From 8af521825f1a7b9c3f16ad66bf018be0224d7b9c Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Sat, 2 Nov 2024 22:50:08 -0700 Subject: [PATCH 1/2] add force ff, fix swerve sim --- choreo.chor | 2468 ++++++++--------- simgui.json | 10 + src/main/deploy/choreo/amp 4 local.1.traj | 876 +++--- src/main/deploy/choreo/amp 4 local.2.traj | 909 +++--- src/main/deploy/choreo/amp 4 local.3.traj | 695 +++-- src/main/deploy/choreo/amp 4 local.traj | 2436 ++++++++-------- .../subsystems/shooter/ShooterIOSim.java | 2 +- .../frc/robot/subsystems/swerve/Module.java | 19 +- .../frc/robot/subsystems/swerve/ModuleIO.java | 2 +- .../robot/subsystems/swerve/ModuleIOReal.java | 10 +- .../robot/subsystems/swerve/ModuleIOSim.java | 11 +- .../subsystems/swerve/SwerveSubsystem.java | 86 +- vendordeps/ChoreoLib.json | 9 +- 13 files changed, 3594 insertions(+), 3939 deletions(-) diff --git a/choreo.chor b/choreo.chor index 4c01eec3..3a08f5bd 100644 --- a/choreo.chor +++ b/choreo.chor @@ -22,7 +22,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - 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"velocityX": 0.17404421824625813, - "velocityY": -0.08055745979575053, + "angularVelocity": 1.828823772018379e-23, + "velocityX": 0.1926646106810067, + "velocityY": -0.08917602541119066, "moduleForcesX": [ - -52.86942576358611, - -52.86942576358611, - -52.86942576358611, - -52.86942576358611 + -63.47722409009892, + -63.47722409009892, + -63.47722409009892, + -63.47722409009892 ], "moduleForcesY": [ - 24.470945850946546, - 24.470945850946546, - 24.470945850946546, - 24.470945850946546 + 29.380831946676455, + 29.380831946676455, + 29.380831946676455, + 29.380831946676455 ], - "timestamp": 6.361668726385151 + "timestamp": 5.812846293541931 }, { "x": 2.531447649002075, "y": 4.356794834136963, "heading": -0.5412356183232561, - "angularVelocity": 1.4766575121958547e-25, - "velocityX": 1.1572658590616387e-19, - "velocityY": 2.5061165774890407e-19, + "angularVelocity": 6.096089402006958e-24, + "velocityX": 6.182486683998892e-19, + "velocityY": 1.3368870554943594e-18, "moduleForcesX": [ - -52.87705810406985, - -52.87705810406985, - -52.87705810406985, - -52.87705810406985 + -63.48707599194848, + -63.48707599194848, + -63.48707599194848, + -63.48707599194848 ], "moduleForcesY": [ - 24.474478527687335, - 24.474478527687335, - 24.474478527687335, - 24.474478527687335 + 29.385391961339145, + 29.385391961339145, + 29.385391961339145, + 29.385391961339145 ], - "timestamp": 6.422633653809685 + "timestamp": 5.869055100698423 } ], "eventMarkers": [] diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java index dbdc5793..af8d11ad 100644 --- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java +++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java @@ -35,7 +35,7 @@ public class ShooterIOSim implements ShooterIO { new DCMotorSim(DCMotor.getKrakenX60Foc(1), ShooterSubsystem.FLYWHEEL_RATIO, 0.001); ProfiledPIDController pivotController = - new ProfiledPIDController(1.0, 0.0, 1.0, new Constraints(10.0, 10.0)); + new ProfiledPIDController(100.0, 0.0, 1.0, new Constraints(10.0, 10.0)); ArmFeedforward pivotFF = new ArmFeedforward(0.0, 0.12, 0.8); private final PIDController leftFlywheelController = new PIDController(0.5, 0.0, 0.0); diff --git a/src/main/java/frc/robot/subsystems/swerve/Module.java b/src/main/java/frc/robot/subsystems/swerve/Module.java index 44bd5f3c..a4a65e57 100644 --- a/src/main/java/frc/robot/subsystems/swerve/Module.java +++ b/src/main/java/frc/robot/subsystems/swerve/Module.java @@ -64,24 +64,27 @@ public void periodic() { /** Runs the module closed loop with the specified setpoint state. Returns the optimized state. */ public SwerveModuleState runSetpoint(SwerveModuleState state) { - final var optimizedState = SwerveModuleState.optimize(state, getAngle()); - return