From b15168c8ffacf92a4fd0e827f9488dd326ef5f99 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sun, 23 Feb 2025 15:31:28 -0800 Subject: [PATCH 01/24] changed default back to scoring coral instead of intaking algae --- src/main/java/frc/robot/Robot.java | 40 ++++++++++++++++++++++++++---- 1 file changed, 35 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 8d877ab3..1252be1d 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.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.system.plant.DCMotor; @@ -594,12 +595,41 @@ public Robot() { swerve, () -> { var twist = swerve.getVelocityFieldRelative().toTwist2d(0.3); + var twist2 = swerve.getVelocityFieldRelative().toTwist2d(0.5); + + Pose2d targetPose = + CoralTargets.getHandedClosestTarget( + swerve + .getPose() + .plus( + new Transform2d( + twist.dx, + twist.dy, + Rotation2d.fromRadians(twist.dtheta))), + driver.leftBumper().getAsBoolean()); + + // VR - robot, VT - target, VN - robot in 0.3 sec + Translation2d vectorR = + new Translation2d(swerve.getPose().getX(), swerve.getPose().getY()); + Translation2d vectorT = + new Translation2d(targetPose.getX(), targetPose.getY()); + Translation2d vectorN = + new Translation2d(vectorR.getX() + twist.dx, vectorR.getY() + twist.dy); + + Translation2d vectorRT = vectorT.minus(vectorR); + Translation2d vectorNT = vectorT.minus(vectorN); + + double dotProd = + vectorRT.getX() * vectorNT.getX() + vectorRT.getY() * vectorNT.getY(); + return CoralTargets.getHandedClosestTarget( - swerve - .getPose() - .plus( - new Transform2d( - twist.dx, twist.dy, Rotation2d.fromRadians(twist.dtheta))), + dotProd >= 0 + ? swerve + .getPose() + .plus( + new Transform2d( + twist.dx, twist.dy, Rotation2d.fromRadians(twist.dtheta))) + : swerve.getPose(), driver.leftBumper().getAsBoolean()); }), Commands.waitUntil(() -> AutoAim.isInToleranceCoral(swerve.getPose())) From 3b7e2f4242a1b76e785b9e382c089c98cf61394f Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sun, 23 Feb 2025 16:08:45 -0800 Subject: [PATCH 02/24] removed extra twist variable --- src/main/java/frc/robot/Robot.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 1252be1d..4153bb37 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -595,7 +595,6 @@ public Robot() { swerve, () -> { var twist = swerve.getVelocityFieldRelative().toTwist2d(0.3); - var twist2 = swerve.getVelocityFieldRelative().toTwist2d(0.5); Pose2d targetPose = CoralTargets.getHandedClosestTarget( From ea7d3830fe8879a7ab6b229b2af6be79f50f42f4 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Mon, 3 Mar 2025 15:31:35 -0800 Subject: [PATCH 03/24] OCR + Bring Up (#53) * make bring up note match other notes formatting * add conservative current limits to everything for bring up * add climber current limit * reduce elevator motion magic speed * check off items * add shoulder cancoder offset - seeing some slightly off values so there might be a bug lurking * set up wrist gear ratio and init, verify with ascope * check off items * make led use ledid constant * make rollerio refresh inputs * add swerve offsets * disable mechs, verify HOME state * mess with wrist zeroing: probably still some bugs lurking but its good enough for now * tune wrist pidf * tune shoulder * adjust elevator homing, tuning * adjust ground algae location, roller enable * fix algae intaking * adjust processor * adjust algae and coral tuning * fix some state transitions and adjust funnel * adjust algae current threshold * fill out checkboxes * slow down wrist for barge scoring * split processor and net scoring states * adjust led logic * add check algae state * adjust check algae state * adjust l4 color * force idle state if coral isnt there in ready coral * adjust index command for coral * additional empty manipulator checks for prepare states * l4 scoring works!!!1!!1!!!1!! * fix L4 robot self-collision * adjust reef scoring clearances * re-add algae intaking and anti jam bindings (they got nuked???????) * add extend with clearance command * make funnel spin backwards in anti-jam * make state triggers check for robot enable * make manipulator coral indexing skip early steps if no piece, make IDLE->READY_CORAL check first beambreak not second * make home not exit until request ends * fix l3 extension, extend with clearance hold * adjust barge scoring and algae intaking * fix algae intake not running on first press * make reef algae intake use clearance, adjust tuning * make algae reef intaking cook * fix net autoaim * adjust controller buzzing, lower manip current limit * add current control to rollers * tune reef coral placing * add reef cancelling, funnel reverse button * trust gyro more for pose est * add front camera calibration * run spotless * make CHECK_ALGAE hold elevator position and wait until not near reef * add mechanism pose viz for shoulder zeroing pose * fix arm zeroing * adjust funnel voltage * made algae intake on ground retract after intake * adjusted algae intake from the reef to start further back * adjusted shoulder retraction from intaking algae off the reef * tuned PID in kelpie swerve constants * tuned PID in kelpie swerve constants and auto aim acceleration * disable autoalign stopping on moving away (it was borked :( ) * fix atuoalign using vel instead of pos * make funnel only run when close to hp station * add funnel spin override * increase wrist current filter timescale * make manipulator use position hold on pre coral score * Fix l1 manipulator scoring * Make l1 scoring work * Update LED constants * reset manipulator position only on beambreak trip in right config * make net scoring YEET algae * regenerated choreo trajs with proper constants * make score in auto use autoalign, check for velocity before scoring * improved scoring and intaking in auto to wait and get the correct pose * Home in auto and reset auto score reqs on enable * Make vision distance falloff larger, change weight of module force FFs, and disable force FFs while decelerating * regen choreo trajs w 0.5Nm torque * Adjusted vision trust and made scoreInAuto take a pose to score on * make intake in auto push into wall * add configurable tolerance for autoalign check, tighten tolerance in auto (its too tight now so its slow :( ) * increase translation tolerance in auto * speed up funnel + adjust offset (might be wrong?) * made net extension parallel * fix manipulator extending when algae gets knocked out * adjust purple color * reduce swerve current limits * make ready algae use clearance * import cam constants, reduce z error threshold * adjust reef algae intake autoalign, vision * add heading reset * run spotless * run format * fix heading reset + barge autoaim * log more gyro stuff, fix algae autoalign * i was silly * filter ambigugous single target estimates, adjust auto traj * make PLO slam into station more * reduce accel, adjust delay after scoring for general state machine and auto * update camera calibrations * run spotless * adjust choreo max torque, module tracking * gc tuning and more tracing * add commented out visualvm jvm settings * only run recordOutput in non-real modes * fix sim vs real io init when in replay, activate replay * updated auto pose ro to match lo * updating auto paths so they don't scrape the reef * make algae intake autoaim run in idle * make coral autoaling look ahead 0.3s * reduce algae autoalign speed * reduce drive current limit * renamble gyro return status logging, reduce async odo rate * make alga eintake autoalign wait for elevator * revert drive current limit reduction * hopefully fix auto path population * make push auto use autoalign to finish traj * make push auto use autoalign to finish traj * run spotless * make algae intake autoalign roobot relative * check shoulder when intaking algae from reef * make push auto timeout pushing * prep climber for testing * run spotless * tune climb * more funnel release tuning * adjust l1, servo latch pos * Update at 'Thu Feb 27 13:53:18 PST 2025' * Update at 'Thu Feb 27 13:53:26 PST 2025' * Update at 'Thu Feb 27 14:09:55 PST 2025' * make operator able to start climb * make net toss slower * fix Rotation2d being created with 0,0 on robot rel force of 0 * run format * whack harder * add climber zero button to dashboard * :clown: * Update at 'Thu Feb 27 17:32:24 PST 2025' * Update at 'Thu Feb 27 17:35:14 PST 2025' * the clowning continues :clown: * add more clearance on EtoPRO * run fmt * trust back cameras less * disable back cameras --------- Co-authored-by: Lewis-Seiden Co-authored-by: SCool62 Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com> --- build.gradle | 17 + notes/bring-up.md | 44 -- notes/bringUp.md | 46 ++ src/main/deploy/choreo/AtoPLI.traj | 111 ++--- src/main/deploy/choreo/AtoPLO.traj | 116 +++-- src/main/deploy/choreo/AtoPRI.traj | 113 ++--- src/main/deploy/choreo/BtoPLI.traj | 113 ++--- src/main/deploy/choreo/BtoPRI.traj | 160 +++--- src/main/deploy/choreo/BtoPRO.traj | 111 ++--- src/main/deploy/choreo/CtoPRI.traj | 96 ++-- src/main/deploy/choreo/CtoPRO.traj | 89 ++-- src/main/deploy/choreo/DtoPRI.traj | 94 ++-- src/main/deploy/choreo/DtoPRO.traj | 89 ++-- src/main/deploy/choreo/EtoPRO.traj | 158 +++--- src/main/deploy/choreo/FtoPRO.traj | 163 +++--- src/main/deploy/choreo/GtoPRO.traj | 200 ++++---- src/main/deploy/choreo/ItoPLO.traj | 126 +++-- src/main/deploy/choreo/JtoPLO.traj | 163 +++--- src/main/deploy/choreo/KtoPLI.traj | 95 ++-- src/main/deploy/choreo/KtoPLO.traj | 95 ++-- src/main/deploy/choreo/LItoK.traj | 117 +++-- src/main/deploy/choreo/LMtoH.traj | 58 ++- src/main/deploy/choreo/LOtoJ.traj | 92 ++-- src/main/deploy/choreo/LtoPLI.traj | 93 ++-- src/main/deploy/choreo/LtoPLO.traj | 94 ++-- src/main/deploy/choreo/PLItoA.traj | 111 ++--- src/main/deploy/choreo/PLItoB.traj | 113 ++--- src/main/deploy/choreo/PLItoL.traj | 93 ++-- src/main/deploy/choreo/PLOtoA.traj | 133 ++--- src/main/deploy/choreo/PLOtoH.traj | 271 +++++----- src/main/deploy/choreo/PLOtoI.traj | 122 +++-- src/main/deploy/choreo/PLOtoJ.traj | 119 +++-- src/main/deploy/choreo/PLOtoK.traj | 91 ++-- src/main/deploy/choreo/PLOtoL.traj | 90 ++-- src/main/deploy/choreo/PLtoPM.traj | 52 +- src/main/deploy/choreo/PMtoPL.traj | 52 +- src/main/deploy/choreo/PMtoPR.traj | 51 +- src/main/deploy/choreo/PRItoA.traj | 113 ++--- src/main/deploy/choreo/PRItoB.traj | 111 ++--- src/main/deploy/choreo/PRItoC.traj | 92 ++-- src/main/deploy/choreo/PROtoB.traj | 111 ++--- src/main/deploy/choreo/PROtoC.traj | 89 ++-- src/main/deploy/choreo/PROtoD.traj | 89 ++-- src/main/deploy/choreo/PROtoE.traj | 119 +++-- src/main/deploy/choreo/PROtoF.traj | 121 +++-- src/main/deploy/choreo/PRtoI.traj | 127 +++-- src/main/deploy/choreo/RHStoD.traj | 121 +++-- src/main/deploy/choreo/RItoD.traj | 123 +++-- src/main/deploy/choreo/RMtoG.traj | 58 ++- src/main/deploy/choreo/ROtoE.traj | 93 ++-- src/main/deploy/choreo/RStoC.traj | 139 +++--- src/main/deploy/choreo/RStoD.traj | 134 +++-- src/main/deploy/choreo/RStoF.traj | 68 ++- src/main/deploy/choreo/RStoG.traj | 58 ++- src/main/deploy/choreo/SLItoH.traj | 58 ++- src/main/deploy/choreo/SLMtoI.traj | 63 ++- src/main/deploy/choreo/Sprint Test.traj | 284 +++++------ src/main/deploy/choreo/Triangle Test.traj | 222 ++++----- src/main/deploy/choreo/choreo.chor | 36 +- .../choreo/starting location tester.traj | 391 +++++++-------- src/main/java/frc/robot/Autos.java | 112 +++-- src/main/java/frc/robot/Robot.java | 471 ++++++++++++------ .../frc/robot/subsystems/FunnelSubsystem.java | 8 +- .../subsystems/ManipulatorSubsystem.java | 49 +- .../frc/robot/subsystems/Superstructure.java | 455 +++++++++++------ .../robot/subsystems/climber/ClimberIO.java | 5 +- .../subsystems/climber/ClimberIOReal.java | 24 +- .../subsystems/climber/ClimberIOSim.java | 8 +- .../subsystems/climber/ClimberSubsystem.java | 18 +- .../subsystems/elevator/ElevatorIOReal.java | 22 +- .../elevator/ElevatorSubsystem.java | 51 +- .../intake/IntakePivotSubsystem.java | 8 +- .../frc/robot/subsystems/led/LEDIOReal.java | 2 +- .../robot/subsystems/led/LEDSubsystem.java | 67 ++- .../frc/robot/subsystems/roller/RollerIO.java | 8 + .../robot/subsystems/roller/RollerIOReal.java | 41 +- .../robot/subsystems/roller/RollerIOSim.java | 19 + .../subsystems/roller/RollerSubsystem.java | 6 +- .../robot/subsystems/shoulder/ShoulderIO.java | 5 +- .../subsystems/shoulder/ShoulderIOReal.java | 53 +- .../subsystems/shoulder/ShoulderIOSim.java | 8 + .../shoulder/ShoulderSubsystem.java | 79 ++- .../subsystems/swerve/GyroIOPigeon2.java | 6 +- .../swerve/KelpieSwerveConstants.java | 121 ++--- .../frc/robot/subsystems/swerve/Module.java | 32 +- .../frc/robot/subsystems/swerve/ModuleIO.java | 3 + .../subsystems/swerve/ModuleIOMapleSim.java | 6 + .../robot/subsystems/swerve/ModuleIOReal.java | 6 + .../robot/subsystems/swerve/ModuleIOSim.java | 6 + .../swerve/PhoenixOdometryThread.java | 54 +- .../subsystems/swerve/SwerveSubsystem.java | 144 ++++-- .../frc/robot/subsystems/vision/Vision.java | 27 +- .../robot/subsystems/vision/VisionHelper.java | 13 +- .../robot/subsystems/vision/VisionIOSim.java | 4 +- .../frc/robot/subsystems/wrist/WristIO.java | 3 + .../robot/subsystems/wrist/WristIOReal.java | 17 +- .../robot/subsystems/wrist/WristIOSim.java | 2 +- .../subsystems/wrist/WristSubsystem.java | 61 ++- src/main/java/frc/robot/utils/Tracer.java | 11 +- .../utils/autoaim/AlgaeIntakeTargets.java | 4 + .../java/frc/robot/utils/autoaim/AutoAim.java | 172 +++++-- 101 files changed, 4889 insertions(+), 4093 deletions(-) delete mode 100644 notes/bring-up.md create mode 100644 notes/bringUp.md diff --git a/build.gradle b/build.gradle index a325d5b4..ea46476b 100644 --- a/build.gradle +++ b/build.gradle @@ -29,6 +29,23 @@ deploy { // getTargetTypeClass is a shortcut to get the class type using a string frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + jvmArgs.add("-XX:+UnlockExperimentalVMOptions") + jvmArgs.add("-XX:GCTimeRatio=5") + jvmArgs.add("-XX:+UseSerialGC") + jvmArgs.add("-XX:MaxGCPauseMillis=50") + + final MAX_JAVA_HEAP_SIZE_MB = 100; + jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M") + jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M") + jvmArgs.add("-XX:+AlwaysPreTouch") + + // Enable VisualVM connection + // jvmArgs.add("-Dcom.sun.management.jmxremote=true") + // jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198") + // jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false") + // jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false") + // jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false") + // jvmArgs.add("-Djava.rmi.server.hostname=10.80.33.2") } // Static files artifact diff --git a/notes/bring-up.md b/notes/bring-up.md deleted file mode 100644 index 9cd43913..00000000 --- a/notes/bring-up.md +++ /dev/null @@ -1,44 +0,0 @@ -# Bring up checklist - -## Device Setup - -- [ ] Image RIO -- [ ] Image OPis -- [ ] Update Radio -- [ ] Name/ID CAN Devices -- [ ] License CAN Devices - -## Mechanism Bring Up - -- [ ] Calibrate swerve offsets -- [ ] Calibrate shoulder cancoder -- [ ] Verify elevator, shoulder, wrist position sensing -- [ ] Tune wrist PIDF -- [ ] Tune shoulder PIDF -- [ ] Tune elevator PIDF -- [ ] Verify elevator zeroing -- [ ] Verify wrist zeroing -- [ ] Verify climber zeroing -- [ ] Tune climber PIDF -- [ ] Tune climber setpoints -- [ ] Tune coral HP handoff -- [ ] Tune algae ground pickup - -## Vision - -- [ ] Name cameras -- [ ] Calibrate cameras -- [ ] Validate camera transforms -- [ ] Validate pose estimates - -## Loom Testing - -- [ ] Tune reef scoring extensions -- [ ] Validate reef scoring -- [ ] Tune algae removal extensions -- [ ] Tune algae stack intake -- [ ] Tune algae net extension -- [ ] Finely tune swerve -- [ ] Tune auto align controllers -- [ ] Validate auto align positions -- [ ] Validate algae auto align positions diff --git a/notes/bringUp.md b/notes/bringUp.md new file mode 100644 index 00000000..4e236f34 --- /dev/null +++ b/notes/bringUp.md @@ -0,0 +1,46 @@ +# Bring up checklist + +## Device Setup + +- [x] Image RIO +- [x] Image OPis +- [x] Update Radio +- [x] Name/ID CAN Devices +- [x] License CAN Devices + +## Mechanism Bring Up + +- [x] Calibrate swerve offsets +- [x] Calibrate shoulder cancoder +- [x] Verify elevator, shoulder, wrist position sensing +- [x] Tune wrist PIDF +- [x] Tune shoulder PIDF +- [x] Tune elevator PIDF *needs checking* +- [x] Verify elevator zeroing +- [x] Verify wrist zeroing +- [ ] Verify climber zeroing +- [ ] Tune climber PIDF +- [ ] Tune climber setpoints +- [x] Tune coral HP handoff +- [x] Tune algae ground pickup *issues with dropping and current sensing* + +## Vision + +partial - only `Front_Left` is on the robot for initial bring up + +- [x] Name cameras +- [x] Calibrate cameras +- [x] Validate camera transforms +- [x] Validate pose estimates *appears fine by cursory inspection* + +## Loom Testing + +- [ ] Tune reef scoring extensions +- [ ] Validate reef scoring +- [ ] Tune algae removal extensions +- [ ] Tune algae stack intake +- [x] Tune algae net extension +- [ ] Finely tune swerve +- [ ] Tune auto align controllers +- [ ] Validate auto align positions +- [ ] Validate algae auto align positions diff --git a/src/main/deploy/choreo/AtoPLI.traj b/src/main/deploy/choreo/AtoPLI.traj index 8a89ea60..bd449346 100644 --- a/src/main/deploy/choreo/AtoPLI.traj +++ b/src/main/deploy/choreo/AtoPLI.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":3.1651506423950195, "y":4.182002544403076, "heading":0.0, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.1651506423950195, "y":4.182002544403076, "heading":0.0, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.6153400540351868, "y":6.673182487487793, "heading":-0.9350057865774468, "intervals":153, "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":"A.x", "val":3.1651506423950195}, "y":{"exp":"A.y", "val":4.182002544403076}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":54, "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":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"PLI.x", "val":0.6153400540351868}, "y":{"exp":"PLI.y", "val":6.673182487487793}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":153, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,63 +26,58 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,2.00465], + "waypoints":[0.0,1.83437], "samples":[ - {"t":0.0, "x":3.16515, "y":4.182, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.54151, "ay":2.48233, "alpha":-0.91091, "fx":[-25.00801,-20.40754,-24.82701,-28.67314], "fy":[24.21795,28.21413,24.42293,19.75745]}, - {"t":0.03712, "x":3.1634, "y":4.18371, 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a/src/main/deploy/choreo/BtoPLI.traj b/src/main/deploy/choreo/BtoPLI.traj index 2778294b..1df947ae 100644 --- a/src/main/deploy/choreo/BtoPLI.traj +++ b/src/main/deploy/choreo/BtoPLI.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":3.1738216876983643, "y":3.852503538131714, "heading":0.0, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.1738216876983643, "y":3.852503538131714, "heading":0.0, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.6153400540351868, "y":6.673182487487793, "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":"B.x", "val":3.1738216876983643}, "y":{"exp":"B.y", "val":3.852503538131714}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"B.x", "val":3.1738216876983643}, "y":{"exp":"B.y", "val":3.852503538131714}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"PLI.x", "val":0.6153400540351868}, "y":{"exp":"PLI.y", "val":6.673182487487793}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,64 +26,59 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,2.07129], + "waypoints":[0.0,1.89524], "samples":[ - {"t":0.0, "x":3.17382, "y":3.8525, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.38927, "ay":2.63364, 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"overrideIntervals":false}, + {"x":3.1738216876983643, "y":3.852503538131714, "heading":0.0, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.6333351135253906, "y":0.6246773600578308, "heading":0.9420001549844138, "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":"B.x", "val":3.1738216876983643}, "y":{"exp":"B.y", "val":3.852503538131714}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"B.x", "val":3.1738216876983643}, "y":{"exp":"B.y", "val":3.852503538131714}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, 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{"x":3.681653261184693, "y":2.970940351486206, "heading":1.0349851207246612, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.681653261184693, "y":2.970940351486206, "heading":1.0349851207246612, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.6333351135253906, "y":0.6246773600578308, "heading":0.9420001549844138, "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":"C.x", "val":3.681653261184693}, "y":{"exp":"C.y", "val":2.970940351486206}, "heading":{"exp":"1.0349851207246612 rad", "val":1.0349851207246612}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"C.x", "val":3.681653261184693}, 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"split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":2.0615134239196777, "y":1.1718214750289917, "heading":0.0, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":1.6333351135253906, "y":0.6246773600578308, "heading":0.9420001549844138, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +15,9 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"E.x", "val":5.009561061859131}, "y":{"exp":"E.y", "val":2.7982044219970703}, "heading":{"exp":"2.0928880900706415 rad", "val":2.0928880900706415}, "intervals":58, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"E.x", "val":5.009561061859131}, "y":{"exp":"E.y", "val":2.7982044219970703}, "heading":{"exp":"2.0928880900706415 rad", 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"events":[] diff --git a/src/main/deploy/choreo/FtoPRO.traj b/src/main/deploy/choreo/FtoPRO.traj index 9ab59097..292baac0 100644 --- a/src/main/deploy/choreo/FtoPRO.traj +++ b/src/main/deploy/choreo/FtoPRO.traj @@ -3,7 +3,9 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":5.295655250549316, "y":2.9655425548553467, "heading":2.0928880900706415, "intervals":59, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.295655250549316, "y":2.9655425548553467, "heading":2.0928880900706415, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.338428020477295, "y":2.548434019088745, "heading":0.0, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":2.2533934116363525, "y":1.316722393035889, "heading":0.0, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":1.6333351135253906, 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"data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"G.x", "val":5.813863277435303}, "y":{"exp":"G.y", "val":3.8562123775482178}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.4058990478515625 m", "val":5.4058990478515625}, "y":{"exp":"2.464132070541382 m", "val":2.464132070541382}, "heading":{"exp":"2.3568972961503376 rad", "val":2.3568972961503376}, "intervals":60, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"G.x", "val":5.813863277435303}, "y":{"exp":"G.y", "val":3.8562123775482178}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.4058990478515625 m", "val":5.4058990478515625}, 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"fixHeading":false, "overrideIntervals":false}, + {"x":1.906598448753357, "y":7.005744457244873, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "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}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +15,10 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"J.x", "val":5.004220962524414}, "y":{"exp":"J.y", "val":5.243917942047119}, "heading":{"exp":"-2.095116885713791 rad", "val":-2.095116885713791}, "intervals":58, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PLO.x", "val":1.666144609451294}, "y":{"exp":"PLO.y", "val":7.431143760681152}, 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"heading":-1.0455529770312977, "intervals":40, "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}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +13,8 @@ }, "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":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PLO.x", "val":1.666144609451294}, "y":{"exp":"PLO.y", "val":7.431143760681152}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"K.x", "val":3.9681568145751953}, "y":{"exp":"K.y", "val":5.253054141998291}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":40, "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, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,52 +26,49 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.88335], + "waypoints":[0.0,1.76546], "samples":[ - {"t":0.0, "x":3.96816, "y":5.25305, "heading":-1.04555, 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b/src/main/deploy/choreo/LItoK.