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src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetPoseCommand.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,120 @@ | ||
| package com.team4099.robot2023.commands.drivetrain | ||
|
|
||
| import com.team4099.lib.logging.LoggedTunableValue | ||
| import com.team4099.robot2023.config.constants.DrivetrainConstants | ||
| import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain | ||
| import com.team4099.robot2023.subsystems.superstructure.Request | ||
| import edu.wpi.first.wpilibj.RobotBase | ||
| import edu.wpi.first.wpilibj2.command.Command | ||
| import org.littletonrobotics.junction.Logger | ||
| import org.team4099.lib.controller.ProfiledPIDController | ||
| import org.team4099.lib.controller.TrapezoidProfile | ||
| import org.team4099.lib.geometry.Pose2d | ||
| import org.team4099.lib.units.Velocity | ||
| import org.team4099.lib.units.base.inMeters | ||
| import org.team4099.lib.units.derived.Angle | ||
| import org.team4099.lib.units.derived.Radian | ||
| import org.team4099.lib.units.derived.degrees | ||
| import org.team4099.lib.units.derived.inDegrees | ||
| import org.team4099.lib.units.derived.inDegreesPerSecondPerDegree | ||
| import org.team4099.lib.units.derived.inDegreesPerSecondPerDegreePerSecond | ||
| import org.team4099.lib.units.derived.inDegreesPerSecondPerDegreeSeconds | ||
| import org.team4099.lib.units.derived.perDegree | ||
| import org.team4099.lib.units.derived.perDegreePerSecond | ||
| import org.team4099.lib.units.derived.perDegreeSeconds | ||
| import org.team4099.lib.units.derived.radians | ||
| import org.team4099.lib.units.inDegreesPerSecond | ||
| import org.team4099.lib.units.perSecond | ||
| import kotlin.math.PI | ||
| import kotlin.math.tan | ||
|
|
||
| class TargetPoseCommand(val drivetrain: Drivetrain, val targetPose: Pose2d) : Command() { | ||
| private val thetaPID: ProfiledPIDController<Radian, Velocity<Radian>> | ||
|
|
||
| val thetakP = | ||
| LoggedTunableValue( | ||
| "Pathfollow/thetakP", | ||
| Pair({ it.inDegreesPerSecondPerDegree }, { it.degrees.perSecond.perDegree }) | ||
| ) | ||
| val thetakI = | ||
| LoggedTunableValue( | ||
| "Pathfollow/thetakI", | ||
| Pair( | ||
| { it.inDegreesPerSecondPerDegreeSeconds }, { it.degrees.perSecond.perDegreeSeconds } | ||
| ) | ||
| ) | ||
| val thetakD = | ||
| LoggedTunableValue( | ||
| "Pathfollow/thetakD", | ||
| Pair( | ||
| { it.inDegreesPerSecondPerDegreePerSecond }, | ||
| { it.degrees.perSecond.perDegreePerSecond } | ||
| ) | ||
| ) | ||
|
|
||
| val thetaMaxVel = | ||
| LoggedTunableValue("Pathfollow/thetaMaxVel", DrivetrainConstants.PID.MAX_AUTO_ANGULAR_VEL) | ||
| val thetaMaxAccel = | ||
| LoggedTunableValue("Pathfollow/thetaMaxAccel", DrivetrainConstants.PID.MAX_AUTO_ANGULAR_ACCEL) | ||
| var desiredAngle: Angle = 0.0.degrees | ||
|
|
||
| init { | ||
| addRequirements(drivetrain) | ||
|
|
||
| if (RobotBase.isReal()) { | ||
| thetakP.initDefault(DrivetrainConstants.PID.AUTO_THETA_PID_KP) | ||
| thetakI.initDefault(DrivetrainConstants.PID.AUTO_THETA_PID_KI) | ||
| thetakD.initDefault(DrivetrainConstants.PID.AUTO_THETA_PID_KD) | ||
| } else { | ||
| thetakP.initDefault(DrivetrainConstants.PID.SIM_AUTO_THETA_PID_KP) | ||
| thetakI.initDefault(DrivetrainConstants.PID.SIM_AUTO_THETA_PID_KI) | ||
| thetakD.initDefault(DrivetrainConstants.PID.SIM_AUTO_THETA_PID_KD) | ||
| } | ||
|
|
||
| thetaPID = | ||
| ProfiledPIDController( | ||
| thetakP.get(), | ||
| thetakI.get(), | ||
| thetakD.get(), | ||
| TrapezoidProfile.Constraints(thetaMaxVel.get(), thetaMaxAccel.get()) | ||
| ) | ||
| thetaPID.enableContinuousInput(-PI.radians, PI.radians) | ||
| } | ||
|
|
||
| override fun initialize() { | ||
| thetaPID.reset(drivetrain.odometryPose.rotation) | ||
| } | ||
|
|
||
| override fun execute() { | ||
| Logger.recordOutput("ActiveCommands/TargetPoseCommand", true) | ||
|
|
||
| val currentPose = drivetrain.odometryPose | ||
| desiredAngle = | ||
| tan((currentPose.y - targetPose.y).inMeters / (currentPose.x - targetPose.x).inMeters) | ||
| .radians | ||
| val thetaFeedback = thetaPID.calculate(currentPose.rotation, desiredAngle) | ||
|
|
||
| drivetrain.currentRequest = | ||
| Request.DrivetrainRequest.OpenLoop( | ||
| thetaFeedback, | ||
| Pair(drivetrain.fieldVelocity.x, drivetrain.fieldVelocity.y), | ||
| fieldOriented = true | ||
| ) | ||
|
|
||
| Logger.recordOutput("AutoLevel/CurrentYawDegrees", drivetrain.odometryPose.rotation.inDegrees) | ||
| Logger.recordOutput("AutoLevel/DesiredYawDegrees", desiredAngle.inDegrees) | ||
| Logger.recordOutput("AutoLevel/thetaFeedbackDPS", thetaFeedback.inDegreesPerSecond) | ||
| } | ||
|
|
||
| override fun isFinished(): Boolean { | ||
| return (drivetrain.odometryPose.rotation - desiredAngle).absoluteValue < | ||
| DrivetrainConstants.PID.AUTO_THETA_ALLOWED_ERROR | ||
| } | ||
|
|
||
| override fun end(interrupted: Boolean) { | ||
| drivetrain.currentRequest = | ||
| Request.DrivetrainRequest.OpenLoop( | ||
| 0.0.radians.perSecond, Pair(drivetrain.fieldVelocity.x, drivetrain.fieldVelocity.y) | ||
| ) | ||
| } | ||
| } |
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