runSetpoint( - state, - (optimizedState.speedMetersPerSecond - lastSetpoint.speedMetersPerSecond) - / (Timer.getFPGATimestamp() - lastTime)); + return runSetpoint(state, 0.0, 0.0); } /** Runs the module closed loop with the specified setpoint state. Returns the optimized state. */ - public SwerveModuleState runSetpoint(SwerveModuleState state, double accel) { + public SwerveModuleState runSetpoint( + SwerveModuleState state, double forceXNewtons, double forceYNewtons) { // Optimize state based on current angle final var optimizedState = SwerveModuleState.optimize(state, getAngle()); + // force on the motor is the total force vector projected onto the velocity vector + // to project a onto b take ||a||*cos(theta) where theta is the angle between the two vectors + // We want the magnitude of the projection, so we can ignore the direction of this later + final var theta = Math.atan2(forceYNewtons, forceXNewtons) - optimizedState.angle.getRadians(); + final double forceNewtons = Math.hypot(forceXNewtons, forceYNewtons) * Math.cos(theta); io.setTurnSetpoint(optimizedState.angle); io.setDriveSetpoint( optimizedState.speedMetersPerSecond * Math.cos(optimizedState.angle.minus(inputs.turnPosition).getRadians()), - accel); - Logger.recordOutput(String.format("Swerve/%s Module/Accel Setpoint", inputs.prefix), accel); + forceNewtons); + Logger.recordOutput( + String.format("Swerve/%s Module/Force Feedforward", inputs.prefix), forceNewtons); lastSetpoint = optimizedState; lastTime = Timer.getFPGATimestamp(); return optimizedState; diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java index f9007018..ed007113 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java @@ -51,7 +51,7 @@ public default void setDriveSetpoint(final double metersPerSecond) { } /** Use onboard PIDF to run the drive motor at the specified speed */ - public void setDriveSetpoint(final double metersPerSecond, final double metersPerSecondSquared); + public void setDriveSetpoint(final double metersPerSecond, final double forceNewtons); /** Run the turn motor at the specified voltage. */ public void setTurnVoltage(final double volts); diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java index 7d8343a1..4dff7dc2 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java @@ -29,6 +29,7 @@ import com.google.common.collect.ImmutableSet; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.math.util.Units; import frc.robot.subsystems.swerve.Module.ModuleConstants; import frc.robot.subsystems.swerve.PhoenixOdometryThread.Registration; @@ -54,6 +55,7 @@ public class ModuleIOReal implements ModuleIO { private final ModuleConstants constants; // Hardware + // Must be accessible to sim subclass private final TalonFX driveTalon; private final TalonFX turnTalon; private final CANcoder cancoder; @@ -245,19 +247,17 @@ public void setTurnVoltage(final double volts) { } @Override - public void setDriveSetpoint(final double metersPerSecond, final double metersPerSecondSquared) { + public void setDriveSetpoint(final double metersPerSecond, final double forceNewtons) { // Doesnt actually refresh drive velocity signal, but should be cached if (metersPerSecond == 0 - && metersPerSecondSquared == 0 + && forceNewtons == 0 && MathUtil.isNear(0.0, driveVelocity.getValueAsDouble(), 0.1)) { setDriveVoltage(0.0); } else { driveTalon.setControl( driveControlVelocity .withVelocity(metersPerSecond) - .withAcceleration(metersPerSecondSquared) - // .withFeedForward(metersPerSecondSquared * kAVoltsPerMeterPerSecondSquared) - ); + .withFeedForward(forceNewtons / DCMotor.getKrakenX60Foc(1).KtNMPerAmp)); } } diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java index 3a3c2328..10b494b3 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java @@ -33,11 +33,12 @@ public class ModuleIOSim implements ModuleIO { private final ModuleConstants constants; + private static final DCMotor driveMotor = DCMotor.getKrakenX60Foc(1); private final DCMotorSim driveSim = // Third param is the moment of inertia of the swerve wheel // Used to approximate the robot inertia, not perfect but fine for the // Fidelity of simulation we are targeting - new DCMotorSim(DCMotor.getKrakenX60Foc(1), Module.DRIVE_GEAR_RATIO, 0.025); + new DCMotorSim(driveMotor, Module.DRIVE_GEAR_RATIO, 0.025); private final DCMotorSim turnSim = // Third param is the moment of inertia of the swerve steer new DCMotorSim(DCMotor.getKrakenX60Foc(1), Module.TURN_GEAR_RATIO, 0.004); @@ -87,11 +88,15 @@ public void setTurnVoltage(final double volts) { } @Override - public void setDriveSetpoint(final double metersPerSecond, final double metersPerSecondSquared) { + public void setDriveSetpoint(final double metersPerSecond, final double forceNewtons) { setDriveVoltage( driveController.calculate( driveSim.getAngularVelocityRadPerSec() * Module.WHEEL_RADIUS, metersPerSecond) - + driveFeedforward.calculate(metersPerSecond)); + + driveFeedforward.calculate(metersPerSecond) + + ((forceNewtons * Module.WHEEL_RADIUS * Math.PI * 2.0) + * driveMotor.rOhms + / driveMotor.KtNMPerAmp) + + (driveSim.getAngularVelocityRadPerSec() / driveMotor.KvRadPerSecPerVolt)); } @Override diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 61bdbe18..0e86c90d 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -19,13 +19,10 @@ import com.choreo.lib.Choreo; import com.choreo.lib.ChoreoControlFunction; import com.choreo.lib.ChoreoTrajectory; +import com.choreo.lib.ChoreoTrajectoryState; import com.ctre.phoenix6.SignalLogger; import com.google.common.collect.Streams; -import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.util.HolonomicPathFollowerConfig; -import com.pathplanner.lib.util.PIDConstants; import com.pathplanner.lib.util.PathPlannerLogging; -import com.pathplanner.lib.util.ReplanningConfig; import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.apriltag.AprilTagFields; import edu.wpi.first.math.MatBuilder; @@ -74,6 +71,7 @@ import frc.robot.Robot.RobotMode; import frc.robot.subsystems.swerve.Module.ModuleConstants; import frc.robot.subsystems.swerve.OdometryThreadIO.OdometryThreadIOInputs; +import frc.robot.subsystems.swerve.PhoenixOdometryThread.Samples; import frc.robot.subsystems.swerve.PhoenixOdometryThread.SignalID; import frc.robot.subsystems.swerve.PhoenixOdometryThread.SignalType; import frc.robot.subsystems.swerve.SwerveSubsystem.AutoAimStates; @@ -88,10 +86,12 @@ import frc.robot.utils.autoaim.ShotData; import java.io.File; import java.util.Arrays; +import java.util.List; +import java.util.Map; import java.util.NoSuchElementException; import java.util.Optional; +import java.util.function.BiConsumer; import java.util.function.BooleanSupplier; -import java.util.function.Consumer; import java.util.function.DoubleSupplier; import java.util.function.Supplier; import org.littletonrobotics.junction.AutoLogOutput; @@ -256,27 +256,6 @@ public SwerveSubsystem( // mildly questionable VisionIOSim.pose = this::getPose3d; - AutoBuilder.configureHolonomic( - this::getPose, // Robot pose supplier - this::setPose, // Method to reset odometry (will be called if your auto has a starting pose) - this::getRobotRelativeSpeeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE - this::runVelocity, // Method that will drive the robot given ROBOT RELATIVE - // ChassisSpeeds - new HolonomicPathFollowerConfig( // HolonomicPathFollowerConfig, this should likely live in - // your Constants class - new PIDConstants(10.0, 0.0, 0.0), // Translation PID constants - new PIDConstants(20.0, 0.0, 0.0), // Rotation PID constants - MAX_LINEAR_SPEED, // Max module speed, in