diff --git a/notes/algaeLocations.PNG b/notes/algaeLocations.PNG new file mode 100644 index 00000000..fbda2862 Binary files /dev/null and b/notes/algaeLocations.PNG differ diff --git a/notes/fieldLocations.md b/notes/fieldLocations.md index 3ea8ec40..d9730e2f 100644 --- a/notes/fieldLocations.md +++ b/notes/fieldLocations.md @@ -10,6 +10,11 @@ These names should be used for naming auto paths and other tasks which require r Each scoring location on the reef should be identified by the letter shown in the diagram above. If there is ambiguity about what the letter refers to, it may be notated as ReefN where N is the letter for that location on the reef. +## Algae Reef Locations +![Map of the field with algae locations labeled](algaeLocations.PNG) + +Each algae removal site is identified by the letters of the two reef branches adjacent to it in alphabetical order. + ## Coral Station Locations ![A map of the field with locations marked around the coral stations](coralStationLabels.png) diff --git a/src/main/deploy/choreo/AtoB.traj b/src/main/deploy/choreo/AtoB.traj new file mode 100644 index 00000000..bcf37a9a --- /dev/null +++ b/src/main/deploy/choreo/AtoB.traj @@ -0,0 +1,116 @@ +{ + "name":"AtoB", + "version":1, + "snapshot":{ + "waypoints":[ + {"x":2.7247390747070312, "y":4.084929943084717, "heading":3.141592653589793, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.0569186210632324, "y":4.02510404586792, "heading":3.141592653589793, 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"fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"A.x", "val":3.1651506423950195}, "y":{"exp":"A.y", "val":4.182002544403076}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":46, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"A.x", "val":3.1651506423950195}, "y":{"exp":"A.y", "val":4.182002544403076}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"PLO.x", "val":1.550151228904724}, "y":{"exp":"PLO.y", "val":7.523398399353027}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, 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+3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":3.9681568145751953, "y":5.253054141998291, "heading":-1.0455529770312977, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.9681568145751953, "y":5.253054141998291, "heading":-1.0455529770312977, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.550151228904724, "y":7.523398399353027, "heading":-0.9350057865774468, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"K.x", "val":3.9681568145751953}, "y":{"exp":"K.y", "val":5.253054141998291}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, 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"snapshot":{ "waypoints":[ - {"x":3.691657066345215, "y":5.089337348937988, "heading":-1.0455529770312977, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.691657066345215, "y":5.089337348937988, "heading":-1.0455529770312977, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.0301326513290403, "y":6.979412078857422, "heading":-0.9350057865774468, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"L.x", "val":3.691657066345215}, "y":{"exp":"L.y", "val":5.089337348937988}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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"props":{"max":1.5}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}], + {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":1.15}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":1.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -25,8 +26,9 @@ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":{"exp":"0.01 m", "val":0.01}}}, "enabled":true}, - {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"1.5 m / s", "val":1.5}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}], + {"from":1, "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":1.15}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0 rad / s", "val":0.0}}}, "enabled":true}, + {"from":1, "to":2, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"slowaccel", "val":1.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -34,94 +36,94 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.37594,1.84423], + "waypoints":[0.0,1.23783,2.01946], "samples":[ - {"t":0.0, "x":1.03013, "y":6.97941, "heading":-0.93501, "vx":0.0, "vy":0.0, "omega":0.0, "ax":2.84746, "ay":-3.56868, "alpha":1.97071, "fx":[56.00692,37.39941,39.22004,53.57608], "fy":[-50.44518,-65.4405,-64.40864,-53.07005]}, - {"t":0.02293, "x":1.03088, "y":6.97847, "heading":-0.93501, 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"fx":[-14.8277,-17.47646,-16.13127,-13.45913], "fy":[21.06657,19.443,16.95435,18.59129]}, + {"t":2.07495, "x":3.69166, "y":5.08934, "heading":-1.04555, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/PRMtoB.traj b/src/main/deploy/choreo/PRMtoB.traj index a863e89e..7e8a0c8d 100644 --- a/src/main/deploy/choreo/PRMtoB.traj +++ b/src/main/deploy/choreo/PRMtoB.traj @@ -11,7 +11,7 @@ {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, {"from":1, "to":2, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.25}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.15}}, 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"vx":0.1057, "vy":0.12295, "omega":0.00011, "ax":-3.00838, "ay":-3.49907, "alpha":-0.00323, "fx":[-49.17045,-49.19679,-49.19227,-49.16594], "fy":[-57.21249,-57.18985,-57.19379,-57.21642]}, + {"t":1.93029, "x":3.68165, "y":2.97094, "heading":1.03499, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/PROtoD.traj b/src/main/deploy/choreo/PROtoD.traj index 67573fa4..2fcf76a6 100644 --- a/src/main/deploy/choreo/PROtoD.traj +++ b/src/main/deploy/choreo/PROtoD.traj @@ -10,7 +10,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, - {"from":2, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.25}}, "enabled":true}], + {"from":2, "to":1, "data":{"type":"MaxVelocity", "props":{"max":1.15}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -22,7 +22,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, - {"from":2, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":1.25}}}, "enabled":true}], + {"from":2, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":1.15}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -30,60 +30,60 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.29973,1.85258], + "waypoints":[0.0,1.31406,1.89238], "samples":[ - {"t":0.0, "x":1.63334, 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"fy":[-51.25724,-51.23122,-51.2388,-51.26481]}, + {"t":1.89238, "x":3.96775, "y":2.8036, "heading":1.03499, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/ROtoE.traj b/src/main/deploy/choreo/ROtoE.traj index b30213f4..bff576b2 100644 --- a/src/main/deploy/choreo/ROtoE.traj +++ b/src/main/deploy/choreo/ROtoE.traj @@ -10,7 +10,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.25}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":1.15}}, "enabled":true}], "targetDt":0.05 }, "params":{ @@ -22,7 +22,7 @@ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"17.548 m", "val":17.548}, "h":{"exp":"8.052 m", "val":8.052}}}, "enabled":false}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":1.25}}}, "enabled":true}], + {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"slow", "val":1.15}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -30,58 +30,58 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.98844,1.5904], + "waypoints":[0.0,1.00084,1.63262], "samples":[ - {"t":0.0, "x":7.04659, "y":1.88187, "heading":2.35619, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.29685, "ay":1.68221, "alpha":-0.03642, "fx":[-70.14995,-70.28385,-70.34056,-70.20685], 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"slowaccel":{ + "dimension":"LinAcc", + "var":{ + "exp":"1.5 m / s ^ 2", + "val":1.5 } } }, @@ -55,6 +62,20 @@ "val":1.0349851207246612 } }, + "CM":{ + "x":{ + "exp":"7.228332996368408 m", + "val":7.228332996368408 + }, + "y":{ + "exp":"GH.y", + "val":4.017168045043945 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, "D":{ "x":{ "exp":"3.967747211456299 m", @@ -111,6 +132,20 @@ "val":3.141592653589793 } }, + "GH":{ + "x":{ + "exp":"5.806319713592529 m", + "val":5.806319713592529 + }, + "y":{ + "exp":"4.017168045043945 m", + "val":4.017168045043945 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, "H":{ "x":{ "exp":"5.808465480804443 m", @@ -237,6 +272,34 @@ "val":1.5940473094638272 } }, + "N":{ + "x":{ + "exp":"8.08 m", + "val":8.08 + }, + "y":{ + "exp":"5 m", + "val":5.0 + }, + "heading":{ + "exp":"pi rad", + "val":3.141592653589793 + } + }, + "NI":{ + "x":{ + "exp":"7.929035186767578 m", + "val":7.929035186767578 + }, + "y":{ + "exp":"5.583443641662598 