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.1, "y":5.889204978942871, "heading":-1.0455529770312977, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.482989311218262, "y":5.929072856903076, "heading":-1.0455529770312977, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":7.1, "y":5.889204978942871, "heading":-1.0455529770312977, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.482989311218262, "y":5.929072856903076, "heading":-1.0455529770312977, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.9681568145751953, "y":5.253054141998291, "heading":-1.0455529770312977, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LI.x", "val":7.1}, "y":{"exp":"LI.y", "val":5.889204978942871}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.482989311218262 m", "val":5.482989311218262}, "y":{"exp":"5.929072856903076 m", "val":5.929072856903076}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LI.x", "val":7.1}, "y":{"exp":"LI.y", "val":5.889204978942871}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.482989311218262 m", "val":5.482989311218262}, 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"data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LM.x", "val":7.2}, "y":{"exp":"LM.y", "val":4.717027187347412}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LM.x", "val":7.2}, "y":{"exp":"LM.y", "val":4.717027187347412}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"H.x", "val":5.808465480804443}, "y":{"exp":"H.y", "val":4.190888404846191}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,35 +26,33 @@ }, "trajectory":{ 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"overrideIntervals":false}, {"x":5.004220962524414, "y":5.243917942047119, "heading":-2.095116885713791, "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":"LO.x", "val":7.1}, "y":{"exp":"LO.y", "val":7.216524124145508}, "heading":{"exp":"-2.095116885713791 rad", "val":-2.095116885713791}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.139153480529785 m", "val":7.139153480529785}, "y":{"exp":"7.574498176574707 m", "val":7.574498176574707}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"J.x", "val":5.004220962524414}, "y":{"exp":"J.y", "val":5.243917942047119}, 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"fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +13,8 @@ }, "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":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PLO.x", "val":1.666144609451294}, "y":{"exp":"PLO.y", "val":7.431143760681152}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"L.x", "val":3.691657066345215}, "y":{"exp":"L.y", "val":5.089337348937988}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":40, "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, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,51 +26,49 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.8611], + "waypoints":[0.0,1.74546], "samples":[ - {"t":0.0, "x":3.69166, "y":5.08934, "heading":-1.04555, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.3412, "ay":2.70679, "alpha":0.12763, "fx":[-22.27395,-23.12615,-23.29686,-22.42254], "fy":[26.77317,26.04085,25.88687,26.64749]}, - {"t":0.04431, "x":3.68936, "y":5.09199, "heading":-1.04555, "vx":-0.10374, "vy":0.11994, 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"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":"PLI.x", "val":0.6153400540351868}, "y":{"exp":"PLI.y", "val":6.673182487487793}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PLI.x", "val":0.6153400540351868}, "y":{"exp":"PLI.y", "val":6.673182487487793}, "heading":{"exp":"-0.9350057865774468 rad", "val":-0.9350057865774468}, "intervals":49, "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":40, "split":false, "fixTranslation":true, "fixHeading":true, 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"splits":[0] }, "events":[] diff --git a/src/main/deploy/choreo/PLItoB.traj b/src/main/deploy/choreo/PLItoB.traj index 4cf38a9b..308ab1ea 100644 --- a/src/main/deploy/choreo/PLItoB.traj +++ b/src/main/deploy/choreo/PLItoB.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":0.6153400540351868, "y":6.673182487487793, "heading":-0.9350057865774468, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.6153400540351868, "y":6.673182487487793, "heading":-0.9350057865774468, "intervals":50, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.1738216876983643, "y":3.852503538131714, "heading":0.0, "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":"PLI.x", 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a/src/main/deploy/choreo/PLOtoA.traj +++ b/src/main/deploy/choreo/PLOtoA.traj @@ -3,7 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":1.666144609451294, "y":7.431143760681152, "heading":-0.9350057865774468, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.550151228904724, "y":7.523398399353027, "heading":-0.9350057865774468, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.460142135620117, "y":4.693963527679443, "heading":-0.4675028932887234, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":3.1651506423950195, "y":4.182002544403076, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +14,8 @@ }, "params":{ "waypoints":[ - 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a/src/main/deploy/choreo/PLtoPM.traj +++ b/src/main/deploy/choreo/PLtoPM.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.814075469970703, "y":6.987168312072754, "heading":-2.339803208370139, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.814075469970703, "y":6.987168312072754, "heading":-2.339803208370139, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.1130218505859375, "y":6.26765775680542, "heading":-2.339803208370139, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +13,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PL.x", "val":7.814075469970703}, "y":{"exp":"PL.y", "val":6.987168312072754}, "heading":{"exp":"PL.heading", "val":-2.339803208370139}, "intervals":22, 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"intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.1130218505859375, "y":6.26765775680542, "heading":-2.339803208370139, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.814075469970703, "y":6.987168312072754, "heading":-2.3294769559423636, "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":"7.1130218505859375 m", "val":7.1130218505859375}, "y":{"exp":"6.26765775680542 m", "val":6.26765775680542}, "heading":{"exp":"-2.339803208370139 rad", "val":-2.339803208370139}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.1130218505859375 m", "val":7.1130218505859375}, "y":{"exp":"6.26765775680542 m", 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a/src/main/deploy/choreo/PMtoPR.traj +++ b/src/main/deploy/choreo/PMtoPR.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.1130218505859375, "y":6.26765775680542, "heading":-2.339803208370139, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.1130218505859375, "y":6.26765775680542, "heading":-2.339803208370139, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.823184013366699, "y":5.593533992767334, "heading":-2.339803208370139, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +13,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PM.x", "val":7.1130218505859375}, "y":{"exp":"PM.y", "val":6.26765775680542}, "heading":{"exp":"PM.heading", "val":-2.339803208370139}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"PR.x", "val":7.823184013366699}, "y":{"exp":"PR.y", "val":5.593533992767334}, "heading":{"exp":"PR.heading", "val":-2.339803208370139}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"PM.x", "val":7.1130218505859375}, "y":{"exp":"PM.y", "val":6.26765775680542}, "heading":{"exp":"-2.339803208370139 rad", "val":-2.339803208370139}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PR.x", "val":7.823184013366699}, "y":{"exp":"PR.y", "val":5.593533992767334}, "heading":{"exp":"-2.339803208370139 rad", "val":-2.339803208370139}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, 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"overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRI.x", "val":0.645270586013794}, "y":{"exp":"PRI.y", "val":1.340916395187378}, "heading":{"exp":"0.9420001549844138 rad", "val":0.9420001549844138}, "intervals":55, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PRI.x", "val":0.645270586013794}, "y":{"exp":"PRI.y", "val":1.340916395187378}, "heading":{"exp":"0.9420001549844138 rad", "val":0.9420001549844138}, "intervals":50, "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":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, 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"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":"PRI.x", "val":0.645270586013794}, "y":{"exp":"PRI.y", "val":1.340916395187378}, "heading":{"exp":"0.9420001549844138 rad", "val":0.9420001549844138}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PRI.x", "val":0.645270586013794}, "y":{"exp":"PRI.y", "val":1.340916395187378}, "heading":{"exp":"0.9420001549844138 rad", "val":0.9420001549844138}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"C.x", "val":3.681653261184693}, "y":{"exp":"C.y", "val":2.970940351486206}, "heading":{"exp":"1.0349851207246612 rad", "val":1.0349851207246612}, "intervals":40, "split":false, "fixTranslation":true, 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"constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRO.x", "val":1.6333351135253906}, "y":{"exp":"PRO.y", "val":0.6246773600578308}, "heading":{"exp":"0.9420001549844138 rad", "val":0.9420001549844138}, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PRO.x", "val":1.6333351135253906}, "y":{"exp":"PRO.y", "val":0.6246773600578308}, "heading":{"exp":"0.9420001549844138 rad", "val":0.9420001549844138}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"B.x", "val":3.1738216876983643}, "y":{"exp":"B.y", "val":3.852503538131714}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, 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"events":[] diff --git a/src/main/deploy/choreo/PROtoD.traj b/src/main/deploy/choreo/PROtoD.traj index aa8ae63c..5bd19ae0 100644 --- a/src/main/deploy/choreo/PROtoD.traj +++ b/src/main/deploy/choreo/PROtoD.traj @@ -3,7 +3,7 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":1.6333351135253906, "y":0.6246773600578308, "heading":0.9420001549844138, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6333351135253906, "y":0.6246773600578308, "heading":0.9420001549844138, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.967747211456299, "y":2.803602457046509, "heading":1.0349851207246612, "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":"PRO.x", "val":1.6333351135253906}, "y":{"exp":"PRO.y", "val":0.6246773600578308}, "heading":{"exp":"0.9420001549844138 rad", "val":0.9420001549844138}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PRO.x", "val":1.6333351135253906}, "y":{"exp":"PRO.y", "val":0.6246773600578308}, "heading":{"exp":"0.9420001549844138 rad", "val":0.9420001549844138}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"D.x", "val":3.967747211456299}, "y":{"exp":"D.y", "val":2.803602457046509}, "heading":{"exp":"1.0349851207246612 rad", "val":1.0349851207246612}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,51 +26,48 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.88997], + "waypoints":[0.0,1.73279], 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"to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"PRO.x", "val":1.6333351135253906}, "y":{"exp":"PRO.y", "val":0.6246773600578308}, "heading":{"exp":"0.9420001549844138 rad", "val":0.9420001549844138}, "intervals":58, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PRO.x", "val":1.6333351135253906}, "y":{"exp":"PRO.y", "val":0.6246773600578308}, "heading":{"exp":"0.9420001549844138 rad", "val":0.9420001549844138}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"E.x", "val":5.009561061859131}, "y":{"exp":"E.y", "val":2.7982044219970703}, "heading":{"exp":"2.0928880900706415 rad", "val":2.0928880900706415}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, 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"intervals":59, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6333351135253906, "y":0.6246773600578308, "heading":0.9420001549844138, "intervals":54, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.295655250549316, "y":2.9655425548553467, "heading":2.0928880900706415, "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":"PRO.x", "val":1.6333351135253906}, "y":{"exp":"PRO.y", "val":0.6246773600578308}, "heading":{"exp":"0.9420001549844138 rad", "val":0.9420001549844138}, "intervals":59, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"PRO.x", "val":1.6333351135253906}, "y":{"exp":"PRO.y", "val":0.6246773600578308}, 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"fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.230854034423828 m", "val":7.230854034423828}, "y":{"exp":"6.024291038513184 m", "val":6.024291038513184}, "heading":{"exp":"-2.217460047041965 rad", "val":-2.217460047041965}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"I.x", "val":5.292339324951172}, "y":{"exp":"I.y", "val":5.085655689239502}, "heading":{"exp":"-2.095116885713791 rad", "val":-2.095116885713791}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -28,68 +28,63 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.68922,1.98659], + "waypoints":[0.0,0.63163,1.82067], "samples":[ - {"t":0.0, "x":7.82318, "y":5.59353, "heading":-2.3398, 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"enabled":true}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"RI.x", "val":7.1}, "y":{"exp":"RI.y", "val":2.0451512336730957}, "heading":{"exp":"1.0349851207246612 rad", "val":1.0349851207246612}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.612614154815674 m", "val":4.612614154815674}, "y":{"exp":"1.9823707342147827 m", "val":1.9823707342147827}, "heading":{"exp":"1.0405809687861898 rad", "val":1.0405809687861898}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RI.x", "val":7.1}, "y":{"exp":"RI.y", "val":2.0451512336730957}, "heading":{"exp":"1.0349851207246612 rad", "val":1.0349851207246612}, "intervals":32, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"4.612614154815674 m", "val":4.612614154815674}, "y":{"exp":"1.9823707342147827 m", "val":1.9823707342147827}, 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"y":0.7523078918457031, "heading":2.0928880900706415, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.147055149078369, "y":0.4805009663105011, "heading":-3.141592653589793, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.009561061859131, "y":2.7982044219970703, "heading":2.0928880900706415, "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":"RO.x", "val":7.1}, "y":{"exp":"RO.y", "val":0.7523078918457031}, "heading":{"exp":"2.0928880900706415 rad", "val":2.0928880900706415}, "intervals":37, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.147055149078369 m", "val":7.147055149078369}, "y":{"exp":"0.4805009663105011 m", "val":0.4805009663105011}, "heading":{"exp":"-3.141592653589793 rad", "val":-3.141592653589793}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"E.x", "val":5.009561061859131}, "y":{"exp":"E.y", "val":2.7982044219970703}, "heading":{"exp":"2.0928880900706415 rad", "val":2.0928880900706415}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,46 +26,57 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.80924], + "waypoints":[0.0,1.72691], "samples":[ - {"t":0.0, "x":7.1, "y":0.75231, "heading":2.09289, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-2.55828, "ay":2.50377, "alpha":0.0, "fx":[-24.89208,-24.89208,-24.89208,-24.89208], "fy":[24.36169,24.36169,24.36169,24.36169]}, - {"t":0.0489, "x":7.09694, "y":0.7553, 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"data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,8 +14,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"7.265210151672363 m", "val":7.265210151672363}, "y":{"exp":"2.4477007389068604 m", "val":2.4477007389068604}, "heading":{"exp":"1.6775321061835846 rad", "val":1.6775321061835846}, "intervals":49, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"4.096414566040039 m", "val":4.096414566040039}, "y":{"exp":"2.6167030334472656 m", "val":2.6167030334472656}, "heading":{"exp":"1.0303776231780482 rad", "val":1.0303776231780482}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.265210151672363 m", "val":7.265210151672363}, "y":{"exp":"2.4477007389068604 m", "val":2.4477007389068604}, "heading":{"exp":"1.6775321061835846 rad", "val":1.6775321061835846}, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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"fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"7.392122268676758 m", "val":7.392122268676758}, "y":{"exp":"3.013314962387085 m", "val":3.013314962387085}, "heading":{"exp":"2.0928880900706415 rad", "val":2.0928880900706415}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.392122268676758 m", "val":7.392122268676758}, "y":{"exp":"3.013314962387085 m", "val":3.013314962387085}, "heading":{"exp":"2.0928880900706415 rad", "val":2.0928880900706415}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"F.x", "val":5.295655250549316}, "y":{"exp":"F.y", "val":2.9655425548553467}, "heading":{"exp":"2.0928880900706415 rad", "val":2.0928880900706415}, "intervals":40, "split":false, "fixTranslation":true, 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"heading":3.14159265359, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.233171463012695, "y":3.8562123775482178, "heading":3.14159265359, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.813863277435303, "y":3.8562123775482178, "heading":3.141592653589793, "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":"7.233171463012695 m", "val":7.233171463012695}, "y":{"exp":"G.y", "val":3.8562123775482178}, "heading":{"exp":"3.14159265359 rad", "val":3.14159265359}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.233171463012695 m", "val":7.233171463012695}, "y":{"exp":"G.y", 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"heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":5.808465480804443, "y":4.190888404846191, "heading":3.141592653589793, "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":"SLI.x", "val":7.239044666290283}, "y":{"exp":"SLI.y", "val":4.190888404846191}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"SLI.x", "val":7.239044666290283}, "y":{"exp":"SLI.y", "val":4.190888404846191}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, 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diff --git a/src/main/deploy/choreo/Triangle Test.traj b/src/main/deploy/choreo/Triangle Test.traj index ff8e9e50..136e6981 100644 --- a/src/main/deploy/choreo/Triangle Test.traj +++ b/src/main/deploy/choreo/Triangle Test.traj @@ -3,8 +3,8 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":3.0798263549804688, "y":2.2565953731536865, "heading":0.0, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.089874744415283, "y":5.504938125610352, "heading":1.5707963267948966, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.0798263549804688, "y":2.2565953731536865, "heading":0.0, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.089874744415283, "y":5.504938125610352, "heading":1.5707963267948966, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":0.9011527895927428, "y":3.063164234161377, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -13,8 +13,8 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"3.0798263549804688 m", "val":3.0798263549804688}, "y":{"exp":"2.2565953731536865 m", "val":2.2565953731536865}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":57, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.089874744415283 m", "val":2.089874744415283}, "y":{"exp":"5.504938125610352 m", "val":5.504938125610352}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":53, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.0798263549804688 m", "val":3.0798263549804688}, "y":{"exp":"2.2565953731536865 m", "val":2.2565953731536865}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":52, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.089874744415283 m", "val":2.089874744415283}, "y":{"exp":"5.504938125610352 m", "val":5.504938125610352}, "heading":{"exp":"1.5707963267948966 rad", "val":1.5707963267948966}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"0.9011527895927429 m", "val":0.9011527895927428}, "y":{"exp":"3.063164234161377 m", "val":3.063164234161377}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -26,119 +26,109 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.91792,3.63367], + "waypoints":[0.0,1.74733,3.30619], "samples":[ - {"t":0.0, "x":3.07983, "y":2.2566, "heading":0.0, 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"fy":[69.61408,69.58004,63.77549,66.90389]}, + {"t":3.17629, "x":0.9067, "y":3.09804, "heading":0.02473, "vx":-0.08625, "vy":-0.5368, "omega":-0.3047, "ax":0.67915, "ay":4.12928, "alpha":2.34636, "fx":[-1.31232,-1.12234,27.55946,19.28634], "fy":[69.61826,69.58133,63.91341,66.91056]}, + {"t":3.20876, "x":0.90426, "y":3.08279, "heading":0.01484, "vx":-0.0642, "vy":-0.40269, "omega":-0.2285, "ax":0.66843, "ay":4.13137, "alpha":2.34617, "fx":[-1.34688,-1.49031,27.28685,19.26047], "fy":[69.62176,69.58065,64.03566,66.92188]}, + {"t":3.24124, "x":0.90253, "y":3.07189, "heading":0.00742, "vx":-0.04249, "vy":-0.26852, "omega":-0.1523, "ax":0.65864, "ay":4.13328, "alpha":2.34542, "fx":[-1.39494,-1.79653,27.04564,19.21573], "fy":[69.62457,69.57904,64.1429,66.93828]}, + {"t":3.27371, "x":0.9015, "y":3.06534, "heading":0.00247, "vx":-0.0211, "vy":-0.13429, "omega":-0.07613, "ax":0.64965, "ay":4.13504, "alpha":2.34419, "fx":[-1.45862,-2.04541,26.83549,19.15091], "fy":[69.62668,69.57725,64.23575,66.96012]}, + {"t":3.30619, "x":0.90115, "y":3.06316, "heading":0.0, "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/choreo.chor b/src/main/deploy/choreo/choreo.chor index e88e733f..5e430d83 100644 --- a/src/main/deploy/choreo/choreo.chor +++ b/src/main/deploy/choreo/choreo.chor @@ -273,12 +273,12 @@ }, "PLO":{ "x":{ - "exp":"1.666144609451294 m", - "val":1.666144609451294 + "exp":"1.5501512289047241 m", + "val":1.550151228904724 }, "y":{ - "exp":"7.431143760681152 m", - "val":7.431143760681152 + "exp":"7.523398399353027 m", + "val":7.523398399353027 }, "heading":{ "exp":"-0.9350057865774469 rad", @@ -449,12 +449,12 @@ } }, "mass":{ - "exp":"38.92 kg", - "val":38.92 + "exp":"144.1655226 lb", + "val":65.39238106842257 }, "inertia":{ - "exp":"18756 in ^ 2 lb", - "val":5.488749339718075 + "exp":"22520.847 in ^ 2 lb", + "val":6.590492861012039 }, "gearing":{ "exp":"(50 / 16) * (17 / 27) * (45 / 15)", @@ -465,12 +465,12 @@ "val":0.0508 }, "vmax":{ - "exp":"5000 RPM", - "val":523.5987755982989 + "exp":"4800 RPM", + "val":502.6548245743669 }, "tmax":{ - "exp":"0.3 N * m", - "val":0.3 + "exp":"0.6 N * m", + "val":0.6 }, "cof":{ "exp":"1.5", @@ -478,16 +478,16 @@ }, "bumper":{ "front":{ - "exp":"36.1 / 2 in", - "val":0.45847 + "exp":"36.7 / 2 in", + "val":0.46609 }, "side":{ - "exp":"36.1 / 2 in", - "val":0.45847 + "exp":"36.7 / 2 in", + "val":0.46609 }, "back":{ - "exp":"36.1 / 2 in", - "val":0.45847 + "exp":"36.7 / 2 in", + "val":0.46609 } }, "differentialTrackWidth":{ diff --git a/src/main/deploy/choreo/starting location tester.traj b/src/main/deploy/choreo/starting location tester.traj index 859f1952..c0da7555 100644 --- a/src/main/deploy/choreo/starting location tester.traj +++ b/src/main/deploy/choreo/starting location tester.traj @@ -3,11 +3,11 