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Merged
pix-xl merged 2 commits into from
Mar 23, 2025
Merged

auto align using vision tag ID #25

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24dd1e4
Auto Align V2
pix-xl Mar 23, 2025
61bfab9
Merge branch 'CrevolutionRoboticsProgramming:main' into main
pix-xl Mar 23, 2025
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123 changes: 58 additions & 65 deletions src/main/java/frc/robot/vision/VisionConfig.java
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Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,64 @@ public class AlignmentConfig {
public static final AngularVelocity MAX_ALIGN_ANGULAR_VELOCITY = RotationsPerSecond.of(1.25).times(0.75);
public static final AngularAcceleration MAX_ALIGN_ANGULAR_ACCELERATION = RadiansPerSecondPerSecond.of(6.0 * Math.PI);

//TODO: MIGHT NEED TO PLAY AROUND WITH ALL THE POSES BELOW
//April Tag IDs
public static final double id1 = 1;
public static final double id2 = 2;
public static final double id3 = 3;
public static final double id4 = 4;
public static final double id5 = 5;
public static final double id6 = 6;
public static final double id7 = 7;
public static final double id8 = 8;
public static final double id9 = 9;
public static final double id10 = 10;
public static final double id11 = 11;
public static final double id12 = 12;
public static final double id13 = 13;
public static final double id14 = 14;
public static final double id15 = 15;
public static final double id16 = 16;
public static final double id17 = 17;
public static final double id18 = 18;
public static final double id19 = 19;
public static final double id20 = 20;
public static final double id21 = 21;
public static final double id22 = 22;

//Joey's Pose Constants for the Reef Locations
public static final Pose2d Error = new Pose2d(6, 6, Rotation2d.fromDegrees(0));

public static final Pose2d Ablue = new Pose2d(3.180, 4.175, Rotation2d.fromDegrees(0));
public static final Pose2d Bblue = new Pose2d(3.180, 3.850, Rotation2d.fromDegrees(0));
public static final Pose2d Cblue = new Pose2d(3.685, 2.975, Rotation2d.fromDegrees(60));
public static final Pose2d Dblue = new Pose2d(3.975, 2.825, Rotation2d.fromDegrees(60));
public static final Pose2d Eblue = new Pose2d(5.000, 2.825, Rotation2d.fromDegrees(120));
public static final Pose2d Fblue = new Pose2d(5.285, 2.975, Rotation2d.fromDegrees(120));
public static final Pose2d Gblue = new Pose2d(5.8, 3.850, Rotation2d.fromDegrees(180));
public static final Pose2d Hblue = new Pose2d(5.8, 4.175, Rotation2d.fromDegrees(180));
public static final Pose2d Iblue = new Pose2d(5.285, 5.075, Rotation2d.fromDegrees(240));
public static final Pose2d Jblue = new Pose2d(5.000, 5.230, Rotation2d.fromDegrees(240));
public static final Pose2d Kblue = new Pose2d(3.975, 5.230, Rotation2d.fromDegrees(300));
public static final Pose2d Lblue = new Pose2d(3.685, 5.075, Rotation2d.fromDegrees(300));

public static final double fieldFlip = 17.5;
public static final double fieldFlipy = 8;

public static final Pose2d Ared = new Pose2d(fieldFlip - 3.180, fieldFlipy - 4.175, Rotation2d.fromDegrees(180));
public static final Pose2d Bred = new Pose2d(fieldFlip - 3.180, fieldFlipy - 3.850, Rotation2d.fromDegrees(180));
public static final Pose2d Cred = new Pose2d(fieldFlip - 3.685, fieldFlipy - 2.975, Rotation2d.fromDegrees(-120));
public static final Pose2d Dred = new Pose2d(fieldFlip - 3.975, fieldFlipy - 2.825, Rotation2d.fromDegrees(-120));
public static final Pose2d Ered = new Pose2d(fieldFlip - 5.000, fieldFlipy - 2.825, Rotation2d.fromDegrees(-60));
public static final Pose2d Fred = new Pose2d(fieldFlip - 5.285, fieldFlipy - 2.975, Rotation2d.fromDegrees(-60));
public static final Pose2d Gred = new Pose2d(fieldFlip - 5.8, fieldFlipy - 3.850, Rotation2d.fromDegrees(0));
public static final Pose2d Hred = new Pose2d(fieldFlip - 5.8, fieldFlipy - 4.175, Rotation2d.fromDegrees(0));
public static final Pose2d Ired = new Pose2d(fieldFlip - 5.285, fieldFlipy - 5.075, Rotation2d.fromDegrees(-300));
public static final Pose2d Jred = new Pose2d(fieldFlip - 5.000, fieldFlipy - 5.230, Rotation2d.fromDegrees(-300));
public static final Pose2d Kred = new Pose2d(fieldFlip - 3.975, fieldFlipy - 5.230, Rotation2d.fromDegrees(-240));
public static final Pose2d Lred = new Pose2d(fieldFlip - 3.685, fieldFlipy - 5.075, Rotation2d.fromDegrees(-240));


