeMotor.getEncoder(); - private final RelativeEncoder feederEncoder = feederMotor.getEncoder(); - - private final SparkPIDController feederPID = feederMotor.getPIDController(); - - - public IndexerIOSparkMax() { - intakeMotor.setIdleMode(CANSparkBase.IdleMode.kCoast); - intakeMotor.enableVoltageCompensation(12.0); - intakeMotor.setSmartCurrentLimit(55); - - feederMotor.setIdleMode(CANSparkBase.IdleMode.kCoast); - feederMotor.setInverted(true); - feederMotor.enableVoltageCompensation(12.0); - feederMotor.setSmartCurrentLimit(60); - - feederPID.setP(FEEDER_KP, 0); - feederPID.setI(FEEDER_KI, 0); - feederPID.setD(FEEDER_KD, 0); - feederPID.setFF(FEEDER_KV, 0); - } - - @Override - public void updateInputs(IndexerIOInputs inputs) { - inputs.intakeCurrentAmps = intakeMotor.getOutputCurrent(); - inputs.intakeVoltage = intakeMotor.getBusVoltage() * intakeMotor.getAppliedOutput(); - inputs.intakeVelocityRPM = intakeEncoder.getVelocity(); - inputs.intakeTempCelsius = intakeMotor.getMotorTemperature(); - inputs.feederCurrentAmps = feederMotor.getOutputCurrent(); - inputs.feederVoltage = feederMotor.getBusVoltage() * feederMotor.getAppliedOutput(); - inputs.feederVelocityRPM = feederEncoder.getVelocity(); - inputs.feederTempCelsius = feederMotor.getMotorTemperature(); - inputs.noteInIntake = !indexerBeamBreak.get(); - } - - @Override - public void setIntakeVoltage(double volts) { - intakeMotor.setVoltage(volts); - } - - @Override - public void setFeederVoltage(double volts) { - feederMotor.setVoltage(volts); - } - - @Override - public void setFeederVelocity(double velocityRPM) { - feederPID.setReference( - velocityRPM * FEEDER_GEAR_RATIO, - CANSparkBase.ControlType.kVelocity, - 0, - FEEDER_KS, - SparkPIDController.ArbFFUnits.kVoltage - ); - } - - @Override - public void configureFeederPID(double p, double i, double d) { - feederPID.setP(p); - feederPID.setI(i); - feederPID.setD(d); - } - - public void setIntakeBrakeMode(boolean isBrakeMode) { - intakeMotor.setIdleMode(isBrakeMode ? CANSparkBase.IdleMode.kBrake : CANSparkBase.IdleMode.kCoast); - } -} - diff --git a/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOTalonFX.java index cf41bb53..51cb711d 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOTalonFX.java +++ b/src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOTalonFX.java @@ -10,13 +10,16 @@ import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; import edu.wpi.first.wpilibj.DigitalInput; +import org.team1540.robot2024.Constants; import static org.team1540.robot2024.Constants.Indexer.*; public class IndexerIOTalonFX implements IndexerIO { private final TalonFX intakeMotor = new TalonFX(INTAKE_ID); private final TalonFX feederMotor = new TalonFX(FEEDER_ID); - private final DigitalInput indexerBeamBreak = new DigitalInput(BEAM_BREAK_ID); + private final DigitalInput indexerBeamBreak = new DigitalInput(Constants.DIO.INDEXER_BEAM_BREAK); + private final DigitalInput intakeBeamBreak = new DigitalInput(Constants.DIO.INTAKE_BEAM_BREAK); + private final DigitalInput shooterBeamBreak = new DigitalInput(Constants.DIO.SHOOTER_BEAM_BREAK); private final VoltageOut feederVoltageCtrlReq = new VoltageOut(0).withEnableFOC(true); private final VelocityVoltage feederVelocityCtrlReq = new VelocityVoltage(0).withEnableFOC(true); @@ -87,7 +90,9 @@ public void updateInputs(IndexerIOInputs inputs) { inputs.feederCurrentAmps = feederCurrent.getValueAsDouble(); inputs.feederVelocityRPM = feederVelocity.getValueAsDouble() * 60; inputs.feederTempCelsius = feederTemp.getValueAsDouble(); - inputs.noteInIntake = !indexerBeamBreak.get(); + inputs.noteInIndexer = !indexerBeamBreak.get(); + inputs.noteInIntake = !intakeBeamBreak.get(); + inputs.noteInShooter = !shooterBeamBreak.get(); } @Override diff --git a/src/main/java/org/team1540/robot2024/subsystems/led/Leds.java b/src/main/java/org/team1540/robot2024/subsystems/led/Leds.java index 0a99878c..c9b957aa 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/led/Leds.java +++ b/src/main/java/org/team1540/robot2024/subsystems/led/Leds.java @@ -86,19 +86,23 @@ public Command commandShowPattern(LedPattern pattern, PatternLevel priority) { ).ignoringDisable(true); } - public Command commandShowIntakePattern(LedPattern pattern) { + public Command commandShowFullPattern(LedPattern pattern, PatternLevel priority) { return Commands.startEnd( () -> { - this.setPattern(Zone.MAIN, pattern, PatternLevel.INTAKE_STATE); - this.setPattern(Zone.TOP, pattern, PatternLevel.INTAKE_STATE); + this.setPattern(Zone.MAIN, pattern, priority); + this.setPattern(Zone.TOP, pattern, priority); }, () -> { - this.clearPattern(Zone.MAIN, PatternLevel.INTAKE_STATE); - this.clearPattern(Zone.TOP, PatternLevel.INTAKE_STATE); + this.clearPattern(Zone.MAIN, priority); + this.clearPattern(Zone.TOP, priority); } ).ignoringDisable(true); } + public Command commandShowIntakePattern(LedPattern pattern) { + return commandShowFullPattern(pattern, PatternLevel.INTAKE_STATE); + } + public Command commandShowTrampPattern(LedPattern pattern) { return Commands.startEnd( () -> { diff --git a/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSim.java index 2726701b..946a3516 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSim.java +++ b/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSim.java @@ -6,12 +6,11 @@ import edu.wpi.first.wpilibj.simulation.DCMotorSim; import org.team1540.robot2024.Constants; -import static org.team1540.robot2024.Constants.Tramp.BEAM_BREAK_CHANNEL; import static org.team1540.robot2024.Constants.Tramp.GEAR_RATIO; public class TrampIOSim implements TrampIO { private final DCMotorSim sim = new DCMotorSim(DCMotor.getNEO(1), GEAR_RATIO, 0.025); //TODO: Fix MOI its probably wrong :D - private final DigitalInput beamBreak = new DigitalInput(BEAM_BREAK_CHANNEL); + private final DigitalInput beamBreak = new DigitalInput(Constants.DIO.TRAMP_BEAM_BREAK); private double appliedVolts = 0.0; diff --git a/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSparkMax.java b/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSparkMax.java index b2150d71..0cc79afb 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSparkMax.java +++ b/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSparkMax.java @@ -4,11 +4,12 @@ import com.revrobotics.CANSparkMax; import com.revrobotics.RelativeEncoder; import edu.wpi.first.wpilibj.DigitalInput; +import org.team1540.robot2024.Constants; import static org.team1540.robot2024.Constants.Tramp.