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.1, "y":7.216524124145508, "heading":-2.095116885713791, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.1, "y":5.889204978942871, "heading":-1.0455529770312977, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.2, "y":4.717027187347412, "heading":3.141592653589793, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.2, "y":3.303518533706665, "heading":3.141592653589793, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.1, "y":2.0451512336730957, "heading":1.0349851207246612, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.1, "y":7.216524124145508, "heading":-2.095116885713791, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.1, "y":5.889204978942871, "heading":-1.0455529770312977, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.2, "y":4.717027187347412, "heading":3.141592653589793, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.2, "y":3.303518533706665, "heading":3.141592653589793, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.1, "y":2.0451512336730957, "heading":1.0349851207246612, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.1, "y":0.7523078918457031, "heading":2.0928880900706415, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -17,11 +17,11 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"LO.x", "val":7.1}, "y":{"exp":"LO.y", "val":7.216524124145508}, "heading":{"exp":"-2.095116885713791 rad", "val":-2.095116885713791}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"LI.x", "val":7.1}, "y":{"exp":"LI.y", "val":5.889204978942871}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":43, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"LM.x", "val":7.2}, "y":{"exp":"LM.y", "val":4.717027187347412}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"RM.x", "val":7.2}, "y":{"exp":"RM.y", "val":3.303518533706665}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":44, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"RI.x", "val":7.1}, "y":{"exp":"RI.y", "val":2.0451512336730957}, "heading":{"exp":"1.0349851207246612 rad", "val":1.0349851207246612}, "intervals":39, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LO.x", "val":7.1}, "y":{"exp":"LO.y", "val":7.216524124145508}, "heading":{"exp":"-2.095116885713791 rad", "val":-2.095116885713791}, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LI.x", "val":7.1}, "y":{"exp":"LI.y", "val":5.889204978942871}, "heading":{"exp":"-1.0455529770312977 rad", "val":-1.0455529770312977}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"LM.x", "val":7.2}, "y":{"exp":"LM.y", "val":4.717027187347412}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RM.x", "val":7.2}, "y":{"exp":"RM.y", "val":3.303518533706665}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":41, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"RI.x", "val":7.1}, "y":{"exp":"RI.y", "val":2.0451512336730957}, "heading":{"exp":"1.0349851207246612 rad", "val":1.0349851207246612}, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"RO.x", "val":7.1}, "y":{"exp":"RO.y", "val":0.7523078918457031}, "heading":{"exp":"2.0928880900706415 rad", "val":2.0928880900706415}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -34,200 +34,185 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,1.04188,1.64787,2.28173,2.89866,3.91378], + 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"ay":3.42268, "alpha":-8.00621, "fx":[9.52499,-37.30156,-50.77465,49.47941], "fy":[68.98162,58.78038,47.12837,48.92661]}, + {"t":3.20237, "x":7.09935, "y":0.75629, "heading":2.07737, "vx":0.02591, "vy":-0.1629, "omega":0.41802, "ax":-0.50011, "ay":3.35402, "alpha":-8.31965, "fx":[9.13589,-38.41969,-53.53634,50.11691], "fy":[69.03814,58.06068,43.94512,48.28339]}, + {"t":3.22695, "x":7.09983, "y":0.7533, "heading":2.08764, "vx":0.01362, "vy":-0.08047, "omega":0.21354, "ax":-0.55423, "ay":3.27391, "alpha":-8.68843, "fx":[8.88618,-39.3907,-56.52343,50.78554], "fy":[69.0743,57.41119,40.01478,47.58852]}, + {"t":3.25153, "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 83759e6e..16a1499a 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -9,16 +9,21 @@ import choreo.auto.AutoTrajectory; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; 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.ReefTarget; +import frc.robot.Robot.RobotType; import frc.robot.subsystems.ManipulatorSubsystem; import frc.robot.subsystems.swerve.SwerveSubsystem; import frc.robot.utils.autoaim.AutoAim; +import frc.robot.utils.autoaim.CoralTargets; import java.util.HashMap; import java.util.Optional; +import java.util.function.Supplier; import org.littletonrobotics.junction.Logger; public class Autos { @@ -40,12 +45,13 @@ public Autos(SwerveSubsystem swerve, ManipulatorSubsystem manipulator) { true, swerve, (traj, edge) -> { - Logger.recordOutput( - "Choreo/Active Traj", - DriverStation.getAlliance().isPresent() - && DriverStation.getAlliance().get().equals(Alliance.Blue) - ? traj.getPoses() - : traj.flipped().getPoses()); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "Choreo/Active Traj", + DriverStation.getAlliance().isPresent() + && DriverStation.getAlliance().get().equals(Alliance.Blue) + ? traj.getPoses() + : traj.flipped().getPoses()); }); } @@ -98,13 +104,32 @@ public void runPath( String nextPos, HashMap steps) { routine - .observe(steps.get(startPos + "to" + endPos).done()) + .observe( + steps + .get(startPos + "to" + endPos) + .atTime( + steps.get(startPos + "to" + endPos).getRawTrajectory().getTotalTime() + - (endPos.length() == 1 ? 0.5 : 0.0))) .onTrue( Commands.sequence( endPos.length() == 3 - ? intakeInAuto(steps.get(startPos + "to" + endPos).getFinalPose()) + ? intakeInAuto(() -> steps.get(startPos + "to" + endPos).getFinalPose()) : Commands.sequence( - endPos.length() == 1 ? scoreInAuto() : Commands.print("pushed bot")), + 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)), steps.get(endPos + "to" + nextPos).cmd())); } @@ -132,8 +157,7 @@ public Command LOtoJ() { String nextPos = stops[i + 2]; runPath(routine, startPos, endPos, nextPos, steps); } - // final path - routine.observe(steps.get("PLOtoA").done()).onTrue(scoreInAuto()); + return routine.cmd(); } @@ -229,7 +253,7 @@ public Command RItoD() { public Command PMtoPL() { final var routine = factory.newRoutine("PM to PL"); - bindElevatorExtension(routine); + bindElevatorExtension(routine, 2.0); HashMap steps = new HashMap(); // key - name of path, value - traj String[] stops = { @@ -258,29 +282,48 @@ public Command PMtoPL() { return routine.cmd(); } - public Command scoreInAuto() { - return Commands.runOnce( - () -> { - autoScore = true; - Robot.setCurrentTarget(ReefTarget.L4); - }) - .andThen( + public Command scoreInAuto(Supplier trajEndPose) { + return Commands.sequence( + Commands.waitUntil( + new Trigger( + () -> + AutoAim.isInTolerance( + swerve.getPose(), + CoralTargets.getClosestTarget(trajEndPose.get()), + swerve.getVelocityFieldRelative(), + Units.inchesToMeters(3.0), + Units.degreesToRadians(1.0))) + .debounce(0.25)), + Commands.print("Scoring!"), + Commands.runOnce( + () -> { + autoScore = true; + Robot.setCurrentTarget(ReefTarget.L4); + }), Commands.waitUntil(() -> !manipulator.getSecondBeambreak()) .alongWith( Robot.isSimulation() ? Commands.runOnce(() -> manipulator.setSecondBeambreak(false)) - : Commands.none()) - .andThen( - Commands.runOnce( - () -> { - autoScore = false; - autoPreScore = false; - }), - swerve.driveVelocity(() -> new ChassisSpeeds(-1, 0, 0)).withTimeout(0.25))); + : Commands.none()), + Commands.runOnce( + () -> { + autoScore = false; + autoPreScore = false; + }), + // Retract some + Commands.waitSeconds(0.3)) + .raceWith( + AutoAim.translateToPose( + swerve, () -> CoralTargets.getClosestTarget(trajEndPose.get()))); + } + + // TODO: REMOVE THIS OVERLOAD + public Command scoreInAuto() { + return scoreInAuto(() -> swerve.getPose()); } - public Command intakeInAuto(Optional pose) { - if (!pose.isPresent()) { + public Command intakeInAuto(Supplier> pose) { + if (!pose.get().isPresent()) { return Commands.none(); } else { return Commands.sequence( @@ -288,13 +331,20 @@ public Command intakeInAuto(Optional pose) { ? Commands.runOnce(() -> manipulator.setSecondBeambreak(true)) : Commands.none(), Commands.print("intake - 2nd bb" + manipulator.getSecondBeambreak()), - AutoAim.translateToPose(swerve, () -> pose.get()) + // AutoAim.translateToPose( + // swerve, + // () -> pose.get().get(), + // () -> + // ChassisSpeeds.fromRobotRelativeSpeeds( + // new ChassisSpeeds(-0.5, 0.0, 0.0), swerve.getRotation())) + swerve + .driveVoltage(() -> new ChassisSpeeds(-0.5, 0.0, 0.0)) .until(() -> manipulator.getSecondBeambreak() || manipulator.getFirstBeambreak())); } } public void bindElevatorExtension(AutoRoutine routine) { - bindElevatorExtension(routine, 3); // TODO tune + bindElevatorExtension(routine, 4.0); // TODO tune } public void bindElevatorExtension(AutoRoutine routine, double toleranceMeters) { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 3f83d822..821d5b70 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -11,10 +11,11 @@ import static frc.robot.subsystems.elevator.ElevatorSubsystem.ELEVATOR_ANGLE; import com.ctre.phoenix6.SignalLogger; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.configs.FeedbackConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.Slot0Configs; -import com.ctre.phoenix6.signals.GravityTypeValue; +import com.ctre.phoenix6.configs.Slot1Configs; import com.ctre.phoenix6.signals.InvertedValue; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.controller.ProfiledPIDController; @@ -23,6 +24,7 @@ import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.system.plant.DCMotor; @@ -33,6 +35,7 @@ import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; import edu.wpi.first.wpilibj.RobotController; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -78,6 +81,7 @@ import org.ironmaple.simulation.drivesims.SwerveDriveSimulation; import org.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig; import org.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig; +import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.LogFileUtil; import org.littletonrobotics.junction.LoggedRobot; import org.littletonrobotics.junction.Logger; @@ -108,30 +112,51 @@ private RobotHardware(SwerveConstants swerveConstants) { } } - public static final RobotType ROBOT_TYPE = Robot.isReal() ? RobotType.REAL : RobotType.SIM; + public static final RobotType ROBOT_TYPE = Robot.isReal() ? RobotType.REAL : RobotType.REPLAY; // For replay to work properly this should match the hardware used in the log public static final RobotHardware ROBOT_HARDWARE = RobotHardware.KELPIE; public static enum ReefTarget { - L1(ElevatorSubsystem.L1_EXTENSION_METERS, 12.0, WristSubsystem.WRIST_SCORE_L1_POS), - L2(ElevatorSubsystem.L2_EXTENSION_METERS, WristSubsystem.WRIST_SCORE_L2_POS), - L3(ElevatorSubsystem.L3_EXTENSION_METERS, WristSubsystem.WRIST_SCORE_L3_POS), - L4(ElevatorSubsystem.L4_EXTENSION_METERS, 20.0, WristSubsystem.WRIST_SCORE_L4_POS); + L1( + ElevatorSubsystem.L1_EXTENSION_METERS, + 12.0, + WristSubsystem.WRIST_SCORE_L1_POS, + ShoulderSubsystem.SHOULDER_SCORE_POS), + L2( + ElevatorSubsystem.L2_EXTENSION_METERS, + WristSubsystem.WRIST_SCORE_L2_POS, + ShoulderSubsystem.SHOULDER_SCORE_POS), + L3( + ElevatorSubsystem.L3_EXTENSION_METERS, + WristSubsystem.WRIST_SCORE_L3_POS, + ShoulderSubsystem.SHOULDER_SCORE_POS), + L4( + ElevatorSubsystem.L4_EXTENSION_METERS, + 20.0, + WristSubsystem.WRIST_SCORE_L4_POS, + ShoulderSubsystem.SHOULDER_SCORE_L4_POS); public final double elevatorHeight; public final double outtakeSpeed; public final Rotation2d wristAngle; + public final Rotation2d shoulderAngle; - private ReefTarget(double elevatorHeight, double outtakeSpeed, Rotation2d wristAngle) { + private ReefTarget( + double elevatorHeight, + double outtakeSpeed, + Rotation2d wristAngle, + Rotation2d shoulderAngle) { this.elevatorHeight = elevatorHeight; this.outtakeSpeed = outtakeSpeed; this.wristAngle = wristAngle; + this.shoulderAngle = shoulderAngle; } - private ReefTarget(double elevatorHeight, Rotation2d wristAngle) { + private ReefTarget(double elevatorHeight, Rotation2d wristAngle, Rotation2d shoulderAngle) { this.elevatorHeight = elevatorHeight; this.outtakeSpeed = 100.0; this.wristAngle = wristAngle; + this.shoulderAngle = shoulderAngle; } } @@ -148,9 +173,11 @@ public static enum AlgaeScoreTarget { } private static ReefTarget currentTarget = ReefTarget.L4; - private AlgaeIntakeTarget algaeIntakeTarget = AlgaeIntakeTarget.GROUND; + private AlgaeIntakeTarget algaeIntakeTarget = AlgaeIntakeTarget.STACK; private AlgaeScoreTarget algaeScoreTarget = AlgaeScoreTarget.NET; + @AutoLogOutput private boolean haveAutosGenerated = false; + private final CommandXboxControllerSubsystem driver = new CommandXboxControllerSubsystem(0); private final CommandXboxControllerSubsystem operator = new CommandXboxControllerSubsystem(1); @@ -199,7 +226,7 @@ public static enum AlgaeScoreTarget { private final SwerveSubsystem swerve = new SwerveSubsystem( ROBOT_HARDWARE.swerveConstants, - ROBOT_TYPE == RobotType.REAL + ROBOT_TYPE != RobotType.SIM ? new GyroIOPigeon2(ROBOT_HARDWARE.swerveConstants.getGyroID()) : new GyroIOSim(swerveDriveSimulation.get().getGyroSimulation()), Stream.of(ROBOT_HARDWARE.swerveConstants.getVisionConstants()) @@ -209,7 +236,7 @@ public static enum AlgaeScoreTarget { ? new VisionIOReal(constants) : new VisionIOSim(constants)) .toArray(VisionIO[]::new), - ROBOT_TYPE == RobotType.REAL + ROBOT_TYPE != RobotType.SIM ? new ModuleIO[] { new ModuleIOReal( ROBOT_HARDWARE.swerveConstants.getFrontLeftModule(), @@ -247,41 +274,53 @@ public static enum AlgaeScoreTarget { private final ElevatorSubsystem elevator = new ElevatorSubsystem( - ROBOT_TYPE == RobotType.REAL ? new ElevatorIOReal() : new ElevatorIOSim()); + ROBOT_TYPE != RobotType.SIM ? new ElevatorIOReal() : new ElevatorIOSim()); private final ManipulatorSubsystem manipulator = new ManipulatorSubsystem( - ROBOT_TYPE == RobotType.REAL + ROBOT_TYPE != RobotType.SIM ? new RollerIOReal( 10, RollerIOReal.getDefaultConfig() + .withCurrentLimits( + new CurrentLimitsConfigs() + .withStatorCurrentLimitEnable(true) + .withStatorCurrentLimit(60.0) + .withSupplyCurrentLimit(30.0) + .withSupplyCurrentLimitEnable(true)) .withMotorOutput( - new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive)) + new MotorOutputConfigs() + .withInverted(InvertedValue.CounterClockwise_Positive)) .withFeedback(new FeedbackConfigs().withSensorToMechanismRatio(2)) - .withSlot0(new Slot0Configs().withKV(0.24).withKP(0.5))) + .withSlot0(new Slot0Configs().withKV(0.24).withKP(0.5)) + .withSlot1(new Slot1Configs().withKP(20).withKD(0.1).withKS(0.27))) : new RollerIOSim( 0.01, 2, new SimpleMotorFeedforward(0.0, 0.24), new ProfiledPIDController( 0.5, 0.0, 0.0, new TrapezoidProfile.Constraints(15, 1))), - new BeambreakIOReal(0, true), - new BeambreakIOReal(1, true)); + new BeambreakIOReal(1, true), + new BeambreakIOReal(0, true)); private final ShoulderSubsystem shoulder = new ShoulderSubsystem( - ROBOT_TYPE == RobotType.REAL ? new ShoulderIOReal() : new ShoulderIOSim()); + ROBOT_TYPE != RobotType.SIM ? new ShoulderIOReal() : new ShoulderIOSim()); private final WristSubsystem wrist = new WristSubsystem( - ROBOT_TYPE == RobotType.REAL + ROBOT_TYPE != RobotType.SIM ? new WristIOReal( 12, WristIOReal.getDefaultConfiguration() .withSlot0( - new Slot0Configs() - .withGravityType(GravityTypeValue.Arm_Cosine) - .withKG(0.0) - .withKP(0.0)) + new Slot0Configs().withKP(1000.0).withKD(5.0).withKS(0.3).withKV(3.6)) + .withMotionMagic(WristSubsystem.DEFAULT_MOTION_MAGIC) + .withCurrentLimits( + new CurrentLimitsConfigs() + .withStatorCurrentLimit(30.0) + .withStatorCurrentLimitEnable(true) + .withSupplyCurrentLimit(20.0) + .withSupplyCurrentLimitEnable(true)) .withFeedback( new FeedbackConfigs() .withSensorToMechanismRatio(WristSubsystem.WRIST_GEAR_RATIO))) @@ -289,7 +328,7 @@ public static enum AlgaeScoreTarget { private final FunnelSubsystem funnel = new FunnelSubsystem( - ROBOT_TYPE == RobotType.REAL + ROBOT_TYPE != RobotType.SIM ? new RollerIOReal( 19, RollerIOReal.getDefaultConfig() @@ -304,7 +343,7 @@ public static enum AlgaeScoreTarget { new ServoIOReal(1)); private final ClimberSubsystem climber = - new ClimberSubsystem(ROBOT_TYPE == RobotType.REAL ? new ClimberIOReal() : new ClimberIOSim()); + new ClimberSubsystem(ROBOT_TYPE != RobotType.SIM ? new ClimberIOReal() : new ClimberIOSim()); private final Superstructure superstructure = new Superstructure( @@ -322,18 +361,25 @@ public static enum AlgaeScoreTarget { driver .rightTrigger() .negate() - .or(() -> AutoAim.isInToleranceCoral(swerve.getPose())) + .and(() -> DriverStation.isTeleop()) + // .or(() -> AutoAim.isInToleranceCoral(swerve.getPose())) .or(() -> Autos.autoScore), driver.rightTrigger().or(() -> Autos.autoPreScore), driver.leftTrigger(), - driver.x().and(driver.pov(-1).negate()).debounce(0.5), + driver + .x() + .and(driver.pov(-1).negate()) + .debounce(0.5) + .or(operator.x().and(operator.pov(-1).negate()).debounce(0.5)), driver.rightTrigger(), driver .y() .debounce(0.5) .or(operator.leftStick().and(operator.rightTrigger()).debounce(0.5)), driver.a(), - driver.start()); + driver.start(), + operator.rightBumper(), + operator.leftBumper()); private final LEDSubsystem leds = new LEDSubsystem(new LEDIOReal()); @@ -387,7 +433,7 @@ public Robot() { switch (ROBOT_TYPE) { case REAL: - // Logger.addDataReceiver(new WPILOGWriter("/U")); // Log to a USB stick + Logger.addDataReceiver(new WPILOGWriter("/U")); // Log to a USB stick Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging break; @@ -437,17 +483,60 @@ public Robot() { driver.setDefaultCommand(driver.rumbleCmd(0.0, 0.0)); operator.setDefaultCommand(operator.rumbleCmd(0.0, 0.0)); - new Trigger(() -> !manipulator.getFirstBeambreak() && manipulator.getSecondBeambreak()) + new Trigger( + () -> + superstructure.getState() == SuperState.READY_ALGAE + || superstructure.getState() == SuperState.READY_CORAL) .onTrue(driver.rumbleCmd(1.0, 1.0).withTimeout(0.5)); + new Trigger(() -> DriverStation.isEnabled()) + .onTrue(Commands.runOnce(() -> Autos.autoScore = false)); + + new Trigger(() -> DriverStation.isEnabled()) + .onTrue(Commands.runOnce(() -> Autos.autoPreScore = false)); + new Trigger( () -> { var allianceChange = !DriverStation.getAlliance().equals(lastAlliance); lastAlliance = DriverStation.getAlliance(); return allianceChange && DriverStation.getAlliance().isPresent(); }) - .onTrue(Commands.runOnce(() -> addAutos()).ignoringDisable(true)); + .onTrue( + Commands.runOnce(() -> addAutos()) + .alongWith(leds.setBlinkingCmd(Color.kWhite, Color.kBlack, 20.0).withTimeout(1.0)) + .ignoringDisable(true)); + + new Trigger( + () -> + DriverStation.isDSAttached() + && DriverStation.getAlliance().isPresent() + && !haveAutosGenerated) + .onTrue(Commands.print("connected")) + .onTrue( + Commands.runOnce(() -> addAutos()) + .alongWith(leds.setBlinkingCmd(Color.kWhite, Color.kBlack, 20.0).withTimeout(1.0)) + .ignoringDisable(true)); + + new Trigger(() -> DriverStation.isAutonomousEnabled()) + .onTrue( + Commands.runOnce(() -> swerve.setCurrentLimits(new CurrentLimitsConfigs())) + .ignoringDisable(true)) + .onFalse( + Commands.runOnce( + () -> + swerve.setCurrentLimits( + ROBOT_HARDWARE.swerveConstants.getDriveConfig().CurrentLimits)) + .ignoringDisable(true)); + SmartDashboard.putData( + "Add Autos", + Commands.runOnce( + () -> { + if (DriverStation.getAlliance().isPresent()) { + addAutos(); + } + }) + .ignoringDisable(true)); elevator.setDefaultCommand( Commands.sequence( elevator.runCurrentZeroing().onlyIf(() -> !elevator.hasZeroed), @@ -461,16 +550,26 @@ public Robot() { wrist.setDefaultCommand(wrist.setTargetAngle(WristSubsystem.WRIST_RETRACTED_POS)); + funnel.setDefaultCommand(funnel.setVoltage(0.0)); + + climber.setDefaultCommand(climber.setPosition(0.0)); + leds.setDefaultCommand( Commands.either( - leds.setBlinkingCmd(Color.kWhite, Color.kBlack, 5.0) + leds.setBlinkingCmd( + () -> LEDSubsystem.getReefTargetColor(currentTarget), + () -> + superstructure.getState() == SuperState.IDLE + ? Color.kBlack + : Color.kWhite, + 5.0) .until(() -> !DriverStation.isEnabled()), leds.setRunAlongCmd( () -> DriverStation.getAlliance() .map((a) -> a == Alliance.Blue ? Color.kBlue : Color.kRed) .orElse(Color.kWhite), - () -> Color.kPurple, + () -> LEDSubsystem.PURPLE, 4, 1.0) .until(() -> DriverStation.isEnabled()), @@ -498,9 +597,16 @@ public Robot() { Commands.parallel( AutoAim.translateToPose( swerve, - () -> - CoralTargets.getHandedClosestTarget( - swerve.getPose(), driver.leftBumper().getAsBoolean())), + () -> { + var twist = swerve.getVelocityFieldRelative().toTwist2d(0.3); + return CoralTargets.getHandedClosestTarget( + swerve + .getPose() + .plus( + new Transform2d( + twist.dx, twist.dy, Rotation2d.fromRadians(twist.dtheta))), + driver.leftBumper().getAsBoolean()); + }), Commands.waitUntil(() -> AutoAim.isInToleranceCoral(swerve.getPose())) .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); driver @@ -509,11 +615,33 @@ public Robot() { .and( () -> superstructure.getState() == SuperState.INTAKE_ALGAE_HIGH - || superstructure.getState() == SuperState.INTAKE_ALGAE_LOW) + || superstructure.getState() == SuperState.INTAKE_ALGAE_LOW + || superstructure.getState() == SuperState.IDLE) .whileTrue( Commands.parallel( - AutoAim.translateToPose( - swerve, () -> AlgaeIntakeTargets.getClosestTarget(swerve.getPose())), + Commands.sequence( + AutoAim.translateToPose( + swerve, + () -> + AlgaeIntakeTargets.getOffsetLocation( + AlgaeIntakeTargets.getClosestTarget(swerve.getPose()))) + .until( + () -> + AutoAim.isInTolerance( + swerve.getPose(), + AlgaeIntakeTargets.getOffsetLocation( + AlgaeIntakeTargets.getClosestTarget(swerve.getPose())), + swerve.getVelocityFieldRelative(), + Units.inchesToMeters(1.0), + Units.degreesToRadians(1.0)) + && elevator.isNearExtension( + algaeIntakeTarget == AlgaeIntakeTarget.HIGH + ? ElevatorSubsystem.INTAKE_ALGAE_HIGH_EXTENSION + : ElevatorSubsystem.INTAKE_ALGAE_LOW_EXTENSION) + && shoulder.isNearAngle( + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS)), + AutoAim.approachAlgae( + swerve, () -> AlgaeIntakeTargets.getClosestTarget(swerve.getPose()), 0.75)), Commands.waitUntil(() -> AutoAim.isInToleranceAlgaeIntake(swerve.getPose())) .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); @@ -530,16 +658,18 @@ public Robot() { // TODO: PUT ACUAL NET POSE swerve, () -> - DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue - ? AutoAim.BLUE_NET_X - : AutoAim.RED_NET_X, + Math.abs(swerve.getPose().getX() - AutoAim.BLUE_NET_X) + > Math.abs(swerve.getPose().getX() - AutoAim.RED_NET_X) + ? AutoAim.RED_NET_X + : AutoAim.BLUE_NET_X, () -> modifyJoystick(driver.getLeftX()) * ROBOT_HARDWARE.swerveConstants.getMaxLinearSpeed(), () -> - DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue - ? Rotation2d.fromDegrees(0) - : Rotation2d.fromDegrees(180)), + Math.abs(swerve.getPose().getX() - AutoAim.BLUE_NET_X) + > Math.abs(swerve.getPose().getX() - AutoAim.RED_NET_X) + ? Rotation2d.kZero + : Rotation2d.k180deg), Commands.waitUntil( () -> { final var diff = @@ -618,60 +748,47 @@ public Robot() { .rightTrigger() .onTrue(Commands.runOnce(() -> algaeScoreTarget = AlgaeScoreTarget.PROCESSOR)); - new Trigger(() -> superstructure.stateIsCoralAlike()) - .whileTrue( - leds.setBlinkingCmd( - () -> { - if (currentTarget == ReefTarget.L1) { - return LEDSubsystem.L1; - } else if (currentTarget == ReefTarget.L2) { - return LEDSubsystem.L2; - } else if (currentTarget == ReefTarget.L3) { - return LEDSubsystem.L3; - } else if (currentTarget == ReefTarget.L4) { - return LEDSubsystem.L4; - } - // impossible - return Color.kBlack; - }, - () -> Color.kBlack, - 5.0)); - new Trigger(() -> superstructure.stateIsAlgaeAlike()) .whileTrue( - leds.setBlinkingCmd( - () -> { - if (algaeIntakeTarget == AlgaeIntakeTarget.GROUND) { - return LEDSubsystem.L1; - } else if (algaeIntakeTarget == AlgaeIntakeTarget.LOW) { - return LEDSubsystem.L2; - } else if (algaeIntakeTarget == AlgaeIntakeTarget.HIGH) { - return LEDSubsystem.L3; - } else if (algaeIntakeTarget == AlgaeIntakeTarget.STACK) { - return LEDSubsystem.L4; - } - // impossible - return Color.kBlack; - }, + leds.setBlinkingSplitCmd( + () -> LEDSubsystem.getAlgaeIntakeTargetColor(algaeIntakeTarget), + () -> + LEDSubsystem.getAlgaeScoringTargetColor( + algaeScoreTarget == AlgaeScoreTarget.NET), () -> Color.kBlack, 5.0)); + // heading reset + driver + .leftStick() + .and(driver.rightStick()) + .onTrue( + Commands.runOnce( + () -> + swerve.setYaw( + DriverStation.getAlliance().equals(Alliance.Blue) + ? Rotation2d.kZero + : Rotation2d.k180deg))); // Log locations of all autoaim targets - Logger.recordOutput( - "AutoAim/Targets/Coral", - Stream.of(CoralTargets.values()) - .map((target) -> CoralTargets.getRobotTargetLocation(target.location)) - .toArray(Pose2d[]::new)); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/Targets/Coral", + Stream.of(CoralTargets.values()) + .map((target) -> CoralTargets.getRobotTargetLocation(target.location)) + .toArray(Pose2d[]::new)); // Log locations of all autoaim targets - Logger.recordOutput( - "AutoAim/Targets/Algae", - Stream.of(AlgaeIntakeTargets.values()) - .map((target) -> AlgaeIntakeTargets.getRobotTargetLocation(target.location)) - .toArray(Pose2d[]::new)); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/Targets/Algae", + Stream.of(AlgaeIntakeTargets.values()) + .map((target) -> AlgaeIntakeTargets.getRobotTargetLocation(target.location)) + .toArray(Pose2d[]::new)); } private void addAutos() { - System.out.println("Regenerating Autos"); + System.out.println("------- Regenerating Autos"); + System.out.println( + "Regenerating Autos on " + DriverStation.getAlliance().map((a) -> a.toString())); autoChooser.addOption("Triangle Test", autos.getTestTriangle()); autoChooser.addOption("Sprint Test", autos.getTestSprint()); autoChooser.addOption("LM to H", autos.LMtoH()); @@ -700,10 +817,12 @@ private void initializeTracerLogging() { String name = command.getName(); int count = commandCounts.getOrDefault(name, 0) + (active ? 