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Changing lineup master to work with the x, y, and theta controllers (idk anymore) #31

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Merged
joelzoto merged 1 commit into from
Mar 29, 2025
Merged

Changing lineup master to work with the x, y, and theta controllers (idk anymore) #31

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3 changes: 2 additions & 1 deletion src/main/java/frc/robot/vision/LineupMaster.java
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
import frc.crevolib.math.Conversions;
import frc.robot.drivetrain.CommandSwerveDrivetrain;
import frc.robot.vision.VisionConfig.ReefFace;
import frc.robot.vision.commands.AutoAlign;
import frc.robot.vision.commands.DriveToPoseCommand;

public class LineupMaster {
Expand Down Expand Up @@ -55,7 +56,7 @@ public static ReefFace getClosestReefFace(Pose2d robotPose){
}

public Command directDriveToPose(Pose2d targetPose) {
return new DriveToPoseCommand(targetPose);
return new AutoAlign(targetPose);
}

public Command directDriveToNearestLeftBranch() {
Expand Down
191 changes: 4 additions & 187 deletions src/main/java/frc/robot/vision/commands/AutoAlign.java
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Original file line number Diff line number Diff line change
Expand Up @@ -31,8 +31,6 @@ 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),
Expand Down Expand Up @@ -64,10 +62,10 @@ public class AutoAlign extends Command {


private static Pose2d currentPose;
private static Pose2d targetPose;
private final Pose2d targetPose;
private static boolean commandRan = false;

public AutoAlign(boolean left) {
public AutoAlign(Pose2d targetPose) {
//set tolerances of all PID controllers
xDistanceController.setTolerance(VisionConfig.AlignmentConfig.DISTANCE_TOLERANCE.in(Meters));
xDistanceController.setIntegratorRange(-.15, .15);
Expand All @@ -76,7 +74,7 @@ public AutoAlign(boolean left) {
thetaController.enableContinuousInput(Units.degreesToRadians(-180), Units.degreesToRadians(180));

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

xDistanceController.reset(0);
yDistanceController.reset(0);
Expand All @@ -85,187 +83,7 @@ public AutoAlign(boolean left) {
addRequirements(CommandSwerveDrivetrain.getInstance());
}


public double getDistanceFromTag(Pose2d goalPose) {
double xDiff = goalPose.getX() - currentPose.getX();
double yDiff = goalPose.getY() - currentPose.getY();
double distance = Math.sqrt(Math.pow(xDiff, 2) + Math.pow(yDiff, 2));
return distance;
}

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(LEFT)
// {
// CLOSESTDIST = NULL;
// TARGETPOSE = A;
// TEMPdIST = DISTANCE(CURPOS, TARGETPOSE);
// CLOSESTDIST = TEMPDIST;
// POSE = A

// TARGETPOSE = C;
// TEMPdIST = DISTANCE(CURPOS, TARGETPOSE)
// IF(TEMPDIST < CLOSESTDIST)
// POSE = C;

// }
if (left) {
double min = getDistanceFromTag(Ablue);
targetPose = Ablue;

if (min > getDistanceFromTag(Cblue)){
min = getDistanceFromTag(Cblue);
targetPose = Cblue;
}
if (min > getDistanceFromTag(Kblue)) {
min = getDistanceFromTag(Kblue);
targetPose = Kblue;
}
if (min > getDistanceFromTag(Iblue)) {
min = getDistanceFromTag(Iblue);
targetPose = Iblue;
}
if (min > getDistanceFromTag(Gblue)) {
min = getDistanceFromTag(Gblue);
targetPose = Gblue;
}
if (min > getDistanceFromTag(Eblue)) {
min = getDistanceFromTag(Eblue);
targetPose = Eblue;
}
} else {
double min = getDistanceFromTag(Bblue);
targetPose = Ablue;

if (min > getDistanceFromTag(Dblue)){
min = getDistanceFromTag(Dblue);
targetPose = Dblue;
}
if (min > getDistanceFromTag(Lblue)) {
min = getDistanceFromTag(Lblue);
targetPose = Lblue;
}
if (min > getDistanceFromTag(Jblue)) {
min = getDistanceFromTag(Jblue);
targetPose = Jblue;
}
if (min > getDistanceFromTag(Hblue)) {
min = getDistanceFromTag(Hblue);
targetPose = Hblue;
}
if (min > getDistanceFromTag(Fblue)) {
min = getDistanceFromTag(Fblue);
targetPose = Fblue;
}
}

// //DISTANCE FROM
// if (targetPose == Cblue){
// if (left) {
// return Cblue;
// } else if (!left) {
// return Dblue;
// }
// } else if (getDistanceFromTag(Ablue) < getDistanceFromTag(Kblue)) {
// if (left) {
// return Ablue;
// } else if (!left) {
// return Bblue;
// }
// } else if (getDistanceFromTag(Kblue) < getDistanceFromTag(Iblue)) {
// if (left) {
// return Kblue;
// } else if (!left) {
// return Lblue;
// }
// } else if (getDistanceFromTag(Iblue) < getDistanceFromTag(Gblue)) {
// if (left) {
// return Iblue;
// } else if (!left) {
// return Jblue;
// }
// } else if (getDistanceFromTag(Gblue) < getDistanceFromTag(Eblue)) {
// if (left) {
// return Gblue;
// } else if (!left) {
// return Hblue;
// }
// } else if (getDistanceFromTag(Eblue) < getDistanceFromTag(Cblue)) {
// if (left) {
// return Eblue;
// } else if (!left) {
// return Fblue;
// }
// }

} else if (currAlliance.get() == Alliance.Red){
if (left) {
double min = getDistanceFromTag(Ared);
targetPose = Ared;

if (min > getDistanceFromTag(Cred)){
min = getDistanceFromTag(Cred);
targetPose = Cred;
}
if (min > getDistanceFromTag(Kred)) {
min = getDistanceFromTag(Kred);
targetPose = Kblue;
}
if (min > getDistanceFromTag(Ired)) {
min = getDistanceFromTag(Ired);
targetPose = Ired;
}
if (min > getDistanceFromTag(Gred)) {
min = getDistanceFromTag(Gred);
targetPose = Gred;
}
if (min > getDistanceFromTag(Ered)) {
min = getDistanceFromTag(Ered);
targetPose = Ered;
}
} else {
double min = getDistanceFromTag(Bred);
targetPose = Ablue;

if (min > getDistanceFromTag(Dred)){
min = getDistanceFromTag(Dred);
targetPose = Dred;
}
if (min > getDistanceFromTag(Lred)) {
min = getDistanceFromTag(Lred);
targetPose = Lred;
}
if (min > getDistanceFromTag(Jred)) {
min = getDistanceFromTag(Jred);
targetPose = Jred;
}
if (min > getDistanceFromTag(Hred)) {
min = getDistanceFromTag(Hred);
targetPose = Hred;
}
if (min > getDistanceFromTag(Fred)) {
min = getDistanceFromTag(Fred);
targetPose = Fred;
}
}

} 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 targetPose;

}

@Override
public void execute() {
Expand Down Expand Up @@ -306,8 +124,7 @@ public void execute() {

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

@Override
Expand Down