m", + "val":5.583443641662598 + }, + "heading":{ + "exp":"200 deg", + "val":3.490658503988659 + } + }, "PL":{ "x":{ "exp":"7.814075469970703 m", @@ -473,12 +536,12 @@ "val":0.0508 }, "vmax":{ - "exp":"4800 RPM", - "val":502.6548245743669 + "exp":"5000 RPM", + "val":523.5987755982989 }, "tmax":{ - "exp":"0.65 N * m", - "val":0.65 + "exp":"0.9 N * m", + "val":0.9 }, "cof":{ "exp":"1.5", diff --git a/src/main/deploy/choreo/starting location tester.traj b/src/main/deploy/choreo/starting location tester.traj deleted file mode 100644 index 4d0d178e..00000000 --- a/src/main/deploy/choreo/starting location tester.traj +++ /dev/null @@ -1,206 +0,0 @@ -{ - "name":"starting location tester", - "version":1, - "snapshot":{ - "waypoints":[ - {"x":7.1, "y":7.216524124145508, "heading":-2.095116885713791, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.1, "y":5.889204978942871, "heading":-1.0455529770312977, 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"fx":[-59.34451,77.95032,58.87988,-0.8455], "fy":[54.64301,-14.15667,55.42572,80.93953]}, - {"t":2.49979, "x":7.07632, "y":1.41777, "heading":1.00747, "vx":-0.0335, "vy":-2.48177, "omega":2.38828, "ax":0.93273, "ay":4.06812, "alpha":8.43313, "fx":[-45.27618,59.02152,48.41762,-1.16984], "fy":[66.75545,53.58508,64.75825,80.92532]}, - {"t":2.52383, "x":7.07578, "y":1.35927, "heading":1.0649, "vx":-0.01107, "vy":-2.38394, "omega":2.59106, "ax":0.63192, "ay":4.60065, "alpha":5.16098, "fx":[-29.00093,34.20889,36.94248,-0.82738], "fy":[75.30376,72.69472,71.9297,80.91916]}, - {"t":2.54788, "x":7.0757, "y":1.30327, "heading":1.12721, "vx":0.00412, "vy":-2.27332, "omega":2.71516, "ax":0.50486, "ay":4.82008, "alpha":2.93896, "fx":[-13.69108,20.69689,25.49731,0.51089], "fy":[79.59228,77.94382,76.74859,80.91188]}, - {"t":2.57193, "x":7.07594, "y":1.25, "heading":1.1925, "vx":0.01626, "vy":-2.15741, "omega":2.78583, "ax":0.43298, "ay":4.91042, "alpha":1.22127, "fx":[-1.53349,12.03358,14.78857,3.02491], "fy":[80.82293,79.90847,79.52415,80.84866]}, - {"t":2.59597, "x":7.07646, "y":1.19955, "heading":1.25949, "vx":0.02668, "vy":-2.03933, "omega":2.8152, "ax":0.37619, "ay":4.93434, "alpha":-0.15046, "fx":[7.12394,5.54953,5.16151,6.7652], "fy":[80.59429,80.71997,80.73744,80.6168]}, - {"t":2.62002, "x":7.07721, "y":1.15193, "heading":1.32718, "vx":0.03572, "vy":-1.92068, "omega":2.81158, "ax":0.3275, "ay":4.92142, "alpha":-1.29802, "fx":[12.88832,0.20008,-3.29548,11.62288], "fy":[79.93645,80.97793,80.84843,80.06085]}, - {"t":2.64406, "x":7.07816, "y":1.10717, "heading":1.39479, "vx":0.0436, "vy":-1.80234, "omega":2.78037, "ax":0.28624, "ay":4.88555, "alpha":-2.31166, "fx":[16.5186,-4.47493,-10.63298,17.30704], "fy":[79.31616,80.90269,80.22494,79.03387]}, - {"t":2.66811, "x":7.0793, "y":1.06524, "heading":1.46165, "vx":0.05048, "vy":-1.68486, "omega":2.72478, "ax":0.2501, "ay":4.83373, "alpha":-3.24053, "fx":[18.63556,-8.69851,-16.95902,23.37682], "fy":[78.8865,80.59419,79.138,77.47017]}, - {"t":2.69216, "x":7.08058, "y":1.02613, "heading":1.52717, "vx":0.05649, "vy":-1.56862, "omega":2.64686, "ax":0.21488, "ay":4.77096, "alpha":-4.09801, "fx":[19.68995,-12.58597,-22.39582,29.34358], "fy":[78.66319,80.10722,77.77998,75.43425]}, - {"t":2.7162, "x":7.082, "y":0.98979, "heading":1.59082, "vx":0.06166, "vy":-1.4539, "omega":2.54832, "ax":0.17646, "ay":4.70208, "alpha":-4.87653, "fx":[19.99972,-16.19935,-27.06135,34.79995], "fy":[78.61215,79.47773,76.28495,73.10512]}, - {"t":2.74025, "x":7.08354, "y":0.95618, "heading":1.65209, "vx":0.06591, "vy":-1.34083, "omega":2.43106, "ax":0.1324, "ay":4.63159, "alpha":-5.56384, "fx":[19.79065,-19.57286,-31.06358,39.50377], "fy":[78.68743,78.7332,74.74448,70.70542]}, - {"t":2.7643, "x":7.08516, "y":0.92528, "heading":1.71055, "vx":0.06909, "vy":-1.22946, "omega":2.29727, "ax":0.08232, "ay":4.56303, "alpha":-6.15364, "fx":[19.22623,-22.72599,-34.50056,43.38314], "fy":[78.84585,77.89691,73.21851,68.42633]}, - {"t":2.78834, "x":7.08684, "y":0.89704, "heading":1.76579, "vx":0.07107, "vy":-1.11974, "omega":2.14929, "ax":0.02725, "ay":4.49858, "alpha":-6.64857, "fx":[18.42745,-25.67043,-37.4626,46.48753], "fy":[79.05201,76.98987,71.74225,66.38848]}, - {"t":2.81239, "x":7.08856, "y":0.87141, "heading":1.81748, "vx":0.07172, "vy":-1.01156, "omega":1.98942, "ax":-0.03112, "ay":4.43907, "alpha":-7.05865, "fx":[17.48564,-28.41402,-40.03535,48.92851], "fy":[79.27893,76.03143,70.33029,64.64093]}, - {"t":2.83644, "x":7.09028, "y":0.84837, "heading":1.86531, "vx":0.07098, "vy":-0.90482, "omega":1.81969, "ax":-0.09113, "ay":4.38439, "alpha":-7.39815, "fx":[16.4709,-30.96275,-42.30302,50.83564], "fy":[79.50734,75.03961,68.97869,63.18008]}, - {"t":2.86048, "x":7.09196, "y":0.82788, "heading":1.90907, "vx":0.06878, "vy":-0.79939, "omega":1.64179, "ax":-0.15145, "ay":4.33372, "alpha":-7.68312, "fx":[15.43786,-33.32172,-44.3517,52.3322], "fy":[79.72423,74.03125,67.66555,61.97147]}, - {"t":2.88453, "x":7.09357, "y":0.80991, "heading":1.94855, "vx":0.06514, "vy":-0.69518, "omega":1.45704, "ax":-0.21123, "ay":4.28583, "alpha":-7.92996, "fx":[14.42969,-35.49556,-46.27243,53.5253], "fy":[79.92147,73.02205,66.35024,60.9666]}, - {"t":2.90857, "x":7.09507, "y":0.79443, "heading":1.98359, "vx":0.06006, "vy":-0.59212, "omega":1.26635, "ax":-0.27017, "ay":4.23912, "alpha":-8.15481, "fx":[13.48108,-37.48841,-48.16359,54.50399], "fy":[80.09453,72.02679,64.97148,60.11338]}, - {"t":2.93262, "x":7.09644, "y":0.78142, "heading":2.01404, "vx":0.05357, "vy":-0.49019, "omega":1.07026, "ax":-0.32839, "ay":4.19172, "alpha":-8.37362, "fx":[12.6204,-39.30385,-50.13166,55.34091], "fy":[80.2414,71.05947,63.44427,59.36164]}, - {"t":2.95667, "x":7.09763, "y":0.77085, "heading":2.03977, "vx":0.04567, "vy":-0.38939, "omega":0.8689, "ax":-0.38639, "ay":4.14141, "alpha":-8.60246, "fx":[11.87145,-40.94463,-52.28875,56.09505], "fy":[80.36166,70.13355,61.65614,58.66531]}, - {"t":2.98071, "x":7.09862, "y":0.76268, "heading":2.06067, "vx":0.03638, "vy":-0.2898, "omega":0.66204, "ax":-0.44481, "ay":4.08557, "alpha":-8.85792, "fx":[11.25486,-42.41244,-54.74389,56.81458], "fy":[80.45578,69.26217,59.46417,57.98274]}, - {"t":3.00476, "x":7.09937, "y":0.75689, "heading":2.07659, "vx":0.02568, "vy":-0.19156, "omega":0.44904, "ax":-0.50409, "ay":4.02119, "alpha":-9.15714, "fx":[10.78923,-43.70757,-57.58438,57.53928], "fy":[80.52449,68.45844,56.69651,57.27603]}, - {"t":3.02881, "x":7.09984, "y":0.75345, "heading":2.08739, "vx":0.01356, "vy":-0.09487, "omega":0.22885, "ax":-0.56395, "ay":3.94512, "alpha":-9.51688, "fx":[10.49208,-44.82845,-60.84391,58.30244], "fy":[80.56826,67.73578,53.16646,56.51]}, - {"t":3.05285, "x":7.1, "y":0.75231, "heading":2.09289, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], - "splits":[0] - }, - "events":[] -} diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index f6cdaa9e..abce1bc2 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -9,6 +9,7 @@ import choreo.auto.AutoTrajectory; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.util.Units; @@ -17,11 +18,16 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Robot.AlgaeScoreTarget; import frc.robot.Robot.ReefTarget; import frc.robot.Robot.RobotType; import frc.robot.subsystems.FunnelSubsystem; import frc.robot.subsystems.ManipulatorSubsystem; +import frc.robot.subsystems.elevator.ElevatorSubsystem; +import frc.robot.subsystems.shoulder.ShoulderSubsystem; import frc.robot.subsystems.swerve.SwerveSubsystem; +import frc.robot.subsystems.wrist.WristSubsystem; +import frc.robot.utils.autoaim.AlgaeIntakeTargets; import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.CoralTargets; import java.util.HashMap; @@ -35,15 +41,28 @@ public class Autos { private final ManipulatorSubsystem manipulator; private final FunnelSubsystem funnel; private final AutoFactory factory; + private final ElevatorSubsystem elevator; + private final ShoulderSubsystem shoulder; + private final WristSubsystem wrist; @AutoLogOutput public static boolean autoPreScore = true; @AutoLogOutput public static boolean autoScore = false; // TODO perhaps this should not be static - @AutoLogOutput public static boolean autoGroundIntake = false; + @AutoLogOutput public static boolean autoGroundCoralIntake = false; + @AutoLogOutput public static boolean autoAlgaeIntake = false; - public Autos(SwerveSubsystem swerve, ManipulatorSubsystem manipulator, FunnelSubsystem funnel) { + public Autos( + SwerveSubsystem swerve, + ManipulatorSubsystem manipulator, + FunnelSubsystem funnel, + ElevatorSubsystem elevator, + ShoulderSubsystem shoulder, + WristSubsystem wrist) { this.swerve = swerve; this.manipulator = manipulator; this.funnel = funnel; + this.elevator = elevator; + this.shoulder = shoulder; + this.wrist = wrist; factory = new AutoFactory( swerve::getPose, @@ -90,8 +109,8 @@ public Command LMtoH() { final var routine = factory.newRoutine("LM to H"); final var traj = routine.trajectory("LMtoH"); routine.active().whileTrue(Commands.sequence(traj.resetOdometry(), traj.cmd())); - bindElevatorExtension(routine); - routine.observe(traj.done()).onTrue(scoreInAuto()); + bindCoralElevatorExtension(routine); + routine.observe(traj.done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } @@ -99,12 +118,12 @@ public Command RMtoG() { final var routine = factory.newRoutine("RM to G"); final var traj = routine.trajectory("RMtoG"); routine.active().whileTrue(Commands.sequence(traj.resetOdometry(), traj.cmd())); - bindElevatorExtension(routine); - routine.observe(traj.done()).onTrue(scoreInAuto()); + bindCoralElevatorExtension(routine); + routine.observe(traj.done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } - public void runPath( + public void runCoralPath( AutoRoutine routine, String startPos, String endPos, @@ -116,33 +135,19 @@ public void runPath( .get(startPos + "to" + endPos) .atTime( steps.get(startPos + "to" + endPos).getRawTrajectory().getTotalTime() - - (endPos.length() == 1 ? 