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Applied speed limits for Auto Align #34

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Merged
pix-xl merged 1 commit into from
Apr 1, 2025
Merged

Applied speed limits for Auto Align #34

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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 @@ -56,7 +56,8 @@ public static ReefFace getClosestReefFace(Pose2d robotPose){
}

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

public Command directDriveToNearestLeftBranch() {
Expand Down
42 changes: 16 additions & 26 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 @@ -4,25 +4,15 @@
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.PIDController;
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.units.measure.Angle;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.wpilibj2.command.Command;
Expand Down Expand Up @@ -82,7 +72,7 @@ public AutoAlign(Pose2d targetPose) {
*/
public AutoAlign(
CommandSwerveDrivetrain drivetrainSubsystem,
Supplier<Pose2d> poseProvider) {
Supplier<Pose2d> goalPose) {

// this.drivetrainSubsystem = CommandSwerveDrivetrain.getInstance();
// this.poseProvider = () -> PoseEstimatorSubsystem.getInstance().getCurrentPose();
Expand Down Expand Up @@ -111,12 +101,20 @@ public void setGoal(Pose2d goalPose) {
yController.setSetpoint(goalPose.getY());
}

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);
}

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

@Override
Expand All @@ -138,10 +136,12 @@ public void execute() {
omegaSpeed = 0;
}

ChassisSpeeds speeds = applyLimits(new ChassisSpeeds(xSpeed, ySpeed, omegaSpeed));

CommandSwerveDrivetrain.getInstance().applyRequest( () ->
RobotContainer.drive.withVelocityX(xSpeed)
.withVelocityY(ySpeed)
.withRotationalRate(omegaSpeed)
RobotContainer.drive.withVelocityX(speeds.vxMetersPerSecond)
.withVelocityY(speeds.vyMetersPerSecond)
.withRotationalRate(speeds.omegaRadiansPerSecond)
).execute();
// drivetrainSubsystem.setControl(
// fieldCentricSwerveRequest.withVelocityX(xSpeed).withVelocityY(ySpeed).withRotationalRate(omegaSpeed));
Expand All @@ -156,14 +156,4 @@ public boolean isFinished() {
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);
}

}