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Merged
pix-xl merged 2 commits into from
Apr 1, 2025
Merged

Auto Align V3.5 #33

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dc4fb0e
Update AutoAlign.java
pix-xl Apr 1, 2025
2d580b5
fixed dumbahh code
pix-xl Apr 1, 2025
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243 changes: 142 additions & 101 deletions src/main/java/frc/robot/vision/commands/AutoAlign.java
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@@ -1,128 +1,169 @@
package frc.robot.vision.commands;

import static edu.wpi.first.apriltag.AprilTagFieldLayout.OriginPosition.kRedAllianceWallRightSide;
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 edu.wpi.first.units.Units.RotationsPerSecond;
import static frc.robot.vision.VisionConfig.*;
import static frc.robot.vision.VisionConfig.AlignmentConfig.*;

import org.photonvision.PhotonCamera;
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.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
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.units.measure.Angle;
import edu.wpi.first.units.measure.Distance;
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;


import java.util.function.Supplier;

/**
* Command to drive to a pose.
*/
public class AutoAlign extends Command {
private double x;
private double y;
private LinearVelocity kLineupSpeed = MetersPerSecond.of(.1);

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 final Pose2d targetPose;
private static boolean commandRan = false;

public AutoAlign(Pose2d targetPose) {
//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();
this.targetPose = targetPose;

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());

CommandSwerveDrivetrain.getInstance().applyRequest(() ->
RobotContainer.drive.withVelocityX(XOutput)
.withVelocityY(YOutput)
.withRotationalRate(thetaOutput)

).execute();

commandRan = true;
SmartDashboard.putBoolean("command ran", commandRan);
SmartDashboard.putString("Target Pose X", targetPose.toString());
SmartDashboard.putBoolean("X at target", xDistanceController.atSetpoint());
SmartDashboard.putBoolean("Y at target", yDistanceController.atSetpoint());
SmartDashboard.putBoolean("Theta at target", thetaController.atSetpoint());
//SmartDashboard.putNumber("TAG ID", tagID);

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;
double xSpeed;
double ySpeed;
double omegaSpeed;

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

/**
* Constructs a DriveToPoseCommand
*
* @param drivetrainSubsystem drivetrain subsystem
* @param goalPose goal pose to drive to
*/
public AutoAlign(Pose2d targetPose) {
this(drivetrainSubsystem, poseProvider, DEFAULT_XY_CONSTRAINTS, DEFAULT_OMEGA_CONSTRAINTS);
setGoal(targetPose);
}

/**
* 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 AutoAlign(
CommandSwerveDrivetrain drivetrainSubsystem,
Supplier<Pose2d> poseProvider,
TrapezoidProfile.Constraints translationConstraints,
TrapezoidProfile.Constraints omegaConstraints) {

// this.drivetrainSubsystem = CommandSwerveDrivetrain.getInstance();
// this.poseProvider = () -> PoseEstimatorSubsystem.getInstance().getCurrentPose();

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();

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

@Override
public boolean isFinished() {
return xDistanceController.atSetpoint() && yDistanceController.atSetpoint() && thetaController.atSetpoint();
ySpeed = yController.calculate(robotPose.getY());
if (yController.atGoal()) {
ySpeed = 0;
}

@Override
public void end(boolean interrupted) {
omegaSpeed = thetaController.calculate(robotPose.getRotation().getRadians());
if (thetaController.atGoal()) {
omegaSpeed = 0;
}


CommandSwerveDrivetrain.getInstance().applyRequest( () ->
RobotContainer.drive.withVelocityX(xSpeed)
.withVelocityY(ySpeed)
.withRotationalRate(omegaSpeed)
).execute();
// 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());
}

private ChassisSpeeds applyLimits(ChassisSpeeds speeds){
Translation2d translation = new Translation2d(speeds.vxMetersPerSecond, speeds.vyMetersPerSecond);
double magnitude = translation.getNorm();
if (magnitude < .07) return new ChassisSpeeds(0,0, speeds.omegaRadiansPerSecond);
Rotation2d angle = translation.getAngle();
magnitude = Math.min(magnitude, MAX_ALIGN_TRANSLATION_VELOCITY.in(MetersPerSecond));
return new ChassisSpeeds(magnitude * angle.getCos(), magnitude * angle.getSin(), speeds.omegaRadiansPerSecond);
}

}