m/s - DRIVE_BASE_RADIUS, // Drive base radius in meters. Distance from robot center to - // furthest module. - new ReplanningConfig( - false, false) // Default path replanning config. See the API for the options - // here - ), - () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red, - this // Reference to this subsystem to set requirements - ); - PathPlannerLogging.setLogTargetPoseCallback( (pose) -> { Logger.recordOutput("PathPlanner/Target", pose); @@ -431,6 +410,8 @@ public void periodic() { private void updateOdometry() { Logger.recordOutput("Swerve/Updates Since Last", odoThreadInputs.sampledStates.size()); var sampleStates = odoThreadInputs.sampledStates; + if (sampleStates.size() == 0 || sampleStates.get(0).values().isEmpty()) + sampleStates = getSyncSamples(); var i = 0; for (var sample : sampleStates) { i++; @@ -518,6 +499,24 @@ private void updateOdometry() { } } + /** Generates a set of samples without using the async thread */ + private List getSyncSamples() { + return List.of( + new Samples( + Logger.getTimestamp(), + Map.of( + new SignalID(SignalType.DRIVE, 0), modules[0].getPosition().distanceMeters, + new SignalID(SignalType.STEER, 0), modules[0].getPosition().angle.getRotations(), + new SignalID(SignalType.DRIVE, 1), modules[1].getPosition().distanceMeters, + new SignalID(SignalType.STEER, 1), modules[1].getPosition().angle.getRotations(), + new SignalID(SignalType.DRIVE, 2), modules[2].getPosition().distanceMeters, + new SignalID(SignalType.STEER, 2), modules[2].getPosition().angle.getRotations(), + new SignalID(SignalType.DRIVE, 3), modules[3].getPosition().distanceMeters, + new SignalID(SignalType.STEER, 3), modules[3].getPosition().angle.getRotations(), + new SignalID(SignalType.GYRO, PhoenixOdometryThread.GYRO_MODULE_ID), + gyroInputs.yawPosition.getRotations()))); + } + private void updateVision() { for (var camera : cameras) { PhotonPipelineResult result = @@ -541,7 +540,16 @@ private void updateVision() { } } - private void runVelocity(ChassisSpeeds speeds) { + /** + * Runs the drivetrain at the given robot relative speeds + * + * @param speeds robot relative target speeds + * @param moduleForcesX field relative force feedforward to apply to the modules. Must have the + * same number of elements as there are modules. + * @param moduleForcesY field relative force feedforward to apply to the modules. Must have the + * same number of elements as there are modules. + */ + private void runVelocity(ChassisSpeeds speeds, double[] moduleForcesX, double[] moduleForcesY) { // Calculate module setpoints ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.02); SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds); @@ -564,6 +572,11 @@ private void runVelocity(ChassisSpeeds speeds) { Logger.recordOutput("SwerveStates/SetpointsOptimized", optimizedSetpointStates); } + private void runVelocity(ChassisSpeeds speeds) { + // do the allocations here matter? + runVelocity(speeds, new double[4], new double[4]); + } + /** * Runs the drive at the desired velocity. * @@ -667,7 +680,9 @@ public Command runChoreoTraj(ChoreoTrajectory traj, boolean resetPose) { new PIDController(1.5, 0.0, 0.0), new PIDController(1.5, 0.0, 0.0), new PIDController(3.0, 0.0, 0.0)), - (ChassisSpeeds speeds) -> this.runVelocity(speeds), + (ChassisSpeeds speeds, ChoreoTrajectoryState state) -> { + this.runVelocity(speeds); + }, () -> { Optional alliance = DriverStation.getAlliance(); return alliance.isPresent() && alliance.get() == Alliance.Red; @@ -698,8 +713,8 @@ public Command runChoreoTraj(ChoreoTrajectory traj, boolean resetPose) { * freedom. You can also pass in a function with the signature (Pose2d currentPose, * ChoreoTrajectoryState referenceState) -> ChassisSpeeds to implement a custom follower * (i.e. for logging). - * @param