0.1 : 0.0))) + - (endPos.length() == 1 ? 0.3 : 0.0))) .onTrue( Commands.sequence( endPos.length() == 3 - ? intakeInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose()) - : Commands.sequence( - endPos.length() == 1 - ? scoreInAuto( - () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) - : AutoAim.translateToPose( - swerve, - () -> steps.get(startPos + "to" + endPos).getFinalPose().get()) - .until( - () -> - AutoAim.isInTolerance( - swerve.getPose(), - steps - .get(startPos + "to" + endPos) - .getFinalPose() - .get())) - .withTimeout(2.0)), + ? intakeCoralInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose()) + : scoreCoralInAuto( + () -> steps.get(startPos + "to" + endPos).getFinalPose().get()), steps.get(endPos + "to" + nextPos).cmd())); } public Command LOtoJ() { final var routine = factory.newRoutine("LO to J"); - bindElevatorExtension(routine); + bindCoralElevatorExtension(routine); routine.active().onTrue(Commands.print("Auto!")); HashMap steps = new HashMap(); // key - name of path, value - traj @@ -164,7 +169,7 @@ public Command LOtoJ() { String startPos = stops[i]; String endPos = stops[i + 1]; String nextPos = stops[i + 2]; - runPath(routine, startPos, endPos, nextPos, steps); + runCoralPath(routine, startPos, endPos, nextPos, steps); } // final var groundTraj = routine.trajectory("LtoAGround"); @@ -190,7 +195,7 @@ public Command LOtoJ() { public Command ROtoE() { final var routine = factory.newRoutine("RO to E"); - bindElevatorExtension(routine); + bindCoralElevatorExtension(routine); HashMap steps = new HashMap(); // key - name of path, value - traj String[] stops = { @@ -212,7 +217,7 @@ public Command ROtoE() { String startPos = stops[i]; String endPos = stops[i + 1]; String nextPos = stops[i + 2]; - runPath(routine, startPos, endPos, nextPos, steps); + runCoralPath(routine, startPos, endPos, nextPos, steps); } routine @@ -224,7 +229,7 @@ public Command ROtoE() { public Command LItoK() { final var routine = factory.newRoutine("LI to K"); - bindElevatorExtension(routine); + bindCoralElevatorExtension(routine); HashMap steps = new HashMap(); // key - name of path, value - traj String[] stops = { @@ -245,16 +250,16 @@ public Command LItoK() { String startPos = stops[i]; String endPos = stops[i + 1]; String nextPos = stops[i + 2]; - runPath(routine, startPos, endPos, nextPos, steps); + runCoralPath(routine, startPos, endPos, nextPos, steps); } // final path - routine.observe(steps.get("PLItoB").done()).onTrue(scoreInAuto()); + routine.observe(steps.get("PLItoB").done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } public Command RItoD() { final var routine = factory.newRoutine("RI to D"); - bindElevatorExtension(routine); + bindCoralElevatorExtension(routine); HashMap steps = new HashMap(); // key - name of path, value - traj String[] stops = { @@ -275,16 +280,16 @@ public Command RItoD() { String startPos = stops[i]; String endPos = stops[i + 1]; String nextPos = stops[i + 2]; - runPath(routine, startPos, endPos, nextPos, steps); + runCoralPath(routine, startPos, endPos, nextPos, steps); } // final path - routine.observe(steps.get("PRItoA").done()).onTrue(scoreInAuto()); + routine.observe(steps.get("PRItoA").done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } public Command PMtoPL() { final var routine = factory.newRoutine("PM to PL"); - bindElevatorExtension(routine, 2.0); + bindCoralElevatorExtension(routine, 2.0); HashMap steps = new HashMap(); // key - name of path, value - traj String[] stops = { @@ -306,15 +311,119 @@ public Command PMtoPL() { String startPos = stops[i]; String endPos = stops[i + 1]; String nextPos = stops[i + 2]; - runPath(routine, startPos, endPos, nextPos, steps); + runCoralPath(routine, startPos, endPos, nextPos, steps); } // final path - routine.observe(steps.get("PLOtoL").done()).onTrue(scoreInAuto()); + routine.observe(steps.get("PLOtoL").done()).onTrue(scoreCoralInAuto(swerve::getPose)); return routine.cmd(); } - public Command scoreInAuto(Supplier trajEndPose) { + public Command CMtoGH() { // algae path + final var routine = factory.newRoutine("CM to GH"); + bindCoralElevatorExtension(routine, 2.0); + bindAlgaeElevatorExtension(routine); + HashMap steps = + new HashMap(); // key - name of path, value - traj + String[] stops = { + "CM", "G", "GH", "NI", "IJ", "NI", "EF" // each stop we are going to, in order + }; + for (int i = 0; i < stops.length - 1; i++) { + String name = stops[i] + "to" + stops[i + 1]; // concatenate the names of the stops + steps.put( + name, routine.trajectory(name)); // and puts that name + corresponding traj to the map + } + routine + // run first path + .active() + .whileTrue(Commands.sequence(steps.get("CMtoG").resetOdometry(), steps.get("CMtoG").cmd())); + + routine + .observe(steps.get("CMtoG").done()) // TODO change to time based + .onTrue(Commands.sequence(scoreCoralInAuto(() -> steps.get("CMtoG").getFinalPose().get()))); + routine + .observe(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak()) + .onTrue( + Commands.sequence( + swerve.driveTeleop(() -> new ChassisSpeeds(-0.5, 0, 0)).withTimeout(0.2), + intakeAlgaeInAuto(() -> steps.get("CMtoG").getFinalPose()), + steps.get("GHtoNI").cmd())); + routine + .observe( + steps + .get("GHtoNI") + .atTime(steps.get("GHtoNI").getRawTrajectory().getTotalTime() - 0.2)) // TODO tune + .onTrue(Commands.sequence(scoreAlgaeInAuto(), steps.get("NItoIJ").cmd())); + // ------------------sketchy-------- + routine + .observe(steps.get("NItoIJ").done()) + .onTrue( + Commands.sequence( + intakeAlgaeInAuto(() -> steps.get("NItoIJ").getFinalPose()), + swerve.driveTeleop(() -> new ChassisSpeeds(-0.5, 0, 0)).withTimeout(0.2))); + return routine.cmd(); + } + + public Command LOtoA() { // 2910 + final var routine = factory.newRoutine("LO to A"); + bindCoralElevatorExtension(routine, 2.0); + HashMap steps = new HashMap(); + // lo a b4 b2 dealgae + steps.put("LOtoA", routine.trajectory("LOtoA")); + steps.put("AtoB", routine.trajectory("AtoB")); + routine + // run first path + .active() + .onTrue(Commands.runOnce(() -> Robot.setCurrentTarget(ReefTarget.L4))) + .whileTrue(Commands.sequence(steps.get("LOtoA").resetOdometry(), steps.get("LOtoA").cmd())); + routine + .observe( + steps.get("LOtoA").atTime(steps.get("LOtoA").getRawTrajectory().getTotalTime() - 0.3)) + .onTrue( + Commands.sequence( + scoreCoralInAuto(() -> steps.get("LOtoA").getFinalPose().get()), + Commands.runOnce(() -> autoGroundCoralIntake = true), + swerve + .driveTeleop(() -> new ChassisSpeeds(-0.3, 0, 0)) + .until( + () -> elevator.isNearExtension(ElevatorSubsystem.GROUND_EXTENSION_METERS)), + steps.get("AtoB").cmd())); + + // routine + // .observe(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak()) + // .onTrue( + // Commands.sequence( + // swerve.driveTeleop(() -> new ChassisSpeeds(-0.5, 0, 0)).withTimeout(0.2))); + // runGroundPath(routine, "LO", "A", "B", steps); + // runCoralPath(routine, "LO", "A", "B", steps); + // ---------------- + // runGroundPath(routine, "A", "B", "B", steps); + // TODO dealgae - merge from prechamps + + // --------- + return routine.cmd(); + } + + public void runGroundPath( + AutoRoutine routine, + String startPos, + String endPos, + String nextPos, + HashMap steps) { + routine + .observe( + steps + .get(startPos + "to" + endPos) + .atTime( + steps.get(startPos + "to" + endPos).getRawTrajectory().getTotalTime() + - (endPos.length() == 1 ? 