//TODO: MIGHT NEED TO PLAY AROUND WITH ALL THE POSES BELOW

// /** Pose of the robot relative to a reef branch for scoring coral on L4 */
// public static final Transform2d RELATIVE_SCORING_POSE_CORAL_L4 = new Transform2d(
Expand Down Expand Up @@ -324,69 +381,5 @@ public class AlignmentConfig {

// public static final Distance LATERAL_TARGET_L4_LEFT = Meters.of(0.05);
// public static final Distance LATERAL_TARGET_L4_RIGHT = Meters.of(0.02);

//April Tag IDs
public static final double id1 = 1;
public static final double id2 = 2;
public static final double id3 = 3;
public static final double id4 = 4;
public static final double id5 = 5;
public static final double id6 = 6;
public static final double id7 = 7;
public static final double id8 = 8;
public static final double id9 = 9;
public static final double id10 = 10;
public static final double id11 = 11;
public static final double id12 = 12;
public static final double id13 = 13;
public static final double id14 = 14;
public static final double id15 = 15;
public static final double id16 = 16;
public static final double id17 = 17;
public static final double id18 = 18;
public static final double id19 = 19;
public static final double id20 = 20;
public static final double id21 = 21;
public static final double id22 = 22;




//Joey's Pose Constants for the Reef Locations
public static final Pose2d Error = new Pose2d(6, 6, Rotation2d.fromDegrees(0));

public static final Pose2d Ablue = new Pose2d(3.180, 4.175, Rotation2d.fromDegrees(0));
public static final Pose2d Bblue = new Pose2d(3.180, 3.850, Rotation2d.fromDegrees(0));
public static final Pose2d Cblue = new Pose2d(3.685, 2.975, Rotation2d.fromDegrees(60));
public static final Pose2d Dblue = new Pose2d(3.975, 2.825, Rotation2d.fromDegrees(60));
public static final Pose2d Eblue = new Pose2d(5.000, 2.825, Rotation2d.fromDegrees(120));
public static final Pose2d Fblue = new Pose2d(5.285, 2.975, Rotation2d.fromDegrees(120));
public static final Pose2d Gblue = new Pose2d(5.8, 3.850, Rotation2d.fromDegrees(180));
public static final Pose2d Hblue = new Pose2d(5.8, 4.175, Rotation2d.fromDegrees(180));
public static final Pose2d Iblue = new Pose2d(5.285, 5.075, Rotation2d.fromDegrees(240));
public static final Pose2d Jblue = new Pose2d(5.000, 5.230, Rotation2d.fromDegrees(240));
public static final Pose2d Kblue = new Pose2d(3.975, 5.230, Rotation2d.fromDegrees(300));
public static final Pose2d Lblue = new Pose2d(3.685, 5.075, Rotation2d.fromDegrees(300));

public static final double fieldFlip = 17.5;
public static final double fieldFlipy = 8;

