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

ljbaFUYBGRFO'IAWHE #36

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127 changes: 68 additions & 59 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 @@ -63,6 +63,8 @@ public class AutoAlign extends Command {
double xSpeed;
double ySpeed;
double omegaSpeed;
Supplier<ReefFace> nearestReefFace;
boolean isLeftAlign;

private final static CommandSwerveDrivetrain drivetrainSubsystem = CommandSwerveDrivetrain.getInstance();
// private final FieldCentric fieldCentricSwerveRequest = new FieldCentric()
Expand All @@ -84,69 +86,16 @@ public class AutoAlign extends Command {
public AutoAlign(Supplier<Pose2d> targetPose, Supplier<ReefFace> nearestReefFace, boolean isLeftAlign) {
this(drivetrainSubsystem, poseProvider);
this.goalPose2d = targetPose.get();
this.nearestReefFace = nearestReefFace;
this.isLeftAlign = isLeftAlign;

//we are getting ATag Pose
//firstly if elevator is L4, update the AprilTag X, Y
//need to do - transform for left or right wrist
//else
//need to do - transform for left or right wrist
boolean isRightWrist = (RushinatorWrist.kLastState == RushinatorWrist.State.kTravelRight) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kTravelL4Right) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL4RightWrist) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL3RightWrist) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL2RightWrist) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL1Mid) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kGroundMid) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kHPMid);
boolean isElevatorL4 = (ElevatorSubsystem.kLastState == ElevatorSubsystem.State.kCoralL4) ||
(ElevatorSubsystem.kLastState == ElevatorSubsystem.State.kCoralL4AutonScore) ||
(ElevatorSubsystem.kLastState == ElevatorSubsystem.State.kCoralScoreL4);

SmartDashboard.putBoolean("isRightWrist - AutoAlign", isRightWrist);
SmartDashboard.putBoolean("isElevatorL4 - AutoAlign", isElevatorL4);
SmartDashboard.putString("elevator kLastState - AutoAlign", ElevatorSubsystem.kLastState.name());
SmartDashboard.putString("alliance - AutoAlign", DriverStation.getAlliance().toString());
SmartDashboard.putBoolean("requesting lineup left branch - AutoAlign", isLeftAlign);
SmartDashboard.putString("nearest ReefFace accessed - AutoAlign", nearestReefFace.get().name());
if(isElevatorL4 == true) {
System.out.println("REACHED ELEVATOR L4 IF STATEMENT IN AUTOALIGN");
ReefFace newReefFace = updateReefFace(nearestReefFace.get());
SmartDashboard.putString("updated ReefFace - AutoAlign", newReefFace.name());
goalPose2d = new Pose2d(newReefFace.aprilTagX, newReefFace.aprilTagY, Rotation2d.fromDegrees(newReefFace.aprilTagTheta));
if(isRightWrist) {
if(isLeftAlign) {
goalPose2d = goalPose2d.transformBy(leftBranchTransformRightWrist);
}
else {
goalPose2d = goalPose2d.transformBy(rightBranchTransformRightWrist);
}
}
else {
if(isLeftAlign) {
goalPose2d = goalPose2d.transformBy(leftBranchTransformLeftWrist);
}
else {
goalPose2d = goalPose2d.transformBy(rightBranchTransformLeftWrist);
}
}
}
else {
if(isRightWrist) {
if(isLeftAlign) {
goalPose2d = goalPose2d.transformBy(leftBranchTransformRightWrist);
}
else {
goalPose2d = goalPose2d.transformBy(rightBranchTransformRightWrist);
}
}
else {
if(isLeftAlign) {
goalPose2d = goalPose2d.transformBy(leftBranchTransformLeftWrist);
}
else {
goalPose2d = goalPose2d.transformBy(rightBranchTransformLeftWrist);
}
}
}



goalPose2d = Conversions.rotatePose(goalPose2d.transformBy(robotOffset), Rotation2d.kZero);

Expand Down Expand Up @@ -264,6 +213,66 @@ public void initialize() {
public void execute() {
var robotPose = poseProvider.get();

boolean isRightWrist = (RushinatorWrist.kLastState == RushinatorWrist.State.kTravelRight) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kTravelL4Right) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL4RightWrist) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL3RightWrist) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL2RightWrist) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kScoreL1Mid) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kGroundMid) ||
(RushinatorWrist.kLastState == RushinatorWrist.State.kHPMid);
boolean isElevatorL4 = (ElevatorSubsystem.kLastState == ElevatorSubsystem.State.kCoralL4) ||
(ElevatorSubsystem.kLastState == ElevatorSubsystem.State.kCoralL4AutonScore) ||
(ElevatorSubsystem.kLastState == ElevatorSubsystem.State.kCoralScoreL4);

SmartDashboard.putBoolean("isRightWrist - AutoAlign", isRightWrist);
SmartDashboard.putBoolean("isElevatorL4 - AutoAlign", isElevatorL4);
SmartDashboard.putString("elevator kLastState - AutoAlign", ElevatorSubsystem.kLastState.name());
SmartDashboard.putString("alliance - AutoAlign", DriverStation.getAlliance().toString());
SmartDashboard.putBoolean("requesting lineup left branch - AutoAlign", isLeftAlign);
SmartDashboard.putString("nearest ReefFace accessed - AutoAlign", nearestReefFace.get().name());

if(isElevatorL4 == true) {
System.out.println("REACHED ELEVATOR L4 IF STATEMENT IN AUTOALIGN");
ReefFace newReefFace = updateReefFace(nearestReefFace.get());
SmartDashboard.putString("updated ReefFace - AutoAlign", newReefFace.name());
goalPose2d = new Pose2d(newReefFace.aprilTagX, newReefFace.aprilTagY, Rotation2d.fromDegrees(newReefFace.aprilTagTheta));
if(isRightWrist) {
if(isLeftAlign) {
goalPose2d = goalPose2d.transformBy(leftBranchTransformRightWrist);
}
else {
goalPose2d = goalPose2d.transformBy(rightBranchTransformRightWrist);
}
}
else {
if(isLeftAlign) {
goalPose2d = goalPose2d.transformBy(leftBranchTransformLeftWrist);
}
else {
goalPose2d = goalPose2d.transformBy(rightBranchTransformLeftWrist);
}
}
}
else {
if(isRightWrist) {
if(isLeftAlign) {
goalPose2d = goalPose2d.transformBy(leftBranchTransformRightWrist);
}
else {
goalPose2d = goalPose2d.transformBy(rightBranchTransformRightWrist);
}
}
else {
if(isLeftAlign) {
goalPose2d = goalPose2d.transformBy(leftBranchTransformLeftWrist);
}
else {
goalPose2d = goalPose2d.transformBy(rightBranchTransformLeftWrist);
}
}
}

xSpeed = xController.calculate(robotPose.getX(), this.goalPose2d.getX());
if (xController.atSetpoint()) {
xSpeed = 0;
Expand All @@ -279,7 +288,7 @@ public void execute() {
omegaSpeed = 0;
}

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

// CommandSwerveDrivetrain.getInstance().applyRequest( () ->
// RobotContainer.drive.withVelocityX(speeds.vxMetersPerSecond)
Expand Down