0.3 : 0.0))) + .onTrue( + Commands.sequence( + scoreCoralInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose().get()))); + } + + public Command scoreCoralInAuto(Supplier trajEndPose) { return Commands.sequence( + Commands.print("scoring"), Commands.waitUntil( new Trigger( () -> @@ -334,7 +443,7 @@ public Command scoreInAuto(Supplier trajEndPose) { 0.0, swerve.getVelocityRobotRelative().omegaRadiansPerSecond, 3.0)) - .debounce(0.10)), + .debounce(0.06)), Commands.print("Scoring!"), Commands.runOnce( () -> { @@ -352,19 +461,16 @@ public Command scoreInAuto(Supplier trajEndPose) { autoPreScore = false; })) .raceWith( - AutoAim.translateToPose( - swerve, - () -> CoralTargets.getClosestTarget(trajEndPose.get()), - ChassisSpeeds::new, - new Constraints(1.5, 2.0))); + Commands.print("autoaiming frrr") + .andThen( + AutoAim.translateToPose( + swerve, + () -> CoralTargets.getClosestTarget(trajEndPose.get()), + ChassisSpeeds::new, + new Constraints(1.5, 1.0)))); } - // TODO: REMOVE THIS OVERLOAD - public Command scoreInAuto() { - return scoreInAuto(() -> swerve.getPose()); - } - - public Command intakeInAuto(Supplier> pose) { + public Command intakeCoralInAuto(Supplier> pose) { if (!pose.get().isPresent()) { return Commands.none(); } else { @@ -373,14 +479,14 @@ public Command intakeInAuto(Supplier> pose) { ? Commands.runOnce(() -> manipulator.setSecondBeambreak(true)) : Commands.none(), Commands.print("intake - 2nd bb" + manipulator.getSecondBeambreak()), - // AutoAim.translateToPose( - // swerve, - // () -> pose.get().get(), - // () -> - // ChassisSpeeds.fromRobotRelativeSpeeds( - // new ChassisSpeeds(-0.5, 0.0, 0.0), swerve.getRotation())) - swerve - .driveVoltage(() -> new ChassisSpeeds(-0.0, 0.0, 0.0)) + AutoAim.translateToPose( + swerve, + () -> pose.get().get(), + () -> + ChassisSpeeds.fromRobotRelativeSpeeds( + new ChassisSpeeds(-0.5, 0.0, 0.0), swerve.getRotation())) + // swerve + // .driveVoltage(() -> new ChassisSpeeds(-0.0, 0.0, 0.0)) .until( () -> manipulator.getSecondBeambreak() @@ -389,11 +495,11 @@ public Command intakeInAuto(Supplier> pose) { } } - public void bindElevatorExtension(AutoRoutine routine) { - bindElevatorExtension(routine, 3.5); // TODO tune + public void bindCoralElevatorExtension(AutoRoutine routine) { + bindCoralElevatorExtension(routine, 3.75); // TODO tune } - public void bindElevatorExtension(AutoRoutine routine, double toleranceMeters) { + public void bindCoralElevatorExtension(AutoRoutine routine, double toleranceMeters) { routine .observe( () -> @@ -410,4 +516,113 @@ public void bindElevatorExtension(AutoRoutine routine, double toleranceMeters) { .whileTrue(Commands.run(() -> autoPreScore = true)) .whileFalse(Commands.run(() -> autoPreScore = false)); } + + public void bindAlgaeElevatorExtension(AutoRoutine routine, double toleranceMeters) { + routine + .observe( + () -> + MathUtil.isNear( + DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? AutoAim.BLUE_NET_X + : AutoAim.RED_NET_X, + swerve.getPose().getX(), + toleranceMeters) + && (manipulator.hasAlgae())) + .whileTrue(Commands.run(() -> autoPreScore = true)) + .whileFalse(Commands.run(() -> autoPreScore = false)); + } + + public void bindAlgaeElevatorExtension(AutoRoutine routine) { + bindAlgaeElevatorExtension(routine, 0.2); // TODO tune - is the coral one still requiring atp?? + } + + public Command scoreAlgaeInAuto() { // oh good lord + return Commands.sequence( + Commands.waitUntil( + new Trigger( + () -> + MathUtil.isNear( + DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? AutoAim.BLUE_NET_X + : AutoAim.RED_NET_X, + swerve.getPose().getX(), + Units.inchesToMeters(3.0)) + && MathUtil.isNear( + 0, + Math.hypot( + swerve.getVelocityRobotRelative().vxMetersPerSecond, + swerve.getVelocityRobotRelative().vyMetersPerSecond), + AutoAim.VELOCITY_TOLERANCE_METERSPERSECOND) + && MathUtil.isNear( + 0.0, swerve.getVelocityRobotRelative().omegaRadiansPerSecond, 3.0)) + // .debounce(0.06)), // TODO + ), + Commands.print("Scoring algae"), + Commands.runOnce( + () -> { + Robot.setCurrentAlgaeScoreTarget(AlgaeScoreTarget.NET); + autoScore = true; + }), + Commands.waitUntil(() -> !manipulator.hasAlgae()) + .alongWith( + Robot.isSimulation() + ? Commands.runOnce(() -> manipulator.setHasAlgae(false)) + : Commands.none()) + .andThen( + Commands.runOnce( + () -> { + autoScore = false; + autoPreScore = false; + }))) + .raceWith( + AutoAim.translateToXCoord( + swerve, + () -> + DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? AutoAim.BLUE_NET_X + : AutoAim.RED_NET_X, + () -> 0, + () -> + (DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue + ? Rotation2d.k180deg + : Rotation2d.kZero) + .plus(Rotation2d.fromDegrees(30.0)))); + } + + public Command intakeAlgaeInAuto(Supplier> pose) { + return Commands.sequence( + Commands.runOnce( + () -> { + autoAlgaeIntake = true; + Robot.setCurrentAlgaeIntakeTarget( + AlgaeIntakeTargets.getClosestTarget(pose.get().get()) // wow + .height); + }), + AutoAim.translateToPose( + swerve, + () -> + AlgaeIntakeTargets.getOffsetLocation( + AlgaeIntakeTargets.getClosestTargetPose(pose.get().get()))) + .until( + () -> + AutoAim.isInTolerance( + swerve.getPose(), + AlgaeIntakeTargets.getOffsetLocation( + AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose())), + swerve.getVelocityFieldRelative(), + Units.inchesToMeters(0.5), + Units.degreesToRadians(1.0)) + && elevator.isNearTarget() + && shoulder.isNearAngle( + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS) + && wrist.isNearAngle(WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)), + AutoAim.approachAlgae( + swerve, () -> AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose()), 1) + .withTimeout(0.5)) + .andThen( + Commands.runOnce( + () -> { + autoAlgaeIntake = false; + })); + } } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 241386b2..5467006d 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -25,6 +25,7 @@ import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rectangle2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform2d; @@ -79,6 +80,7 @@ import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.CageTargets; import frc.robot.utils.autoaim.CoralTargets; +import frc.robot.utils.autoaim.L1Targets; import java.util.HashMap; import java.util.Optional; import java.util.Set; @@ -187,8 +189,8 @@ public static enum AlgaeScoreTarget { } private static ReefTarget currentTarget = ReefTarget.L4; - private AlgaeIntakeTarget algaeIntakeTarget = AlgaeIntakeTarget.STACK; - private AlgaeScoreTarget algaeScoreTarget = AlgaeScoreTarget.NET; + private static AlgaeIntakeTarget algaeIntakeTarget = AlgaeIntakeTarget.STACK; + private static AlgaeScoreTarget algaeScoreTarget = AlgaeScoreTarget.NET; private boolean leftHandedTarget = false; @AutoLogOutput private boolean killVisionIK = true; @@ -309,7 +311,7 @@ public static enum AlgaeScoreTarget { .withCurrentLimits( new CurrentLimitsConfigs() .withStatorCurrentLimitEnable(true) - .withStatorCurrentLimit(120.0) + .withStatorCurrentLimit(80.0) .withSupplyCurrentLimit(30.0) .withSupplyCurrentLimitEnable(true)) .withMotorOutput( @@ -318,7 +320,7 @@ public static enum AlgaeScoreTarget { new FeedbackConfigs() .withSensorToMechanismRatio(ManipulatorSubsystem.GEAR_RATIO)) .withSlot0(new Slot0Configs().withKV(0.928).withKP(0.5)) - .withSlot1(new Slot1Configs().withKP(7.5).withKD(0.5).withKS(0.39))) + .withSlot1(new Slot1Configs().withKP(7.5).withKD(0.5).withKS(0.5))) : new RollerIOSim( 0.01, 5.8677, @@ -440,27 +442,27 @@ public static enum AlgaeScoreTarget { .debounce(0.15)) // .or(() -> AutoAim.isInToleranceCoral(swerve.getPose())) .or(() -> Autos.autoScore && DriverStation.isAutonomous()) - // .or( - // new Trigger( - // () -> - // AutoAim.isInToleranceCoral( - // swerve.getPose(), - // Units.inchesToMeters(1.0), - // Units.degreesToRadians(1.0)) - // && MathUtil.isNear( - // 0, - // Math.hypot( - // swerve.getVelocityRobotRelative().vxMetersPerSecond, - // swerve.getVelocityRobotRelative().vyMetersPerSecond), - // AutoAim.VELOCITY_TOLERANCE_METERSPERSECOND) - // && MathUtil.isNear( - // 0.0, - // swerve.getVelocityRobotRelative().omegaRadiansPerSecond, - // 3.0) - // && currentTarget != ReefTarget.L4) - // .debounce(0.08) - // .and(() -> swerve.hasFrontTags)) - , + .or( + new Trigger( + () -> + AutoAim.isInToleranceCoral( + swerve.getPose(), + Units.inchesToMeters(1.5), + Units.degreesToRadians(1.5)) + && MathUtil.isNear( + 0, + Math.hypot( + swerve.getVelocityRobotRelative().vxMetersPerSecond, + swerve.getVelocityRobotRelative().vyMetersPerSecond), + AutoAim.VELOCITY_TOLERANCE_METERSPERSECOND) + && MathUtil.isNear( + 0.0, + swerve.getVelocityRobotRelative().omegaRadiansPerSecond, + 3.0) + && currentTarget != ReefTarget.L4 + && currentTarget != ReefTarget.L1) + .debounce(0.08) + .and(() -> swerve.hasFrontTags)), driver .rightTrigger() .or(() -> Autos.autoPreScore && DriverStation.isAutonomous()) @@ -477,8 +479,8 @@ public static enum AlgaeScoreTarget { .getNorm() < 3.25 && DriverStation.isAutonomous()), - driver.leftTrigger(), - driver.leftBumper().or(() -> Autos.autoGroundIntake && DriverStation.isAutonomous()), + driver.leftTrigger().or(() -> Autos.autoAlgaeIntake && DriverStation.isAutonomous()), + driver.leftBumper().or(() -> Autos.autoGroundCoralIntake && DriverStation.isAutonomous()), driver .x() .and(driver.pov(-1).negate()) @@ -493,6 +495,7 @@ public static enum AlgaeScoreTarget { driver.start(), operator.rightBumper(), operator.leftBumper(), + operator.povDown(), new Trigger(() -> killVisionIK) .or(() -> currentTarget == ReefTarget.L1) .or(() -> DriverStation.isAutonomous()), @@ -592,7 +595,7 @@ public Robot() { carriageLigament.append(shoulderLigament); shoulderLigament.append(wristLigament); - autos = new Autos(swerve, manipulator, funnel); + autos = new Autos(swerve, manipulator, funnel, elevator, shoulder, wrist); autoChooser.addDefaultOption("None", autos.getNoneAuto()); SmartDashboard.putData( @@ -698,13 +701,13 @@ public Robot() { .onTrue(Commands.runOnce(() -> Autos.autoPreScore = false)); new Trigger(() -> DriverStation.isEnabled() && DriverStation.isTeleop()) - .onTrue(Commands.runOnce(() -> Autos.autoGroundIntake = false)); + .onTrue(Commands.runOnce(() -> Autos.autoGroundCoralIntake = false)); new Trigger(() -> DriverStation.isAutonomousEnabled() && !wrist.hasZeroed) .onTrue( Commands.runOnce( () -> { - wrist.resetPosition(Rotation2d.fromRadians(3.059)); + wrist.resetPosition(Rotation2d.fromRadians(3.094)); elevator.resetExtension(0.0); })); @@ -732,7 +735,12 @@ public Robot() { new Trigger(() -> DriverStation.isAutonomousEnabled()) .onTrue( - Commands.runOnce(() -> swerve.setCurrentLimits(new CurrentLimitsConfigs())) + Commands.runOnce( + () -> + swerve.setCurrentLimits( + new CurrentLimitsConfigs() + .withStatorCurrentLimitEnable(false) + .withSupplyCurrentLimitEnable(false))) .ignoringDisable(true)) .onFalse( Commands.runOnce( @@ -805,7 +813,7 @@ public Robot() { driver .rightBumper() .or(driver.leftBumper()) - .and(() -> superstructure.stateIsCoralAlike()) + .and(() -> superstructure.stateIsCoralAlike() && currentTarget != ReefTarget.L1) .whileTrue( Commands.parallel( AutoAim.autoAimWithIntermediatePose( @@ -825,6 +833,32 @@ public Robot() { AutoAim.INITIAL_REEF_KEEPOFF_DISTANCE_METERS, 0.0, Rotation2d.kZero)), Commands.waitUntil(() -> AutoAim.isInToleranceCoral(swerve.getPose())) .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); + + driver + .rightBumper() + .or(driver.leftBumper()) + .and(() -> superstructure.stateIsCoralAlike() && currentTarget == ReefTarget.L1) + .whileTrue( + Commands.parallel( + AutoAim.alignToLine( + swerve, + () -> + modifyJoystick(driver.getLeftY()) + * ROBOT_HARDWARE.swerveConstants.getMaxLinearSpeed(), + () -> + modifyJoystick(driver.getLeftX()) + * ROBOT_HARDWARE.swerveConstants.getMaxLinearSpeed(), + () -> L1Targets.getNearestLine(swerve.getPose())), + Commands.waitUntil( + () -> + AutoAim.isInTolerance( + swerve.getPose(), + new Pose2d( + L1Targets.getNearestLine(swerve.getPose()) + .nearest(swerve.getPose().getTranslation()), + L1Targets.getNearestLine(swerve.getPose()).getRotation()))) + .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); + driver .rightBumper() .and( @@ -969,10 +1003,11 @@ public Robot() { modifyJoystick(driver.getLeftX()) * ROBOT_HARDWARE.swerveConstants.getMaxLinearSpeed(), () -> - Math.abs(swerve.getPose().getX() - AutoAim.BLUE_NET_X) - > Math.abs(swerve.getPose().getX() - AutoAim.RED_NET_X) - ? Rotation2d.kZero - : Rotation2d.k180deg), + (Math.abs(swerve.getPose().getX() - AutoAim.BLUE_NET_X) + > Math.abs(swerve.getPose().getX() - AutoAim.RED_NET_X) + ? Rotation2d.kZero + : Rotation2d.k180deg) + .plus(Rotation2d.fromDegrees(30.0))), Commands.waitUntil( () -> { final var diff = @@ -1010,6 +1045,7 @@ public Robot() { swerveDriveSimulation.get().setSimulationWorldPose(swerve.getPose()); } })); + driver.x().onTrue(Commands.runOnce(() -> shoulder.rezero()).ignoringDisable(true)); operator .a() @@ -1093,6 +1129,12 @@ public Robot() { Stream.of(CageTargets.values()) .map((target) -> target.getLocation()) .toArray(Pose2d[]::new)); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/Targets/L1", + Stream.of(L1Targets.values()) + .map((target) -> L1Targets.getRobotTargetLine(target.line)) + .toArray(Rectangle2d[]::new)); if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput( "AutoAim/Targets/Algae", @@ -1123,6 +1165,8 @@ private void addAutos() { autoChooser.addOption("4.5 L Inside", autos.LItoK()); autoChooser.addOption("4.5 R Inside", autos.RItoD()); autoChooser.addOption("Push Auto", autos.PMtoPL()); + autoChooser.addOption("Algae auto", autos.CMtoGH()); + autoChooser.addOption("!!! DO NOT RUN!! 2910 auto", autos.LOtoA()); } /** Scales a joystick value for teleop driving */ @@ -1280,6 +1324,8 @@ public void robotPeriodic() { if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Mechanism/Elevator", elevatorMech2d); superstructure.periodic(); + Logger.recordOutput("Autos/Coral Pre Score", Autos.autoPreScore); + Logger.recordOutput("Autos/Coral Score", Autos.autoScore); if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Autos/Pre Score", Autos.autoPreScore); if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Autos/Score", Autos.autoScore); @@ -1297,6 +1343,30 @@ public void robotPeriodic() { state = superstructure::getState; } + public static void setCurrentCoralTarget(ReefTarget target) { + currentTarget = target; + } + + public ReefTarget getCurrentCoralTarget() { + return currentTarget; + } + + public static void setCurrentAlgaeIntakeTarget(AlgaeIntakeTarget target) { + algaeIntakeTarget = target; + } + + public AlgaeIntakeTarget getCurrentAlgaeIntakeTarget() { + return algaeIntakeTarget; + } + + public static void setCurrentAlgaeScoreTarget(AlgaeScoreTarget target) { + algaeScoreTarget = target; + } + + public AlgaeScoreTarget getCurrentAlgaeScoreTarget() { + return algaeScoreTarget; + } + public static void setCurrentTarget(ReefTarget target) { currentTarget = target; } diff --git a/src/main/java/frc/robot/subsystems/ExtensionKinematics.java b/src/main/java/frc/robot/subsystems/ExtensionKinematics.java index 3d32ba0b..c9f6d3ce 100644 --- a/src/main/java/frc/robot/subsystems/ExtensionKinematics.java +++ b/src/main/java/frc/robot/subsystems/ExtensionKinematics.java @@ -35,7 +35,7 @@ public class ExtensionKinematics { // Not super accurate bc of whack public static final Pose2d L1_POSE = - new Pose2d(0.26, 0.4, Rotation2d.fromDegrees(15.0)); // solveFK(L1_EXTENSION); + new Pose2d(0.33, 0.50, Rotation2d.fromDegrees(20.0)); // solveFK(L1_EXTENSION); public static final ExtensionState L1_EXTENSION = solveIK(L1_POSE); public static final ExtensionState L2_EXTENSION = new ExtensionState( @@ -50,7 +50,7 @@ public class ExtensionKinematics { Rotation2d.fromRadians(2.427)); public static final Pose2d L3_POSE = solveFK(L3_EXTENSION); public static final Pose2d L4_POSE = - new Pose2d(new Translation2d(0.23, 2.05), Rotation2d.fromDegrees(110.0)); + new Pose2d(new Translation2d(0.20, 2.03), Rotation2d.fromDegrees(110.0)); public static final ExtensionState L4_EXTENSION = solveIK(L4_POSE); diff --git a/src/main/java/frc/robot/subsystems/ExtensionPathing.java b/src/main/java/frc/robot/subsystems/ExtensionPathing.java index 50c47e74..b69d7435 100644 --- a/src/main/java/frc/robot/subsystems/ExtensionPathing.java +++ b/src/main/java/frc/robot/subsystems/ExtensionPathing.java @@ -110,6 +110,35 @@ public class ExtensionPathing { final var l1 = ExtensionKinematics.L1_EXTENSION; graph.addNode(l1); graph.putEdge(l1, betweenTucked); + + final var algaeGround = + new ExtensionState( + ElevatorSubsystem.INTAKE_ALGAE_GROUND_EXTENSION, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_GROUND_POS, + WristSubsystem.WRIST_INTAKE_ALGAE_GROUND_POS); + graph.addNode(algaeGround); + graph.putEdge(algaeGround, betweenTucked); + graph.putEdge(algaeGround, untucked); + + final var algaeLow = + new ExtensionState( + ElevatorSubsystem.INTAKE_ALGAE_LOW_EXTENSION, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS); + graph.addNode(algaeLow); + graph.putEdge(betweenTucked, algaeLow); + + final var algaeHigh = + new ExtensionState( + ElevatorSubsystem.INTAKE_ALGAE_HIGH_EXTENSION, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS); + graph.addNode(algaeHigh); + graph.putEdge(betweenTucked, algaeHigh); + graph.putEdge(algaeLow, algaeHigh); + + graph.putEdge(l4Tucked, algaeHigh); + graph.putEdge(l4Tucked, algaeLow); } private