outputChassisSpeeds A function that consumes the target robot-relative chassis speeds - * and commands them to the robot. + * @param outputCallback A function that consumes the target robot-relative chassis speeds and + * commands them to the robot. * @param mirrorTrajectory If this returns true, the path will be mirrored to the opposite side, * while keeping the same coordinate system origin. This will be called every loop during the * command. @@ -710,7 +725,7 @@ public Command choreoFullFollowSwerveCommand( ChoreoTrajectory trajectory, Supplier poseSupplier, ChoreoControlFunction controller, - Consumer outputChassisSpeeds, + BiConsumer outputCallback, BooleanSupplier mirrorTrajectory, Subsystem... requirements) { var timer = new Timer(); @@ -730,15 +745,14 @@ public Command choreoFullFollowSwerveCommand( Logger.recordOutput( "Choreo/Target Speeds", trajectory.sample(timer.get(), mirrorTrajectory.getAsBoolean()).getChassisSpeeds()); - outputChassisSpeeds.accept( - controller.apply( - poseSupplier.get(), - trajectory.sample(timer.get(), mirrorTrajectory.getAsBoolean()))); + var state = trajectory.sample(timer.get(), mirrorTrajectory.getAsBoolean()); + outputCallback.accept(controller.apply(poseSupplier.get(), state), state); }, (interrupted) -> { timer.stop(); // if (interrupted) { - outputChassisSpeeds.accept(new ChassisSpeeds()); + outputCallback.accept( + new ChassisSpeeds(), trajectory.sample(timer.get(), mirrorTrajectory.getAsBoolean())); // } else { // outputChassisSpeeds.accept(trajectory.getFinalState().getChassisSpeeds()); // } diff --git a/vendordeps/ChoreoLib.json b/vendordeps/ChoreoLib.json index 0f21a0f5..2d7fbce1 100644 --- a/vendordeps/ChoreoLib.json +++ b/vendordeps/ChoreoLib.json @@ -1,18 +1,19 @@ { "fileName": "ChoreoLib.json", "name": "ChoreoLib", - "version": "2024.2.2", + "version": "2024.2.3", "uuid": "287cff6e-1b60-4412-8059-f6834fb30e30", "frcYear": "2024", "mavenUrls": [ - "https://SleipnirGroup.github.io/ChoreoLib/dep" + "https://SleipnirGroup.github.io/ChoreoLib/dep", + "https://repo1.maven.org/maven2" ], "jsonUrl": "https://SleipnirGroup.github.io/ChoreoLib/dep/ChoreoLib.json", "javaDependencies": [ { "groupId": "com.choreo.lib", "artifactId": "ChoreoLib-java", - "version": "2024.2.2" + "version": "2024.2.3" }, { "groupId": "com.google.code.gson", @@ -25,7 +26,7 @@ { "groupId": "com.choreo.lib", "artifactId": "ChoreoLib-cpp", - "version": "2024.2.2", + "version": "2024.2.3", "libName": "ChoreoLib", "headerClassifier": "headers", "sharedLibrary": false, From e79d048295c998ce95eff6b8112c020493d9b543 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden Date: Sun, 3 Nov 2024 15:03:55 -0800 Subject: [PATCH 2/2] fix swerve sim orientation and force ff signs --- choreo.chor | 12493 ++++++++++------ src/main/deploy/choreo/center 4.1.traj | 1899 ++- src/main/deploy/choreo/center 4.2.traj | 1902 ++- src/main/deploy/choreo/center 4.3.traj | 1902 ++- src/main/deploy/choreo/center 4.traj | 5687 +++++-- src/main/deploy/choreo/line test.traj | 941 +- src/main/deploy/choreo/source 3.1.traj | 2742 ++-- src/main/deploy/choreo/source 3.2.traj | 2752 ++-- src/main/deploy/choreo/source 3.traj | 5542 +++---- .../frc/robot/subsystems/swerve/Module.java | 5 +- .../robot/subsystems/swerve/ModuleIOReal.java | 77 +- .../robot/subsystems/swerve/ModuleIOSim.java | 36 +- .../subsystems/swerve/SwerveSubsystem.java | 27 +- 13 files changed, 23248 insertions(+), 12757 deletions(-) diff --git a/choreo.chor b/choreo.chor index 3a08f5bd..b5e3056e 100644 --- a/choreo.chor +++ b/choreo.chor @@ -15889,9 +15889,9 @@ "x": 0.7778744697570801, "y": 4.333664894104004, "heading": -1.051650156247713, - "angularVelocity": -1.595681461469011e-18, - "velocityX": 6.125258661649382e-18, - "velocityY": -3.9185398661174254e-18, + "angularVelocity": -1.32914106586184e-18, + "velocityX": 