public static final Pose2d Ared = new Pose2d(fieldFlip - 3.180, fieldFlipy - 4.175, Rotation2d.fromDegrees(180));
public static final Pose2d Bred = new Pose2d(fieldFlip - 3.180, fieldFlipy - 3.850, Rotation2d.fromDegrees(180));
public static final Pose2d Cred = new Pose2d(fieldFlip - 3.685, fieldFlipy - 2.975, Rotation2d.fromDegrees(-120));
public static final Pose2d Dred = new Pose2d(fieldFlip - 3.975, fieldFlipy - 2.825, Rotation2d.fromDegrees(-120));
public static final Pose2d Ered = new Pose2d(fieldFlip - 5.000, fieldFlipy - 2.825, Rotation2d.fromDegrees(-60));
public static final Pose2d Fred = new Pose2d(fieldFlip - 5.285, fieldFlipy - 2.975, Rotation2d.fromDegrees(-60));
public static final Pose2d Gred = new Pose2d(fieldFlip - 5.8, fieldFlipy - 3.850, Rotation2d.fromDegrees(0));
public static final Pose2d Hred = new Pose2d(fieldFlip - 5.8, fieldFlipy - 4.175, Rotation2d.fromDegrees(0));
public static final Pose2d Ired = new Pose2d(fieldFlip - 5.285, fieldFlipy - 5.075, Rotation2d.fromDegrees(-300));
public static final Pose2d Jred = new Pose2d(fieldFlip - 5.000, fieldFlipy - 5.230, Rotation2d.fromDegrees(-300));
public static final Pose2d Kred = new Pose2d(fieldFlip - 3.975, fieldFlipy - 5.230, Rotation2d.fromDegrees(-240));
public static final Pose2d Lred = new Pose2d(fieldFlip - 3.685, fieldFlipy - 5.075, Rotation2d.fromDegrees(-240));

}




}
224 changes: 224 additions & 0 deletions src/main/java/frc/robot/vision/commands/AutoAlign.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,224 @@
package frc.robot.vision.commands;

import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.MetersPerSecondPerSecond;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import static frc.robot.vision.VisionConfig.*;
import static frc.robot.vision.VisionConfig.AlignmentConfig.*;

import org.photonvision.PhotonCamera;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.RobotContainer;
import frc.robot.drivetrain.CommandSwerveDrivetrain;
import frc.robot.vision.PoseEstimatorSubsystem;
import frc.robot.vision.VisionConfig;



public class AutoAlign extends Command {
private double x;
private double y;
private LinearVelocity kLineupSpeed = MetersPerSecond.of(.1);
private PhotonCamera leftCam = new PhotonCamera(CAM_NAMES[0]);
private int tagID;

private static final TrapezoidProfile.Constraints TRANSLATION_CONSTRAINTS = new TrapezoidProfile.Constraints(
VisionConfig.AlignmentConfig.MAX_ALIGN_TRANSLATION_VELOCITY.in(MetersPerSecond),
VisionConfig.AlignmentConfig.MAX_ALIGN_TRANSLATION_ACCELERATION.in(MetersPerSecondPerSecond));

private static final TrapezoidProfile.Constraints THETA_CONSTRAINTS = new TrapezoidProfile.Constraints(
VisionConfig.AlignmentConfig.MAX_ALIGN_ANGULAR_VELOCITY.in(RadiansPerSecond),
VisionConfig.AlignmentConfig.MAX_ALIGN_ANGULAR_ACCELERATION.in(RadiansPerSecondPerSecond));


private static final ProfiledPIDController xDistanceController = new ProfiledPIDController(
VisionConfig.AlignmentConfig.X_kP,
VisionConfig.AlignmentConfig.X_kI,
VisionConfig.AlignmentConfig.X_kD,
TRANSLATION_CONSTRAINTS);

private static final ProfiledPIDController yDistanceController = new ProfiledPIDController(
VisionConfig.AlignmentConfig.Y_kP,
VisionConfig.AlignmentConfig.Y_kI,
VisionConfig.AlignmentConfig.Y_kD,
TRANSLATION_CONSTRAINTS);

private static final ProfiledPIDController thetaController = new ProfiledPIDController(
VisionConfig.AlignmentConfig.THETA_kP,
VisionConfig.AlignmentConfig.THETA_kI,
VisionConfig.AlignmentConfig.THETA_kD,
THETA_CONSTRAINTS);

private static Pose2d currentPose;
private static Pose2d targetPose;

public AutoAlign(boolean left) {
//set tolerances of all PID controllers
xDistanceController.setTolerance(VisionConfig.AlignmentConfig.DISTANCE_TOLERANCE.in(Meters));
xDistanceController.setIntegratorRange(-.15, .15);
yDistanceController.setTolerance(VisionConfig.AlignmentConfig.LATERAL_TOLERANCE.in(Meters));
yDistanceController.setIntegratorRange(-.15, .15);
thetaController.enableContinuousInput(Units.degreesToRadians(-180), Units.degreesToRadians(180));

currentPose = PoseEstimatorSubsystem.getInstance().getCurrentPose();
targetPose = getTargetReefPose(left);

xDistanceController.reset(0);
yDistanceController.reset(0);
thetaController.reset(0);