ExtensionPathing() {} @@ -164,6 +193,8 @@ private static Pair, TotalMotion> search( result.stream() .min( Comparator.comparing( + (Pair, TotalMotion> s) -> s.getFirst().size()) + .thenComparing( (Pair, TotalMotion> s) -> s.getSecond().elevator) .thenComparing((s) -> s.getSecond().wristRotations) .thenComparing((s) -> s.getSecond().shoulderRotations)) diff --git a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java index 4dae0079..c5eaa3cf 100644 --- a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java @@ -20,6 +20,7 @@ import frc.robot.subsystems.roller.RollerSubsystem; import frc.robot.utils.Tracer; import java.util.function.DoubleSupplier; +import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; public class ManipulatorSubsystem extends RollerSubsystem { @@ -32,7 +33,7 @@ public class ManipulatorSubsystem extends RollerSubsystem { public static final double ALGAE_CURRENT_THRESHOLD = 6.0; public static final Transform2d IK_WRIST_TO_CORAL = ExtensionKinematics.IK_WRIST_TO_CORAL; - public static final double CORAL_HOLD_POS = 0.5; + public static final double CORAL_HOLD_POS = 0.6; public static final double GEAR_RATIO = (58.0 / 10.0) * (24.0 / 18.0); @@ -42,7 +43,7 @@ public class ManipulatorSubsystem extends RollerSubsystem { private boolean bb1 = false; private boolean bb2 = false; - private boolean hasAlgae = false; + @AutoLogOutput private boolean hasAlgae = false; private LinearFilter currentFilter = LinearFilter.movingAverage(20); private double currentFilterValue = 0.0; @@ -204,7 +205,7 @@ public void setHasAlgae(boolean state) { hasAlgae = state; } - public boolean hasAlgae() { + public boolean hasAlgae() { // TODO icky return hasAlgae; } } diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index bcdfd0cd..473a824b 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -23,8 +23,8 @@ import frc.robot.subsystems.wrist.WristSubsystem; import frc.robot.utils.autoaim.AlgaeIntakeTargets; import frc.robot.utils.autoaim.AutoAim; -import frc.robot.utils.autoaim.CoralTargets; import frc.robot.utils.autoaim.HumanPlayerTargets; +import frc.robot.utils.autoaim.L1Targets; import java.util.HashMap; import java.util.List; import java.util.Map; @@ -103,6 +103,9 @@ public static enum SuperState { @AutoLogOutput(key = "Superstructure/Force Funnel Req") private final Trigger forceFunnelReq; + @AutoLogOutput(key = "Superstructure/Force Funnel Req") + private final Trigger forceIndexReq; + @AutoLogOutput(key = "Superstructure/Kill Vision and IK") private final Trigger killVisionIK; @@ -146,6 +149,7 @@ public Superstructure( Trigger homeReq, Trigger revFunnelReq, Trigger forceFunnelReq, + Trigger forceIndexReq, Trigger killVisionIK, DoubleSupplier coralAdjust) { this.elevator = elevator; @@ -178,6 +182,8 @@ public Superstructure( this.revFunnelReq = revFunnelReq; this.forceFunnelReq = forceFunnelReq; + this.forceIndexReq = forceIndexReq; + this.killVisionIK = killVisionIK; this.coralAdjust = coralAdjust; @@ -197,6 +203,10 @@ public void periodic() { } private void configureStateTransitionCommands() { + // Prob a better way to impl this + // Vaughn says he wants this available anytime + forceIndexReq.whileTrue(manipulator.setVelocity(1.0)); + stateTriggers .get(SuperState.IDLE) .whileTrue( @@ -304,23 +314,22 @@ private void configureStateTransitionCommands() { .whileTrue( extendWithClearance( ElevatorSubsystem.GROUND_EXTENSION_METERS, - ShoulderSubsystem.SHOULDER_CORAL_GROUND_POS, - WristSubsystem.WRIST_CORAL_GROUND) - .until( - () -> - shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_CORAL_GROUND_POS) - && wrist.isNearAngle(WristSubsystem.WRIST_CORAL_GROUND)) + Rotation2d.fromDegrees(35.0), + WristSubsystem.WRIST_CLEARANCE_POS) + .until(() -> elevator.isNearExtension(ElevatorSubsystem.GROUND_EXTENSION_METERS)) .andThen( Commands.parallel( - shoulder.setVoltage(-1.0), + shoulder + .setVoltage(-10.0) + .until(() -> shoulder.getAngle().getDegrees() < 10.0) + .andThen(shoulder.setVoltage(-1.0)), elevator.setExtension(ElevatorSubsystem.GROUND_EXTENSION_METERS), wrist .setTargetAngle(WristSubsystem.WRIST_CORAL_GROUND) - .until(wrist::isNearTarget) + .until( + () -> + wrist.isNearTarget() && shoulder.getAngle().getDegrees() < 10.0) .andThen(wrist.setVoltage(-1.0))))) - .whileTrue( - Commands.waitUntil(() -> shoulder.getAngle().getDegrees() < 20.0) - .andThen(Commands.runOnce(() -> shoulder.rezero()))) .whileTrue(manipulator.intakeCoral().repeatedly().until(intakeCoralReq.negate())); stateTriggers @@ -416,6 +425,9 @@ private void configureStateTransitionCommands() { // PRE_L{1-4} logic + -> SCORE_CORAL stateTriggers .get(SuperState.PRE_L1) + .and( + () -> + L1Targets.getNearestLine(pose.get()).getDistance(pose.get().getTranslation()) > 0.3) // .whileTrue( // this.extendWithClearance( // ElevatorSubsystem.L1_EXTENSION_METERS, @@ -428,10 +440,23 @@ private void configureStateTransitionCommands() { ? ExtensionKinematics.L1_EXTENSION : ExtensionKinematics.getPoseCompensatedExtension( pose.get(), ExtensionKinematics.L1_EXTENSION))) - .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())) + .whileTrue( + manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.25 + coralAdjust.getAsDouble())); + + stateTriggers + .get(SuperState.PRE_L1) .and(() -> elevator.isNearExtension(ElevatorSubsystem.L1_EXTENSION_METERS)) .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_SCORE_L1_POS)) .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_SCORE_L1_POS)) + .whileTrue( + this.extendWithClearance( + () -> + killVisionIK.getAsBoolean() + ? ExtensionKinematics.L1_EXTENSION + : ExtensionKinematics.getPoseCompensatedExtension( + pose.get(), ExtensionKinematics.L1_EXTENSION))) + .whileTrue( + manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.25 + coralAdjust.getAsDouble())) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); @@ -449,7 +474,8 @@ private void configureStateTransitionCommands() { ? ExtensionKinematics.L2_EXTENSION : ExtensionKinematics.getPoseCompensatedExtension( pose.get(), ExtensionKinematics.L2_EXTENSION))) - .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())) + .whileTrue( + manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.25 + coralAdjust.getAsDouble())) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); @@ -467,7 +493,8 @@ private void configureStateTransitionCommands() { ? ExtensionKinematics.L3_EXTENSION : ExtensionKinematics.getPoseCompensatedExtension( pose.get(), ExtensionKinematics.L3_EXTENSION))) - .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())) + .whileTrue( + manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.25 + coralAdjust.getAsDouble())) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); @@ -485,7 +512,8 @@ private void configureStateTransitionCommands() { ? ExtensionKinematics.L4_EXTENSION : ExtensionKinematics.getPoseCompensatedExtension( pose.get(), ExtensionKinematics.L4_EXTENSION))) - .whileTrue(manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + coralAdjust.getAsDouble())) + .whileTrue( + manipulator.jog(() -> ManipulatorSubsystem.JOG_POS + 0.125 + coralAdjust.getAsDouble())) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); @@ -569,10 +597,7 @@ private void configureStateTransitionCommands() { .and(() -> !intakeAlgaeReq.getAsBoolean() || !intakeTargetOnReef()) .and( () -> - CoralTargets.getClosestTarget(pose.get()) - .getTranslation() - .getDistance(pose.get().getTranslation()) - > 0.3) + L1Targets.getNearestLine(pose.get()).getDistance(pose.get().getTranslation()) > 0.3) .debounce(0.15) .onTrue(forceState(SuperState.IDLE)); @@ -583,10 +608,7 @@ private void configureStateTransitionCommands() { .and(killVisionIK) .and( () -> - CoralTargets.getClosestTarget(pose.get()) - .getTranslation() - .getDistance(pose.get().getTranslation()) - > 0.3) + L1Targets.getNearestLine(pose.get()).getDistance(pose.get().getTranslation()) > 0.3) .onTrue(forceState(SuperState.IDLE)); stateTriggers @@ -721,7 +743,9 @@ private void configureStateTransitionCommands() { > 0.3 || (algaeIntakeTarget.get() == AlgaeIntakeTarget.GROUND || algaeIntakeTarget.get() == AlgaeIntakeTarget.STACK)) - .onTrue(this.forceState(SuperState.READY_ALGAE)); + .onTrue( + this.forceState(SuperState.READY_ALGAE) + .alongWith(Commands.runOnce(() -> manipulator.setHasAlgae(true)))); // gahahaha // READY_ALGAE logic stateTriggers @@ -783,10 +807,10 @@ private void configureStateTransitionCommands() { Commands.parallel( elevator.setExtensionSlow(ElevatorSubsystem.ALGAE_NET_EXTENSION), // Make it initially extend to the full 90 degrees - shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_SHOOT_NET_POS), - wrist.setSlowTargetAngle(WristSubsystem.WRIST_SHOOT_NET_POS))) - .