8.094866971245478e-18, + "velocityY": -2.049546984148655e-18, "moduleForcesX": [ 0, 0, @@ -15907,3792 +15907,3792 @@ "timestamp": 0 }, { - "x": 0.7908719793717547, - "y": 4.323476837419779, - "heading": -1.0413708097375791, - "angularVelocity": 0.15431550267789765, - "velocityX": 0.19512108359923522, - "velocityY": -0.1529450424681367, + "x": 0.7908719793717155, + "y": 4.323476837419611, + "heading": -1.0413708097378718, + "angularVelocity": 0.1543155026732385, + "velocityX": 0.195121083598309, + "velocityY": -0.1529450424703773, "moduleForcesX": 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optimizedState.angle.getRadians(); + final var theta = Math.atan2(forceYNewtons, forceXNewtons) - inputs.turnPosition.getRadians(); final double forceNewtons = Math.hypot(forceXNewtons, forceYNewtons) * Math.cos(theta); io.setTurnSetpoint(optimizedState.angle); @@ -97,6 +97,9 @@ public SwerveModuleState runSetpoint( public SwerveModuleState runVoltageSetpoint(SwerveModuleState state, boolean focEnabled) { // Optimize state based on current angle final var optimizedState = SwerveModuleState.optimize(state, getAngle()); + Logger.recordOutput( + String.format("Swerve/%s Module/Voltage Target", inputs.prefix), + optimizedState.speedMetersPerSecond); io.setTurnSetpoint(optimizedState.angle); io.setDriveVoltage( diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java index 4dff7dc2..fd3b031b 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java @@ -52,6 +52,45 @@ public class ModuleIOReal implements ModuleIO { // Constants private static final boolean IS_TURN_MOTOR_INVERTED = true; + // Constant so sim can access it + public static final TalonFXConfiguration DRIVE_CONFIG = new TalonFXConfiguration(); + + static { + // Current limits + // TODO: Do we want to limit supply current? + DRIVE_CONFIG.CurrentLimits.SupplyCurrentLimit = 60.0; + DRIVE_CONFIG.CurrentLimits.SupplyCurrentLimitEnable = true; + // driveConfig.CurrentLimits.SupplyCurrentThreshold = 30.0; + // driveConfig.CurrentLimits.SupplyTimeThreshold = 0.5; + DRIVE_CONFIG.CurrentLimits.StatorCurrentLimit = 120.0; + DRIVE_CONFIG.CurrentLimits.StatorCurrentLimitEnable = true; + // Inverts + DRIVE_CONFIG.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; + DRIVE_CONFIG.MotorOutput.NeutralMode = NeutralModeValue.Brake; + // Sensor + // Meters per second + DRIVE_CONFIG.Feedback.SensorToMechanismRatio = Module.DRIVE_ROTOR_TO_METERS; + // Voltage Controls Gains + DRIVE_CONFIG.Slot0.kV = 2.381; + DRIVE_CONFIG.Slot0.kA = 0.65; + DRIVE_CONFIG.Slot0.kS = 0.04; + DRIVE_CONFIG.Slot0.kP = 2.0; + DRIVE_CONFIG.Slot0.kD = 0.2; + + // Current control gains + DRIVE_CONFIG.Slot1.kV = 0.0; + DRIVE_CONFIG.Slot1.kA = (9.37 / 483.0) / Module.DRIVE_ROTOR_TO_METERS; // 3.07135116146; + DRIVE_CONFIG.Slot1.kS = 14.0; + DRIVE_CONFIG.Slot1.kP = 100.0; + DRIVE_CONFIG.Slot1.kD = 1.0; + + DRIVE_CONFIG.TorqueCurrent.TorqueNeutralDeadband = 10.0; + + DRIVE_CONFIG.MotionMagic.MotionMagicCruiseVelocity = SwerveSubsystem.MAX_LINEAR_SPEED; + DRIVE_CONFIG.MotionMagic.MotionMagicAcceleration = SwerveSubsystem.MAX_LINEAR_ACCELERATION; + // driveConfig.MotionMagic.MotionMagicJerk = SwerveSubsystem.MAX_LINEAR_ACCELERATION / 0.1; + } + private final ModuleConstants constants; // Hardware @@ -90,43 +129,9 @@ public ModuleIOReal(ModuleConstants constants) { turnTalon = new TalonFX(constants.turnID(), "canivore"); cancoder = new CANcoder(constants.cancoderID(), "canivore"); - var driveConfig = new TalonFXConfiguration(); - // Current limits - // TODO: Do we want to limit supply current? - driveConfig.CurrentLimits.SupplyCurrentLimit = 60.0; - driveConfig.CurrentLimits.SupplyCurrentLimitEnable = true; - // driveConfig.CurrentLimits.SupplyCurrentThreshold = 30.0; - // driveConfig.CurrentLimits.SupplyTimeThreshold = 0.5; - driveConfig.CurrentLimits.StatorCurrentLimit = 120.0; - driveConfig.CurrentLimits.StatorCurrentLimitEnable = true; - // Inverts - driveConfig.