1 : -1); commandCounts.put(name, count); - Logger.recordOutput( - "Commands/CommandsUnique/" + name + "_" + Integer.toHexString(command.hashCode()), - active.booleanValue()); - Logger.recordOutput("Commands/CommandsAll/" + name, count > 0); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "Commands/CommandsUnique/" + name + "_" + Integer.toHexString(command.hashCode()), + active.booleanValue()); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Commands/CommandsAll/" + name, count > 0); }; var scheduler = CommandScheduler.getInstance(); @@ -718,73 +837,121 @@ public void robotPeriodic() { CommandScheduler.getInstance().run(); if (ROBOT_TYPE == RobotType.SIM) { SimulatedArena.getInstance().simulationPeriodic(); - Logger.recordOutput( - "MapleSim/Pose", swerveDriveSimulation.get().getSimulatedDriveTrainPose()); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "MapleSim/Pose", swerveDriveSimulation.get().getSimulatedDriveTrainPose()); } - Logger.recordOutput("Targets/Reef Target", currentTarget); - Logger.recordOutput("Targets/Algae Intake Target", algaeIntakeTarget); - Logger.recordOutput("Targets/Algae Score Target", algaeScoreTarget); - Logger.recordOutput( - "Mechanism Poses", - new Pose3d[] { - new Pose3d( // first stage - new Translation3d(0, 0, elevator.getExtensionMeters() / 2.0), new Rotation3d()), - // carriage - new Pose3d(new Translation3d(0, 0, elevator.getExtensionMeters()), new Rotation3d()), - new Pose3d( // arm - new Translation3d( - ShoulderSubsystem.X_OFFSET_METERS, - 0, - ShoulderSubsystem.Z_OFFSET_METERS + elevator.getExtensionMeters()), - new Rotation3d( - 0, -Units.degreesToRadians(2.794042) - shoulder.getAngle().getRadians(), 0.0)), - new Pose3d( // Manipulator - new Translation3d( - ShoulderSubsystem.X_OFFSET_METERS - + shoulder.getAngle().getCos() * ShoulderSubsystem.ARM_LENGTH_METERS, - 0, - elevator.getExtensionMeters() - + ShoulderSubsystem.Z_OFFSET_METERS - + shoulder.getAngle().getSin() * ShoulderSubsystem.ARM_LENGTH_METERS), - new Rotation3d(0, wrist.getAngle().getRadians(), Math.PI)) - }); - Logger.recordOutput( - "Mechanism Setpoints", - new Pose3d[] { - new Pose3d( // first stage - new Translation3d(0, 0, elevator.getSetpoint() / 2.0), new Rotation3d()), - // carriage - new Pose3d(new Translation3d(0, 0, elevator.getSetpoint()), new Rotation3d()), - new Pose3d( // arm - new Translation3d( - ShoulderSubsystem.X_OFFSET_METERS, - 0, - ShoulderSubsystem.Z_OFFSET_METERS + elevator.getSetpoint()), - new Rotation3d( - 0, -Units.degreesToRadians(2.794042) - shoulder.getSetpoint().getRadians(), 0.0)), - new Pose3d( // Manipulator - new Translation3d( - ShoulderSubsystem.X_OFFSET_METERS - + shoulder.getSetpoint().getCos() * ShoulderSubsystem.ARM_LENGTH_METERS, - 0, - elevator.getSetpoint() - + ShoulderSubsystem.Z_OFFSET_METERS - + shoulder.getSetpoint().getSin() * ShoulderSubsystem.ARM_LENGTH_METERS), - new Rotation3d(0, wrist.getSetpoint().getRadians(), Math.PI)) - }); - Logger.recordOutput("AutoAim/CoralTarget", CoralTargets.getClosestTarget(swerve.getPose())); - Logger.recordOutput( - "AutoAim/AlgaeIntakeTarget", AlgaeIntakeTargets.getClosestTarget(swerve.getPose())); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Targets/Reef Target", currentTarget); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Targets/Algae Intake Target", algaeIntakeTarget); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Targets/Algae Score Target", algaeScoreTarget); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "Mechanism Poses", + new Pose3d[] { + new Pose3d( // first stage + new Translation3d(0, 0, elevator.getExtensionMeters() / 2.0), new Rotation3d()), + // carriage + new Pose3d(new Translation3d(0, 0, elevator.getExtensionMeters()), new Rotation3d()), + new Pose3d( // arm + new Translation3d( + ShoulderSubsystem.X_OFFSET_METERS, + 0, + ShoulderSubsystem.Z_OFFSET_METERS + elevator.getExtensionMeters()), + new Rotation3d( + 0, -Units.degreesToRadians(2.794042) - shoulder.getAngle().getRadians(), 0.0)), + new Pose3d( // Manipulator + new Translation3d( + ShoulderSubsystem.X_OFFSET_METERS + + shoulder.getAngle().getCos() * ShoulderSubsystem.ARM_LENGTH_METERS, + 0, + elevator.getExtensionMeters() + + ShoulderSubsystem.Z_OFFSET_METERS + + shoulder.getAngle().getSin() * ShoulderSubsystem.ARM_LENGTH_METERS), + new Rotation3d(0, wrist.getAngle().getRadians(), Math.PI)) + }); + + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "Mechanism Setpoints", + new Pose3d[] { + new Pose3d( // first stage + new Translation3d(0, 0, elevator.getSetpoint() / 2.0), new Rotation3d()), + // carriage + new Pose3d(new Translation3d(0, 0, elevator.getSetpoint()), new Rotation3d()), + new Pose3d( // arm + new Translation3d( + ShoulderSubsystem.X_OFFSET_METERS, + 0, + ShoulderSubsystem.Z_OFFSET_METERS + elevator.getSetpoint()), + new Rotation3d( + 0, + -Units.degreesToRadians(2.794042) - shoulder.getSetpoint().getRadians(), + 0.0)), + new Pose3d( // Manipulator + new Translation3d( + ShoulderSubsystem.X_OFFSET_METERS + + shoulder.getSetpoint().getCos() * ShoulderSubsystem.ARM_LENGTH_METERS, + 0, + elevator.getSetpoint() + + ShoulderSubsystem.Z_OFFSET_METERS + + shoulder.getSetpoint().getSin() * ShoulderSubsystem.ARM_LENGTH_METERS), + new Rotation3d(0, wrist.getSetpoint().getRadians(), Math.PI)) + }); + + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "Shoulder Zero Viz", + new Pose3d[] { + new Pose3d( // first stage + new Translation3d(0, 0, elevator.getExtensionMeters() / 2.0), new Rotation3d()), + // carriage + new Pose3d(new Translation3d(0, 0, elevator.getExtensionMeters()), new Rotation3d()), + new Pose3d( // arm + new Translation3d( + ShoulderSubsystem.X_OFFSET_METERS, + 0, + ShoulderSubsystem.Z_OFFSET_METERS + elevator.getExtensionMeters()), + new Rotation3d( + 0, + -Units.degreesToRadians(2.794042) - shoulder.getZeroingAngle().getRadians(), + 0.0)), + new Pose3d( // Manipulator + new Translation3d( + ShoulderSubsystem.X_OFFSET_METERS + + shoulder.getZeroingAngle().getCos() * ShoulderSubsystem.ARM_LENGTH_METERS, + 0, + elevator.getExtensionMeters() + + ShoulderSubsystem.Z_OFFSET_METERS + + shoulder.getZeroingAngle().getSin() + * ShoulderSubsystem.ARM_LENGTH_METERS), + new Rotation3d(0, wrist.getAngle().getRadians(), Math.PI)) + }); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/CoralTarget", + Tracer.trace( + "Get Closest Coral Target", () -> CoralTargets.getClosestTarget(swerve.getPose()))); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/AlgaeIntakeTarget", + Tracer.trace( + "Get Closest Algae Target", + () -> AlgaeIntakeTargets.getClosestTarget(swerve.getPose()))); carriageLigament.setLength(elevator.getExtensionMeters()); // Minus 90 to make it relative to horizontal shoulderLigament.setAngle(shoulder.getAngle().getDegrees() - 90); wristLigament.setAngle(wrist.getAngle().getDegrees() + shoulderLigament.getAngle()); - Logger.recordOutput("Mechanism/Elevator", elevatorMech2d); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Mechanism/Elevator", elevatorMech2d); superstructure.periodic(); - Logger.recordOutput("Autos/Pre Score", Autos.autoPreScore); - Logger.recordOutput("Autos/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); } public static void setCurrentTarget(ReefTarget target) { diff --git a/src/main/java/frc/robot/subsystems/FunnelSubsystem.java b/src/main/java/frc/robot/subsystems/FunnelSubsystem.java index 883491e5..4d8e7527 100644 --- a/src/main/java/frc/robot/subsystems/FunnelSubsystem.java +++ b/src/main/java/frc/robot/subsystems/FunnelSubsystem.java @@ -9,10 +9,10 @@ import org.littletonrobotics.junction.Logger; public class FunnelSubsystem extends RollerSubsystem { - public static final Rotation2d FIRST_LATCH_CLOSED_POSITION = Rotation2d.fromDegrees(0.0); - public static final Rotation2d FIRST_LATCH_OPEN_POSITION = Rotation2d.fromDegrees(180.0); - public static final Rotation2d SECOND_LATCH_CLOSED_POSITION = Rotation2d.fromDegrees(0.0); - public static final Rotation2d SECOND_LATCH_OPEN_POSITION = Rotation2d.fromDegrees(180.0); + public static final Rotation2d FIRST_LATCH_CLOSED_POSITION = Rotation2d.fromDegrees(125.0); + public static final Rotation2d FIRST_LATCH_OPEN_POSITION = Rotation2d.fromDegrees(45.0); + public static final Rotation2d SECOND_LATCH_CLOSED_POSITION = Rotation2d.fromDegrees(45.0); + public static final Rotation2d SECOND_LATCH_OPEN_POSITION = Rotation2d.fromDegrees(125.0); // this could be in its own subsystem but it doesnt really matter tbh private final ServoIO firstLatchIO, secondLatchIO; private final ServoIOInputsAutoLogged firstLatchInputs = new ServoIOInputsAutoLogged(), diff --git a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java index 26a703cf..59dbe2a1 100644 --- a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java @@ -4,19 +4,25 @@ package frc.robot.subsystems; +import edu.wpi.first.math.filter.LinearFilter; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Robot; +import frc.robot.Robot.RobotType; import frc.robot.subsystems.beambreak.BeambreakIO; import frc.robot.subsystems.beambreak.BeambreakIOInputsAutoLogged; import frc.robot.subsystems.roller.RollerIO; import frc.robot.subsystems.roller.RollerSubsystem; +import frc.robot.utils.Tracer; import org.littletonrobotics.junction.Logger; public class ManipulatorSubsystem extends RollerSubsystem { public static final String NAME = "Manipulator"; public static final double ALGAE_INTAKE_VOLTAGE = -10.0; - public static final double ALGAE_HOLDING_VOLTAGE = -1.0; + public static final double ALGAE_HOLDING_VOLTAGE = -3.0; + public static final double ALGAE_CURRENT_THRESHOLD = 30.0; private final BeambreakIO firstBBIO, secondBBIO; private final BeambreakIOInputsAutoLogged firstBBInputs = new BeambreakIOInputsAutoLogged(), @@ -26,6 +32,9 @@ public class ManipulatorSubsystem extends RollerSubsystem { private boolean bb2 = false; private boolean hasAlgae = false; + private LinearFilter currentFilter = LinearFilter.movingAverage(20); + private double currentFilterValue = 0.0; + /** Creates a new Manipulator. */ public ManipulatorSubsystem(RollerIO rollerIO, BeambreakIO firstBBIO, BeambreakIO secondBBIO) { super(rollerIO, NAME); @@ -42,20 +51,42 @@ public void periodic() { Logger.processInputs(NAME + "/First Beambreak", firstBBInputs); Logger.processInputs(NAME + "/Second Beambreak", secondBBInputs); - Logger.recordOutput(NAME + "/Has Algae", hasAlgae); - Logger.recordOutput(NAME + "/Sim First Beambreak Override", bb1); - Logger.recordOutput(NAME + "/Sim Second Beambreak Override", bb2); + if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput(NAME + "/Has Algae", hasAlgae); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput(NAME + "/Sim First Beambreak Override", bb1); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput(NAME + "/Sim Second Beambreak Override", bb2); + + currentFilterValue = currentFilter.calculate(inputs.statorCurrentAmps); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput(NAME + "/Filtered Current", currentFilterValue); + + if (firstBBInputs.get && !secondBBInputs.get) { + Tracer.trace("Manipulator/Zero", () -> io.resetEncoder(0.0)); + } } public Command index() { return Commands.sequence( - setVelocity(10.0).until(() -> firstBBInputs.get), - setVelocity(3.0).until(() -> secondBBInputs.get), + setVelocity(6.0).until(() -> firstBBInputs.get).unless(() -> firstBBInputs.get), + setVelocity(3.0).until(() -> secondBBInputs.get).unless(() -> secondBBInputs.get), // TODO tune timeout - setVelocity(1.0).withTimeout(0.5), + // Commands.runOnce(() -> io.resetEncoder(0.0)), + Commands.run(() -> io.setPosition(Rotation2d.fromRotations(1.1))), + // setVelocity(2.0).withTimeout(0.25), setVelocity(0)); } // TODO check if anything got lost in merge? + public Command jog(double rotations) { + return Commands.sequence( + // this.runOnce(() -> io.resetEncoder(0.0)), + this.run(() -> io.setPosition(Rotation2d.fromRotations(rotations)))); + } + + public Command hold() { + return this.jog(inputs.positionRotations).until(() -> true).andThen(this.run(() -> {})); + } + public Command backIndex() { return Commands.sequence( setVelocity(-INDEXING_VELOCITY).until(() -> !secondBBInputs.get), index()); @@ -63,12 +94,12 @@ public Command backIndex() { public Command intakeAlgae() { return this.run(() -> io.setVoltage(ALGAE_INTAKE_VOLTAGE)) - .until(() -> inputs.statorCurrentAmps > 20.0) + .until(() -> Math.abs(currentFilterValue) > ALGAE_CURRENT_THRESHOLD) .andThen(this.run(() -> io.setVoltage(ALGAE_HOLDING_VOLTAGE))); } public double getStatorCurrentAmps() { - return inputs.statorCurrentAmps; + return currentFilterValue; } public boolean getFirstBeambreak() { diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index 7606b71c..8b1f5ac5 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -3,6 +3,7 @@ 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.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior; @@ -17,9 +18,13 @@ import frc.robot.subsystems.elevator.ElevatorSubsystem; import frc.robot.subsystems.shoulder.ShoulderSubsystem; import frc.robot.subsystems.wrist.WristSubsystem; +import frc.robot.utils.autoaim.AlgaeIntakeTargets; +import frc.robot.utils.autoaim.HumanPlayerTargets; import java.util.HashMap; import java.util.Map; +import java.util.function.DoubleSupplier; import java.util.function.Supplier; +import java.util.stream.Stream; import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.Logger; @@ -39,11 +44,13 @@ public static enum SuperState { INTAKE_ALGAE_HIGH, INTAKE_ALGAE_LOW, INTAKE_ALGAE_STACK, + CHECK_ALGAE, READY_ALGAE, SPIT_ALGAE, PRE_PROCESSOR, PRE_NET, - SCORE_ALGAE, + SCORE_ALGAE_NET, + SCORE_ALGAE_PROCESSOR, PRE_CLIMB, CLIMB } @@ -52,7 +59,6 @@ public static enum SuperState { private final Supplier chassisVel; private final Supplier reefTarget; private final Supplier algaeIntakeTarget; - private AlgaeIntakeTarget prevAlgaeIntakeTarget; private final Supplier algaeScoreTarget; @AutoLogOutput(key = "Superstructure/Pre Score Request") @@ -79,6 +85,12 @@ public static enum SuperState { @AutoLogOutput(key = "Superstructure/Home Request") private final Trigger homeReq; + @AutoLogOutput(key = "Superstructure/Rev Funnel Req") + private final Trigger revFunnelReq; + + @AutoLogOutput(key = "Superstructure/Force Funnel Req") + private final Trigger forceFunnelReq; + private SuperState state = SuperState.IDLE; private SuperState prevState = SuperState.IDLE; private Map stateTriggers = new HashMap(); @@ -112,7 +124,9 @@ public Superstructure( Trigger climbConfReq, Trigger climbCancelReq, Trigger antiJamReq, - Trigger homeReq) { + Trigger homeReq, + Trigger revFunnelReq, + Trigger forceFunnelReq) { this.elevator = elevator; this.manipulator = manipulator; this.shoulder = shoulder; @@ -124,7 +138,6 @@ public Superstructure( this.chassisVel = chassisVel; this.reefTarget = reefTarget; this.algaeIntakeTarget = algaeIntakeTarget; - prevAlgaeIntakeTarget = algaeIntakeTarget.get(); this.algaeScoreTarget = algaeScoreTarget; this.preScoreReq = preScoreReq; @@ -140,10 +153,13 @@ public Superstructure( this.homeReq = homeReq; + this.revFunnelReq = revFunnelReq; + this.forceFunnelReq = forceFunnelReq; + stateTimer.start(); for (var state : SuperState.values()) { - stateTriggers.put(state, new Trigger(() -> this.state == state)); + stateTriggers.put(state, new Trigger(() -> this.state == state && DriverStation.isEnabled())); } configureStateTransitionCommands(); @@ -158,11 +174,28 @@ private void configureStateTransitionCommands() { stateTriggers .get(SuperState.IDLE) .whileTrue(elevator.setExtension(ElevatorSubsystem.HP_EXTENSION_METERS)) - .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_RETRACTED_POS)) + .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_HP_POS)) .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_HP_POS)) .whileTrue(manipulator.index()) - .whileTrue(funnel.setVoltage(6.0)) - .and(manipulator::getSecondBeambreak) + .whileTrue( + funnel.setVoltage( + () -> + revFunnelReq.getAsBoolean() + ? -5.0 + : (forceFunnelReq.getAsBoolean() + || (Stream.of(HumanPlayerTargets.values()) + .map( + (t) -> + t.location + .minus(pose.get()) + .getTranslation() + .getNorm()) + .min(Double::compare) + .get() + < 1.0) + ? 12.0 + : 0.0))) + .and(manipulator::getFirstBeambreak) .onTrue(this.forceState(SuperState.READY_CORAL)); // IDLE -> INTAKE_ALGAE_{location} @@ -198,18 +231,30 @@ private void configureStateTransitionCommands() { stateTriggers .get(SuperState.IDLE) .and(() -> !elevator.hasZeroed || !wrist.hasZeroed) + .and(() -> DriverStation.isEnabled()) .and(() -> Robot.ROBOT_TYPE != RobotType.SIM) .onTrue(this.forceState(SuperState.HOME)); // We might want to make this work when we have a piece as well? - stateTriggers.get(SuperState.IDLE).and(homeReq).onTrue(this.forceState(SuperState.HOME)); + stateTriggers + .get(SuperState.IDLE) + .and(homeReq) + .onTrue(this.forceState(SuperState.HOME)) + .onTrue( + Commands.runOnce( + () -> { + elevator.hasZeroed = false; + wrist.hasZeroed = false; + })); stateTriggers .get(SuperState.HOME) - .whileTrue(elevator.runCurrentZeroing()) - .whileTrue(wrist.currentZero(() -> shoulder.getInputs())) - .and(() -> (elevator.hasZeroed && wrist.hasZeroed) || Robot.ROBOT_TYPE == RobotType.SIM) - .onTrue(this.forceState(SuperState.IDLE)); + .whileTrue( + Commands.parallel( + elevator.runCurrentZeroing(), wrist.currentZero(() -> shoulder.getInputs())) + .andThen(Commands.waitUntil(homeReq.negate()), this.forceState(SuperState.IDLE))) + .and(() -> elevator.hasZeroed && wrist.hasZeroed && !homeReq.getAsBoolean()) + .onTrue(this.forceState(prevState)); // READY_CORAL logic stateTriggers @@ -217,7 +262,17 @@ private void configureStateTransitionCommands() { .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_RETRACTED_POS)) .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_RETRACTED_POS)) .whileTrue(elevator.setExtension(ElevatorSubsystem.HP_EXTENSION_METERS)) - .whileTrue(manipulator.index()); // keep indexing to make sure its chilling + .whileTrue(manipulator.index()); + // keep indexing to make sure its chilling + + stateTriggers + .get(SuperState.READY_CORAL) + .or(stateTriggers.get(SuperState.PRE_L1)) + .or(stateTriggers.get(SuperState.PRE_L2)) + .or(stateTriggers.get(SuperState.PRE_L3)) + .or(stateTriggers.get(SuperState.PRE_L4)) + .and(() -> (!manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak())) + .onTrue(this.forceState(SuperState.IDLE)); // SPIT_CORAL logic + -> IDLE stateTriggers @@ -258,6 +313,11 @@ private void configureStateTransitionCommands() { .and(preScoreReq) .and(() -> reefTarget.get() == ReefTarget.L4) .onTrue(this.forceState(SuperState.PRE_L4)); + + stateTriggers + .get(SuperState.READY_CORAL) + .and(() -> !wrist.hasZeroed || !elevator.hasZeroed) + .onTrue(this.forceState(SuperState.HOME)); // READY_CORAL -> SPIT_CORAL stateTriggers .get(SuperState.READY_CORAL) @@ -266,186 +326,243 @@ private void configureStateTransitionCommands() { // PRE_L{1-4} logic + -> SCORE_CORAL stateTriggers .get(SuperState.PRE_L1) - .whileTrue(elevator.setExtension(ElevatorSubsystem.L1_EXTENSION_METERS)) - .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_SCORE_POS)) - .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_SCORE_L1_POS)) - .whileTrue(manipulator.setVelocity(0.0)) + .whileTrue( + this.extendWithClearance( + ElevatorSubsystem.L1_EXTENSION_METERS, + ShoulderSubsystem.SHOULDER_SCORE_L1_POS, + WristSubsystem.WRIST_SCORE_L1_POS)) + .whileTrue(manipulator.jog(1.4)) .and(() -> elevator.isNearExtension(ElevatorSubsystem.L1_EXTENSION_METERS)) - .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_SCORE_POS)) + .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_SCORE_L1_POS)) .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_SCORE_L1_POS)) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); + stateTriggers + .get(SuperState.PRE_L1) + .and(() -> reefTarget.get() != ReefTarget.L1) + .onTrue(this.forceState(SuperState.IDLE)); + stateTriggers .get(SuperState.PRE_L2) - .whileTrue(elevator.setExtension(ElevatorSubsystem.L2_EXTENSION_METERS)) - .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_SCORE_POS)) - .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_SCORE_L2_POS)) - .whileTrue(manipulator.setVelocity(0.0)) + .whileTrue( + this.extendWithClearance( + ElevatorSubsystem.L2_EXTENSION_METERS, + ShoulderSubsystem.SHOULDER_SCORE_POS, + WristSubsystem.WRIST_SCORE_L2_POS)) + .whileTrue(manipulator.jog(1.4)) .and(() -> elevator.isNearExtension(ElevatorSubsystem.L2_EXTENSION_METERS)) .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_SCORE_POS)) .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_SCORE_L2_POS)) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); + stateTriggers + .get(SuperState.PRE_L2) + .and(() -> reefTarget.get() != ReefTarget.L2) + .onTrue(this.forceState(SuperState.IDLE)); + stateTriggers .get(SuperState.PRE_L3) - .whileTrue(elevator.setExtension(ElevatorSubsystem.L3_EXTENSION_METERS)) - .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_SCORE_POS)) - .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_SCORE_L3_POS)) - .whileTrue(manipulator.setVelocity(0.0)) + .whileTrue( + this.extendWithClearance( + ElevatorSubsystem.L3_EXTENSION_METERS, + ShoulderSubsystem.SHOULDER_SCORE_POS, + WristSubsystem.WRIST_SCORE_L3_POS)) + .whileTrue(manipulator.jog(1.4)) + .and(() -> elevator.isNearExtension(ElevatorSubsystem.L3_EXTENSION_METERS)) .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_SCORE_POS)) .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_SCORE_L3_POS)) - .and(() -> elevator.isNearExtension(ElevatorSubsystem.L3_EXTENSION_METERS)) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); + stateTriggers + .get(SuperState.PRE_L3) + .and(() -> reefTarget.get() != ReefTarget.L3) + .onTrue(this.forceState(SuperState.IDLE)); + stateTriggers .get(SuperState.PRE_L4) - .whileTrue(elevator.setExtension(ElevatorSubsystem.L4_EXTENSION_METERS)) - .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_SCORE_POS)) - .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_SCORE_L4_POS)) - .whileTrue(manipulator.setVelocity(0.0)) - .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_SCORE_POS)) - .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_SCORE_L4_POS)) + .whileTrue( + this.extendWithClearance( + ElevatorSubsystem.L4_EXTENSION_METERS, + ShoulderSubsystem.SHOULDER_SCORE_L4_POS, + WristSubsystem.WRIST_SCORE_L4_POS)) + .whileTrue(manipulator.jog(1.4)) .and(() -> elevator.isNearExtension(ElevatorSubsystem.L4_EXTENSION_METERS)) + .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_SCORE_L4_POS)) + .