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_SHOOT_NET_POS)) - .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_SHOOT_NET_POS)) + shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_PRE_NET_POS), + wrist.setSlowTargetAngle(WristSubsystem.WRIST_PRE_NET_POS))) + .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_PRE_NET_POS)) + .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_PRE_NET_POS)) .and(() -> elevator.isNearExtension(ElevatorSubsystem.ALGAE_NET_EXTENSION)) .and(scoreReq) .onTrue(forceState(SuperState.SCORE_ALGAE_NET)); @@ -794,14 +818,23 @@ private void configureStateTransitionCommands() { stateTriggers .get(SuperState.SCORE_ALGAE_NET) .onTrue(Commands.runOnce(() -> stateTimer.reset())) - .whileTrue(manipulator.setVoltage(-13.0)) + .whileTrue( + manipulator + .hold() + .until( + () -> + shoulder.getVelocity() + > ShoulderSubsystem.TOSS_CONFIGS.MotionMagicCruiseVelocity - 0.1) + .andThen(manipulator.setVoltage(-13.0))) .whileTrue(elevator.setExtension(ElevatorSubsystem.ALGAE_NET_EXTENSION)) .whileTrue(shoulder.setTargetAngleSlow(ShoulderSubsystem.SHOULDER_SHOOT_NET_POS)) .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_SHOOT_NET_POS)) .and(() -> stateTimer.hasElapsed(0.5)) .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_TUCKED_CLEARANCE_POS)) .and(() -> stateTimer.hasElapsed(1.0)) - .onTrue(forceState(SuperState.IDLE)); + .onTrue( + forceState(SuperState.IDLE) + .alongWith(Commands.runOnce(() -> manipulator.setHasAlgae(false)))); stateTriggers .get(SuperState.SCORE_ALGAE_PROCESSOR) diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java index 3cfb6e75..17e63b96 100644 --- a/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java @@ -51,7 +51,7 @@ public class ElevatorSubsystem extends SubsystemBase { public static final double L4_EXTENSION_METERS = ExtensionKinematics.L4_EXTENSION.elevatorHeightMeters(); - public static final double INTAKE_ALGAE_GROUND_EXTENSION = 0.135; + public static final double INTAKE_ALGAE_GROUND_EXTENSION = 0.14; public static final double INTAKE_ALGAE_STACK_EXTENSION = Units.inchesToMeters(11.5); public static final double INTAKE_ALGAE_LOW_EXTENSION = Units.inchesToMeters(20.0); public static final double INTAKE_ALGAE_HIGH_EXTENSION = Units.inchesToMeters(35.0); diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java index fae583d4..ade79204 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java @@ -80,7 +80,7 @@ public ShoulderIOReal() { final CANcoderConfiguration cancoderConfig = new CANcoderConfiguration(); cancoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive; - cancoderConfig.MagnetSensor.MagnetOffset = 0.6323; + cancoderConfig.MagnetSensor.MagnetOffset = -0.385174; cancoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.9; cancoder.getConfigurator().apply(cancoderConfig); diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index 5ed27160..a157f09e 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -13,6 +13,7 @@ import frc.robot.subsystems.ExtensionKinematics; import frc.robot.utils.Tracer; import java.util.function.Supplier; +import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; import org.littletonrobotics.junction.networktables.LoggedNetworkBoolean; @@ -29,10 +30,11 @@ public class ShoulderSubsystem extends SubsystemBase { public static final double X_OFFSET_METERS = 0.1016254; public static final double Z_OFFSET_METERS = 0.207645; public static final double ARM_LENGTH_METERS = Units.inchesToMeters(13.5); - public static final Rotation2d SHOULDER_HP_POS = Rotation2d.fromDegrees(53.0); + public static final Rotation2d SHOULDER_HP_POS = Rotation2d.fromDegrees(50.0); public static final Rotation2d SHOULDER_CORAL_GROUND_POS = Rotation2d.fromDegrees(8.0); - public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromRadians(0.505); + public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = + Rotation2d.fromRadians(0.505).plus(Rotation2d.fromDegrees(-5.0)); public static final Rotation2d SHOULDER_INTAKE_ALGAE_STACK_POS = Rotation2d.fromDegrees(30.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_POS = Rotation2d.fromDegrees(45.0); public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_RETRACT_POS = @@ -45,16 +47,18 @@ public class ShoulderSubsystem extends SubsystemBase { ExtensionKinematics.L1_EXTENSION.shoulderAngle(); public static final Rotation2d SHOULDER_SCORE_L4_POS = ExtensionKinematics.L4_EXTENSION.shoulderAngle(); - public static final Rotation2d SHOULDER_PRE_NET_POS = Rotation2d.fromDegrees(40); + public static final Rotation2d SHOULDER_PRE_NET_POS = Rotation2d.fromDegrees(30); public static final Rotation2d SHOULDER_SHOOT_NET_POS = Rotation2d.fromDegrees(90); public static final Rotation2d SHOULDER_SCORE_PROCESSOR_POS = Rotation2d.fromDegrees(60.0); public static final Rotation2d SHOULDER_CLEARANCE_POS = Rotation2d.fromDegrees(80.0); public static final Rotation2d SHOULDER_TUCKED_CLEARANCE_POS = Rotation2d.fromDegrees(35.0); - private static final MotionMagicConfigs DEFAULT_CONFIGS = - new MotionMagicConfigs().withMotionMagicCruiseVelocity(1.0).withMotionMagicAcceleration(4.0); - private static final MotionMagicConfigs TOSS_CONFIGS = - new MotionMagicConfigs().withMotionMagicCruiseVelocity(0.5).withMotionMagicAcceleration(4.0); + public static final MotionMagicConfigs DEFAULT_CONFIGS = + new MotionMagicConfigs().withMotionMagicCruiseVelocity(1.0).withMotionMagicAcceleration(6.0); + public static final MotionMagicConfigs TOSS_CONFIGS = + new MotionMagicConfigs() + .withMotionMagicCruiseVelocity(0.275) + .withMotionMagicAcceleration(4.0); private final ShoulderIO io; private final ShoulderIOInputsAutoLogged inputs = new ShoulderIOInputsAutoLogged(); @@ -87,6 +91,7 @@ public void periodic() { Logger.recordOutput("Carriage/Shoulder/Cancoder Pos", getZeroingAngle()); } + @AutoLogOutput(key = "Shoulder/Zeroing Angle") public Rotation2d getZeroingAngle() { return Rotation2d.fromRotations(inputs.cancoderPosition).div(SHOULDER_FINAL_STAGE_RATIO); } @@ -158,4 +163,8 @@ public boolean isNearAngle(Rotation2d target, Rotation2d tolerance) { public ShoulderIOInputsAutoLogged getInputs() { return inputs; } + + public double getVelocity() { + return inputs.angularVelocityRPS; + } } diff --git a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java index b3b441bd..e4d032c0 100644 --- a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java @@ -251,9 +251,7 @@ public VisionConstants[] getVisionConstants() { new Rotation3d(0, Units.degreesToRadians(-10), Units.degreesToRadians(-30))), FRONT_LEFT_CAMERA_MATRIX, FRONT_LEFT_DIST_COEFFS); - return new VisionConstants[] { - backLeftCamConstants, frontRightCamConstants, frontLeftCamConstants - }; + return new VisionConstants[] {frontRightCamConstants, frontLeftCamConstants}; } @Override diff --git a/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java b/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java index bb0fae39..5d52fc45 100644 --- a/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java +++ b/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java @@ -25,7 +25,7 @@ public class WristSubsystem extends SubsystemBase { public static final Rotation2d WRIST_READY_ALGAE = Rotation2d.fromDegrees(-10.0); public static final Rotation2d WRIST_HP_POS = Rotation2d.fromDegrees(178.0); public static final Rotation2d WRIST_CORAL_GROUND = Rotation2d.fromDegrees(0.0); - public static final Rotation2d WRIST_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromRadians(-0.9); + public static final Rotation2d WRIST_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromDegrees(-65); public static final Rotation2d WRIST_INTAKE_ALGAE_STACK_POS = Rotation2d.fromDegrees(-10); public static final Rotation2d WRIST_SCORE_L1_POS = ExtensionKinematics.L1_EXTENSION.wristAngle(); public static final Rotation2d WRIST_WHACK_L1_POS = Rotation2d.fromDegrees(-70); @@ -40,7 +40,8 @@ public class WristSubsystem extends SubsystemBase { public static final Rotation2d WRIST_INTAKE_ALGAE_REEF_RETRACT_POS = Rotation2d.fromDegrees(-20.0); - public static final Rotation2d WRIST_SHOOT_NET_POS = Rotation2d.fromDegrees(105); + public static final Rotation2d WRIST_SHOOT_NET_POS = Rotation2d.fromDegrees(110); + public static final Rotation2d WRIST_PRE_NET_POS = Rotation2d.fromDegrees(100); public static final Rotation2d WRIST_SCORE_PROCESSOR_POS = Rotation2d.fromDegrees(-30.0); public static MotionMagicConfigs DEFAULT_MOTION_MAGIC = diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 078fa79b..f1644467 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -5,6 +5,7 @@ 