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Vision no work (GG we better without it) Winin States without Vision ;) #30

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Merged
pix-xl merged 1 commit into from
Mar 29, 2025
Merged

Vision no work (GG we better without it) Winin States without Vision ;) #30

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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/driver/DriverXbox.java
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Original file line number Diff line number Diff line change
Expand Up @@ -211,8 +211,8 @@ public void setupTeleopButtons() {
controller.leftTrigger().whileTrue(new SetElevatorState(ElevatorSubsystem.State.kAlgaeIntake));


controller.povLeft().whileTrue(mLineupMaster.directDriveToNearestLeftBranch());
controller.povRight().whileTrue(mLineupMaster.directDriveToNearestRightBranch());
// controller.povLeft().whileTrue(mLineupMaster.directDriveToNearestLeftBranch());
// controller.povRight().whileTrue(mLineupMaster.directDriveToNearestRightBranch());


//Align to Reef
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11 changes: 7 additions & 4 deletions src/main/java/frc/robot/vision/LineupMaster.java
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Expand Up @@ -15,6 +15,7 @@
import edu.wpi.first.math.util.Units;
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 edu.wpi.first.wpilibj2.command.SelectCommand;
import frc.crevolib.math.Conversions;
Expand All @@ -26,13 +27,13 @@ public class LineupMaster {
private static final Map<ReefFace, Command> leftBranchAlignmentCommands = new HashMap<>();
private static final Map<ReefFace, Command> reefCenterAlignmentCommands = new HashMap<>();
private static final Map<ReefFace, Command> rightBranchAlignmentCommands = new HashMap<>();
public static final Transform2d robotOffset = new Transform2d(0.508, 0, Rotation2d.kZero);
public static final Transform2d robotOffset = new Transform2d(0.3018, 0, Rotation2d.kZero);
public static final PathConstraints pathConstraints = new PathConstraints(2, 2, Units.degreesToRadians(360), Units.degreesToRadians(360));
public LineupMaster() {
for (ReefFace face : ReefFace.values()) {
leftBranchAlignmentCommands.put(face, directDriveToPose(Conversions.rotatePose(face.leftBranch.transformBy(robotOffset), Rotation2d.k180deg)));
reefCenterAlignmentCommands.put(face, directDriveToPose(Conversions.rotatePose(face.AprilTag.transformBy(robotOffset), Rotation2d.k180deg)));
rightBranchAlignmentCommands.put(face, directDriveToPose(Conversions.rotatePose(face.rightBranch.transformBy(robotOffset), Rotation2d.k180deg)));
leftBranchAlignmentCommands.put(face, directDriveToPose(Conversions.rotatePose(face.leftBranch.transformBy(robotOffset), Rotation2d.kZero)));
reefCenterAlignmentCommands.put(face, directDriveToPose(Conversions.rotatePose(face.AprilTag.transformBy(robotOffset), Rotation2d.kZero)));
rightBranchAlignmentCommands.put(face, directDriveToPose(Conversions.rotatePose(face.rightBranch.transformBy(robotOffset), Rotation2d.kZero)));
}
}

Expand All @@ -48,6 +49,8 @@ public static ReefFace getClosestReefFace(Pose2d robotPose){
}
}

SmartDashboard.putString("closest reef face", closestFace.name());

return closestFace;
}

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6 changes: 3 additions & 3 deletions src/main/java/frc/robot/vision/VisionConfig.java
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Expand Up @@ -384,14 +384,14 @@ public static class AlignmentConfig {
}

private static final double branchOffset = Units.inchesToMeters(6.469);
private static final Transform2d leftBranchTransform = new Transform2d(0.0, -branchOffset, Rotation2d.kZero);
private static final Transform2d rightBranchTransform = new Transform2d(0.0, branchOffset, Rotation2d.kZero);
private static final Transform2d leftBranchTransform = new Transform2d(0.0, -Units.inchesToMeters(6), Rotation2d.kZero);
private static final Transform2d rightBranchTransform = new Transform2d(0.0, Units.inchesToMeters(8), Rotation2d.kZero);

public enum ReefFace {
// IMPORTANT: Fudge factors are always positive and should be in meters (use the Units.inchesToMeters() method)

// Blue Reef
BLU_REEF_AB(18, 3.657600, 4.025900, 180.0, null, null),
BLU_REEF_AB(18, 3.657600 - Units.inchesToMeters(6.25), 4.025900, 180.0, null, null),
BLU_REEF_CD(17, 4.073906, 3.306318, 240.0, null, null),
BLU_REEF_EF(22, 4.904740, 3.306318, 300.0, null, null),
BLU_REEF_GH(21, 5.321046, 4.025900, 0.0, null, null),
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18 changes: 14 additions & 4 deletions src/main/java/frc/robot/vision/commands/DriveToPoseCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,8 @@
import java.util.List;
import java.util.function.BooleanSupplier;

import javax.sound.sampled.Line;

import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.config.RobotConfig;
Expand All @@ -16,6 +18,7 @@
import edu.wpi.first.math.util.Units;
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 edu.wpi.first.wpilibj2.command.Commands;
import frc.crevolib.math.Conversions;
Expand All @@ -26,7 +29,11 @@ public class DriveToPoseCommand extends Command{
private Command followPathCommand;
private final Pose2d targetPose;
CommandSwerveDrivetrain mDrivetrain;
public final PathConstraints pathConstraints = new PathConstraints(2, 2, Units.degreesToRadians(360), Units.degreesToRadians(360));
public final PathConstraints pathConstraints = new PathConstraints(
2,
2,
Units.degreesToRadians(360),
Units.degreesToRadians(360));
PoseEstimatorSubsystem mPoseEstimatorSubsystem;

public DriveToPoseCommand(Pose2d targetPose) {
Expand All @@ -45,9 +52,9 @@ public DriveToPoseCommand(Pose2d targetPose) {
),
new PPHolonomicDriveController(
// PID constants for translation
new PIDConstants(10, 0.0, 0.0),
new PIDConstants(.025, 0.0, 0.0),
// PID constants for rotation
new PIDConstants(6.5, 0, 0.05)
new PIDConstants(.02, 0, 0.05)
),
config,
// Assume the path needs to be flipped for Red vs Blue, this is normally the case
Expand Down Expand Up @@ -88,6 +95,9 @@ public void initialize() {
followPathCommand = Commands.none();
}
followPathCommand.schedule();
SmartDashboard.putString("current pose lineup", currentPose.toString());
SmartDashboard.putString("target pose lineup", targetPose.toString());
SmartDashboard.putString("starting waypoint lineup", startingWaypoint.toString());
}

public BooleanSupplier atGoal() {
Expand All @@ -101,7 +111,7 @@ public void execute(){

@Override
public boolean isFinished() {
return followPathCommand.isFinished();
return atGoal().getAsBoolean();
}

@Override
Expand Down