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_SCORE_L4_POS)) .and(scoreReq) .onTrue(this.forceState(SuperState.SCORE_CORAL)); - stateTriggers - .get(SuperState.PRE_L1) - .and(() -> reefTarget.get() != ReefTarget.L1) - .onTrue(forceState(SuperState.READY_CORAL)); - - stateTriggers - .get(SuperState.PRE_L2) - .and(() -> reefTarget.get() != ReefTarget.L2) - .onTrue(forceState(SuperState.READY_CORAL)); - - stateTriggers - .get(SuperState.PRE_L3) - .and(() -> reefTarget.get() != ReefTarget.L3) - .onTrue(forceState(SuperState.READY_CORAL)); - stateTriggers .get(SuperState.PRE_L4) .and(() -> reefTarget.get() != ReefTarget.L4) - .onTrue(forceState(SuperState.READY_CORAL)); + .onTrue(this.forceState(SuperState.IDLE)); // SCORE_CORAL -> IDLE stateTriggers .get(SuperState.SCORE_CORAL) .whileTrue(elevator.setExtension(() -> reefTarget.get().elevatorHeight)) - .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_SCORE_POS)) .whileTrue(wrist.setTargetAngle(() -> reefTarget.get().wristAngle)) + .whileTrue(shoulder.setTargetAngle(() -> reefTarget.get().shoulderAngle)) + .whileTrue(manipulator.hold()) + .and( + () -> + shoulder.isNearAngle(reefTarget.get().shoulderAngle) + || (shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_WHACK_L1_POS) + && reefTarget.get() == ReefTarget.L1)) .whileTrue(manipulator.setVelocity(() -> reefTarget.get().outtakeSpeed)) - .and(() -> !manipulator.getSecondBeambreak()) + .and(() -> reefTarget.get() == ReefTarget.L1) + .whileTrue(elevator.setExtension(ElevatorSubsystem.L1_WHACK_CORAL_EXTENSION_METERS)) + .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_WHACK_L1_POS)) + .whileTrue( + Commands.waitSeconds(0.1) + .andThen(wrist.setTargetAngle(WristSubsystem.WRIST_WHACK_L1_POS))); + + stateTriggers + .get(SuperState.SCORE_CORAL) + .and(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak()) + // .debounce(0.15) + .whileTrue( + this.extendWithClearance( + 0.0, ShoulderSubsystem.SHOULDER_HP_POS, WristSubsystem.WRIST_HP_POS)) + .and(() -> elevator.isNearExtension(0)) .onTrue(this.forceState(SuperState.IDLE)); + antiJamReq .and(stateTriggers.get(SuperState.CLIMB).negate()) .and(stateTriggers.get(SuperState.PRE_CLIMB).negate()) .onTrue(forceState(SuperState.ANTI_JAM)) .onFalse(forceState(SuperState.IDLE)); + // ANTI_JAM logic stateTriggers .get(SuperState.ANTI_JAM) - .whileTrue(elevator.setExtension(ElevatorSubsystem.L3_EXTENSION_METERS)) - .whileTrue(manipulator.setVelocity(10)); + .whileTrue(elevator.setExtension(ElevatorSubsystem.L2_EXTENSION_METERS)) + .whileTrue(manipulator.setVelocity(10)) + .whileTrue(funnel.setVoltage(-10.0)); + + stateTriggers + .get(SuperState.CHECK_ALGAE) + .and(() -> stateTimer.hasElapsed(1.0)) + .and(() -> manipulator.getStatorCurrentAmps() <= 20.0) + .onTrue(this.forceState(SuperState.IDLE)); + + // change intake target + stateTriggers + .get(SuperState.INTAKE_ALGAE_GROUND) + .and(() -> algaeIntakeTarget.get() != AlgaeIntakeTarget.GROUND) + .onTrue(this.forceState(SuperState.IDLE)); + stateTriggers + .get(SuperState.INTAKE_ALGAE_LOW) + .and(() -> algaeIntakeTarget.get() != AlgaeIntakeTarget.LOW) + .onTrue(this.forceState(SuperState.IDLE)); + stateTriggers + .get(SuperState.INTAKE_ALGAE_HIGH) + .and(() -> algaeIntakeTarget.get() != AlgaeIntakeTarget.HIGH) + .onTrue(this.forceState(SuperState.IDLE)); + stateTriggers + .get(SuperState.INTAKE_ALGAE_STACK) + .and(() -> algaeIntakeTarget.get() != AlgaeIntakeTarget.STACK) + .onTrue(this.forceState(SuperState.IDLE)); // INTAKE_ALGAE_{location} -> READY_ALGAE stateTriggers .get(SuperState.INTAKE_ALGAE_GROUND) - .whileTrue(elevator.setExtension(0.0)) - .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_GROUND_POS)) + .whileTrue(elevator.setExtension(ElevatorSubsystem.INTAKE_ALGAE_GROUND_EXTENSION)) .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_INTAKE_ALGAE_GROUND_POS)) - .whileTrue(manipulator.intakeAlgae()) - .and( - () -> - Robot.ROBOT_TYPE == RobotType.REAL - ? manipulator.getStatorCurrentAmps() > 20 - : manipulator.hasAlgae()) - .and(() -> elevator.isNearExtension(0.0)) - .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_INTAKE_ALGAE_GROUND_POS)) - .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_GROUND_POS)) - .onTrue(this.forceState(SuperState.READY_ALGAE)); + .whileTrue( + Commands.waitUntil( + () -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_GROUND_POS)) + .andThen(manipulator.setVoltage(ManipulatorSubsystem.ALGAE_INTAKE_VOLTAGE))) + .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_GROUND_POS)); stateTriggers .get(SuperState.INTAKE_ALGAE_LOW) - .whileTrue(elevator.setExtension(ElevatorSubsystem.INTAKE_ALGAE_LOW_EXTENSION)) - .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)) - .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS)) - .whileTrue(manipulator.intakeAlgae()) - .and( - () -> - Robot.ROBOT_TYPE == RobotType.REAL - ? manipulator.getStatorCurrentAmps() > 20 - : manipulator.hasAlgae()) - .and(() -> elevator.isNearExtension(ElevatorSubsystem.INTAKE_ALGAE_LOW_EXTENSION)) - .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)) - .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS)) - .onTrue(this.forceState(SuperState.READY_ALGAE)); + .whileTrue( + extendWithClearance( + ElevatorSubsystem.INTAKE_ALGAE_LOW_EXTENSION, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS, + WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)) + .whileTrue(manipulator.setVoltage(ManipulatorSubsystem.ALGAE_INTAKE_VOLTAGE)); stateTriggers .get(SuperState.INTAKE_ALGAE_HIGH) - .whileTrue(elevator.setExtension(ElevatorSubsystem.INTAKE_ALGAE_HIGH_EXTENSION)) - .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)) - .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS)) - .whileTrue(manipulator.intakeAlgae()) - .and( - () -> - Robot.ROBOT_TYPE == RobotType.REAL - ? manipulator.getStatorCurrentAmps() > 20 - : manipulator.hasAlgae()) - .and(() -> elevator.isNearExtension(ElevatorSubsystem.INTAKE_ALGAE_HIGH_EXTENSION)) - .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)) - .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS)) - .onTrue(forceState(SuperState.READY_ALGAE)); + .whileTrue( + extendWithClearance( + ElevatorSubsystem.INTAKE_ALGAE_HIGH_EXTENSION, + ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS, + WristSubsystem.WRIST_INTAKE_ALGAE_REEF_POS)) + .whileTrue(manipulator.setVoltage(ManipulatorSubsystem.ALGAE_INTAKE_VOLTAGE)); stateTriggers .get(SuperState.INTAKE_ALGAE_STACK) .whileTrue(elevator.setExtension(ElevatorSubsystem.INTAKE_ALGAE_STACK_EXTENSION)) - .whileTrue(manipulator.intakeAlgae()) + .whileTrue( + Commands.waitUntil( + () -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_STACK_POS)) + .andThen(manipulator.setVoltage(-12.0))) .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_STACK_POS)) .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_INTAKE_ALGAE_STACK_POS)) .and( () -> Robot.ROBOT_TYPE == RobotType.REAL - ? manipulator.getStatorCurrentAmps() > 20 + ? manipulator.getStatorCurrentAmps() + > ManipulatorSubsystem.ALGAE_CURRENT_THRESHOLD : manipulator.hasAlgae()) .and(() -> elevator.isNearExtension(ElevatorSubsystem.INTAKE_ALGAE_STACK_EXTENSION)) .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_INTAKE_ALGAE_STACK_POS)) .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_STACK_POS)) - .onTrue(forceState(SuperState.READY_ALGAE)); + .onTrue(forceState(SuperState.CHECK_ALGAE)); + // leave intake stateTriggers .get(SuperState.INTAKE_ALGAE_GROUND) .or(stateTriggers.get(SuperState.INTAKE_ALGAE_LOW)) .or(stateTriggers.get(SuperState.INTAKE_ALGAE_HIGH)) .or(stateTriggers.get(SuperState.INTAKE_ALGAE_STACK)) .and(intakeAlgaeReq.negate()) - .onTrue(this.forceState(SuperState.IDLE)); + .onTrue(this.forceState(SuperState.CHECK_ALGAE)); stateTriggers - .get(SuperState.INTAKE_ALGAE_GROUND) - .or(stateTriggers.get(SuperState.INTAKE_ALGAE_LOW)) - .or(stateTriggers.get(SuperState.INTAKE_ALGAE_HIGH)) - .or(stateTriggers.get(SuperState.INTAKE_ALGAE_STACK)) + .get(SuperState.CHECK_ALGAE) + .whileTrue(elevator.hold()) + .whileTrue(manipulator.intakeAlgae()) + .whileTrue( + shoulder.setTargetAngle( + () -> + (prevState == SuperState.INTAKE_ALGAE_HIGH + || prevState == SuperState.INTAKE_ALGAE_LOW) + ? ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_RETRACT_POS + : ShoulderSubsystem.SHOULDER_RETRACTED_POS)) + .whileTrue( + wrist.setTargetAngle( + () -> + (algaeIntakeTarget.get() == AlgaeIntakeTarget.GROUND + || algaeIntakeTarget.get() == AlgaeIntakeTarget.STACK) + ? WristSubsystem.WRIST_RETRACTED_POS + : WristSubsystem.WRIST_INTAKE_ALGAE_REEF_RETRACT_POS)) + .and(() -> stateTimer.hasElapsed(1.0)) + .and(() -> manipulator.getStatorCurrentAmps() > 20.0) .and( - () -> { - var diff = prevAlgaeIntakeTarget != algaeIntakeTarget.get(); - // This is ugly but we need to enforce update order - prevAlgaeIntakeTarget = algaeIntakeTarget.get(); - return diff; - }) - .onTrue(this.forceState(SuperState.IDLE)); + () -> + AlgaeIntakeTargets.getClosestTarget(pose.get()) + .getTranslation() + .minus(pose.get().getTranslation()) + .getNorm() + > 0.3 + || (algaeIntakeTarget.get() == AlgaeIntakeTarget.GROUND + || algaeIntakeTarget.get() == AlgaeIntakeTarget.STACK)) + .onTrue(this.forceState(SuperState.READY_ALGAE)); // READY_ALGAE logic stateTriggers .get(SuperState.READY_ALGAE) - .whileTrue(elevator.setExtension(0.0)) - .whileTrue(manipulator.intakeAlgae()) - .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_RETRACTED_POS)) - .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_RETRACTED_POS)); + .whileTrue( + extendWithClearance( + 0.0, ShoulderSubsystem.SHOULDER_RETRACTED_POS, WristSubsystem.WRIST_RETRACTED_POS)) + .whileTrue(manipulator.intakeAlgae()); // READY_ALGAE -> PRE_NET stateTriggers .get(SuperState.READY_ALGAE) @@ -464,6 +581,11 @@ private void configureStateTransitionCommands() { .get(SuperState.READY_ALGAE) .and(preClimbReq) .onTrue(forceState(SuperState.SPIT_ALGAE)); + + stateTriggers + .get(SuperState.READY_ALGAE) + .and(() -> manipulator.getStatorCurrentAmps() < 20.0) + .onTrue(forceState(SuperState.CHECK_ALGAE)); // SPIT_ALGAE -> PRE_CLIMB stateTriggers .get(SuperState.SPIT_ALGAE) @@ -480,66 +602,48 @@ private void configureStateTransitionCommands() { .whileTrue(elevator.setExtension(ElevatorSubsystem.ALGAE_PROCESSOR_EXTENSION)) .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_SCORE_PROCESSOR_POS)) .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_SCORE_PROCESSOR_POS)) + .whileTrue(manipulator.setVoltage(ManipulatorSubsystem.ALGAE_HOLDING_VOLTAGE)) .and(() -> elevator.isNearExtension(ElevatorSubsystem.ALGAE_PROCESSOR_EXTENSION)) .and(scoreReq) - .onTrue(forceState(SuperState.SCORE_ALGAE)); + .onTrue(forceState(SuperState.SCORE_ALGAE_PROCESSOR)); // PRE_NET logic stateTriggers .get(SuperState.PRE_NET) - .whileTrue(elevator.setExtension(ElevatorSubsystem.ALGAE_NET_EXTENSION)) + .whileTrue(manipulator.setVoltage(2 * ManipulatorSubsystem.ALGAE_HOLDING_VOLTAGE)) .whileTrue( - Commands.sequence( - Commands.parallel( - shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_RETRACTED_POS), - wrist.setTargetAngle(Rotation2d.fromDegrees(-40))) - .until(() -> elevator.isNearExtension(ElevatorSubsystem.ALGAE_NET_EXTENSION)), - Commands.parallel( - shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_RETRACTED_POS), - wrist.setTargetAngle(WristSubsystem.WRIST_SHOOT_NET_POS)) - .until(() -> wrist.isNearAngle(WristSubsystem.WRIST_SHOOT_NET_POS)), - Commands.parallel( - shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_SHOOT_NET_POS), - wrist.setTargetAngle(WristSubsystem.WRIST_SHOOT_NET_POS)))) + Commands.parallel( + elevator.setExtension(ElevatorSubsystem.ALGAE_NET_EXTENSION), + shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_PRE_NET_POS), + wrist.setTargetAngle(WristSubsystem.WRIST_SHOOT_NET_POS))) .and(() -> wrist.isNearAngle(WristSubsystem.WRIST_SHOOT_NET_POS)) - .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_SHOOT_NET_POS)) + .and(() -> shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_PRE_NET_POS)) .and(() -> elevator.isNearExtension(ElevatorSubsystem.ALGAE_NET_EXTENSION)) .and(scoreReq) - .onTrue(forceState(SuperState.SCORE_ALGAE)); + .onTrue(forceState(SuperState.SCORE_ALGAE_NET)); stateTriggers - .get(SuperState.SCORE_ALGAE) + .get(SuperState.SCORE_ALGAE_NET) .onTrue(Commands.runOnce(() -> stateTimer.reset())) - .whileTrue(manipulator.setVelocity(40)) - .whileTrue( - elevator.setExtension( - () -> { - if (algaeScoreTarget.get() == AlgaeScoreTarget.PROCESSOR) { - return ElevatorSubsystem.ALGAE_PROCESSOR_EXTENSION; - } else { - return ElevatorSubsystem.ALGAE_NET_EXTENSION; - } - })) - .whileTrue( - shoulder.setTargetAngle( - () -> { - if (algaeScoreTarget.get() == AlgaeScoreTarget.PROCESSOR) { - return ShoulderSubsystem.SHOULDER_SCORE_PROCESSOR_POS; - } else { - return ShoulderSubsystem.SHOULDER_SHOOT_NET_POS; - } - })) - .whileTrue( - wrist.setTargetAngle( - () -> { - if (algaeScoreTarget.get() == AlgaeScoreTarget.PROCESSOR) { - return WristSubsystem.WRIST_SCORE_PROCESSOR_POS; - } else { - return WristSubsystem.WRIST_SHOOT_NET_POS; - } - })) + .whileTrue(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(1)) + .whileTrue( + this.extendWithClearance( + 0.0, ShoulderSubsystem.SHOULDER_HP_POS, WristSubsystem.WRIST_HP_POS)) + .and(() -> elevator.isNearExtension(0)) .onTrue(forceState(SuperState.IDLE)); + stateTriggers + .get(SuperState.SCORE_ALGAE_PROCESSOR) + .whileTrue(elevator.setExtension(ElevatorSubsystem.ALGAE_PROCESSOR_EXTENSION)) + .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_RETRACTED_POS)) + .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_RETRACTED_POS)) + .whileTrue(manipulator.setVoltage(-ManipulatorSubsystem.ALGAE_INTAKE_VOLTAGE)) + .and(() -> stateTimer.hasElapsed(1.0)) + .onTrue(this.forceState(SuperState.IDLE)); + stateTriggers .get(SuperState.PRE_CLIMB) .whileTrue(climber.setPosition(ClimberSubsystem.CLIMB_EXTENDED_POSITION)) @@ -550,7 +654,7 @@ private void configureStateTransitionCommands() { stateTriggers .get(SuperState.CLIMB) .whileTrue( - climber.setPosition(0.0).withInterruptBehavior(InterruptionBehavior.kCancelIncoming)); + climber.setPosition(1.3).withInterruptBehavior(InterruptionBehavior.kCancelIncoming)); // May need more checks to see if canceling is safe stateTriggers @@ -559,6 +663,38 @@ private void configureStateTransitionCommands() { .onTrue(forceState(SuperState.PRE_CLIMB)); } + private Command extendWithClearance( + double elevatorExtension, Rotation2d shoulderAngle, Rotation2d wristAngle) { + return extendWithClearance(() -> elevatorExtension, () -> shoulderAngle, () -> wristAngle); + } + + private Command extendWithClearance( + DoubleSupplier elevatorExtension, + Supplier shoulderAngle, + Supplier wristAngle) { + return Commands.sequence( + // Retract shoulder + wrist + Commands.parallel( + shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_CLEARANCE_POS), + wrist.setTargetAngle(WristSubsystem.WRIST_CLEARANCE_POS), + elevator.hold()) + .until( + () -> + shoulder.isNearAngle(ShoulderSubsystem.SHOULDER_CLEARANCE_POS) + && wrist.isNearAngle(WristSubsystem.WRIST_CLEARANCE_POS)), + // extend elevator + Commands.parallel( + shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_CLEARANCE_POS), + wrist.setTargetAngle(WristSubsystem.WRIST_CLEARANCE_POS), + elevator.setExtension(elevatorExtension)) + .until(() -> elevator.isNearExtension(elevatorExtension.getAsDouble(), 0.05)), + // re-extend joints + Commands.parallel( + shoulder.setTargetAngle(shoulderAngle), + wrist.setTargetAngle(wristAngle), + elevator.setExtension(elevatorExtension))); + } + public SuperState getState() { return state; } @@ -578,14 +714,17 @@ public boolean stateIsAlgaeAlike() { || this.state == SuperState.INTAKE_ALGAE_LOW || this.state == SuperState.INTAKE_ALGAE_HIGH || this.state == SuperState.INTAKE_ALGAE_STACK + || this.state == SuperState.CHECK_ALGAE || this.state == SuperState.PRE_NET || this.state == SuperState.PRE_PROCESSOR - || this.state == SuperState.SCORE_ALGAE; + || this.state == SuperState.SCORE_ALGAE_NET + || this.state == SuperState.SCORE_ALGAE_PROCESSOR; } private Command forceState(SuperState nextState) { return Commands.runOnce( () -> { + System.out.println("Changing state to " + nextState); stateTimer.reset(); this.prevState = this.state; this.state = nextState; diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberIO.java b/src/main/java/frc/robot/subsystems/climber/ClimberIO.java index 0aa25225..da795491 100644 --- a/src/main/java/frc/robot/subsystems/climber/ClimberIO.java +++ b/src/main/java/frc/robot/subsystems/climber/ClimberIO.java @@ -1,13 +1,12 @@ package frc.robot.subsystems.climber; -import edu.wpi.first.math.geometry.Rotation2d; import org.littletonrobotics.junction.AutoLog; public interface ClimberIO { @AutoLog class ClimberIOInputs { public double angularVelocityRPS = 0.0; - public Rotation2d position = new Rotation2d(); + public double position = 0.0; public double tempDegreesC = 0.0; public double supplyCurrentAmps = 0.0; public double appliedVoltage = 0.0; @@ -19,4 +18,6 @@ class ClimberIOInputs { public void setVoltage(final double volts); public void setPosition(final double position); + + public void resetEncoder(final double position); } diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java b/src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java index bf0431f5..52ed1679 100644 --- a/src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java +++ b/src/main/java/frc/robot/subsystems/climber/ClimberIOReal.java @@ -3,12 +3,11 @@ import com.ctre.phoenix6.BaseStatusSignal; import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.controls.MotionMagicTorqueCurrentFOC; +import com.ctre.phoenix6.controls.PositionVoltage; import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.units.Units; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularVelocity; @@ -27,20 +26,24 @@ public class ClimberIOReal implements ClimberIO { private final StatusSignal position = motor.getPosition(); private final VoltageOut voltageOut = new VoltageOut(0.0).withEnableFOC(true); - private final MotionMagicTorqueCurrentFOC motionMagic = new MotionMagicTorqueCurrentFOC(0.0); + private final PositionVoltage motionMagic = new PositionVoltage(0.0); public ClimberIOReal() { final var config = new TalonFXConfiguration(); - config.Slot0.kP = 0.0; + config.Slot0.kP = 100.0; - config.MotionMagic.MotionMagicAcceleration = 5.0; - config.MotionMagic.MotionMagicCruiseVelocity = 0.75; + config.MotionMagic.MotionMagicCruiseVelocity = (6000 / 60) / ClimberSubsystem.CLIMB_GEAR_RATIO; + config.MotionMagic.MotionMagicAcceleration = + (6000 / 60) / (ClimberSubsystem.CLIMB_GEAR_RATIO * 0.01); config.Feedback.SensorToMechanismRatio = ClimberSubsystem.CLIMB_GEAR_RATIO; + config.CurrentLimits.StatorCurrentLimit = 40.0; + config.CurrentLimits.StatorCurrentLimitEnable = true; + config.MotorOutput.NeutralMode = NeutralModeValue.Brake; - config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; + config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; motor.getConfigurator().apply(config); BaseStatusSignal.setUpdateFrequencyForAll( @@ -59,7 +62,7 @@ public void updateInputs(ClimberIOInputsAutoLogged inputs) { BaseStatusSignal.refreshAll( angularVelocityRPS, temp, supplyCurrentAmps, statorCurrentAmps, position, appliedVoltage); - inputs.position = Rotation2d.fromRotations(position.getValueAsDouble()); + inputs.position = position.getValueAsDouble(); inputs.tempDegreesC = temp.getValue().in(Units.Celsius); inputs.statorCurrentAmps = statorCurrentAmps.getValueAsDouble(); inputs.supplyCurrentAmps = supplyCurrentAmps.getValueAsDouble(); @@ -76,4 +79,9 @@ public void setVoltage(double volts) { public void setPosition(final double position) { motor.setControl(motionMagic.withPosition(position)); } + + @Override + public void resetEncoder(double position) { + motor.setPosition(position); + } } diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java b/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java index e54d4802..5cb15e9a 100644 --- a/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java +++ b/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java @@ -5,7 +5,6 @@ import edu.wpi.first.math.controller.ArmFeedforward; import edu.wpi.first.math.controller.ProfiledPIDController; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.math.util.Units; @@ -37,7 +36,7 @@ public void updateInputs(final ClimberIOInputsAutoLogged inputs) { inputs.angularVelocityRPS = RadiansPerSecond.of(armSim.getVelocityRadPerSec()).in(RotationsPerSecond); - inputs.position = Rotation2d.fromRadians(armSim.getAngleRads()); + inputs.position = armSim.getAngleRads(); // TODO fix inputs.statorCurrentAmps = armSim.getCurrentDrawAmps(); inputs.supplyCurrentAmps = 0.0; inputs.tempDegreesC = 0.0; @@ -61,4 +60,9 @@ public void setPosition(final double position) { / ClimberSubsystem.CLIMBER_ARM_LENGTH_METERS)) + feedforward.calculate(pid.getSetpoint().position, pid.getSetpoint().velocity)); } + + @Override + public void resetEncoder(double position) { + armSim.setState(position, 0); + } } diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java index f970ee6c..5ff570e5 100644 --- a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java +++ b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java @@ -5,7 +5,9 @@ package frc.robot.subsystems.climber; import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; import org.littletonrobotics.junction.Logger; @@ -13,14 +15,18 @@ public class ClimberSubsystem extends SubsystemBase { // TODO update public static final double CLIMBER_ARM_LENGTH_METERS = Units.inchesToMeters(11.0); public static final double CLIMBER_DRUM_RADIUS_METERS = Units.inchesToMeters(1.0); - public static final double CLIMB_GEAR_RATIO = 64.0; - public static final double CLIMB_EXTENDED_POSITION = 10.0; + public static final double CLIMB_GEAR_RATIO = 125.0; + public static final double CLIMB_EXTENDED_POSITION = 3.5; private final ClimberIO io; private final ClimberIOInputsAutoLogged inputs = new ClimberIOInputsAutoLogged(); public ClimberSubsystem(ClimberIO io) { this.io = io; + + SmartDashboard.putData( + "rezero Climber", Commands.runOnce(() -> io.resetEncoder(0.0)).ignoringDisable(true)); + SmartDashboard.putData("Reset Climber (MANUAL STOP)", resetClimber()); } @Override @@ -32,4 +38,12 @@ public void periodic() { public Command setPosition(double position) { return this.run(() -> io.setPosition(position)); } + + public Command resetClimber() { + return this.run(() -> io.setVoltage(-8.0)); + } + + public Command zeroClimber() { + return Commands.runOnce(() -> io.resetEncoder(0.0)).ignoringDisable(true); + } } diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java index 071fbb99..0090b8d2 100644 --- a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java @@ -46,22 +46,24 @@ public ElevatorIOReal() { config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; config.Slot0.GravityType = GravityTypeValue.Elevator_Static; - config.Slot0.kG = 0.3; - config.Slot0.kS = 0.0; // 0.15; - config.Slot0.kV = /* 3.86476 */ 4.25; + config.Slot0.kG = 0.4; + config.Slot0.kS = 0.15; + config.Slot0.kV = 4.2; config.Slot0.kA = 0.0; - config.Slot0.kP = 64.0; - config.Slot0.kD = 1.0; + config.Slot0.kP = 100.0; + config.Slot0.kD = 10.0; - config.CurrentLimits.StatorCurrentLimit = 60.0; + config.ClosedLoopRamps.VoltageClosedLoopRampPeriod = 0.1; + + // TODO increase once validated + config.CurrentLimits.StatorCurrentLimit = 80.0; config.CurrentLimits.StatorCurrentLimitEnable = true; - config.CurrentLimits.SupplyCurrentLimit = 20.0; + config.CurrentLimits.SupplyCurrentLimit = 40.0; config.CurrentLimits.SupplyCurrentLimitEnable = true; - config.MotionMagic.MotionMagicAcceleration = 64.0; + config.MotionMagic.MotionMagicAcceleration = 8.0; // Estimated from slightly less than motor free speed - config.MotionMagic.MotionMagicCruiseVelocity = 32.0; - // 50.0 / (ElevatorSubsystem.GEAR_RATIO * 2 * Math.PI * ElevatorSubsystem.DRUM_RADIUS_METERS); + config.MotionMagic.MotionMagicCruiseVelocity = 4.0; // Carriage position meters in direction of elevator config.Feedback.SensorToMechanismRatio = diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java index d161282f..55f94890 100644 --- a/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java @@ -11,7 +11,10 @@ import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Robot; +import frc.robot.Robot.RobotType; import java.util.function.DoubleSupplier; import org.littletonrobotics.junction.Logger; import org.littletonrobotics.junction.mechanism.LoggedMechanism2d; @@ -27,19 +30,21 @@ public class ElevatorSubsystem extends SubsystemBase { public static final double MAX_EXTENSION_METERS = Units.inchesToMeters(63.50); - public static final double L1_EXTENSION_METERS = Units.inchesToMeters(6.0); + public static final double L1_EXTENSION_METERS = Units.inchesToMeters(8.0); + public static final double L1_WHACK_CORAL_EXTENSION_METERS = Units.inchesToMeters(18); public static final double L2_EXTENSION_METERS = Units.inchesToMeters(16.0); - public static final double L3_EXTENSION_METERS = Units.inchesToMeters(32.0); - public static final double L4_EXTENSION_METERS = Units.inchesToMeters(56.0); + public static final double L3_EXTENSION_METERS = Units.inchesToMeters(31.5); + public static final double L4_EXTENSION_METERS = Units.inchesToMeters(58.0); - public static final double INTAKE_ALGAE_STACK_EXTENSION = Units.inchesToMeters(12.0); - public static final double INTAKE_ALGAE_LOW_EXTENSION = Units.inchesToMeters(19.75); - public static final double INTAKE_ALGAE_HIGH_EXTENSION = Units.inchesToMeters(35.25); + public static final double INTAKE_ALGAE_GROUND_EXTENSION = Units.inchesToMeters(5.0); + public static final double INTAKE_ALGAE_STACK_EXTENSION = Units.inchesToMeters(12.5); + public static final double INTAKE_ALGAE_LOW_EXTENSION = Units.inchesToMeters(25.4); + public static final double INTAKE_ALGAE_HIGH_EXTENSION = Units.inchesToMeters(40.5); - public static final double ALGAE_NET_EXTENSION = Units.inchesToMeters(50.0); - public static final double ALGAE_PROCESSOR_EXTENSION = Units.inchesToMeters(10.0); + public static final double ALGAE_NET_EXTENSION = Units.inchesToMeters(61.5); + public static final double ALGAE_PROCESSOR_EXTENSION = 0.0; - public static final double HP_EXTENSION_METERS = Units.inchesToMeters(0.0); + public static final double HP_EXTENSION_METERS = Units.inchesToMeters(1.0); private final ElevatorIOInputsAutoLogged inputs = new ElevatorIOInputsAutoLogged(); private final ElevatorIO io; @@ -72,9 +77,14 @@ public void periodic() { currentFilterValue = currentFilter.calculate(inputs.statorCurrentAmps); carriage.setLength(inputs.positionMeters); - Logger.recordOutput("Elevator/Mechanism2d", mech2d); + if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Elevator/Mechanism2d", mech2d); - Logger.recordOutput("Elevator/Carriage Pose", getCarriagePose()); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Elevator/Carriage Pose", getCarriagePose()); + + if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Elevator/Has Zeroed", hasZeroed); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Elevator/Filtered Current", currentFilterValue); } public Command setExtension(DoubleSupplier meters) { @@ -82,7 +92,8 @@ public Command setExtension(DoubleSupplier meters) { () -> { io.setTarget(meters.getAsDouble()); setpoint = meters.getAsDouble(); - Logger.recordOutput("Elevator/Setpoint", setpoint); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Elevator/Setpoint", setpoint); }); } @@ -90,14 +101,20 @@ public Command setExtension(double meters) { return this.setExtension(() -> meters); } + public Command hold() { + return Commands.sequence( + setExtension(() -> inputs.positionMeters).until(() -> true), this.run(() -> {})); + } + public Command runCurrentZeroing() { return this.run( () -> { io.setVoltage(-0.5); setpoint = 0.0; - Logger.recordOutput("Elevator/Setpoint", Double.NaN); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Elevator/Setpoint", Double.NaN); }) - .until(() -> currentFilterValue > 20.0) + .until(() -> Math.abs(currentFilterValue) > 19.0) .finallyDo( (interrupted) -> { if (!interrupted) { @@ -145,6 +162,10 @@ public double getSetpoint() { } public boolean isNearExtension(double expected) { - return MathUtil.isNear(expected, inputs.positionMeters, 0.02); + return MathUtil.isNear(expected, inputs.positionMeters, 0.05); + } + + public boolean isNearExtension(double expected, double toleranceMeters) { + return MathUtil.isNear(expected, inputs.positionMeters, toleranceMeters); } } diff --git a/src/main/java/frc/robot/subsystems/intake/IntakePivotSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakePivotSubsystem.java index 2f2cc057..f0289a74 100644 --- a/src/main/java/frc/robot/subsystems/intake/IntakePivotSubsystem.java +++ b/src/main/java/frc/robot/subsystems/intake/IntakePivotSubsystem.java @@ -3,6 +3,8 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Robot; +import frc.robot.Robot.RobotType; import java.util.function.Supplier; import org.littletonrobotics.junction.Logger; @@ -31,7 +33,11 @@ public Command setTargetAngle(Rotation2d target) { } public Command setTargetAngle(Supplier target) { - return this.runOnce(() -> Logger.recordOutput("Intake/PivotSetpoint", target.get())) + return this.runOnce( + () -> { + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Intake/PivotSetpoint", target.get()); + }) .andThen(this.run(() -> io.setMotorPosition(target.get()))); } } diff --git a/src/main/java/frc/robot/subsystems/led/LEDIOReal.java b/src/main/java/frc/robot/subsystems/led/LEDIOReal.java index af2de9c1..3aa59e2f 100644 --- a/src/main/java/frc/robot/subsystems/led/LEDIOReal.java +++ b/src/main/java/frc/robot/subsystems/led/LEDIOReal.java @@ -13,7 +13,7 @@ public class LEDIOReal implements LEDIO { private final AddressableLEDBuffer buffer; public LEDIOReal() { - led = new AddressableLED(3); + led = new AddressableLED(LEDSubsystem.LED_ID); buffer = new AddressableLEDBuffer(LEDSubsystem.LED_LENGTH); led.setLength(buffer.getLength()); led.start(); diff --git a/src/main/java/frc/robot/subsystems/led/LEDSubsystem.java b/src/main/java/frc/robot/subsystems/led/LEDSubsystem.java index 55817be3..d5d8bb8f 100644 --- a/src/main/java/frc/robot/subsystems/led/LEDSubsystem.java +++ b/src/main/java/frc/robot/subsystems/led/LEDSubsystem.java @@ -9,17 +9,22 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Robot.AlgaeIntakeTarget; +import frc.robot.Robot.ReefTarget; +import frc.robot.utils.Tracer; import java.util.function.DoubleSupplier; import org.littletonrobotics.junction.Logger; public class LEDSubsystem extends SubsystemBase { - public static final int LED_LENGTH = 16; - public static final int LED_ID = 3; + public static final int LED_LENGTH = 25; + public static final int LED_ID = 2; + + public static final Color PURPLE = new Color("#A000D0"); public static final Color L1 = Color.kGreen; public static final Color L2 = Color.kTeal; public static final Color L3 = Color.kBlue; - public static final Color L4 = Color.kViolet; + public static final Color L4 = PURPLE; private final LEDIO io; private final LEDIOInputsAutoLogged inputs = new LEDIOInputsAutoLogged(); @@ -29,12 +34,17 @@ public class LEDSubsystem extends SubsystemBase { /** Creates a new LEDSubsystem. */ public LEDSubsystem(LEDIO io) { this.io = io; + io.solid(Color.kPurple); } @Override public void periodic() { - io.updateInputs(inputs); - Logger.processInputs("LED", inputs); + Tracer.trace( + "LEDs/Periodic", + () -> { + io.updateInputs(inputs); + Logger.processInputs("LED", inputs); + }); } private void setIndex(int i, Color color) { @@ -75,6 +85,16 @@ public Command setBlinkingCmd( setSolidCmd(offColor).withTimeout(1.0 / frequency)); } + public Command setBlinkingSplitCmd( + Supplier upOnColor, + Supplier downOnColor, + Supplier offColor, + double frequency) { + return Commands.repeatingSequence( + setSplitCmd(upOnColor, downOnColor).withTimeout(1.0 / frequency), + setSolidCmd(offColor).withTimeout(1.0 / frequency)); + } + /** Sets the first portion of the leds to a color, and the rest off */ public Command setProgressCmd(Color color, DoubleSupplier progress) { return this.run( @@ -108,4 +128,41 @@ public Command setRunAlongCmd( dashStart %= LED_LENGTH; }); } + + public static Color getReefTargetColor(ReefTarget currentTarget) { + if (currentTarget == ReefTarget.L1) { + return LEDSubsystem.L1; + } else if (currentTarget == ReefTarget.L2) { + return LEDSubsystem.L2; + } else if (currentTarget == ReefTarget.L3) { + return LEDSubsystem.L3; + } else if (currentTarget == ReefTarget.L4) { + return LEDSubsystem.L4; + } + // impossible + return Color.kYellow; + } + + public static Color getAlgaeIntakeTargetColor(AlgaeIntakeTarget algaeIntakeTarget) { + + if (algaeIntakeTarget == AlgaeIntakeTarget.GROUND) { + return LEDSubsystem.L1; + } else if (algaeIntakeTarget == AlgaeIntakeTarget.LOW) { + return LEDSubsystem.L2; + } else if (algaeIntakeTarget == AlgaeIntakeTarget.HIGH) { + return LEDSubsystem.L3; + } else if (algaeIntakeTarget == AlgaeIntakeTarget.STACK) { + return LEDSubsystem.L4; + } + // impossible + return Color.kYellow; + } + + public static Color getAlgaeScoringTargetColor(boolean isNet) { + if (isNet) { + return Color.kRed; + } else { + return Color.kYellow; + } + } } diff --git a/src/main/java/frc/robot/subsystems/roller/RollerIO.java b/src/main/java/frc/robot/subsystems/roller/RollerIO.java index 3f3a75e1..6fa26234 100644 --- a/src/main/java/frc/robot/subsystems/roller/RollerIO.java +++ b/src/main/java/frc/robot/subsystems/roller/RollerIO.java @@ -4,6 +4,7 @@ package frc.robot.subsystems.roller; +import edu.wpi.first.math.geometry.Rotation2d; import java.util.function.Consumer; import org.littletonrobotics.junction.AutoLog; @@ -15,12 +16,15 @@ public static class RollerIOInputs { public double statorCurrentAmps = 0.0; public double supplyCurrentAmps = 0.0; public double tempCelsius = 0.0; + public double positionRotations = 0.0; } public void updateInputs(RollerIOInputsAutoLogged inputs); public void setVoltage(double voltage); + public void setCurrent(double amps); + public default void stop() { setVoltage(0.0); } @@ -32,4 +36,8 @@ public default void stop() { * simulation, such as for routing simulation */ public void registerSimulationCallback(Consumer callback); + + public void setPosition(Rotation2d rot); + + public void resetEncoder(double position); } diff --git a/src/main/java/frc/robot/subsystems/roller/RollerIOReal.java b/src/main/java/frc/robot/subsystems/roller/RollerIOReal.java index c6e7b58f..d9f289f3 100644 --- a/src/main/java/frc/robot/subsystems/roller/RollerIOReal.java +++ b/src/main/java/frc/robot/subsystems/roller/RollerIOReal.java @@ -4,7 +4,6 @@ package frc.robot.subsystems.roller; -import static edu.wpi.first.units.Units.Amps; import static edu.wpi.first.units.Units.Celsius; import static edu.wpi.first.units.Units.RotationsPerSecond; import static edu.wpi.first.units.Units.Volts; @@ -14,11 +13,17 @@ import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.Slot1Configs; import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.controls.TorqueCurrentFOC; import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularVelocity; import edu.wpi.first.units.measure.Current; import edu.wpi.first.units.measure.Temperature; @@ -30,14 +35,18 @@ public class RollerIOReal implements RollerIO { private final TalonFX motor; private final VoltageOut voltageOut = new VoltageOut(0.0).withEnableFOC(true); + private final TorqueCurrentFOC currentFOC = new TorqueCurrentFOC(0.0); private final VelocityVoltage velocityVoltage = new VelocityVoltage(0.0).withEnableFOC(true).withSlot(0); + private final PositionVoltage positionVoltage = + new PositionVoltage(0.0).withEnableFOC(true).withSlot(1); private final StatusSignal velocity; private final StatusSignal voltage; private final StatusSignal statorCurrent; private final StatusSignal supplyCurrent; private final StatusSignal temp; + private final StatusSignal position; private Optional> callback = Optional.empty(); @@ -51,9 +60,10 @@ public RollerIOReal(final int motorID, final TalonFXConfiguration config) { statorCurrent = motor.getStatorCurrent(); supplyCurrent = motor.getSupplyCurrent(); temp = motor.getDeviceTemp(); + position = motor.getPosition(); BaseStatusSignal.setUpdateFrequencyForAll( - 50.0, velocity, voltage, statorCurrent, supplyCurrent, temp); + 50.0, velocity, voltage, statorCurrent, supplyCurrent, temp, position); motor.optimizeBusUtilization(); } @@ -65,16 +75,22 @@ public static TalonFXConfiguration getDefaultConfig() { .withSupplyCurrentLimit(15.0) .withSupplyCurrentLimitEnable(true)) .withSlot0(new Slot0Configs().withKV(0.12).withKP(0.01)) - .withMotorOutput(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake)); + .withSlot1(new Slot1Configs().withKP(20)) + .withMotorOutput( + new MotorOutputConfigs() + .withInverted(InvertedValue.Clockwise_Positive) + .withNeutralMode(NeutralModeValue.Brake)); } @Override public void updateInputs(RollerIOInputsAutoLogged inputs) { + BaseStatusSignal.refreshAll(velocity, voltage, statorCurrent, supplyCurrent, temp, position); inputs.velocityRotationsPerSec = velocity.getValue().in(RotationsPerSecond); inputs.appliedVolts = voltage.getValue().in(Volts); - inputs.statorCurrentAmps = statorCurrent.getValue().in(Amps); - inputs.supplyCurrentAmps = supplyCurrent.getValue().in(Amps); + inputs.statorCurrentAmps = statorCurrent.getValueAsDouble(); + inputs.supplyCurrentAmps = supplyCurrent.getValueAsDouble(); inputs.tempCelsius = temp.getValue().in(Celsius); + inputs.positionRotations = position.getValueAsDouble(); callback.ifPresent((cb) -> cb.accept(inputs)); } @@ -84,6 +100,11 @@ public void setVoltage(double voltage) { motor.setControl(voltageOut.withOutput(voltage)); } + @Override + public void setCurrent(double amps) { + motor.setControl(currentFOC.withOutput(amps)); + } + @Override public void setVelocity(double velocityRPS) { motor.setControl(velocityVoltage.withVelocity(velocityRPS)); @@ -93,4 +114,14 @@ public void setVelocity(double velocityRPS) { public void registerSimulationCallback(Consumer callback) { this.callback = Optional.of(callback); } + + @Override + public void setPosition(Rotation2d rot) { + motor.setControl(positionVoltage.withPosition(rot.getRotations())); + } + + @Override + public void resetEncoder(final double position) { + motor.setPosition(position); + } } diff --git a/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java b/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java index c7b41911..70d82a98 100644 --- a/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java +++ b/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java @@ -3,6 +3,7 @@ import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.controller.ProfiledPIDController; 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.math.system.plant.LinearSystemId; import edu.wpi.first.wpilibj.simulation.DCMotorSim; @@ -62,4 +63,22 @@ public void setVelocity(double velocityRPS) { public void registerSimulationCallback(Consumer callback) { this.callback = Optional.of(callback); } + + @Override + public void setPosition(Rotation2d rot) { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'setPosition'"); + } + + @Override + public void resetEncoder(double position) { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'resetEncoder'"); + } + + @Override + public void setCurrent(double amps) { + // TODO Auto-generated method stub + throw new UnsupportedOperationException("Unimplemented method 'setCurrent'"); + } } diff --git a/src/main/java/frc/robot/subsystems/roller/RollerSubsystem.java b/src/main/java/frc/robot/subsystems/roller/RollerSubsystem.java index 054bea3b..9fc42bf9 100644 --- a/src/main/java/frc/robot/subsystems/roller/RollerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/roller/RollerSubsystem.java @@ -47,6 +47,10 @@ public Command setVoltage(DoubleSupplier volts) { } public Command setVoltage(double vel) { - return this.setVelocity(() -> vel); // TODO should this get renamed? + return this.setVoltage(() -> vel); + } + + public Command setCurrent(DoubleSupplier amps) { + return this.run(() -> io.setCurrent(amps.getAsDouble())); } } diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIO.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIO.java index 57a606b4..d7d2fe49 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIO.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIO.java @@ -1,5 +1,6 @@ package frc.robot.subsystems.shoulder; +import com.ctre.phoenix6.configs.MotionMagicConfigs; import edu.wpi.first.math.geometry.Rotation2d; import org.littletonrobotics.junction.AutoLog; @@ -8,7 +9,7 @@ public interface ShoulderIO { class ShoulderIOInputs { public double angularVelocityRPS = 0.0; public Rotation2d position = new Rotation2d(); - public Rotation2d cancoderPosition = new Rotation2d(); + public double cancoderPosition = 0.0; public double appliedVoltage = 0.0; public double tempDegreesC = 0.0; public double supplyCurrentAmps = 0.0; @@ -26,4 +27,6 @@ public default void resetEncoder(final Rotation2d rotation) {} public default void resetEncoder() { resetEncoder(Rotation2d.kZero); } + + public void setMotionMagicConfigs(final MotionMagicConfigs configs); } diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java index d7ccaffc..f0c57f6c 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOReal.java @@ -3,12 +3,15 @@ import com.ctre.phoenix6.BaseStatusSignal; import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.CANcoderConfiguration; +import com.ctre.phoenix6.configs.MotionMagicConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.controls.MotionMagicVoltage; +import com.ctre.phoenix6.controls.MotionMagicTorqueCurrentFOC; import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.signals.GravityTypeValue; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.SensorDirectionValue; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.units.Units; @@ -31,7 +34,7 @@ public class ShoulderIOReal implements ShoulderIO { private final StatusSignal cancoderPositionRotations; private final VoltageOut voltageOut = new VoltageOut(0.0).withEnableFOC(true); - private final MotionMagicVoltage motionMagic = new MotionMagicVoltage(0.0).withEnableFOC(true); + private final MotionMagicTorqueCurrentFOC motionMagic = new MotionMagicTorqueCurrentFOC(0.0); public ShoulderIOReal() { motor = new TalonFX(11, "*"); @@ -48,28 +51,40 @@ public ShoulderIOReal() { final TalonFXConfiguration config = new TalonFXConfiguration(); config.Slot0.GravityType = GravityTypeValue.Arm_Cosine; - config.Slot0.kG = 0.0; - config.Slot0.kS = 0.0; + config.Slot0.kG = 8.6; + config.Slot0.kS = 2.5; config.Slot0.kV = 0.0; config.Slot0.kA = 0.0; - config.Slot0.kP = 0.0; - config.Slot0.kD = 0.0; + config.Slot0.kP = 8000.0; + config.Slot0.kD = 160.0; + + config.CurrentLimits.StatorCurrentLimit = 40.0; + config.CurrentLimits.StatorCurrentLimitEnable = true; + config.CurrentLimits.SupplyCurrentLimit = 20.0; + config.CurrentLimits.SupplyCurrentLimitEnable = true; // guesses - config.MotionMagic.MotionMagicCruiseVelocity = 2.0; - config.MotionMagic.MotionMagicAcceleration = 10.0; + config.MotionMagic.MotionMagicCruiseVelocity = 1.0; + config.MotionMagic.MotionMagicAcceleration = 4.0; + + config.MotorOutput.NeutralMode = NeutralModeValue.Coast; + config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; + + config.Feedback.SensorToMechanismRatio = ShoulderSubsystem.SHOULDER_GEAR_RATIO; - config.Feedback.SensorToMechanismRatio = ShoulderSubsystem.SHOULDER_FINAL_STAGE_RATIO; + // config.Feedback.RotorToSensorRatio = + // ShoulderSubsystem.SHOULDER_GEAR_RATIO / ShoulderSubsystem.SHOULDER_FINAL_STAGE_RATIO; + // config.Feedback.SensorToMechanismRatio = ShoulderSubsystem.SHOULDER_FINAL_STAGE_RATIO; + // config.Feedback.FeedbackRemoteSensorID = cancoder.getDeviceID(); + // config.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder; final CANcoderConfiguration cancoderConfig = new CANcoderConfiguration(); cancoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive; - cancoderConfig.MagnetSensor.MagnetOffset = 0.0; - cancoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0; + cancoderConfig.MagnetSensor.MagnetOffset = 0.6323; + cancoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.9; cancoder.getConfigurator().apply(cancoderConfig); motor.getConfigurator().apply(config); - motor.optimizeBusUtilization(); - cancoder.optimizeBusUtilization(); BaseStatusSignal.setUpdateFrequencyForAll( 50.0, @@ -78,7 +93,11 @@ public ShoulderIOReal() { appliedVoltage, supplyCurrentAmps, statorCurrentAmps, + cancoderPositionRotations, motorPositionRotations); + + motor.optimizeBusUtilization(); + cancoder.optimizeBusUtilization(); } @Override @@ -93,8 +112,7 @@ public void updateInputs(ShoulderIOInputs inputs) { appliedVoltage); inputs.position = Rotation2d.fromRotations(motorPositionRotations.getValueAsDouble()); - inputs.cancoderPosition = - Rotation2d.fromRotations(cancoderPositionRotations.getValueAsDouble()); + inputs.cancoderPosition = cancoderPositionRotations.getValueAsDouble(); inputs.tempDegreesC = temp.getValue().in(Units.Celsius); inputs.statorCurrentAmps = statorCurrentAmps.getValueAsDouble(); inputs.supplyCurrentAmps = supplyCurrentAmps.getValueAsDouble(); @@ -116,4 +134,9 @@ public void setMotorPosition(final Rotation2d targetPosition) { public void resetEncoder(final Rotation2d rotation) { motor.setPosition(rotation.getRotations()); } + + @Override + public void setMotionMagicConfigs(final MotionMagicConfigs configs) { + motor.getConfigurator().apply(configs); + } } diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOSim.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOSim.java index ff7bb0f9..12086ad4 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOSim.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderIOSim.java @@ -3,6 +3,7 @@ import static edu.wpi.first.units.Units.RadiansPerSecond; import static edu.wpi.first.units.Units.RotationsPerSecond; +import com.ctre.phoenix6.configs.MotionMagicConfigs; import edu.wpi.first.math.controller.ArmFeedforward; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Rotation2d; @@ -57,4 +58,11 @@ public void setMotorPosition(final Rotation2d targetPosition) { pid.calculate(armSim.getAngleRads(), targetPosition.getRadians()) + feedforward.calculate(pid.getSetpoint().position, pid.getSetpoint().velocity)); } + + @Override + public void setMotionMagicConfigs(MotionMagicConfigs configs) { + pid.setConstraints( + new TrapezoidProfile.Constraints( + configs.MotionMagicCruiseVelocity, configs.MotionMagicAcceleration)); + } } diff --git a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java index 92f2af31..caa9175e 100644 --- a/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java +++ b/src/main/java/frc/robot/subsystems/shoulder/ShoulderSubsystem.java @@ -1,10 +1,16 @@ package frc.robot.subsystems.shoulder; +import com.ctre.phoenix6.configs.MotionMagicConfigs; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Robot; +import frc.robot.Robot.RobotType; +import frc.robot.utils.Tracer; import java.util.function.Supplier; import org.littletonrobotics.junction.Logger; import org.littletonrobotics.junction.networktables.LoggedNetworkBoolean; @@ -12,24 +18,36 @@ public class ShoulderSubsystem extends SubsystemBase { // TODO: UPDATE WITH CAD public static final double SHOULDER_FINAL_STAGE_RATIO = 3.0; - public static final double SHOULDER_GEAR_RATIO = 9.0 * (34.0 / 28.0) * SHOULDER_FINAL_STAGE_RATIO; + public static final double SHOULDER_GEAR_RATIO = + 25.0 * (34.0 / 28.0) * SHOULDER_FINAL_STAGE_RATIO; public static final int CANCODER_ID = 5; public static final Rotation2d MAX_SHOULDER_ROTATION = Rotation2d.fromDegrees(120.0); public static final Rotation2d MIN_SHOULDER_ROTATION = Rotation2d.fromDegrees(-5.0); - public static final Rotation2d SHOULDER_RETRACTED_POS = Rotation2d.fromDegrees(80.0); + public static final Rotation2d SHOULDER_RETRACTED_POS = Rotation2d.fromDegrees(90.0); 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(104.95); - - public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromDegrees(26.0); - public static final Rotation2d SHOULDER_INTAKE_ALGAE_STACK_POS = Rotation2d.fromDegrees(35); - public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_POS = Rotation2d.fromDegrees(68.5); - public static final Rotation2d SHOULDER_SCORE_POS = Rotation2d.fromDegrees(75); + public static final Rotation2d SHOULDER_HP_POS = Rotation2d.fromDegrees(95.0); + + public static final Rotation2d SHOULDER_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromDegrees(0.0); + public static final Rotation2d SHOULDER_INTAKE_ALGAE_STACK_POS = Rotation2d.fromDegrees(30.0); + public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_POS = Rotation2d.fromDegrees(34.0); + public static final Rotation2d SHOULDER_INTAKE_ALGAE_REEF_RETRACT_POS = + Rotation2d.fromDegrees(60.0); + public static final Rotation2d SHOULDER_SCORE_POS = Rotation2d.fromDegrees(60); + public static final Rotation2d SHOULDER_WHACK_L1_POS = Rotation2d.fromDegrees(65); + public static final Rotation2d SHOULDER_SCORE_L1_POS = Rotation2d.fromDegrees(65); + public static final Rotation2d SHOULDER_SCORE_L4_POS = Rotation2d.fromDegrees(55); + public static final Rotation2d SHOULDER_PRE_NET_POS = Rotation2d.fromDegrees(30); public static final Rotation2d SHOULDER_SHOOT_NET_POS = Rotation2d.fromDegrees(90); - // TODO: SET TO CORRECT POS - public static final Rotation2d SHOULDER_SCORE_PROCESSOR_POS = Rotation2d.fromDegrees(0.0); + public static final Rotation2d SHOULDER_SCORE_PROCESSOR_POS = Rotation2d.fromDegrees(75.0); + public static final Rotation2d SHOULDER_CLEARANCE_POS = Rotation2d.fromDegrees(80.0); + + private static final MotionMagicConfigs DEFAULT_CONFIGS = + new MotionMagicConfigs().withMotionMagicCruiseVelocity(1.0).withMotionMagicAcceleration(4.0); + private static final MotionMagicConfigs TOSS_CONFIGS = + new MotionMagicConfigs().withMotionMagicCruiseVelocity(0.6).withMotionMagicAcceleration(4.0); private final ShoulderIO io; private final ShoulderIOInputsAutoLogged inputs = new ShoulderIOInputsAutoLogged(); @@ -40,6 +58,10 @@ public class ShoulderSubsystem extends SubsystemBase { public ShoulderSubsystem(final ShoulderIO io) { this.io = io; + io.updateInputs(inputs); + rezero(); + SmartDashboard.putData( + "Shoulder Zero", Commands.runOnce(() -> this.rezero()).ignoringDisable(true)); } @Override @@ -47,14 +69,23 @@ public void periodic() { io.updateInputs(inputs); Logger.processInputs("Carriage/Shoulder", inputs); if (dashboardZero.get()) { - rezero(); - dashboardZero.set(false); + Tracer.trace( + "Shoulder/Zero", + () -> { + rezero(); + dashboardZero.set(false); + }); } + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Carriage/Shoulder/Cancoder Pos", getZeroingAngle()); + } + + public Rotation2d getZeroingAngle() { + return Rotation2d.fromRotations(inputs.cancoderPosition).div(SHOULDER_FINAL_STAGE_RATIO); } public void rezero() { - io.resetEncoder( - inputs.cancoderPosition.div(SHOULDER_FINAL_STAGE_RATIO).plus(Rotation2d.kCW_90deg)); + io.resetEncoder(getZeroingAngle()); } public Command setTargetAngle(final Supplier target) { @@ -62,7 +93,8 @@ public Command setTargetAngle(final Supplier target) { () -> { io.setMotorPosition(target.get()); setpoint = target.get(); - Logger.recordOutput("Carriage/Shoulder/Setpoint", setpoint); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Carriage/Shoulder/Setpoint", setpoint); }); } @@ -70,6 +102,23 @@ public Command setTargetAngle(final Rotation2d target) { return setTargetAngle(() -> target); } + public Command setTargetAngleSlow(final Supplier target) { + return Commands.sequence( + this.runOnce(() -> io.setMotionMagicConfigs(TOSS_CONFIGS)), + this.run( + () -> { + io.setMotorPosition(target.get()); + setpoint = target.get(); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Carriage/Shoulder/Setpoint", setpoint); + })) + .finallyDo(() -> io.setMotionMagicConfigs(DEFAULT_CONFIGS)); + } + + public Command setTargetAngleSlow(final Rotation2d target) { + return setTargetAngle(() -> target); + } + public Rotation2d getAngle() { return inputs.position; } diff --git a/src/main/java/frc/robot/subsystems/swerve/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/swerve/GyroIOPigeon2.java index 62b1297c..65c732ad 100644 --- a/src/main/java/frc/robot/subsystems/swerve/GyroIOPigeon2.java +++ b/src/main/java/frc/robot/subsystems/swerve/GyroIOPigeon2.java @@ -26,6 +26,7 @@ import frc.robot.subsystems.swerve.PhoenixOdometryThread.Registration; import frc.robot.subsystems.swerve.PhoenixOdometryThread.SignalType; import java.util.Optional; +import org.littletonrobotics.junction.Logger; /** IO implementation for Pigeon2 */ public class GyroIOPigeon2 implements GyroIO { @@ -40,7 +41,8 @@ public GyroIOPigeon2(int id) { pigeon.getConfigurator().apply(new Pigeon2Configuration()); pigeon.getConfigurator().setYaw(0.0); yaw.setUpdateFrequency(PhoenixOdometryThread.ODOMETRY_FREQUENCY_HZ); - yawVelocity.setUpdateFrequency(100.0); + // yawVelocity.setUpdateFrequency(100.0); + yawVelocity.setUpdateFrequency(PhoenixOdometryThread.ODOMETRY_FREQUENCY_HZ); pigeon.optimizeBusUtilization(); PhoenixOdometryThread.getInstance() .registerSignals( @@ -50,6 +52,8 @@ public GyroIOPigeon2(int id) { @Override public void updateInputs(GyroIOInputs inputs) { inputs.isConnected = BaseStatusSignal.refreshAll(yaw, yawVelocity).equals(StatusCode.OK); + Logger.recordOutput("Odometry/Gyro Status", yaw.getStatus()); + Logger.recordOutput("Odometry/Gyro timestamp", yaw.getTimestamp().getLatency()); inputs.yawPosition = new Rotation2d(yaw.getValue()); inputs.yawVelocityRadPerSec = yawVelocity.getValue().in(RadiansPerSecond); } diff --git a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java index 12b3cd56..9924f7d5 100644 --- a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java @@ -55,7 +55,7 @@ public int getGyroID() { @Override public double getHeadingVelocityKP() { // Copied from Alpha - return 4.0; + return 6.0; } @Override @@ -66,22 +66,24 @@ public double getHeadingVoltageKP() { @Override public Module.ModuleConstants getFrontLeftModule() { - return new Module.ModuleConstants(0, "Front Left", 0, 1, 0, Rotation2d.kZero); + return new Module.ModuleConstants(0, "Front Left", 0, 1, 0, Rotation2d.fromRotations(0.215576)); } @Override public Module.ModuleConstants getFrontRightModule() { - return new Module.ModuleConstants(1, "Front Right", 2, 3, 1, Rotation2d.kZero); + return new Module.ModuleConstants( + 1, "Front Right", 2, 3, 1, Rotation2d.fromRotations(0.011719)); } @Override public Module.ModuleConstants getBackLeftModule() { - return new Module.ModuleConstants(2, "Back Left", 4, 5, 2, Rotation2d.kZero); + return new Module.ModuleConstants(2, "Back Left", 4, 5, 2, Rotation2d.fromRotations(-0.276855)); } @Override public Module.ModuleConstants getBackRightModule() { - return new Module.ModuleConstants(3, "Back Right", 6, 7, 3, Rotation2d.kZero); + return new Module.ModuleConstants( + 3, "Back Right", 6, 7, 3, Rotation2d.fromRotations(-0.211426)); } @Override @@ -106,7 +108,7 @@ public double getTurnGearRatio() { public TalonFXConfiguration getDriveConfig() { var driveConfig = new TalonFXConfiguration(); // Current limits - driveConfig.CurrentLimits.SupplyCurrentLimit = 60.0; + driveConfig.CurrentLimits.SupplyCurrentLimit = 40.0; driveConfig.CurrentLimits.SupplyCurrentLimitEnable = true; driveConfig.CurrentLimits.StatorCurrentLimit = 120.0; driveConfig.CurrentLimits.StatorCurrentLimitEnable = true; @@ -118,12 +120,12 @@ public TalonFXConfiguration getDriveConfig() { driveConfig.Feedback.SensorToMechanismRatio = getDriveRotorToMeters(); // Current control gains // Gains copied from AlphaSwerveConstants - driveConfig.Slot0.kV = 0.0; + driveConfig.Slot0.kV = 5.0; // kT (stall torque / stall current) converted to linear wheel frame driveConfig.Slot0.kA = 0.0; // (9.37 / 483.0) / getDriveRotorToMeters(); // 3.07135116146; - driveConfig.Slot0.kS = 14.0; - driveConfig.Slot0.kP = 100.0; - driveConfig.Slot0.kD = 1.0; + driveConfig.Slot0.kS = 10.0; + driveConfig.Slot0.kP = 300.0; + driveConfig.Slot0.kD = 0.0; // 1.0; driveConfig.TorqueCurrent.TorqueNeutralDeadband = 10.0; @@ -155,101 +157,44 @@ public TalonFXConfiguration getTurnConfig(int cancoderID) { // Controls Gains turnConfig.Slot0.kV = 0.42962962963; // ((5800 / 60) / getTurnGearRatio()) / 12 turnConfig.Slot0.kA = 0.031543; - turnConfig.Slot0.kS = 0.28; + turnConfig.Slot0.kS = 0.27; turnConfig.Slot0.kP = 20.0; turnConfig.Slot0.kD = 0.68275; turnConfig.MotionMagic.MotionMagicCruiseVelocity = (5500 / 60) / getTurnGearRatio(); - turnConfig.MotionMagic.MotionMagicAcceleration = (5500 / 60) / (getTurnGearRatio() * 0.1); + turnConfig.MotionMagic.MotionMagicAcceleration = (5500 / 60) / (getTurnGearRatio() * 0.005); turnConfig.ClosedLoopGeneral.ContinuousWrap = true; return turnConfig; } @Override - public VisionConstants[] getVisionConstants() { // TODO calibrate - stolen from alpha rn + public VisionConstants[] getVisionConstants() { final Matrix BACK_LEFT_CAMERA_MATRIX = MatBuilder.fill( - Nat.N3(), - Nat.N3(), - 901.8012064300815, - 0.0, - 830.4004635040717, - 0.0, - 903.1944838156696, - 704.0648345598304, - 0.0, - 0.0, - 1.0); + Nat.N3(), Nat.N3(), 906.46, 0.0, 675.30, 0.0, 907.49, 394.45, 0.0, 0.0, 1.0); final Matrix BACK_LEFT_DIST_COEFFS = MatBuilder.fill( - Nat.N8(), - Nat.N1(), - 0.05096564042945532, - -0.08005742255822096, - 9.362839975047e-5, - -2.1069595324007255e-5, - 0.03230467950441941, - -0.0037459354189258794, - 0.012202835675939619, - 0.0034143496721838872); + Nat.N8(), Nat.N1(), 0.039, -0.057, -0.005, 0.001, -0.004, -0.001, 0.003, 0.001); final Matrix BACK_RIGHT_CAMERA_MATRIX = MatBuilder.fill( - Nat.N3(), - Nat.N3(), - 901.8012064300815, - 0.0, - 830.4004635040717, - 0.0, - 903.1944838156696, - 704.0648345598304, - 0.0, - 0.0, - 1.0); + Nat.N3(), Nat.N3(), 925.82, 0.0, 633.65, 0.0, 927.87, 386.90, 0.0, 0.0, 1.0); final Matrix BACK_RIGHT_DIST_COEFFS = MatBuilder.fill( - Nat.N8(), - Nat.N1(), - 0.05096564042945532, - -0.08005742255822096, - 9.362839975047e-5, - -2.1069595324007255e-5, - 0.03230467950441941, - -0.0037459354189258794, - 0.012202835675939619, - 0.0034143496721838872); + Nat.N8(), Nat.N1(), 0.058, -0.09, 0.006, -0.003, 0.022, -0.002, 0.004, -0.001); final Matrix FRONT_CAMERA_MATRIX = MatBuilder.fill( - Nat.N3(), - Nat.N3(), - 901.8012064300815, - 0.0, - 830.4004635040717, - 0.0, - 903.1944838156696, - 704.0648345598304, - 0.0, - 0.0, - 1.0); + Nat.N3(), Nat.N3(), 911.67, 0.0, 663.03, 0.0, 909.82, 408.72, 0.0, 0.0, 1.0); final Matrix FRONT_DIST_COEFFS = MatBuilder.fill( - Nat.N8(), - Nat.N1(), - 0.05096564042945532, - -0.08005742255822096, - 9.362839975047e-5, - -2.1069595324007255e-5, - 0.03230467950441941, - -0.0037459354189258794, - 0.012202835675939619, - 0.0034143496721838872); + Nat.N8(), Nat.N1(), 0.044, -0.069, 0.001, 0.001, 0.013, -0.002, 0.004, 0.001); final VisionConstants backLeftCamConstants = new VisionConstants( - "Back_Left_Camera", // TODO adjust names in pv dashboard + "Back_Left", new Transform3d( new Translation3d( - Units.inchesToMeters(-11.566), - Units.inchesToMeters(11.396), - Units.inchesToMeters(8.938)), + Units.inchesToMeters(-11.600), + Units.inchesToMeters(11.400), + Units.inchesToMeters(9.052)), new Rotation3d( Units.degreesToRadians(0.0), Units.degreesToRadians(-28.125), @@ -258,12 +203,12 @@ public VisionConstants[] getVisionConstants() { // TODO calibrate - stolen from BACK_LEFT_DIST_COEFFS); final VisionConstants backRightCamConstants = new VisionConstants( - "Back_Right_Camera", + "Back_Right", new Transform3d( new Translation3d( - Units.inchesToMeters(-11.566), - Units.inchesToMeters(-11.396), - Units.inchesToMeters(8.938)), + Units.inchesToMeters(-11.600), + Units.inchesToMeters(-11.400488), + Units.inchesToMeters(9.052)), new Rotation3d(0, Units.degreesToRadians(-28.125), Units.degreesToRadians(210))), BACK_RIGHT_CAMERA_MATRIX, BACK_RIGHT_DIST_COEFFS); @@ -272,13 +217,13 @@ public VisionConstants[] getVisionConstants() { // TODO calibrate - stolen from "Front_Camera", new Transform3d( new Translation3d( - Units.inchesToMeters(11.879), - Units.inchesToMeters(-11.664), // TODO scoring side is considered front? - Units.inchesToMeters(8.804)), + Units.inchesToMeters(6.664129), + Units.inchesToMeters(-12.320709), + Units.inchesToMeters(8.885504)), new Rotation3d(0, Units.degreesToRadians(-10), Units.degreesToRadians(30))), FRONT_CAMERA_MATRIX, FRONT_DIST_COEFFS); - return new VisionConstants[] {backLeftCamConstants, backRightCamConstants, frontCamConstants}; + return new VisionConstants[] {frontCamConstants}; } @Override diff --git a/src/main/java/frc/robot/subsystems/swerve/Module.java b/src/main/java/frc/robot/subsystems/swerve/Module.java index c4be3812..708b897a 100644 --- a/src/main/java/frc/robot/subsystems/swerve/Module.java +++ b/src/main/java/frc/robot/subsystems/swerve/Module.java @@ -12,9 +12,12 @@ package frc.robot.subsystems.swerve; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.SwerveModulePosition; import edu.wpi.first.math.kinematics.SwerveModuleState; +import frc.robot.Robot; +import frc.robot.Robot.RobotType; import org.littletonrobotics.junction.Logger; /** Wrapper around ModuleIO and ModuleIOInputs to organize module-level functionality. */ @@ -54,15 +57,23 @@ public SwerveModuleState runSetpoint( // 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) - inputs.turnPosition.getRadians(); - final double forceNewtons = Math.hypot(forceXNewtons, forceYNewtons) * Math.cos(theta); + double forceNewtons = Math.hypot(forceXNewtons, forceYNewtons) * Math.cos(theta); + if (Math.signum(forceNewtons) * Math.signum(state.speedMetersPerSecond) < 0) { + forceNewtons = 0; + } io.setTurnSetpoint(state.angle); io.setDriveSetpoint( - state.speedMetersPerSecond * Math.cos(state.angle.minus(inputs.turnPosition).getRadians()), - forceNewtons); - Logger.recordOutput( - new StringBuilder("Swerve/").append(inputs.prefix).append(" Force Feedforward").toString(), + state.speedMetersPerSecond, // * + // Math.cos(state.angle.minus(inputs.turnPosition).getRadians()), forceNewtons); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + new StringBuilder("Swerve/") + .append(inputs.prefix) + .append(" Force Feedforward") + .toString(), + forceNewtons); return state; } @@ -73,9 +84,10 @@ public SwerveModuleState runSetpoint( public SwerveModuleState runVoltageSetpoint(SwerveModuleState state, boolean focEnabled) { // Optimize state based on current angle state.optimize(getAngle()); - Logger.recordOutput( - new StringBuilder("Swerve/").append(inputs.prefix).append(" Voltage Target").toString(), - state.speedMetersPerSecond); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + new StringBuilder("Swerve/").append(inputs.prefix).append(" Voltage Target").toString(), + state.speedMetersPerSecond); io.setTurnSetpoint(state.angle); io.setDriveVoltage( @@ -139,4 +151,8 @@ public void setCurrent(double amps) { public void setTurnSetpoint(Rotation2d rotation) { io.setTurnSetpoint(rotation); } + + public void setCurrentLimits(final CurrentLimitsConfigs configs) { + io.setCurrentLimits(configs); + } } diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java index d8e407d4..4965d5c7 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java @@ -12,6 +12,7 @@ package frc.robot.subsystems.swerve; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import edu.wpi.first.math.geometry.Rotation2d; import org.littletonrobotics.junction.AutoLog; @@ -59,4 +60,6 @@ public default void setDriveSetpoint(final double metersPerSecond) { public void setTurnSetpoint(final Rotation2d rotation); public void setCurrent(final double amps); + + public void setCurrentLimits(final CurrentLimitsConfigs configs); } diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIOMapleSim.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIOMapleSim.java index 735e986f..ae43eaa1 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIOMapleSim.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIOMapleSim.java @@ -15,6 +15,7 @@ import static edu.wpi.first.units.Units.Radian; import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.controls.MotionMagicVoltage; import com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC; import com.ctre.phoenix6.controls.VoltageOut; @@ -211,4 +212,9 @@ public void setCurrent(double amps) { // TODO Auto-generated method stub throw new UnsupportedOperationException("Unimplemented method 'setCurrent'"); } + + @Override + public void setCurrentLimits(CurrentLimitsConfigs configs) { + driveTalon.getConfigurator().apply(configs); + } } diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java index 23505454..ec97a6ca 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java @@ -13,6 +13,7 @@ package frc.robot.subsystems.swerve; import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.controls.MotionMagicVoltage; import com.ctre.phoenix6.controls.TorqueCurrentFOC; import com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC; @@ -191,4 +192,9 @@ public void setTurnSetpoint(final Rotation2d rotation) { public void setCurrent(final double amps) { driveTalon.setControl(driveControlCurrent.withOutput(amps)); } + + @Override + public void setCurrentLimits(CurrentLimitsConfigs configs) { + driveTalon.getConfigurator().apply(configs); + } } diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java index 3077c800..7458296c 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java @@ -12,6 +12,7 @@ package frc.robot.subsystems.swerve; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC; import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; @@ -133,4 +134,9 @@ public void setCurrent(double amps) { // TODO Auto-generated method stub throw new UnsupportedOperationException("Unimplemented method 'setCurrent'"); } + + @Override + public void setCurrentLimits(CurrentLimitsConfigs configs) { + // not simulated + } } diff --git a/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java index 464df43e..e635a598 100644 --- a/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/swerve/PhoenixOdometryThread.java @@ -43,7 +43,7 @@ * between devices using CANivore time synchronization. */ public class PhoenixOdometryThread extends Thread implements OdometryThreadIO { - public static final double ODOMETRY_FREQUENCY_HZ = 250.0; + public static final double ODOMETRY_FREQUENCY_HZ = 150.0; public enum SignalType { DRIVE, @@ -95,7 +95,7 @@ private PhoenixOdometryThread(final Queue journal) { } private PhoenixOdometryThread() { - this(EvictingQueue.create(20)); + this(EvictingQueue.create(5)); } public void registerSignals(Collection registrations) { @@ -161,32 +161,30 @@ public void run() { while (true) { // Wait for updates from all signals var writeLock = journalLock.writeLock(); - // Tracer.trace( - // "Odometry Thread", - // () -> { - // Tracer.trace( - // "wait for all", - // () -> - BaseStatusSignal.waitForAll(2.0 / ODOMETRY_FREQUENCY_HZ, signalArr); - // ); - try { - writeLock.lock(); - var filteredSignals = - registeredSignals.stream() - .filter(s -> s.signal().getStatus().equals(StatusCode.OK)) - .collect(Collectors.toSet()); - journal.add( - new Samples( - timestampFor(filteredSignals), - filteredSignals.stream() - .collect( - Collectors.toUnmodifiableMap( - s -> new SignalID(s.type(), s.modID()), - s -> s.signal().getValueAsDouble())))); - } finally { - writeLock.unlock(); - } - // }); + Tracer.trace( + "Odometry Thread", + () -> { + Tracer.trace( + "wait for all", + () -> BaseStatusSignal.waitForAll(2.0 / ODOMETRY_FREQUENCY_HZ, signalArr)); + try { + writeLock.lock(); + var filteredSignals = + registeredSignals.stream() + .filter(s -> s.signal().getStatus().equals(StatusCode.OK)) + .collect(Collectors.toSet()); + journal.add( + new Samples( + timestampFor(filteredSignals), + filteredSignals.stream() + .collect( + Collectors.toUnmodifiableMap( + s -> new SignalID(s.type(), s.modID()), + s -> s.signal().getValueAsDouble())))); + } finally { + writeLock.unlock(); + } + }); } } diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index f9ce7b5c..809fd5da 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -13,6 +13,8 @@ package frc.robot.subsystems.swerve; import choreo.trajectory.SwerveSample; +import com.ctre.phoenix6.configs.CurrentLimitsConfigs; +import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.geometry.Pose2d; @@ -100,7 +102,12 @@ public SwerveSubsystem( this.kinematics = new SwerveDriveKinematics(constants.getModuleTranslations()); this.estimator = new SwerveDrivePoseEstimator( - kinematics, rawGyroRotation, lastModulePositions, new Pose2d()); + kinematics, + rawGyroRotation, + lastModulePositions, + new Pose2d(), + VecBuilder.fill(0.6, 0.6, 0.07), + VecBuilder.fill(0.9, 0.9, 0.4)); this.gyroIO = gyroIO; this.odoThread = odoThread; this.simulation = simulation; @@ -165,8 +172,10 @@ public void periodic() { } // Log empty setpoint states when disabled if (DriverStation.isDisabled()) { - Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[] {}); - Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[] {}); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[] {}); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[] {}); } Tracer.trace("Update odometry", this::updateOdometry); @@ -175,7 +184,8 @@ public void periodic() { } private void updateOdometry() { - Logger.recordOutput("Swerve/Updates Since Last", odoThreadInputs.sampledStates.size()); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Swerve/Updates Since Last", odoThreadInputs.sampledStates.size()); var sampleStates = odoThreadInputs.sampledStates; if (sampleStates.size() == 0 || sampleStates.get(0).values().isEmpty() @@ -201,7 +211,8 @@ private void updateOdometry() { // No value at this timestamp hasNullModulePosition = true; - Logger.recordOutput("Odometry/Received Update From Module " + moduleIndex, false); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Odometry/Received Update From Module " + moduleIndex, false); break; } @@ -210,7 +221,8 @@ private void updateOdometry() { // No value at this timestamp hasNullModulePosition = true; - Logger.recordOutput("Odometry/Received Update From Module " + moduleIndex, false); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Odometry/Received Update From Module " + moduleIndex, false); break; } @@ -219,7 +231,8 @@ private void updateOdometry() { new SwerveModulePosition( dist, Rotation2d.fromRotations(rot)); // gets positions from the thread, NOT inputs - Logger.recordOutput("Odometry/Received Update From Module " + moduleIndex, true); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Odometry/Received Update From Module " + moduleIndex, true); moduleDeltas[moduleIndex] = new SwerveModulePosition( modulePositions[moduleIndex].distanceMeters @@ -242,7 +255,8 @@ private void updateOdometry() { rawGyroRotation = Rotation2d.fromDegrees(sample.values().get(new SignalID(SignalType.GYRO, -1))); lastGyroRotation = rawGyroRotation; - Logger.recordOutput("Odometry/Gyro Rotation", lastGyroRotation); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Odometry/Gyro Rotation", lastGyroRotation); Tracer.trace( "update estimator", () -> @@ -251,6 +265,7 @@ private void updateOdometry() { } continue; } + missingModuleData.set(false); // If we have all our module data . . . // The twist represents the motion of the robot since the last @@ -275,7 +290,8 @@ private void updateOdometry() { } // Apply the twist (change since last sample) to the current pose lastGyroRotation = rawGyroRotation; - Logger.recordOutput("Odometry/Gyro Rotation", lastGyroRotation); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Odometry/Gyro Rotation", lastGyroRotation); // Apply update estimator.updateWithTime(sample.timestamp(), rawGyroRotation, modulePositions); } @@ -293,45 +309,65 @@ private void updateVision() { camera.inputs.targets); try { if (!camera.inputs.stale) { - var estPose = camera.update(result); + var estPose = Tracer.trace("Update Camera", () -> camera.update(result)); var visionPose = estPose.get().estimatedPose; // Sets the pose on the sim field camera.setSimPose(estPose, camera, !camera.inputs.stale); + // if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Vision/Vision Pose From " + camera.getName(), visionPose); + // if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput( "Vision/Vision Pose2d From " + camera.getName(), visionPose.toPose2d()); final var deviations = VisionHelper.findVisionMeasurementStdDevs(estPose.get()); + // if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Vision/" + camera.getName() + "/Deviations", deviations.getData()); - estimator.addVisionMeasurement( - visionPose.toPose2d(), camera.inputs.captureTimestampMicros / 1.0e6, deviations); + Tracer.trace( + "Add Measurement From " + camera.getName(), + () -> { + estimator.addVisionMeasurement( + visionPose.toPose2d(), + camera.inputs.captureTimestampMicros / 1.0e6, + deviations + .times(DriverStation.isAutonomous() ? 