*; public class TrampIOSparkMax implements TrampIO { - private final DigitalInput beamBreak = new DigitalInput(BEAM_BREAK_CHANNEL); + private final DigitalInput beamBreak = new DigitalInput(Constants.DIO.TRAMP_BEAM_BREAK); private final CANSparkMax motor = new CANSparkMax(MOTOR_ID, MotorType.kBrushless); private final RelativeEncoder motorEncoder = motor.getEncoder(); diff --git a/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOTalonFX.java b/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOTalonFX.java index ffbf5e32..21f1b901 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOTalonFX.java +++ b/src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOTalonFX.java @@ -7,12 +7,12 @@ import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; import edu.wpi.first.wpilibj.DigitalInput; +import org.team1540.robot2024.Constants; -import static org.team1540.robot2024.Constants.Tramp.BEAM_BREAK_CHANNEL; import static org.team1540.robot2024.Constants.Tramp.MOTOR_ID; public class TrampIOTalonFX implements TrampIO { - private final DigitalInput beamBreak = new DigitalInput(BEAM_BREAK_CHANNEL); + private final DigitalInput beamBreak = new DigitalInput(Constants.DIO.TRAMP_BEAM_BREAK); private final TalonFX motor = new TalonFX(MOTOR_ID); private final StatusSignal velocity = motor.getVelocity(); private final StatusSignal position = motor.getPosition(); diff --git a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVision.java b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVision.java similarity index 90% rename from src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVision.java rename to src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVision.java index 02ec3829..e9888f39 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVision.java +++ b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVision.java @@ -1,4 +1,4 @@ -package org.team1540.robot2024.subsystems.vision; +package org.team1540.robot2024.subsystems.vision.apriltag; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; @@ -12,9 +12,10 @@ import org.team1540.robot2024.util.vision.EstimatedVisionPose; import java.util.function.Consumer; +import java.util.function.DoubleSupplier; import java.util.function.Supplier; -import static org.team1540.robot2024.Constants.Vision.*; +import static org.team1540.robot2024.Constants.Vision.AprilTag.*; public class AprilTagVision extends SubsystemBase { private final AprilTagVisionIO frontCameraIO; @@ -36,7 +37,7 @@ private AprilTagVision( AprilTagVisionIO rearCameraIO, Consumer visionPoseConsumer, Supplier elevatorHeightSupplierMeters) { - if (hasInstance) throw new IllegalStateException("Instance of vision already exists"); + if (hasInstance) throw new IllegalStateException("Instance of AprilTagVision already exists"); hasInstance = true; this.frontCameraIO = frontCameraIO; @@ -47,13 +48,15 @@ private AprilTagVision( public static AprilTagVision createReal(Consumer visionPoseConsumer, Supplier elevatorHeightSupplierMeters, - Supplier headingSupplier) { + Supplier headingSupplier, + DoubleSupplier headingVelocitySupplierRadPerSec) { if (Constants.currentMode != Constants.Mode.REAL) { DriverStation.reportWarning("Using real vision on simulated robot", false); } return new AprilTagVision( new AprilTagVisionIOPhoton(FRONT_CAMERA_NAME, FRONT_CAMERA_POSE), - new AprilTagVisionIOMegaTag2(REAR_CAMERA_NAME, REAR_CAMERA_POSE, headingSupplier), + new AprilTagVisionIOMegaTag2( + REAR_CAMERA_NAME, REAR_CAMERA_POSE, headingSupplier, headingVelocitySupplierRadPerSec), visionPoseConsumer, elevatorHeightSupplierMeters); } @@ -71,14 +74,14 @@ public static AprilTagVision createSim(Consumer visionPoseC elevatorHeightSupplierMeters); } - public static AprilTagVision createDummy() { + public static AprilTagVision createDummy(Consumer visionPoseConsumer) { if (Constants.currentMode == Constants.Mode.REAL) { DriverStation.reportWarning("Using dummy vision on real robot", false); } return new AprilTagVision( new AprilTagVisionIO() {}, new AprilTagVisionIO() {}, - (pose) -> {}, + visionPoseConsumer, () -> 0.0); } diff --git a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIO.java b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIO.java similarity index 92% rename from src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIO.java rename to src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIO.java index 0f3edff7..0b969c66 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIO.java +++ b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIO.java @@ -1,4 +1,4 @@ -package org.team1540.robot2024.subsystems.vision; +package org.team1540.robot2024.subsystems.vision.apriltag; import edu.wpi.first.math.geometry.Pose3d; import org.littletonrobotics.junction.AutoLog; diff --git a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOLimelight.java b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOLimelight.java similarity index 94% rename from src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOLimelight.java rename to src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOLimelight.java index 064d67e5..22a0e4bd 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOLimelight.java +++ b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOLimelight.java @@ -1,4 +1,4 @@ -package org.team1540.robot2024.subsystems.vision; +package org.team1540.robot2024.subsystems.vision.apriltag; import edu.wpi.first.math.geometry.Pose3d; import org.team1540.robot2024.util.vision.LimelightHelpers; @@ -10,7 +10,6 @@ public class AprilTagVisionIOLimelight implements AprilTagVisionIO { public AprilTagVisionIOLimelight(String name, Pose3d cameraOffsetMeters) { this.name = name; - LimelightHelpers.setCameraMode_Processor(name); LimelightHelpers.setLEDMode_PipelineControl(name); setPoseOffset(cameraOffsetMeters); } diff --git a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOMegaTag2.java b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOMegaTag2.java similarity index 54% rename from src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOMegaTag2.java rename to src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOMegaTag2.java index d3d84f44..8ea19c8a 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOMegaTag2.java +++ b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOMegaTag2.java @@ -1,4 +1,4 @@ -package org.team1540.robot2024.subsystems.vision; +package org.team1540.robot2024.subsystems.vision.apriltag; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; @@ -6,37 +6,48 @@ import org.team1540.robot2024.util.vision.LimelightHelpers; import java.util.Arrays; +import java.util.function.DoubleSupplier; import java.util.function.Supplier; public class AprilTagVisionIOMegaTag2 implements AprilTagVisionIO { private final String name; private final Supplier heading; + private final DoubleSupplier headingVelocityRadPerSec; - public AprilTagVisionIOMegaTag2(String name, Pose3d cameraOffsetMeters, Supplier heading) { + public AprilTagVisionIOMegaTag2(String name, + Pose3d cameraOffsetMeters, + Supplier heading, + DoubleSupplier headingVelocityRadPerSec) { this.name = name; this.heading = heading; - LimelightHelpers.setCameraMode_Processor(name); + this.headingVelocityRadPerSec = headingVelocityRadPerSec; LimelightHelpers.setLEDMode_PipelineControl(name); setPoseOffset(cameraOffsetMeters); } @Override public void updateInputs(AprilTagVisionIOInputs inputs) { - LimelightHelpers.SetRobotOrientation(name, heading.get().getDegrees(), 0, 0, 0, 0, 0); + LimelightHelpers.SetRobotOrientation( + name, + heading.get().getDegrees(), + Math.toDegrees(headingVelocityRadPerSec.getAsDouble()), + 0, 0, 0, 0); LimelightHelpers.PoseEstimate measurement = DriverStation.isDisabled() ? LimelightHelpers.getBotPoseEstimate_wpiBlue(name) : LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(name); - Pose3d limelightPose = new Pose3d(measurement.pose); - inputs.estimatedPoseMeters = new Pose3d( - limelightPose.getX(), - limelightPose.getY() + 