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; - driveConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake; - // Sensor - // Meters per second - driveConfig.Feedback.SensorToMechanismRatio = Module.DRIVE_ROTOR_TO_METERS; - // Voltage Controls Gains - driveConfig.Slot0.kV = 2.381; - kAVoltsPerMeterPerSecondSquared = 0.65; - driveConfig.Slot0.kA = kAVoltsPerMeterPerSecondSquared; - driveConfig.Slot0.kS = 0.04; - driveConfig.Slot0.kP = 2.0; - driveConfig.Slot0.kD = 0.2; - - // Current control gains - driveConfig.Slot1.kV = 0.0; - driveConfig.Slot1.kA = (9.37 / 483.0) / Module.DRIVE_ROTOR_TO_METERS; // 3.07135116146; - driveConfig.Slot1.kS = 14.0; - driveConfig.Slot1.kP = 100.0; - driveConfig.Slot1.kD = 1.0; - - driveConfig.TorqueCurrent.TorqueNeutralDeadband = 10.0; - - driveConfig.MotionMagic.MotionMagicCruiseVelocity = SwerveSubsystem.MAX_LINEAR_SPEED; - driveConfig.MotionMagic.MotionMagicAcceleration = SwerveSubsystem.MAX_LINEAR_ACCELERATION; - // driveConfig.MotionMagic.MotionMagicJerk = SwerveSubsystem.MAX_LINEAR_ACCELERATION / 0.1; + kAVoltsPerMeterPerSecondSquared = DRIVE_CONFIG.Slot0.kA; - driveTalon.getConfigurator().apply(driveConfig); + driveTalon.getConfigurator().apply(DRIVE_CONFIG); var turnConfig = new TalonFXConfiguration(); // Current limits diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java index 10b494b3..2ebb0898 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java @@ -13,9 +13,12 @@ package frc.robot.subsystems.swerve; +import com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.sim.ChassisReference; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.wpilibj.simulation.DCMotorSim; @@ -34,6 +37,10 @@ public class ModuleIOSim implements ModuleIO { private final ModuleConstants constants; private static final DCMotor driveMotor = DCMotor.getKrakenX60Foc(1); + private final TalonFX driveTalon; + private final VoltageOut driveVoltage = new VoltageOut(0.0).withEnableFOC(true); + private final VelocityTorqueCurrentFOC driveControlVelocity = + new VelocityTorqueCurrentFOC(0.0).withSlot(1); private final DCMotorSim driveSim = // Third param is the moment of inertia of the swerve wheel // Used to approximate the robot inertia, not perfect but fine for the @@ -44,27 +51,33 @@ public class ModuleIOSim implements ModuleIO { new DCMotorSim(DCMotor.getKrakenX60Foc(1), Module.TURN_GEAR_RATIO, 0.004); private final Rotation2d turnAbsoluteInitPosition = new Rotation2d(Math.random() * 2.0 * Math.PI); - private double driveAppliedVolts = 0.0; private double turnAppliedVolts = 0.0; private final PIDController turnController = new PIDController(100.0, 0.0, 0.0); - private final PIDController driveController = new PIDController(0.3, 0.0, 0.0); - private final SimpleMotorFeedforward driveFeedforward = new SimpleMotorFeedforward(0.0, 2.0); public ModuleIOSim(final ModuleConstants constants) { this.constants = constants; + driveTalon = new TalonFX(constants.driveID()); + driveTalon.getConfigurator().apply(ModuleIOReal.DRIVE_CONFIG); } @Override public void updateInputs(final ModuleIOInputs inputs) { + final var driveSimState = driveTalon.getSimState(); + driveSimState.Orientation = ChassisReference.Clockwise_Positive; + // driveSimState.setSupplyVoltage(RoboRioSim.getVInVoltage()); + driveSim.setInput(driveSimState.getMotorVoltage()); + driveSim.update(LOOP_PERIOD_SECS); turnSim.update(LOOP_PERIOD_SECS); + driveSimState.setRotorVelocity( + (driveSim.getAngularVelocityRPM() / 60.0) * Module.DRIVE_GEAR_RATIO); inputs.prefix = constants.prefix(); inputs.drivePositionMeters = driveSim.getAngularPositionRad() * Module.WHEEL_RADIUS; inputs.driveVelocityMetersPerSec = driveSim.getAngularVelocityRadPerSec() * Module.WHEEL_RADIUS; - inputs.driveAppliedVolts = driveAppliedVolts; + inputs.driveAppliedVolts = driveSimState.getMotorVoltage(); inputs.driveCurrentAmps = new double[] {Math.abs(driveSim.getCurrentDrawAmps())}; inputs.turnAbsolutePosition = @@ -77,8 +90,7 @@ public void updateInputs(final ModuleIOInputs inputs) { @Override public void setDriveVoltage(final double volts, final boolean focEnabled) { - driveAppliedVolts = MathUtil.clamp(volts, -12.0, 12.0); - driveSim.setInputVoltage(driveAppliedVolts); + driveTalon.setControl(driveVoltage.withOutput(volts).withEnableFOC(focEnabled)); } @Override @@ -89,14 +101,8 @@ public void setTurnVoltage(final double volts) { @Override public void setDriveSetpoint(final double metersPerSecond, final double forceNewtons) { - setDriveVoltage( - driveController.calculate( - driveSim.getAngularVelocityRadPerSec() * Module.WHEEL_RADIUS, metersPerSecond) - + driveFeedforward.calculate(metersPerSecond) - + ((forceNewtons * Module.WHEEL_RADIUS * Math.PI * 2.0) - * driveMotor.rOhms - / driveMotor.KtNMPerAmp) - + (driveSim.getAngularVelocityRadPerSec() / driveMotor.KvRadPerSecPerVolt)); + driveTalon.setControl( + driveControlVelocity.withVelocity(metersPerSecond).withFeedForward(forceNewtons)); } @Override diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 0e86c90d..03b1c9d2 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -562,13 +562,24 @@ private void runVelocity(ChassisSpeeds speeds, double[] moduleForcesX, double[] ChassisSpeeds.fromRobotRelativeSpeeds(discreteSpeeds, getRotation())); // Send setpoints to modules - SwerveModuleState[] optimizedSetpointStates = - Streams.zip( - Arrays.stream(modules), Arrays.stream(setpointStates), (m, s) -> m.runSetpoint(s)) - .toArray(SwerveModuleState[]::new); + SwerveModuleState[] optimizedSetpointStates = new SwerveModuleState[modules.length]; + SwerveModuleState[] forceSetpoints = new SwerveModuleState[modules.length]; + for (int i = 0; i < optimizedSetpointStates.length; i++) { + var robotRelForceX = + moduleForcesX[i] * getRotation().getCos() - moduleForcesY[i] * getRotation().getSin(); + var robotRelForceY = + moduleForcesX[i] * getRotation().getSin() + moduleForcesY[i] * getRotation().getCos(); + forceSetpoints[i] = + new SwerveModuleState( + Math.hypot(moduleForcesX[i], moduleForcesY[i]), + new Rotation2d(moduleForcesX[i], moduleForcesY[i])); + optimizedSetpointStates[i] = + modules[i].runSetpoint(setpointStates[i], robotRelForceX, robotRelForceY); + } // Log setpoint states Logger.recordOutput("SwerveStates/Setpoints", setpointStates); + Logger.recordOutput("SwerveStates/ForceSetpoints", forceSetpoints); Logger.recordOutput("SwerveStates/SetpointsOptimized", optimizedSetpointStates); } @@ -681,7 +692,7 @@ public Command runChoreoTraj(ChoreoTrajectory traj, boolean resetPose) { new PIDController(1.5, 0.0, 0.0), new PIDController(3.0, 0.0, 0.0)), (ChassisSpeeds speeds, ChoreoTrajectoryState state) -> { - this.runVelocity(speeds); + this.runVelocity(speeds, state.moduleForcesX, state.moduleForcesY); }, () -> { Optional alliance = DriverStation.getAlliance(); @@ -745,6 +756,12 @@ public Command choreoFullFollowSwerveCommand( Logger.recordOutput( "Choreo/Target Speeds", trajectory.sample(timer.get(), mirrorTrajectory.getAsBoolean()).getChassisSpeeds()); + Logger.recordOutput( + "Choreo/X Forces", + trajectory.sample(timer.get(), mirrorTrajectory.getAsBoolean()).moduleForcesX); + Logger.recordOutput( + "Choreo/Y Forces", + trajectory.sample(timer.get(), mirrorTrajectory.getAsBoolean()).moduleForcesY); var state = trajectory.sample(timer.get(), mirrorTrajectory.getAsBoolean()); outputCallback.accept(controller.apply(poseSupplier.get(), state), state); },