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Drive to pose command #26

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Merged
pix-xl merged 1 commit into from
Mar 25, 2025
Merged

Drive to pose command #26

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43 changes: 0 additions & 43 deletions src/main/java/frc/robot/drivetrain/commands/DriveToPose.java
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145 changes: 145 additions & 0 deletions src/main/java/frc/robot/drivetrain/commands/DriveToPoseCommand.java
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Original file line number Diff line number Diff line change
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package frc.robot.drivetrain.commands;


import static edu.wpi.first.units.Units.Degrees;
import static edu.wpi.first.units.Units.Inches;
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.Radians;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.RadiansPerSecondPerSecond;
import static frc.robot.vision.VisionConfig.AlignmentConfig.*;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveModule.SteerRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import com.ctre.phoenix6.swerve.SwerveRequest.FieldCentric;
import com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue;
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.units.measure.Angle;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.drivetrain.CommandSwerveDrivetrain;

import java.util.function.Supplier;

/**
* Command to drive to a pose.
*/
public class DriveToPoseCommand extends Command {

private static final Distance TRANSLATION_TOLERANCE = Inches.of(0.5);
private static final Angle THETA_TOLERANCE = Degrees.of(1.0);

protected static final TrapezoidProfile.Constraints DEFAULT_XY_CONSTRAINTS = new TrapezoidProfile.Constraints(
MAX_ALIGN_TRANSLATION_VELOCITY.in(MetersPerSecond),
MAX_ALIGN_TRANSLATION_ACCELERATION.in(MetersPerSecondPerSecond));
protected static final TrapezoidProfile.Constraints DEFAULT_OMEGA_CONSTRAINTS = new TrapezoidProfile.Constraints(
MAX_ALIGN_ANGULAR_VELOCITY.in(RadiansPerSecond),
MAX_ALIGN_ANGULAR_ACCELERATION.in(RadiansPerSecondPerSecond));

private final ProfiledPIDController xController;
private final ProfiledPIDController yController;
private final ProfiledPIDController thetaController;

private final CommandSwerveDrivetrain drivetrainSubsystem;
private final FieldCentric fieldCentricSwerveRequest = new FieldCentric()
.withSteerRequestType(SteerRequestType.MotionMagicExpo)
.withDriveRequestType(DriveRequestType.Velocity)
.withForwardPerspective(ForwardPerspectiveValue.BlueAlliance); // Always Blue coordinate system for auto drive
protected final Supplier<Pose2d> poseProvider;

/**
* Constructs a DriveToPoseCommand
*
* @param drivetrainSubsystem drivetrain subsystem
* @param goalPose goal pose to drive to
*/
public DriveToPoseCommand(CommandSwerveDrivetrain drivetrainSubsystem, Supplier<Pose2d> poseProvider) {
this(drivetrainSubsystem, poseProvider, DEFAULT_XY_CONSTRAINTS, DEFAULT_OMEGA_CONSTRAINTS);
}

/**
* Constructs a DriveToPoseCommand with specific motion profile constraints
*
* @param drivetrainSubsystem drivetrain subsystem
* @param poseProvider provider to call to get the robot pose
* @param translationConstraints translation motion profile constraints
* @param omegaConstraints rotation motion profile constraints
*/
public DriveToPoseCommand(
CommandSwerveDrivetrain drivetrainSubsystem,
Supplier<Pose2d> poseProvider,
TrapezoidProfile.Constraints translationConstraints,
TrapezoidProfile.Constraints omegaConstraints) {

this.drivetrainSubsystem = drivetrainSubsystem;
this.poseProvider = poseProvider;

xController = new ProfiledPIDController(X_kP, X_kI, X_kD, translationConstraints);
xController.setTolerance(TRANSLATION_TOLERANCE.in(Meters));

yController = new ProfiledPIDController(Y_kP, Y_kI, Y_kD, translationConstraints);
yController.setTolerance(TRANSLATION_TOLERANCE.in(Meters));

thetaController = new ProfiledPIDController(THETA_kP, THETA_kI, THETA_kD, omegaConstraints);
thetaController.enableContinuousInput(-Math.PI, Math.PI);
thetaController.setTolerance(THETA_TOLERANCE.in(Radians));

addRequirements(drivetrainSubsystem);
}

/**
* Sets the goal to drive to. This should be set before the command is scheduled.
*
* @param goalPose goal pose
*/
public void setGoal(Pose2d goalPose) {
thetaController.setGoal(goalPose.getRotation().getRadians());
xController.setGoal(goalPose.getX());
yController.setGoal(goalPose.getY());
}

@Override
public void initialize() {
var robotPose = poseProvider.get();
thetaController.reset(robotPose.getRotation().getRadians());
xController.reset(robotPose.getX());
yController.reset(robotPose.getY());
}

@Override
public void execute() {
var robotPose = poseProvider.get();

var xSpeed = xController.calculate(robotPose.getX());
if (xController.atGoal()) {
xSpeed = 0;
}

var ySpeed = yController.calculate(robotPose.getY());
if (yController.atGoal()) {
ySpeed = 0;
}

var omegaSpeed = thetaController.calculate(robotPose.getRotation().getRadians());
if (thetaController.atGoal()) {
omegaSpeed = 0;
}

drivetrainSubsystem.setControl(
fieldCentricSwerveRequest.withVelocityX(xSpeed).withVelocityY(ySpeed).withRotationalRate(omegaSpeed));
}

@Override
public boolean isFinished() {
return xController.atGoal() && yController.atGoal() && thetaController.atGoal();
}

@Override
public void end(boolean interrupted) {
drivetrainSubsystem.setControl(new SwerveRequest.Idle());
}
}
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/vision/VisionConfig.java
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,7 @@ public class VisionConfig {
public static final Matrix<N3, N1> STATE_STANDARD_DEVIATIONS = VecBuilder.fill(0.025, 0.025, Units.degreesToRadians(2.5));


public class AlignmentConfig {
public static class AlignmentConfig {
public static final double THETA_kP = 3.0;
public static final double THETA_kI = 0.0;
public static final double THETA_kD = 0.0;
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