0.105, - limelightPose.getZ(), - limelightPose.getRotation()); - inputs.lastMeasurementTimestampSecs = measurement.timestampSeconds; - inputs.numTagsSeen = measurement.tagCount; - inputs.seenTagIDs = Arrays.stream(measurement.rawFiducials).mapToInt(fiducial -> fiducial.id).toArray(); - inputs.avgTagDistance = measurement.avgTagDist; + if (measurement.pose != null) { + Pose3d limelightPose = new Pose3d(measurement.pose); + inputs.estimatedPoseMeters = new Pose3d( + limelightPose.getX(), + limelightPose.getY() + 0.105, + limelightPose.getZ(), + limelightPose.getRotation()); + inputs.lastMeasurementTimestampSecs = measurement.timestampSeconds; + inputs.numTagsSeen = measurement.tagCount; + inputs.seenTagIDs = Arrays.stream(measurement.rawFiducials).mapToInt(fiducial -> fiducial.id).toArray(); + inputs.avgTagDistance = measurement.avgTagDist; + } } @Override diff --git a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOPhoton.java b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOPhoton.java similarity index 93% rename from src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOPhoton.java rename to src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOPhoton.java index 209de410..59bf1617 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOPhoton.java +++ b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOPhoton.java @@ -1,4 +1,4 @@ -package org.team1540.robot2024.subsystems.vision; +package org.team1540.robot2024.subsystems.vision.apriltag; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Transform3d; @@ -7,12 +7,13 @@ import org.photonvision.PhotonPoseEstimator; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; -import org.team1540.robot2024.Constants; import org.team1540.robot2024.util.vision.AprilTagsCrescendo; import java.util.List; import java.util.Optional; +import static org.team1540.robot2024.Constants.Vision.AprilTag.*; + public class AprilTagVisionIOPhoton implements AprilTagVisionIO { private final PhotonCamera camera; private final PhotonPoseEstimator photonEstimator; @@ -42,7 +43,7 @@ public void updateInputs(AprilTagVisionIOInputs inputs) { for (PhotonTrackedTarget target : targets) if (target.getPoseAmbiguity() > maxAmbiguityRatio) maxAmbiguityRatio = target.getPoseAmbiguity(); - if (estimatedPose.isPresent() && maxAmbiguityRatio < Constants.Vision.MAX_AMBIGUITY_RATIO) { + if (estimatedPose.isPresent() && maxAmbiguityRatio < MAX_AMBIGUITY_RATIO) { lastEstimatedPose = estimatedPose.get().estimatedPose; inputs.estimatedPoseMeters = lastEstimatedPose; inputs.lastMeasurementTimestampSecs = estimatedPose.get().timestampSeconds; diff --git a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOSim.java b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOSim.java similarity index 94% rename from src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOSim.java rename to src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOSim.java index cb277555..0abe4682 100644 --- a/src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOSim.java +++ b/src/main/java/org/team1540/robot2024/subsystems/vision/apriltag/AprilTagVisionIOSim.java @@ -1,4 +1,4 @@ -package org.team1540.robot2024.subsystems.vision; +package org.team1540.robot2024.subsystems.vision.apriltag; import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.apriltag.AprilTagFields; @@ -13,14 +13,13 @@ import org.photonvision.simulation.VisionSystemSim; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; -import org.team1540.robot2024.Constants; import java.io.IOException; import java.util.List; import java.util.Optional; import java.util.function.Supplier; -import static org.team1540.robot2024.Constants.Vision.*; +import static org.team1540.robot2024.Constants.Vision.AprilTag.*; public class AprilTagVisionIOSim implements AprilTagVisionIO { private final VisionSystemSim visionSystemSim; @@ -77,7 +76,7 @@ public void updateInputs(AprilTagVisionIOInputs inputs) { for (PhotonTrackedTarget target : targets) if (target.getPoseAmbiguity() > maxAmbiguityRatio) maxAmbiguityRatio = target.getPoseAmbiguity(); - if (estimatedPose.isPresent() && maxAmbiguityRatio < Constants.Vision.MAX_AMBIGUITY_RATIO) { + if (estimatedPose.isPresent() && maxAmbiguityRatio < MAX_AMBIGUITY_RATIO) { lastEstimatedPose = estimatedPose.get().estimatedPose; inputs.estimatedPoseMeters = lastEstimatedPose; inputs.lastMeasurementTimestampSecs = estimatedPose.get().timestampSeconds; diff --git a/src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVision.java b/src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVision.java new file mode 100644 index 00000000..66f72d64 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVision.java @@ -0,0 +1,50 @@ +package org.team1540.robot2024.subsystems.vision.gamepiece; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import org.littletonrobotics.junction.Logger; +import org.team1540.robot2024.util.vision.GamepieceDetection; + +import static org.team1540.robot2024.Constants.Vision.Gamepiece.*; + +public class NoteVision extends SubsystemBase { + private final NoteVisionIO io; + private final NoteVisionIOInputsAutoLogged inputs = new NoteVisionIOInputsAutoLogged(); + + private static boolean hasInstance = false; + + private NoteVision(NoteVisionIO io) { + if (hasInstance) throw new IllegalStateException("Instance of NoteVision already exists"); + this.io = io; + hasInstance = true; + } + + @Override + public void periodic() { + io.updateInputs(inputs); + Logger.processInputs("NoteVision", inputs); + } + + public GamepieceDetection getLatestDetection() { + return new GamepieceDetection( + inputs.lastDetectionTimestampSecs, + inputs.targetRotation.rotateBy(CAMERA_POSE.getRotation().unaryMinus()), + inputs.targetArea, + inputs.targetClass); + } + + public boolean hasDetection() { + return inputs.hasDetection; + } + + public static NoteVision createReal() { + return new NoteVision(new NoteVisionIOLimelight(CAMERA_NAME)); + } + + public static NoteVision createSim() { + return createDummy(); + } + + public static NoteVision createDummy() { + return new NoteVision(new NoteVisionIO() {}); + } +} diff --git a/src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVisionIO.java b/src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVisionIO.java new file mode 100644 index 00000000..802b26f2 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVisionIO.java @@ -0,0 +1,21 @@ +package org.team1540.robot2024.subsystems.vision.gamepiece; + +import edu.wpi.first.math.geometry.Rotation3d; +import org.littletonrobotics.junction.AutoLog; + +public interface NoteVisionIO { + @AutoLog + class NoteVisionIOInputs { + public boolean hasDetection = false; + public double lastDetectionTimestampSecs = 0.0; + public Rotation3d targetRotation = new Rotation3d(); // Camera-relative target rotation + public double targetArea = 0.0; + public String targetClass = ""; + } + + default void updateInputs(NoteVisionIOInputs inputs) {} + + default String getName() { + return ""; + } +} diff --git a/src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVisionIOLimelight.java b/src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVisionIOLimelight.java new file mode 100644 index 00000000..0d9c536e --- /dev/null +++ b/src/main/java/org/team1540/robot2024/subsystems/vision/gamepiece/NoteVisionIOLimelight.java @@ -0,0 +1,40 @@ +package org.team1540.robot2024.subsystems.vision.gamepiece; + +import edu.wpi.first.math.geometry.Rotation3d; +import org.team1540.robot2024.util.vision.LimelightHelpers; + +import static org.team1540.robot2024.Constants.Vision.Gamepiece.