addRequirements(CommandSwerveDrivetrain.getInstance());
}

@Override
public void execute() {
currentPose = PoseEstimatorSubsystem.getInstance().getCurrentPose();
// ChassisSpeeds currentSpeeds = CommandSwerveDrivetrain.getInstance().getState().Speeds;
x = currentPose.getTranslation().getX();
y = currentPose.getTranslation().getY();
// double Xvel = currentSpeeds.vxMetersPerSecond;
// double Yvel = currentSpeeds.vyMetersPerSecond;
double XOutput = 0.15 * kLineupSpeed.in(MetersPerSecond) * 0.95 * xDistanceController.calculate(x, targetPose.getX());
double YOutput = 0.15 * kLineupSpeed.in(MetersPerSecond) * 0.95 * xDistanceController.calculate(y, targetPose.getY());
double thetaOutput = 0.15 * RotationsPerSecond.of(0.75).in(RadiansPerSecond) * thetaController.calculate(currentPose.getRotation().getRadians(), targetPose.getRotation().getRadians());

if (DriverStation.getAlliance().get() == Alliance.Blue){
CommandSwerveDrivetrain.getInstance().applyRequest(() ->
RobotContainer.drive.withVelocityX(-XOutput)
.withVelocityY(-YOutput)
.withRotationalRate(thetaOutput)

).execute();
} else {
CommandSwerveDrivetrain.getInstance().applyRequest(() ->
RobotContainer.drive.withVelocityX(XOutput)
.withVelocityY(YOutput)
.withRotationalRate(-thetaOutput)
).execute();
}

SmartDashboard.putString("Target Pose X", targetPose.toString());

}

@Override
public boolean isFinished() {
return xDistanceController.atSetpoint() && yDistanceController.atSetpoint() && thetaController.atSetpoint();
}

@Override
public void end(boolean interrupted) {

}

private Pose2d getTargetReefPose(boolean left){
var photonResult = leftCam.getAllUnreadResults();
var currAlliance = DriverStation.getAlliance();

for (var result : photonResult){
if (result.hasTargets()){
tagID = result.getBestTarget().fiducialId;
}
}

if (currAlliance.get() == Alliance.Blue){

if (tagID == 17){
if (left) {
return Cblue;
} else if (!left) {
return Dblue;
}
} else if (tagID == 18) {
if (left) {
return Ablue;
} else if (!left) {
return Bblue;
}
} else if (tagID == 19) {
if (left) {
return Kblue;
} else if (!left) {
return Lblue;
}
} else if (tagID == 20) {
if (left) {
return Iblue;
} else if (!left) {
return Jblue;
}
} else if (tagID == 21) {
if (left) {
return Gblue;
} else if (!left) {
return Hblue;
}
} else if (tagID == 22) {
if (left) {
return Eblue;
} else if (!left) {
return Fblue;
}
}

} else if (currAlliance.get() == Alliance.Red){
if (tagID == 7){
if (left) {
return Ared;
} else if (!left) {
return Bred;
}
} else if (tagID == 8) {
if (left) {
return Cred;
} else if (!left) {
return Dred;
}
} else if (tagID == 9) {
if (left) {
return Ered;
} else if (!left) {
return Fred;
}
} else if (tagID == 10) {
if (left) {
return Gred;
} else if (!left) {
return Hred;
}
} else if (tagID == 11) {
if (left) {
return Ired;
} else if (!left) {
return Jred;
}
} else if (tagID == 6) {
if (left) {
return Kred;
} else if (!left) {
return Lred;
}
}

} else if (currAlliance.get() != Alliance.Red && currAlliance.get() != Alliance.Blue){
System.out.println("ERROR: There's no such thing as purple alliance");
}

System.out.println("Error: no suitable target pose found (Lineup Command)");
return currentPose;

}


}
8 changes: 4 additions & 4 deletions src/main/java/frc/robot/vision/commands/LineupCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -35,10 +35,10 @@

public class LineupCommand extends Command {

double x;
double y;
double theta;
LinearVelocity kLineupSpeed = MetersPerSecond.of(.1);
double x;
double y;
double theta;
LinearVelocity kLineupSpeed = MetersPerSecond.of(.1);

private static final TrapezoidProfile.Constraints TRANSLATION_CONSTRAINTS = new TrapezoidProfile.Constraints(
VisionConfig.AlignmentConfig.MAX_ALIGN_TRANSLATION_VELOCITY.in(MetersPerSecond),
Expand Down