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.Rectangle2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Translation2d; @@ -39,6 +40,8 @@ public class AutoAim { public static Pose2d RED_PROCESSOR_POS = ChoreoAllianceFlipUtil.flip(BLUE_PROCESSOR_POS); public static List PROCESSOR_POSES = List.of(BLUE_PROCESSOR_POS, RED_PROCESSOR_POS); + public static final double L1_TROUGH_WIDTH_METERS = 0.935; + public static final double TRANSLATION_TOLERANCE_METERS = Units.inchesToMeters(2.0); public static final double ROTATION_TOLERANCE_RADIANS = Units.degreesToRadians(2.0); public static final double VELOCITY_TOLERANCE_METERSPERSECOND = 0.5; @@ -110,7 +113,7 @@ public static Command translateToPose( new ProfiledPIDController( 10.0, 0.01, - 0.02, + 0.04, new TrapezoidProfile.Constraints(MAX_AUTOAIM_SPEED, MAX_AUTOAIM_ACCELERATION)); return Commands.runOnce( () -> { @@ -147,13 +150,13 @@ public static Command translateToPose( cachedTarget[0].getRotation().getRadians()) + headingController.getSetpoint().velocity) .plus(speedsModifier.get()); - if (Robot.ROBOT_TYPE != RobotType.REAL) - Logger.recordOutput( - "AutoAim/Target Pose", - new Pose2d( - vxController.getSetpoint().position, - vyController.getSetpoint().position, - Rotation2d.fromRadians(headingController.getSetpoint().position))); + // if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/Target Pose", + new Pose2d( + vxController.getSetpoint().position, + vyController.getSetpoint().position, + Rotation2d.fromRadians(headingController.getSetpoint().position))); if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("AutoAim/Target Speeds", speeds); return speeds; @@ -223,6 +226,91 @@ public static Command translateToXCoord( })); } + public static Command alignToLine( + SwerveSubsystem swerve, + DoubleSupplier xVel, + DoubleSupplier yVel, + Supplier line) { + final Pose2d cachedTarget[] = {new Pose2d()}; + final ProfiledPIDController headingController = + // assume we can accelerate to max in 2/3 of a second + new ProfiledPIDController( + Robot.ROBOT_HARDWARE.swerveConstants.getHeadingVelocityKP(), + 0.0, + 0.0, + new TrapezoidProfile.Constraints(MAX_ANGULAR_SPEED, MAX_ANGULAR_ACCELERATION)); + headingController.enableContinuousInput(-Math.PI, Math.PI); + final ProfiledPIDController vxController = + new ProfiledPIDController( + 10.0, + 0.01, + 0.02, + new TrapezoidProfile.Constraints(MAX_AUTOAIM_SPEED, MAX_AUTOAIM_ACCELERATION)); + final ProfiledPIDController vyController = + new ProfiledPIDController( + 10.0, + 0.01, + 0.02, + new TrapezoidProfile.Constraints(MAX_AUTOAIM_SPEED, MAX_AUTOAIM_ACCELERATION)); + return Commands.runOnce( + () -> { + cachedTarget[0] = + new Pose2d( + line.get().nearest(swerve.getPose().getTranslation()), + line.get().getRotation()); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("AutoAim/Cached Target", cachedTarget[0]); + headingController.reset(swerve.getPose().getRotation().getRadians(), 0.0); + vxController.reset(swerve.getPose().getX(), 0.0); + vyController.reset(swerve.getPose().getY(), 0.0); + }) + .andThen( + swerve.driveVelocityFieldRelative( + () -> { + Supplier target = + () -> + new Pose2d( + line.get().nearest(swerve.getPose().getTranslation()), + line.get().getRotation()); + final var diff = swerve.getPose().minus(target.get()); + var driverReqSpeedsRobotRelative = + ChassisSpeeds.fromFieldRelativeSpeeds( + xVel.getAsDouble(), yVel.getAsDouble(), 0.0, swerve.getRotation()); + driverReqSpeedsRobotRelative.vxMetersPerSecond = 0; + final var speeds = + MathUtil.isNear(0.0, diff.getX(), Units.inchesToMeters(0.25)) + && MathUtil.isNear(0.0, diff.getY(), Units.inchesToMeters(0.25)) + && MathUtil.isNear(0.0, diff.getRotation().getDegrees(), 0.5) + ? new ChassisSpeeds() + : new ChassisSpeeds( + vxController.calculate( + swerve.getPose().getX(), target.get().getX()) + + vxController.getSetpoint().velocity, + // Use the inputted y velocity target + vyController.calculate( + swerve.getPose().getY(), target.get().getY()) + + vyController.getSetpoint().velocity, + headingController.calculate( + swerve.getPose().getRotation().getRadians(), + target.get().getRotation().getRadians()) + + headingController.getSetpoint().velocity) + .plus( + ChassisSpeeds.fromRobotRelativeSpeeds( + driverReqSpeedsRobotRelative, swerve.getRotation()) + .times(1.5)); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/Target Pose", + new Pose2d( + vxController.getSetpoint().position, + vyController.getSetpoint().position, + Rotation2d.fromRadians(headingController.getSetpoint().position))); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("AutoAim/Target Speeds", speeds); + return speeds; + })); + } + public static Command approachAlgae( SwerveSubsystem swerve, Supplier target, double approachSpeed) { // This feels like a horrible way of getting around lambda final requirements diff --git a/src/main/java/frc/robot/utils/autoaim/CoralTargets.java b/src/main/java/frc/robot/utils/autoaim/CoralTargets.java index 8937c9bf..04893800 100644 --- a/src/main/java/frc/robot/utils/autoaim/CoralTargets.java +++ b/src/main/java/frc/robot/utils/autoaim/CoralTargets.java @@ -18,8 +18,8 @@ public enum CoralTargets { BLUE_D(new Pose2d(4.35, 3.49, Rotation2d.fromDegrees(240)), false), BLUE_E(new Pose2d(4.60, 3.50, Rotation2d.fromDegrees(300)), false), BLUE_F(new Pose2d(4.88, 3.66, Rotation2d.fromDegrees(300)), true), - BLUE_G(new Pose2d(5.00, 3.90, Rotation2d.fromDegrees(0)), false), - BLUE_H(new Pose2d(5.00, 4.20, Rotation2d.fromDegrees(0)), true), + BLUE_G(new Pose2d(5.00, 3.86, Rotation2d.fromDegrees(0)), false), + BLUE_H(new Pose2d(5.00, 4.18, Rotation2d.fromDegrees(0)), true), BLUE_I(new Pose2d(4.88, 4.41, Rotation2d.fromDegrees(60)), false), BLUE_J(new Pose2d(4.60, 4.57, Rotation2d.fromDegrees(60)), true), BLUE_K(new Pose2d(4.36, 4.57, Rotation2d.fromDegrees(120)), true), diff --git a/src/main/java/frc/robot/utils/autoaim/L1Targets.java b/src/main/java/frc/robot/utils/autoaim/L1Targets.java new file mode 100644 index 00000000..d06bbfe9 --- /dev/null +++ b/src/main/java/frc/robot/utils/autoaim/L1Targets.java @@ -0,0 +1,100 @@ +package frc.robot.utils.autoaim; + +import choreo.util.ChoreoAllianceFlipUtil; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rectangle2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import frc.robot.Robot; +import java.util.Arrays; +import java.util.List; + +public enum L1Targets { + BLUE_AB( + new Rectangle2d( + new Pose2d(3.64, 4.03, Rotation2d.fromDegrees(180)), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + BLUE_CD( + new Rectangle2d( + new Pose2d(4.06, 3.31, Rotation2d.fromDegrees(240)), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + BLUE_EF( + new Rectangle2d( + new Pose2d(4.89, 3.31, Rotation2d.fromDegrees(300)), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + BLUE_GH( + new Rectangle2d( + new Pose2d(5.31, 4.03, Rotation2d.fromDegrees(0)), 0.0, AutoAim.L1_TROUGH_WIDTH_METERS)), + BLUE_IJ( + new Rectangle2d( + new Pose2d(4.89, 4.75, Rotation2d.fromDegrees(60)), 0.0, AutoAim.L1_TROUGH_WIDTH_METERS)), + BLUE_KL( + new Rectangle2d( + new Pose2d(4.06, 4.75, Rotation2d.fromDegrees(120)), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + + RED_AB( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_AB.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + RED_CD( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_CD.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + RED_EF( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_EF.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + RED_GH( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_GH.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + RED_IJ( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_IJ.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)), + RED_KL( + new Rectangle2d( + ChoreoAllianceFlipUtil.flip(BLUE_KL.line.getCenter()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS)); + + public Rectangle2d line; + + private L1Targets(Rectangle2d line) { + this.line = line; + } + + private static final List transformedLines = + Arrays.stream(values()) + .map( + (L1Targets targets) -> { + return L1Targets.getRobotTargetLine(targets.line); + }) + .toList(); + + public static Rectangle2d getRobotTargetLine(Rectangle2d original) { + return original.transformBy( + new Transform2d( + Robot.ROBOT_HARDWARE.swerveConstants.getBumperLength() / 2, + 0, + Rotation2d.fromDegrees(180.0))); + } + + public static Rectangle2d getNearestLine(Pose2d pose) { + // It feels like there should be a better way to do this + return new Rectangle2d( + pose.nearest(transformedLines.stream().map(line -> line.getCenter()).toList()), + 0.0, + AutoAim.L1_TROUGH_WIDTH_METERS); + } +}