*; + +public class NoteVisionIOLimelight implements NoteVisionIO { + private final String name; + + public NoteVisionIOLimelight(String name) { + this.name = name; + LimelightHelpers.setLEDMode_PipelineControl(name); + LimelightHelpers.setPipelineIndex(name, PIPELINE_INDEX); + } + + @Override + public void updateInputs(NoteVisionIOInputs inputs) { + inputs.hasDetection = LimelightHelpers.getTV(name); + if (inputs.hasDetection) { + inputs.lastDetectionTimestampSecs = + (LimelightHelpers.getLimelightNTTableEntry(name, "tv").getLastChange() / 1000000.0) + - ((LimelightHelpers.getLatency_Capture(name) + LimelightHelpers.getLatency_Pipeline(name)) + / 1000.0); + //TODO check rotation signs + inputs.targetRotation = + new Rotation3d( + 0, + -Math.toRadians(LimelightHelpers.getTY(name)), + Math.toRadians(LimelightHelpers.getTX(name))); + inputs.targetArea = LimelightHelpers.getTA(name); + inputs.targetClass = LimelightHelpers.getNeuralClassID(name); + } + } + + @Override + public String getName() { + return name; + } +} diff --git a/src/main/java/org/team1540/robot2024/util/auto/PathHelper.java b/src/main/java/org/team1540/robot2024/util/auto/PathHelper.java index 5d68211f..c935bebb 100644 --- a/src/main/java/org/team1540/robot2024/util/auto/PathHelper.java +++ b/src/main/java/org/team1540/robot2024/util/auto/PathHelper.java @@ -1,17 +1,22 @@ package org.team1540.robot2024.util.auto; import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.path.EventMarker; import com.pathplanner.lib.path.PathPlannerPath; import com.pathplanner.lib.util.GeometryUtil; import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.ConditionalCommand; -import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.*; +import org.ejml.ops.QuickSort_S32; import org.team1540.robot2024.Constants; import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.util.math.Triplet; +import java.util.Arrays; +import java.util.Comparator; +import java.util.List; +import java.util.Set; +import java.util.concurrent.atomic.AtomicBoolean; import java.util.function.BooleanSupplier; import java.util.function.Supplier; @@ -22,6 +27,8 @@ public class PathHelper { final boolean isChoreo; final boolean canFlip; final PathPlannerPath path; + final List eventMarkers; + public static PathHelper fromChoreoPath(String pathname) { return new PathHelper(pathname, true, false, true); @@ -47,6 +54,7 @@ private PathHelper(String pathname, boolean isChoreo, boolean shouldReset, boole this.canFlip = canFlip; this.path = isChoreo ? PathPlannerPath.fromChoreoTrajectory(pathname) : PathPlannerPath.fromPathFile(pathname); this.initialPose = path.getPreviewStartingHolonomicPose(); + this.eventMarkers = path.getEventMarkers(); } public boolean getIsResetting() { @@ -55,7 +63,6 @@ public boolean getIsResetting() { public Pose2d getInitialPose() { BooleanSupplier shouldFlip = () -> DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Red; -// System.out.println(DriverStation.getAlliance().orElse(null) + " " + shouldFlip.getAsBoolean()); return shouldFlip.getAsBoolean() ? GeometryUtil.flipFieldPose(initialPose) : initialPose; } @@ -81,6 +88,49 @@ public Command getCommand(Drivetrain drivetrain, boolean shouldRealign) { return (isResetting ? resetCommand.andThen(command) : command); } +// public Command withInterrupt(Drivetrain drivetrain, boolean shouldRealign, Triplet... terms){ +// return withInterrupt(getCommand(drivetrain, shouldRealign), Commands.none(), terms); +// } + + public Command withInterrupt(Supplier cmd, Supplier afterInterrupt, Triplet>... terms){ + //FIXME MAJOR ISSUE MAYBE Command always causes crash on second auto run but theoretically it should be fine because we only run once + Arrays.sort(terms, (o1, o2) -> -1* Double.compare(eventMarkers.get(o1.getFirst()).getWaypointRelativePos(), eventMarkers.get(o2.getFirst()).getWaypointRelativePos())); + Command tempCommand = cmd.get(); + for(int i = 0; i < terms.length; i += 1){ + Triplet term = terms[i]; + final boolean[] cancel = {false}; + tempCommand = Commands.race( + tempCommand, + Commands.sequence( + Commands.waitSeconds(eventMarkers.get((int)term.getFirst()).getWaypointRelativePos()), + new ConditionalCommand( + Commands.runOnce(()-> cancel[0] = true), + Commands.idle(), + (BooleanSupplier) term.getSecond() + ) + ) + ).andThen( + Commands.sequence( +// Commands.runOnce(()->System.out.println(cancel[0].getAsBoolean())), + ((Supplier) term.getThird()).get(), +// Commands.defer(()-> (Command)term.getThird(), ((Command)term.getThird()).getRequirements()), + afterInterrupt.get() +// Commands.defer(()->afterInterrupt.get(), afterInterrupt.get().getRequirements()) +// Commands.none() +// ,after +// ,afterInterrupt + ).onlyIf(()->cancel[0]) +// (((Command)term.getThird()).andThen(after)).onlyIf(cancel[0]) +// Commands.either( +// (Command)term.getThird(), +// after, +// (BooleanSupplier) term.getSecond() // Only if its a single trip suppliergoddamnit +// ) + ); + } + return tempCommand; + } + public Command resetToInitialPose(Drivetrain drivetrain){ BooleanSupplier shouldFlip = () -> DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Red; Supplier startingPose = () -> shouldFlip.getAsBoolean() ? GeometryUtil.flipFieldPose(initialPose) : initialPose; diff --git a/src/main/java/org/team1540/robot2024/util/math/Triplet.java b/src/main/java/org/team1540/robot2024/util/math/Triplet.java new file mode 100644 index 00000000..e54461ad --- /dev/null +++ b/src/main/java/org/team1540/robot2024/util/math/Triplet.java @@ -0,0 +1,74 @@ +package org.team1540.robot2024.util.math;// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + + + +/** + * Represents a pair of two objects. + * + * @param The first object's type. + * @param The second object's type. + * @param The third object's type. + * + */ +public class Triplet { + private final A m_first; + private final B m_second; + private final C m_third; + + /** + * Constructs a pair. + * + * @param first The first object. + * @param second The second object. + * @param third The third object. + */ + public Triplet(A first, B second, C third) { + m_first = first; + m_second = second; + m_third = third; + } + + /** + * Returns the first object. + * + * @return The first object. + */ + public A getFirst() { + return m_first; + } + + /** + * Returns the second object. + * + * @return The second object. + */ + public B getSecond() { + return m_second; + } + + /** + * Returns the third object. + * + * @return The third object. + */ + public C getThird() { + return m_third; + } + + /** + * Returns a pair comprised of the two given objects. + * + * @param The first object's type. + * @param The second object's type. + * @param The third object's type. + * @param a The first object. + * @param b The second object. + * @param c The third object. + * @return A triplet comprised of the three given objects. + */ + public static Triplet of(A a, B b, C c) { + return new Triplet<>(a, b, c); + } +} diff --git a/src/main/java/org/team1540/robot2024/util/swerve/SwerveFactory.java b/src/main/java/org/team1540/robot2024/util/swerve/SwerveFactory.java index 857cd610..f2ab1614 100644 --- a/src/main/java/org/team1540/robot2024/util/swerve/SwerveFactory.java +++ b/src/main/java/org/team1540/robot2024/util/swerve/SwerveFactory.java @@ -89,7 +89,7 @@ private SwerveModuleHW(int id, SwerveCorner corner, String canbus) { cancoder.getConfigurator().refresh(canCoderConfig); driveConfig.CurrentLimits.SupplyCurrentLimit = 40.0; - driveConfig.CurrentLimits.SupplyCurrentThreshold = 60.0; + driveConfig.CurrentLimits.SupplyCurrentThreshold = 50.0; driveConfig.CurrentLimits.SupplyTimeThreshold = 0.1; driveConfig.CurrentLimits.SupplyCurrentLimitEnable = true; driveConfig.MotorOutput.Inverted = invertDrive ? InvertedValue.CounterClockwise_Positive: InvertedValue.Clockwise_Positive; diff --git a/src/main/java/org/team1540/robot2024/util/vision/AprilTagsCrescendo.java b/src/main/java/org/team1540/robot2024/util/vision/AprilTagsCrescendo.java index 61a9d580..5b934720 100644 --- a/src/main/java/org/team1540/robot2024/util/vision/AprilTagsCrescendo.java +++ b/src/main/java/org/team1540/robot2024/util/vision/AprilTagsCrescendo.java @@ -20,7 +20,7 @@ public enum Tags { final int blue; final int red; - private Tags(int red, int blue){ + Tags(int red, int blue){ this.red = red; this.blue = blue; } @@ -33,7 +33,7 @@ public static AprilTagsCrescendo getInstance() { return instance; } - private AprilTagsCrescendo(){ + private AprilTagsCrescendo() { tags = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField(); } @@ -41,13 +41,14 @@ public AprilTagFieldLayout getTags() { return tags; } - public Pose3d getTag(int tagID){ + public Pose3d getTag(int tagID) { return tags.getTagPose(tagID).get(); } - public Pose3d getTag(Tags tag){ + public Pose3d getTag(Tags tag) { return getTag(tag, DriverStation.getAlliance().orElse(null)); } - public Pose3d getTag(Tags tag, DriverStation.Alliance alliance){ + + public Pose3d getTag(Tags tag, DriverStation.Alliance alliance) { return getTag(alliance == DriverStation.Alliance.Red ? tag.red : tag.blue); } } diff --git a/src/main/java/org/team1540/robot2024/util/vision/EstimatedVisionPose.java b/src/main/java/org/team1540/robot2024/util/vision/EstimatedVisionPose.java index 628c79f2..730f3113 100644 --- a/src/main/java/org/team1540/robot2024/util/vision/EstimatedVisionPose.java +++ b/src/main/java/org/team1540/robot2024/util/vision/EstimatedVisionPose.java @@ -5,7 +5,9 @@ import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; -import org.team1540.robot2024.Constants; +import edu.wpi.first.wpilibj.RobotState; + +import static org.team1540.robot2024.Constants.Vision.AprilTag.*; public class EstimatedVisionPose { public double timestampSecs = -1; @@ -16,13 +18,14 @@ public class EstimatedVisionPose { public Matrix getStdDevs() { double xyStdDev = - Constants.Vision.XY_STD_DEV_COEFF + XY_STD_DEV_COEFF * Math.pow(avgDistance, 2.0) / numTags; double rotStdDev = - Constants.Vision.ROT_STD_DEV_COEFF + ROT_STD_DEV_COEFF * Math.pow(avgDistance, 2.0) / numTags; - return VecBuilder.fill(xyStdDev, xyStdDev, numTags > 1 ? rotStdDev : Double.POSITIVE_INFINITY); + boolean acceptYaw = numTags > 1 || (numTags > 0 && RobotState.isDisabled()); + return VecBuilder.fill(xyStdDev, xyStdDev, acceptYaw ? rotStdDev : Double.POSITIVE_INFINITY); } } diff --git a/src/main/java/org/team1540/robot2024/util/vision/FlipUtil.java b/src/main/java/org/team1540/robot2024/util/vision/FlipUtil.java index d2ee795e..2fe47863 100644 --- a/src/main/java/org/team1540/robot2024/util/vision/FlipUtil.java +++ b/src/main/java/org/team1540/robot2024/util/vision/FlipUtil.java @@ -13,14 +13,13 @@ public static Pose2d flipIfRed(Pose2d pose){ : pose; } - public static Rotation2d flipIfRed(Rotation2d rotation){ + public static Rotation2d flipIfRed(Rotation2d rotation) { return DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Red ? GeometryUtil.flipFieldRotation(rotation) : rotation; - } - public static double flipIfRed(double num){ + public static double flipIfRed(double num) { return DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Red ? num *= -1 : num; diff --git a/src/main/java/org/team1540/robot2024/util/vision/GamepieceDetection.java b/src/main/java/org/team1540/robot2024/util/vision/GamepieceDetection.java new file mode 100644 index 00000000..2a652882 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/util/vision/GamepieceDetection.java @@ -0,0 +1,9 @@ +package org.team1540.robot2024.util.vision; + +import edu.wpi.first.math.geometry.Rotation3d; + +public record GamepieceDetection( + double timestampSecs, + Rotation3d rotation, // Robot relative gamepiece rotation + double area, + String targetClass) {} diff --git a/src/main/java/org/team1540/robot2024/util/vision/LimelightHelpers.java b/src/main/java/org/team1540/robot2024/util/vision/LimelightHelpers.java index f57f50cc..92fd2002 100644 --- a/src/main/java/org/team1540/robot2024/util/vision/LimelightHelpers.java +++ b/src/main/java/org/team1540/robot2024/util/vision/LimelightHelpers.java @@ -1,10 +1,12 @@ -//LimelightHelpers v1.5.0 (March 27, 2024) +//LimelightHelpers v1.9 (REQUIRES 2024.9.1) package org.team1540.robot2024.util.vision; +import edu.wpi.first.networktables.DoubleArrayEntry; import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.networktables.NetworkTableEntry; import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.TimestampedDoubleArray; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; @@ -17,6 +19,7 @@ import java.net.HttpURLConnection; import java.net.MalformedURLException; import java.net.URL; +import java.util.Map; import java.util.concurrent.CompletableFuture; import com.fasterxml.jackson.annotation.JsonFormat; @@ -25,9 +28,13 @@ import com.fasterxml.jackson.core.JsonProcessingException; import com.fasterxml.jackson.databind.DeserializationFeature; import com.fasterxml.jackson.databind.ObjectMapper; +import java.util.concurrent.ConcurrentHashMap; public class LimelightHelpers { + private static final Map doubleArrayEntries = new ConcurrentHashMap<>(); + + public static class LimelightTarget_Retro { @JsonProperty("t6c_ts") @@ -179,7 +186,7 @@ public Pose2d getTargetPose_RobotSpace2D() { return toPose2D(targetPose_RobotSpace); } - + @JsonProperty("ta") public double ta; @@ -197,7 +204,7 @@ public Pose2d getTargetPose_RobotSpace2D() @JsonProperty("ts") public double ts; - + public LimelightTarget_Fiducial() { cameraPose_TargetSpace = new double[6]; robotPose_FieldSpace = new double[6]; @@ -271,7 +278,9 @@ public LimelightTarget_Detector() { } } - public static class Results { + public static class LimelightResults { + + public String error; @JsonProperty("pID") public double pipelineID; @@ -305,13 +314,13 @@ public static class Results { @JsonProperty("botpose_tagcount") public double botpose_tagcount; - + @JsonProperty("botpose_span") public double botpose_span; - + @JsonProperty("botpose_avgdist") public double botpose_avgdist; - + @JsonProperty("botpose_avgarea") public double botpose_avgarea; @@ -321,11 +330,11 @@ public static class Results { public Pose3d getBotPose3d() { return toPose3D(botpose); } - + public Pose3d getBotPose3d_wpiRed() { return toPose3D(botpose_wpired); } - + public Pose3d getBotPose3d_wpiBlue() { return toPose3D(botpose_wpiblue); } @@ -333,11 +342,11 @@ public Pose3d getBotPose3d_wpiBlue() { public Pose2d getBotPose2d() { return toPose2D(botpose); } - + public Pose2d getBotPose2d_wpiRed() { return toPose2D(botpose_wpired); } - + public Pose2d getBotPose2d_wpiBlue() { return toPose2D(botpose_wpiblue); } @@ -357,7 +366,7 @@ public Pose2d getBotPose2d_wpiBlue() { @JsonProperty("Barcode") public LimelightTarget_Barcode[] targets_Barcode; - public Results() { + public LimelightResults() { botpose = new double[6]; botpose_wpired = new double[6]; botpose_wpiblue = new double[6]; @@ -369,30 +378,18 @@ public Results() { targets_Barcode = new LimelightTarget_Barcode[0]; } - } - - public static class LimelightResults { - @JsonProperty("Results") - public Results targetingResults; - - public String error; - - public LimelightResults() { - targetingResults = new Results(); - error = ""; - } } public static class RawFiducial { - public int id; - public double txnc; - public double tync; - public double ta; - public double distToCamera; - public double distToRobot; - public double ambiguity; + public int id = 0; + public double txnc = 0; + public double tync = 0; + public double ta = 0; + public double distToCamera = 0; + public double distToRobot = 0; + public double ambiguity = 0; public RawFiducial(int id, double txnc, double tync, double ta, double distToCamera, double distToRobot, double ambiguity) { @@ -406,6 +403,41 @@ public RawFiducial(int id, double txnc, double tync, double ta, double distToCam } } + public static class RawDetection { + public int classId = 0; + public double txnc = 0; + public double tync = 0; + public double ta = 0; + public double corner0_X = 0; + public double corner0_Y = 0; + public double corner1_X = 0; + public double corner1_Y = 0; + public double corner2_X = 0; + public double corner2_Y = 0; + public double corner3_X = 0; + public double corner3_Y = 0; + + + public RawDetection(int classId, double txnc, double tync, double ta, + double corner0_X, double corner0_Y, + double corner1_X, double corner1_Y, + double corner2_X, double corner2_Y, + double corner3_X, double corner3_Y ) { + this.classId = classId; + this.txnc = txnc; + this.tync = tync; + this.ta = ta; + this.corner0_X = corner0_X; + this.corner0_Y = corner0_Y; + this.corner1_X = corner1_X; + this.corner1_Y = corner1_Y; + this.corner2_X = corner2_X; + this.corner2_Y = corner2_Y; + this.corner3_X = corner3_X; + this.corner3_Y = corner3_Y; + } + } + public static class PoseEstimate { public Pose2d pose; public double timestampSeconds; @@ -414,11 +446,25 @@ public static class PoseEstimate { public double tagSpan; public double avgTagDist; public double avgTagArea; - public RawFiducial[] rawFiducials; + public RawFiducial[] rawFiducials; + + /** + * Makes a PoseEstimate object with default values + */ + public PoseEstimate() { + this.pose = new Pose2d(); + this.timestampSeconds = 0; + this.latency = 0; + this.tagCount = 0; + this.tagSpan = 0; + this.avgTagDist = 0; + this.avgTagArea = 0; + this.rawFiducials = new RawFiducial[]{}; + } - public PoseEstimate(Pose2d pose, double timestampSeconds, double latency, - int tagCount, double tagSpan, double avgTagDist, - double avgTagArea, RawFiducial[] rawFiducials) { + public PoseEstimate(Pose2d pose, double timestampSeconds, double latency, + int tagCount, double tagSpan, double avgTagDist, + double avgTagArea, RawFiducial[] rawFiducials) { this.pose = pose; this.timestampSeconds = timestampSeconds; @@ -429,6 +475,7 @@ public PoseEstimate(Pose2d pose, double timestampSeconds, double latency, this.avgTagArea = avgTagArea; this.rawFiducials = rawFiducials; } + } private static ObjectMapper mapper; @@ -445,19 +492,19 @@ static final String sanitizeName(String name) { return name; } - private static Pose3d toPose3D(double[] inData){ + public static Pose3d toPose3D(double[] inData){ if(inData.length < 6) { //System.err.println("Bad LL 3D Pose Data!"); return new Pose3d(); } return new Pose3d( - new Translation3d(inData[0], inData[1], inData[2]), - new Rotation3d(Units.degreesToRadians(inData[3]), Units.degreesToRadians(inData[4]), - Units.degreesToRadians(inData[5]))); + new Translation3d(inData[0], inData[1], inData[2]), + new Rotation3d(Units.degreesToRadians(inData[3]), Units.degreesToRadians(inData[4]), + Units.degreesToRadians(inData[5]))); } - private static Pose2d toPose2D(double[] inData){ + public static Pose2d toPose2D(double[] inData){ if(inData.length < 6) { //System.err.println("Bad LL 2D Pose Data!"); @@ -468,7 +515,41 @@ private static Pose2d toPose2D(double[] inData){ return new Pose2d(tran2d, r2d); } - private static double extractBotPoseEntry(double[] inData, int position){ + /** + * Converts a Pose3d object to an array of doubles. + * + * @param pose The Pose3d object to convert. + * @return The array of doubles representing the pose. + **/ + public static double[] pose3dToArray(Pose3d pose) { + double[] result = new double[6]; + result[0] = pose.getTranslation().getX(); + result[1] = pose.getTranslation().getY(); + result[2] = pose.getTranslation().getZ(); + result[3] = Units.radiansToDegrees(pose.getRotation().getX()); + result[4] = Units.radiansToDegrees(pose.getRotation().getY()); + result[5] = Units.radiansToDegrees(pose.getRotation().getZ()); + return result; + } + + /** + * Converts a Pose2d object to an array of doubles. + * + * @param pose The Pose2d object to convert. + * @return The array of doubles representing the pose. + **/ + public static double[] pose2dToArray(Pose2d pose) { + double[] result = new double[6]; + result[0] = pose.getTranslation().getX(); + result[1] = pose.getTranslation().getY(); + result[2] = 0; + result[3] = Units.radiansToDegrees(0); + result[4] = Units.radiansToDegrees(0); + result[5] = Units.radiansToDegrees(pose.getRotation().getRadians()); + return result; + } + + private static double extractArrayEntry(double[] inData, int position){ if(inData.length < position+1) { return 0; @@ -477,26 +558,34 @@ private static double extractBotPoseEntry(double[] inData, int position){ } private static PoseEstimate getBotPoseEstimate(String limelightName, String entryName) { - var poseEntry = LimelightHelpers.getLimelightNTTableEntry(limelightName, entryName); - var poseArray = poseEntry.getDoubleArray(new double[0]); + DoubleArrayEntry poseEntry = LimelightHelpers.getLimelightDoubleArrayEntry(limelightName, entryName); + + TimestampedDoubleArray tsValue = poseEntry.getAtomic(); + double[] poseArray = tsValue.value; + long timestamp = tsValue.timestamp; + + if (poseArray.length == 0) { + // Handle the case where no data is available + return null; // or some default PoseEstimate + } + var pose = toPose2D(poseArray); - double latency = extractBotPoseEntry(poseArray,6); - int tagCount = (int)extractBotPoseEntry(poseArray,7); - double tagSpan = extractBotPoseEntry(poseArray,8); - double tagDist = extractBotPoseEntry(poseArray,9); - double tagArea = extractBotPoseEntry(poseArray,10); - //getlastchange() in microseconds, ll latency in milliseconds - var timestamp = (poseEntry.getLastChange() / 1000000.0) - (latency/1000.0); + double latency = extractArrayEntry(poseArray, 6); + int tagCount = (int)extractArrayEntry(poseArray, 7); + double tagSpan = extractArrayEntry(poseArray, 8); + double tagDist = extractArrayEntry(poseArray, 9); + double tagArea = extractArrayEntry(poseArray, 10); + // Convert server timestamp from microseconds to seconds and adjust for latency + double adjustedTimestamp = (timestamp / 1000000.0) - (latency / 1000.0); RawFiducial[] rawFiducials = new RawFiducial[tagCount]; int valsPerFiducial = 7; - int expectedTotalVals = 11 + valsPerFiducial*tagCount; + int expectedTotalVals = 11 + valsPerFiducial * tagCount; if (poseArray.length != expectedTotalVals) { // Don't populate fiducials - } - else{ + } else { for(int i = 0; i < tagCount; i++) { int baseIndex = 11 + (i * valsPerFiducial); int id = (int)poseArray[baseIndex]; @@ -510,15 +599,74 @@ private static PoseEstimate getBotPoseEstimate(String limelightName, String entr } } - return new PoseEstimate(pose, timestamp,latency,tagCount,tagSpan,tagDist,tagArea,rawFiducials); + return new PoseEstimate(pose, adjustedTimestamp, latency, tagCount, tagSpan, tagDist, tagArea, rawFiducials); + } + + private static RawFiducial[] getRawFiducials(String limelightName) { + var entry = LimelightHelpers.getLimelightNTTableEntry(limelightName, "rawfiducials"); + var rawFiducialArray = entry.getDoubleArray(new double[0]); + int valsPerEntry = 7; + if (rawFiducialArray.length % valsPerEntry != 0) { + return new RawFiducial[0]; + } + + int numFiducials = rawFiducialArray.length / valsPerEntry; + RawFiducial[] rawFiducials = new RawFiducial[numFiducials]; + + for (int i = 0; i < numFiducials; i++) { + int baseIndex = i * valsPerEntry; + int id = (int) extractArrayEntry(rawFiducialArray, baseIndex); + double txnc = extractArrayEntry(rawFiducialArray, baseIndex + 1); + double tync = extractArrayEntry(rawFiducialArray, baseIndex + 2); + double ta = extractArrayEntry(rawFiducialArray, baseIndex + 3); + double distToCamera = extractArrayEntry(rawFiducialArray, baseIndex + 4); + double distToRobot = extractArrayEntry(rawFiducialArray, baseIndex + 5); + double ambiguity = extractArrayEntry(rawFiducialArray, baseIndex + 6); + + rawFiducials[i] = new RawFiducial(id, txnc, tync, ta, distToCamera, distToRobot, ambiguity); + } + + return rawFiducials; + } + + public static RawDetection[] getRawDetections(String limelightName) { + var entry = LimelightHelpers.getLimelightNTTableEntry(limelightName, "rawdetections"); + var rawDetectionArray = entry.getDoubleArray(new double[0]); + int valsPerEntry = 11; + if (rawDetectionArray.length % valsPerEntry != 0) { + return new RawDetection[0]; + } + + int numDetections = rawDetectionArray.length / valsPerEntry; + RawDetection[] rawDetections = new RawDetection[numDetections]; + + for (int i = 0; i < numDetections; i++) { + int baseIndex = i * valsPerEntry; // Starting index for this detection's data + int classId = (int) extractArrayEntry(rawDetectionArray, baseIndex); + double txnc = extractArrayEntry(rawDetectionArray, baseIndex + 1); + double tync = extractArrayEntry(rawDetectionArray, baseIndex + 2); + double ta = extractArrayEntry(rawDetectionArray, baseIndex + 3); + double corner0_X = extractArrayEntry(rawDetectionArray, baseIndex + 4); + double corner0_Y = extractArrayEntry(rawDetectionArray, baseIndex + 5); + double corner1_X = extractArrayEntry(rawDetectionArray, baseIndex + 6); + double corner1_Y = extractArrayEntry(rawDetectionArray, baseIndex + 7); + double corner2_X = extractArrayEntry(rawDetectionArray, baseIndex + 8); + double corner2_Y = extractArrayEntry(rawDetectionArray, baseIndex + 9); + double corner3_X = extractArrayEntry(rawDetectionArray, baseIndex + 10); + double corner3_Y = extractArrayEntry(rawDetectionArray, baseIndex + 11); + + rawDetections[i] = new RawDetection(classId, txnc, tync, ta, corner0_X, corner0_Y, corner1_X, corner1_Y, corner2_X, corner2_Y, corner3_X, corner3_Y); + } + + return rawDetections; } - private static void printPoseEstimate(PoseEstimate pose) { + public static void printPoseEstimate(PoseEstimate pose) { if (pose == null) { System.out.println("No PoseEstimate available."); return; } - + System.out.printf("Pose Estimate Information:%n"); System.out.printf("Timestamp (Seconds): %.3f%n", pose.timestampSeconds); System.out.printf("Latency: %.3f ms%n", pose.latency); @@ -527,12 +675,12 @@ private static void printPoseEstimate(PoseEstimate pose) { System.out.printf("Average Tag Distance: %.2f meters%n", pose.avgTagDist); System.out.printf("Average Tag Area: %.2f%% of image%n", pose.avgTagArea); System.out.println(); - + if (pose.rawFiducials == null || pose.rawFiducials.length == 0) { System.out.println("No RawFiducials data available."); return; } - + System.out.println("Raw Fiducials Details:"); for (int i = 0; i < pose.rawFiducials.length; i++) { RawFiducial fiducial = pose.rawFiducials[i]; @@ -552,10 +700,22 @@ public static NetworkTable getLimelightNTTable(String tableName) { return NetworkTableInstance.getDefault().getTable(sanitizeName(tableName)); } + public static void Flush() { + NetworkTableInstance.getDefault().flush(); + } + public static NetworkTableEntry getLimelightNTTableEntry(String tableName, String entryName) { return getLimelightNTTable(tableName).getEntry(entryName); } + public static DoubleArrayEntry getLimelightDoubleArrayEntry(String tableName, String entryName) { + String key = tableName + "/" + entryName; + return doubleArrayEntries.computeIfAbsent(key, k -> { + NetworkTable table = getLimelightNTTable(tableName); + return table.getDoubleArrayTopic(entryName).getEntry(new double[0]); + }); + } + public static double getLimelightNTDouble(String tableName, String entryName) { return getLimelightNTTableEntry(tableName, entryName).getDouble(0.0); } @@ -572,10 +732,17 @@ public static double[] getLimelightNTDoubleArray(String tableName, String entryN return getLimelightNTTableEntry(tableName, entryName).getDoubleArray(new double[0]); } + + public static String getLimelightNTString(String tableName, String entryName) { return getLimelightNTTableEntry(tableName, entryName).getString(""); } + public static String[] getLimelightNTStringArray(String tableName, String entryName) { + return getLimelightNTTableEntry(tableName, entryName).getStringArray(new String[0]); + } + + public static URL getLimelightURLString(String tableName, String request) { String urlString = "http://" + sanitizeName(tableName) + ".local:5807/" + request; URL url; @@ -602,6 +769,45 @@ public static double getTA(String limelightName) { return getLimelightNTDouble(limelightName, "ta"); } + public static double[] getT2DArray(String limelightName) { + return getLimelightNTDoubleArray(limelightName, "t2d"); + } + + + public static int getTargetCount(String limelightName) { + double[] t2d = getT2DArray(limelightName); + if(t2d.length == 17) + { + return (int)t2d[1]; + } + return 0; + } + + public static int getClassifierClassIndex (String limelightName) { + double[] t2d = getT2DArray(limelightName); + if(t2d.length == 17) + { + return (int)t2d[10]; + } + return 0; + } + public static int getDetectorClassIndex (String limelightName) { + double[] t2d = getT2DArray(limelightName); + if(t2d.length == 17) + { + return (int)t2d[11]; + } + return 0; + } + + public static String getClassifierClass (String limelightName) { + return getLimelightNTString(limelightName, "tcclass"); + } + public static String getDetectorClass (String limelightName) { + return getLimelightNTString(limelightName, "tdclass"); + } + + public static double getLatency_Pipeline(String limelightName) { return getLimelightNTDouble(limelightName, "tl"); } @@ -614,13 +820,17 @@ public static double getCurrentPipelineIndex(String limelightName) { return getLimelightNTDouble(limelightName, "getpipe"); } + public static String getCurrentPipelineType(String limelightName) { + return getLimelightNTString(limelightName, "getpipetype"); + } + public static String getJSONDump(String limelightName) { return getLimelightNTString(limelightName, "json"); } /** * Switch to getBotPose - * + * * @param limelightName * @return */ @@ -631,7 +841,7 @@ public static double[] getBotpose(String limelightName) { /** * Switch to getBotPose_wpiRed - * + * * @param limelightName * @return */ @@ -642,7 +852,7 @@ public static double[] getBotpose_wpiRed(String limelightName) { /** * Switch to getBotPose_wpiBlue - * + * * @param limelightName * @return */ @@ -691,6 +901,10 @@ public static String getNeuralClassID(String limelightName) { return getLimelightNTString(limelightName, "tclass"); } + public static String[] getRawBarcodeData(String limelightName) { + return getLimelightNTStringArray(limelightName, "rawbarcodes"); + } + ///// ///// @@ -737,7 +951,7 @@ public static Pose3d getCameraPose3d_RobotSpace(String limelightName) { /** * Gets the Pose2d for easy use with Odometry vision pose estimator * (addVisionMeasurement) - * + * * @param limelightName * @return */ @@ -750,7 +964,7 @@ public static Pose2d getBotPose2d_wpiBlue(String limelightName) { /** * Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the BLUE * alliance - * + * * @param limelightName * @return */ @@ -761,7 +975,7 @@ public static PoseEstimate getBotPoseEstimate_wpiBlue(String limelightName) { /** * Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the BLUE * alliance - * + * * @param limelightName * @return */ @@ -772,7 +986,7 @@ public static PoseEstimate getBotPoseEstimate_wpiBlue_MegaTag2(String limelightN /** * Gets the Pose2d for easy use with Odometry vision pose estimator * (addVisionMeasurement) - * + * * @param limelightName * @return */ @@ -806,7 +1020,7 @@ public static PoseEstimate getBotPoseEstimate_wpiRed_MegaTag2(String limelightNa /** * Gets the Pose2d for easy use with Odometry vision pose estimator * (addVisionMeasurement) - * + * * @param limelightName * @return */ @@ -828,7 +1042,7 @@ public static void setPipelineIndex(String limelightName, int pipelineIndex) { setLimelightNTDouble(limelightName, "pipeline", pipelineIndex); } - + public static void setPriorityTagID(String limelightName, int ID) { setLimelightNTDouble(limelightName, "priorityid", ID); } @@ -865,13 +1079,6 @@ public static void setStreamMode_PiPSecondary(String limelightName) { setLimelightNTDouble(limelightName, "stream", 2); } - public static void setCameraMode_Processor(String limelightName) { - setLimelightNTDouble(limelightName, "camMode", 0); - } - public static void setCameraMode_Driver(String limelightName) { - setLimelightNTDouble(limelightName, "camMode", 1); - } - /** * Sets the crop window. The crop window in the UI must be completely open for @@ -886,9 +1093,32 @@ public static void setCropWindow(String limelightName, double cropXMin, double c setLimelightNTDoubleArray(limelightName, "crop", entries); } - public static void SetRobotOrientation(String limelightName, double yaw, double yawRate, - double pitch, double pitchRate, - double roll, double rollRate) { + /** + * Sets 3D offset point for easy 3D targeting. + */ + public static void setFiducial3DOffset(String limelightName, double offsetX, double offsetY, double offsetZ) { + double[] entries = new double[3]; + entries[0] = offsetX; + entries[1] = offsetY; + entries[2] = offsetZ; + setLimelightNTDoubleArray(limelightName, "fiducial_offset_set", entries); + } + + public static void SetRobotOrientation(String limelightName, double yaw, double yawRate, + double pitch, double pitchRate, + double roll, double rollRate) { + SetRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, true); + } + + public static void SetRobotOrientation_NoFlush(String limelightName, double yaw, double yawRate, + double pitch, double pitchRate, + double roll, double rollRate) { + SetRobotOrientation_INTERNAL(limelightName, yaw, yawRate, pitch, pitchRate, roll, rollRate, false); + } + + private static void SetRobotOrientation_INTERNAL(String limelightName, double yaw, double yawRate, + double pitch, double pitchRate, + double roll, double rollRate, boolean flush) { double[] entries = new double[6]; entries[0] = yaw; @@ -898,16 +1128,57 @@ public static void SetRobotOrientation(String limelightName, double yaw, double entries[4] = roll; entries[5] = rollRate; setLimelightNTDoubleArray(limelightName, "robot_orientation_set", entries); + if(flush) + { + Flush(); + } + } + + + public static void SetFidcuial3DOffset(String limelightName, double x, double y, + double z) { + + double[] entries = new double[3]; + entries[0] = x; + entries[1] = y; + entries[2] = z; + setLimelightNTDoubleArray(limelightName, "fiducial_offset_set", entries); } public static void SetFiducialIDFiltersOverride(String limelightName, int[] validIDs) { double[] validIDsDouble = new double[validIDs.length]; for (int i = 0; i < validIDs.length; i++) { validIDsDouble[i] = validIDs[i]; - } + } setLimelightNTDoubleArray(limelightName, "fiducial_id_filters_set", validIDsDouble); } - + + public static void SetFiducialDownscalingOverride(String limelightName, float downscale) + { + int d = 0; // pipeline + if (downscale == 1.0) + { + d = 1; + } + if (downscale == 1.5) + { + d = 2; + } + if (downscale == 2) + { + d = 3; + } + if (downscale == 3) + { + d = 4; + } + if (downscale == 4) + { + d = 5; + } + setLimelightNTDouble(limelightName, "fiducial_downscale_set", d); + } + public static void setCameraPose_RobotSpace(String limelightName, double forward, double side, double up, double roll, double pitch, double yaw) { double[] entries = new double[6]; entries[0] = forward; @@ -982,7 +1253,7 @@ public static LimelightResults getLatestResults(String limelightName) { long end = System.nanoTime(); double millis = (end - start) * .000001; - results.targetingResults.latency_jsonParse = millis; + results.latency_jsonParse = millis; if (profileJSON) { System.out.printf("lljson: %.2f\r\n", millis); } diff --git a/src/main/java/org/team1540/robot2024/util/vision/VisionPoseAcceptor.java b/src/main/java/org/team1540/robot2024/util/vision/VisionPoseAcceptor.java index 9d7d2f25..b9a869ff 100644 --- a/src/main/java/org/team1540/robot2024/util/vision/VisionPoseAcceptor.java +++ b/src/main/java/org/team1540/robot2024/util/vision/VisionPoseAcceptor.java @@ -4,7 +4,7 @@ import java.util.function.Supplier; -import static org.team1540.robot2024.Constants.Vision.*; +import static org.team1540.robot2024.Constants.Vision.AprilTag.*; public class VisionPoseAcceptor { private final Supplier robotVelocitySupplier;