2.0 : 1.0) + .times(camera.getName().equals("Front_Camera") ? 1.0 : 1.5)); + }); lastEstTimestamp = camera.inputs.captureTimestampMicros / 1e6; + // if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Vision/" + camera.getName() + "/Invalid Pose Result", "Good Update"); cameraPoses[i] = visionPose; - Pose3d[] targetPose3ds = new Pose3d[result.targets.size()]; - for (int j = 0; j < result.targets.size(); j++) { - targetPose3ds[j] = - Robot.ROBOT_HARDWARE - .swerveConstants - .getFieldTagLayout() - .getTagPose(result.targets.get(j).getFiducialId()) - .get(); - } - Logger.recordOutput("Vision/" + camera.getName() + "/Target Poses", targetPose3ds); + Tracer.trace( + "Log Tag Poses", + () -> { + Pose3d[] targetPose3ds = new Pose3d[result.targets.size()]; + for (int j = 0; j < result.targets.size(); j++) { + targetPose3ds[j] = + Robot.ROBOT_HARDWARE + .swerveConstants + .getFieldTagLayout() + .getTagPose(result.targets.get(j).getFiducialId()) + .get(); + } + // if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Vision/" + camera.getName() + "/Target Poses", targetPose3ds); + }); } else { + // if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Vision/" + camera.getName() + "/Invalid Pose Result", "Stale"); } } catch (NoSuchElementException e) { + // if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Vision/" + camera.getName() + "/Invalid Pose Result", "Bad Estimate"); } i++; } - Logger.recordOutput("Vision/Camera Poses", cameraPoses); + if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Vision/Camera Poses", cameraPoses); Pose3d[] arr = new Pose3d[cameras.length]; for (int k = 0; k < cameras.length; k++) { arr[k] = getPose3d().transformBy(cameras[k].inputs.constants.robotToCamera()); } - Logger.recordOutput("Vision/Camera Poses on Robot", arr); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Vision/Camera Poses on Robot", arr); } /** @@ -379,6 +415,9 @@ public void resetPose(Pose2d pose) { } } + public void setYaw(Rotation2d yaw) { + resetPose(new Pose2d(getPose().getTranslation(), yaw)); + } /** Returns the module states (turn angles and drive velocitoes) for all of the modules. */ @AutoLogOutput(key = "SwerveStates/Measured") private SwerveModuleState[] getModuleStates() { @@ -422,14 +461,17 @@ private void drive( // Calculate module setpoints speeds = ChassisSpeeds.discretize(speeds, 0.02); final SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(speeds); - Logger.recordOutput("SwerveStates/Setpoints", setpointStates); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("SwerveStates/Setpoints", setpointStates); SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, constants.getMaxLinearSpeed()); - Logger.recordOutput("Swerve/Target Speeds", speeds); - Logger.recordOutput("Swerve/Speed Error", speeds.minus(getVelocityRobotRelative())); - Logger.recordOutput( - "Swerve/Target Chassis Speeds Field Relative", - ChassisSpeeds.fromRobotRelativeSpeeds(speeds, getRotation())); + if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Swerve/Target Speeds", speeds); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Swerve/Speed Error", speeds.minus(getVelocityRobotRelative())); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "Swerve/Target Chassis Speeds Field Relative", + ChassisSpeeds.fromRobotRelativeSpeeds(speeds, getRotation())); // Send setpoints to modules final SwerveModuleState[] optimizedSetpointStates = new SwerveModuleState[modules.length]; @@ -469,15 +511,19 @@ private void drive( forceSetpoints[i] = new SwerveModuleState( Math.hypot(robotRelForceX, robotRelForceY), - new Rotation2d(robotRelForceX, robotRelForceY)); + robotRelForceX == 0 && robotRelForceY == 0 + ? Rotation2d.kZero + : new Rotation2d(robotRelForceX, robotRelForceY)); optimizedSetpointStates[i] = modules[i].runSetpoint(setpointStates[i], robotRelForceX, robotRelForceY); } } // Log setpoint states - Logger.recordOutput("SwerveStates/ForceSetpoints", forceSetpoints); - Logger.recordOutput("SwerveStates/SetpointsOptimized", optimizedSetpointStates); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("SwerveStates/ForceSetpoints", forceSetpoints); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("SwerveStates/SetpointsOptimized", optimizedSetpointStates); } /** @@ -489,16 +535,18 @@ private void drive( */ @SuppressWarnings("resource") public Consumer choreoDriveController() { - final PIDController xController = new PIDController(10.0, 0.0, 0.0); - final PIDController yController = new PIDController(10.0, 0.0, 0.0); + final PIDController xController = new PIDController(5.0, 0.0, 0.0); + final PIDController yController = new PIDController(5.0, 0.0, 0.0); final PIDController thetaController = new PIDController(constants.getHeadingVelocityKP(), 0.0, 0.0); thetaController.enableContinuousInput(-Math.PI, Math.PI); return (sample) -> { final var pose = getPose(); + // if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput( "Choreo/Target Pose", new Pose2d(sample.x, sample.y, Rotation2d.fromRadians(sample.heading))); + // if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput( "Choreo/Target Speeds Field Relative", new ChassisSpeeds(sample.vx, sample.vy, sample.omega)); @@ -510,7 +558,8 @@ public Consumer choreoDriveController() { var speeds = ChassisSpeeds.fromFieldRelativeSpeeds( new ChassisSpeeds(sample.vx, sample.vy, sample.omega).plus(feedback), getRotation()); - Logger.recordOutput("Choreo/Feedback + FF Target Speeds Robot Relative", speeds); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Choreo/Feedback + FF Target Speeds Robot Relative", speeds); this.drive( speeds, false, @@ -530,7 +579,7 @@ public Command poseLockDriveCommand(Supplier targetSupplier) { () -> { final var pose = getPose(); final var target = targetSupplier.get(); - Logger.recordOutput("Swerve/Target Pose", target); + if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Swerve/Target Pose", target); final var speeds = ChassisSpeeds.fromFieldRelativeSpeeds( new ChassisSpeeds( @@ -539,7 +588,8 @@ public Command poseLockDriveCommand(Supplier targetSupplier) { thetaController.calculate( pose.getRotation().getRadians(), target.getRotation().getRadians())), getRotation()); - Logger.recordOutput("Choreo/Feedback + FF Target Speeds Robot Relative", speeds); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Choreo/Feedback + FF Target Speeds Robot Relative", speeds); this.drive(speeds, false, new double[4], new double[4]); }); } @@ -554,6 +604,16 @@ public Command driveVelocity(Supplier speeds) { return this.run(() -> drive(speeds.get(), false, new double[4], new double[4])); } + /** + * Drive at a robot-relative speed open-loop. + * + * @param speeds the robot-relative speed reference. + * @return a Command driving to the target speeds. + */ + public Command driveVoltage(Supplier speeds) { + return this.run(() -> drive(speeds.get(), true, new double[4], new double[4])); + } + /** * Drive at a robot-relative speed. * @@ -613,7 +673,7 @@ public Command driveTeleop(Supplier speeds) { DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Blue ? getPose().getRotation() : getPose().getRotation().minus(Rotation2d.fromDegrees(180))); - this.drive(speed, false, new double[4], new double[4]); + this.drive(speed, true, new double[4], new double[4]); }); } @@ -628,4 +688,10 @@ public Command driveCharacterization() { }) .beforeStarting(() -> timer.restart()); } + + public void setCurrentLimits(CurrentLimitsConfigs configs) { + for (var module : modules) { + module.setCurrentLimits(configs); + } + } } diff --git a/src/main/java/frc/robot/subsystems/vision/Vision.java b/src/main/java/frc/robot/subsystems/vision/Vision.java index 09e52208..4bcbfe30 100644 --- a/src/main/java/frc/robot/subsystems/vision/Vision.java +++ b/src/main/java/frc/robot/subsystems/vision/Vision.java @@ -10,6 +10,8 @@ import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; import edu.wpi.first.math.numbers.N8; +import frc.robot.Robot; +import frc.robot.Robot.RobotType; import java.util.Optional; import org.littletonrobotics.junction.Logger; import org.photonvision.EstimatedRobotPose; @@ -19,8 +21,15 @@ /** Add your docs here. */ public class Vision { public static final Matrix visionPointBlankDevs = - new Matrix(Nat.N3(), Nat.N1(), new double[] {0.4, 0.4, 1}); - public static final double distanceFactor = 0.5; + new Matrix(Nat.N3(), Nat.N1(), new double[] {0.6, 0.6, 0.5}); + public static final Matrix infiniteDevs = + new Matrix( + Nat.N3(), + Nat.N1(), + new double[] { + Double.POSITIVE_INFINITY, Double.POSITIVE_INFINITY, Double.POSITIVE_INFINITY + }); + public static final double distanceFactor = 2.0; public record VisionConstants( String cameraName, @@ -33,6 +42,7 @@ public record VisionConstants( public Vision(final VisionIO io) { this.io = io; + io.updateInputs(inputs); } public void setSimPose(Optional simEst, Vision camera, boolean newResult) { @@ -44,7 +54,7 @@ public void updateInputs() { } public void processInputs() { - Logger.processInputs("Apriltag Vision/" + io.getName(), inputs); + Logger.processInputs("Apriltag Vision/" + inputs.constants.cameraName, inputs); } public Optional update(PhotonPipelineResult result) { @@ -52,6 +62,10 @@ public Optional update(PhotonPipelineResult result) { if (result.getTargets().size() < 1) { return Optional.empty(); } + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "Vision/" + inputs.constants.cameraName + " Best Distance", + result.getBestTarget().getBestCameraToTarget().getTranslation().getNorm()); Optional estPose = VisionHelper.update( result, @@ -60,14 +74,11 @@ public Optional update(PhotonPipelineResult result) { PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, inputs.constants.robotToCamera(), inputs.coprocPNPTransform); - // Reject if estimated pose is in the air or ground - if (estPose.isPresent() && Math.abs(estPose.get().estimatedPose.getZ()) > 0.25) { - return Optional.empty(); - } + return estPose; } public String getName() { - return io.getName(); + return inputs.constants.cameraName; } } diff --git a/src/main/java/frc/robot/subsystems/vision/VisionHelper.java b/src/main/java/frc/robot/subsystems/vision/VisionHelper.java index d1054cad..6f3918b4 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionHelper.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionHelper.java @@ -390,6 +390,7 @@ private static Optional lowestAmbiguityStrategy( false); return Optional.empty(); } + var estimatedRobotPose = new EstimatedRobotPose( targetPosition @@ -440,9 +441,17 @@ public static Matrix findVisionMeasurementStdDevs(EstimatedRobotPose est } double avgDistance = sumDistance / estimation.targetsUsed.size(); - var deviation = Vision.visionPointBlankDevs.times(avgDistance * Vision.distanceFactor); + var deviation = + Vision.visionPointBlankDevs.times(Math.max(avgDistance, 0.0) * Vision.distanceFactor); if (estimation.targetsUsed.size() == 1) { - deviation = deviation.times(2); + deviation = deviation.times(3); + } + if (estimation.targetsUsed.size() == 1 && estimation.targetsUsed.get(0).poseAmbiguity > 0.15) { + return Vision.infiniteDevs; + } + // Reject if estimated pose is in the air or ground + if (Math.abs(estimation.estimatedPose.getZ()) > 0.125) { + return Vision.infiniteDevs; } // TAG_COUNT_DEVIATION_PARAMS // .get( diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOSim.java b/src/main/java/frc/robot/subsystems/vision/VisionIOSim.java index 080e7f82..40638c36 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOSim.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOSim.java @@ -23,7 +23,7 @@ public class VisionIOSim implements VisionIO { private final PhotonCameraSim simCamera; private final VisionConstants constants; - public static Supplier pose; + public static Supplier pose = () -> Pose3d.kZero; public VisionIOSim(VisionConstants constants) { this.sim = new VisionSystemSim(constants.cameraName()); @@ -67,11 +67,11 @@ public void setSimPose(Optional simEst, Vision camera, boole public void updateInputs(VisionIOInputs inputs) { sim.update(pose.get()); var results = camera.getAllUnreadResults(); + inputs.constants = constants; if (results.size() > 0) { final var result = results.get(results.size() - 1); inputs.latency = result.metadata.getLatencyMillis(); inputs.targets = result.targets; - inputs.constants = constants; inputs.sequenceID = result.metadata.getSequenceID(); inputs.captureTimestampMicros = result.metadata.getCaptureTimestampMicros(); inputs.publishTimestampMicros = result.metadata.getPublishTimestampMicros(); diff --git a/src/main/java/frc/robot/subsystems/wrist/WristIO.java b/src/main/java/frc/robot/subsystems/wrist/WristIO.java index 5f674533..89ce07e0 100644 --- a/src/main/java/frc/robot/subsystems/wrist/WristIO.java +++ b/src/main/java/frc/robot/subsystems/wrist/WristIO.java @@ -1,5 +1,6 @@ package frc.robot.subsystems.wrist; +import com.ctre.phoenix6.configs.MotionMagicConfigs; import edu.wpi.first.math.geometry.Rotation2d; import org.littletonrobotics.junction.AutoLog; @@ -25,4 +26,6 @@ public default void resetEncoder(final Rotation2d rotation) {} public default void resetEncoder() { resetEncoder(Rotation2d.kZero); } + + public default void setMotionMagicConfigs(final MotionMagicConfigs configs) {} } diff --git a/src/main/java/frc/robot/subsystems/wrist/WristIOReal.java b/src/main/java/frc/robot/subsystems/wrist/WristIOReal.java index 86bface3..40fb204b 100644 --- a/src/main/java/frc/robot/subsystems/wrist/WristIOReal.java +++ b/src/main/java/frc/robot/subsystems/wrist/WristIOReal.java @@ -3,6 +3,7 @@ import com.ctre.phoenix6.BaseStatusSignal; import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; +import com.ctre.phoenix6.configs.MotionMagicConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.Slot0Configs; import com.ctre.phoenix6.configs.TalonFXConfiguration; @@ -10,6 +11,7 @@ import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.signals.GravityTypeValue; +import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.units.Units; @@ -43,7 +45,6 @@ public WristIOReal(final int motorId, final TalonFXConfiguration config) { appliedVoltage = motor.getMotorVoltage(); motor.getConfigurator().apply(config); - motor.optimizeBusUtilization(); BaseStatusSignal.setUpdateFrequencyForAll( 50.0, @@ -53,6 +54,10 @@ public WristIOReal(final int motorId, final TalonFXConfiguration config) { supplyCurrentAmps, statorCurrentAmps, motorPositionRotations); + + motor.optimizeBusUtilization(); + + motor.setPosition(edu.wpi.first.math.util.Units.degreesToRotations(-10.0)); } @Override @@ -88,6 +93,11 @@ public void resetEncoder(final Rotation2d rotation) { motor.setPosition(rotation.getRotations()); } + @Override + public void setMotionMagicConfigs(final MotionMagicConfigs configs) { + motor.getConfigurator().apply(configs); + } + public static TalonFXConfiguration getDefaultConfiguration() { return new TalonFXConfiguration() .withCurrentLimits( @@ -95,6 +105,9 @@ public static TalonFXConfiguration getDefaultConfiguration() { .withSupplyCurrentLimit(20.0) .withSupplyCurrentLimitEnable(true)) .withSlot0(new Slot0Configs().withGravityType(GravityTypeValue.Arm_Cosine)) - .withMotorOutput(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake)); + .withMotorOutput( + new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withInverted(InvertedValue.Clockwise_Positive)); } } diff --git a/src/main/java/frc/robot/subsystems/wrist/WristIOSim.java b/src/main/java/frc/robot/subsystems/wrist/WristIOSim.java index d9f84a4b..419d0f49 100644 --- a/src/main/java/frc/robot/subsystems/wrist/WristIOSim.java +++ b/src/main/java/frc/robot/subsystems/wrist/WristIOSim.java @@ -27,7 +27,7 @@ public class WristIOSim implements WristIO { private final ArmFeedforward feedforward = new ArmFeedforward(0.0, 1.0, 0.0); private final ProfiledPIDController pid = - new ProfiledPIDController(30.0, 0.0, 1.7, new TrapezoidProfile.Constraints(10.0, 10.0)); + new ProfiledPIDController(30.0, 0.0, 0.1, new TrapezoidProfile.Constraints(10.0, 10.0)); private double appliedVoltage = 0.0; diff --git a/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java b/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java index 145fdb02..72a256fc 100644 --- a/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java +++ b/src/main/java/frc/robot/subsystems/wrist/WristSubsystem.java @@ -1,40 +1,53 @@ package frc.robot.subsystems.wrist; +import com.ctre.phoenix6.configs.MotionMagicConfigs; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Robot; +import frc.robot.Robot.RobotType; import frc.robot.subsystems.shoulder.ShoulderIOInputsAutoLogged; import java.util.function.Supplier; import org.littletonrobotics.junction.Logger; public class WristSubsystem extends SubsystemBase { - public static final double WRIST_GEAR_RATIO = 1.0; + public static final double WRIST_GEAR_RATIO = 4.0 * 4.0 * (64.0 / 34.0); // TODO: UPDATE WHEN CAD IS FINISHED public static final Rotation2d MAX_ARM_ROTATION = Rotation2d.fromDegrees(180.0); public static final Rotation2d MIN_ARM_ROTATION = Rotation2d.fromDegrees(-90.0); - public static final Rotation2d ZEROING_OFFSET = Rotation2d.fromDegrees(90.0 - 49.519570); + public static final Rotation2d ZEROING_OFFSET = Rotation2d.fromDegrees(180 - 49.519570 + 5); public static final Rotation2d WRIST_RETRACTED_POS = Rotation2d.fromDegrees(-30.0); - public static final Rotation2d WRIST_HP_POS = Rotation2d.fromDegrees(0.0); - public static final Rotation2d WRIST_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromDegrees(-30); + public static final Rotation2d WRIST_HP_POS = Rotation2d.fromDegrees(-33.0); + public static final Rotation2d WRIST_INTAKE_ALGAE_GROUND_POS = Rotation2d.fromDegrees(-50); public static final Rotation2d WRIST_INTAKE_ALGAE_STACK_POS = Rotation2d.fromDegrees(-50); - public static final Rotation2d WRIST_SCORE_L1_POS = Rotation2d.fromDegrees(-40); + public static final Rotation2d WRIST_SCORE_L1_POS = Rotation2d.fromDegrees(-50); + public static final Rotation2d WRIST_WHACK_L1_POS = Rotation2d.fromDegrees(-20); public static final Rotation2d WRIST_SCORE_L2_POS = Rotation2d.fromDegrees(-35); public static final Rotation2d WRIST_SCORE_L3_POS = Rotation2d.fromDegrees(-35); - public static final Rotation2d WRIST_SCORE_L4_POS = Rotation2d.fromDegrees(-40); - public static final Rotation2d WRIST_INTAKE_ALGAE_REEF_POS = Rotation2d.fromDegrees(-33.5); - public static final Rotation2d WRIST_SHOOT_NET_POS = Rotation2d.fromDegrees(75); - public static final Rotation2d WRIST_SCORE_PROCESSOR_POS = Rotation2d.fromDegrees(-45.0); + public static final Rotation2d WRIST_SCORE_L4_POS = Rotation2d.fromDegrees(-45); + public static final Rotation2d WRIST_CLEARANCE_POS = Rotation2d.fromDegrees(-50.0); + public static final Rotation2d WRIST_INTAKE_ALGAE_REEF_POS = Rotation2d.fromDegrees(-44.0); + public static final Rotation2d WRIST_INTAKE_ALGAE_REEF_RETRACT_POS = + Rotation2d.fromDegrees(-44.0); + public static final Rotation2d WRIST_SHOOT_NET_POS = Rotation2d.fromDegrees(80); + public static final Rotation2d WRIST_SCORE_PROCESSOR_POS = WRIST_RETRACTED_POS; + + public static MotionMagicConfigs DEFAULT_MOTION_MAGIC = + new MotionMagicConfigs().withMotionMagicCruiseVelocity(4).withMotionMagicAcceleration(6); + + public static MotionMagicConfigs SLOW_MOTION_MAGIC = + new MotionMagicConfigs().withMotionMagicCruiseVelocity(4).withMotionMagicAcceleration(4); private final WristIO io; private final ArmIOInputsAutoLogged inputs = new ArmIOInputsAutoLogged(); private Rotation2d setpoint = Rotation2d.kZero; - private final LinearFilter currentFilter = LinearFilter.movingAverage(5); + private final LinearFilter currentFilter = LinearFilter.movingAverage(10); public boolean hasZeroed = false; @@ -46,6 +59,7 @@ public WristSubsystem(WristIO io) { public void periodic() { io.updateInputs(inputs); Logger.processInputs("Carriage/Wrist", inputs); + if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Wrist/Has Zeroed", hasZeroed); } public Command setTargetAngle(final Supplier target) { @@ -53,7 +67,8 @@ public Command setTargetAngle(final Supplier target) { () -> { io.setMotorPosition(target.get()); setpoint = target.get(); - Logger.recordOutput("Carriage/Wrist/Setpoint", setpoint); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Carriage/Wrist/Setpoint", setpoint); }); } @@ -61,6 +76,16 @@ public Command setTargetAngle(final Rotation2d target) { return setTargetAngle(() -> target); } + public Command setSlowTargetAngle(final Supplier target) { + return this.runOnce(() -> io.setMotionMagicConfigs(SLOW_MOTION_MAGIC)) + .andThen(this.setTargetAngle(target)) + .finallyDo((interrupted) -> io.setMotionMagicConfigs(DEFAULT_MOTION_MAGIC)); + } + + public Command setSlowTargetAngle(final Rotation2d target) { + return this.setSlowTargetAngle(() -> target); + } + public Rotation2d getAngle() { return inputs.position; } @@ -75,9 +100,17 @@ public boolean isNearAngle(Rotation2d target) { public Command currentZero(Supplier shoulderInputs) { return Commands.sequence( - this.runOnce(() -> currentFilter.reset()), + this.runOnce( + () -> { + currentFilter.reset(); + System.out.println("Wrist Zeroing"); + }), this.run(() -> io.setMotorVoltage(-1.0)) - .until(() -> currentFilter.calculate(inputs.statorCurrentAmps) > 20.0), - this.runOnce(() -> io.resetEncoder(inputs.position.minus(ZEROING_OFFSET)))); + .until(() -> Math.abs(currentFilter.calculate(inputs.statorCurrentAmps)) > 10.0), + this.runOnce( + () -> { + hasZeroed = true; + io.resetEncoder(shoulderInputs.get().position.minus(ZEROING_OFFSET)); + })); } } diff --git a/src/main/java/frc/robot/utils/Tracer.java b/src/main/java/frc/robot/utils/Tracer.java index a685294f..6f93096a 100644 --- a/src/main/java/frc/robot/utils/Tracer.java +++ b/src/main/java/frc/robot/utils/Tracer.java @@ -2,6 +2,8 @@ import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.RobotController; +import frc.robot.Robot; +import frc.robot.Robot.RobotType; import java.lang.management.GarbageCollectorMXBean; import java.lang.management.ManagementFactory; import java.util.ArrayList; @@ -105,16 +107,19 @@ private void endCycle() { // if the entry isn't found, time will null-cast to 0.0 Double time = traceTimes.remove(entry); if (time == null) time = 0.0; - Logger.recordOutput("Tracer/" + entry, time); + if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Tracer/" + entry, time); } // log all new entries for (var traceTime : traceTimes.entrySet()) { - Logger.recordOutput("Tracer/" + traceTime.getKey(), traceTime.getValue()); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Tracer/" + traceTime.getKey(), traceTime.getValue()); entryArray.add(traceTime.getKey()); } // log gc time - if (gcs.size() > 0) Logger.recordOutput("Tracer/GCTime", gcTimeThisCycle); + if (gcs.size() > 0) + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("Tracer/GCTime", gcTimeThisCycle); gcTimeThisCycle = 0.0; // clean up state diff --git a/src/main/java/frc/robot/utils/autoaim/AlgaeIntakeTargets.java b/src/main/java/frc/robot/utils/autoaim/AlgaeIntakeTargets.java index edf819d5..a9ac3e1b 100644 --- a/src/main/java/frc/robot/utils/autoaim/AlgaeIntakeTargets.java +++ b/src/main/java/frc/robot/utils/autoaim/AlgaeIntakeTargets.java @@ -48,6 +48,10 @@ public static Pose2d getRobotTargetLocation(Pose2d original) { Rotation2d.fromDegrees(180.0))); } + public static Pose2d getOffsetLocation(Pose2d original) { + return original.transformBy(new Transform2d((-0.3), 0, Rotation2d.kZero)); + } + /** Gets the closest offset target to the given pose. */ public static Pose2d getClosestTarget(Pose2d pose) { return pose.nearest(transformedPoses); diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index a26a1dc9..c97c5dc3 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -2,6 +2,7 @@ import choreo.util.ChoreoAllianceFlipUtil; import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; @@ -12,6 +13,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.Robot; +import frc.robot.Robot.RobotType; import frc.robot.subsystems.swerve.SwerveSubsystem; import java.util.function.DoubleSupplier; import java.util.function.Supplier; @@ -19,21 +21,27 @@ public class AutoAim { static final double MAX_ANGULAR_SPEED = 10.0; - static final double MAX_ANGULAR_ACCELERATION = 5.0; + static final double MAX_ANGULAR_ACCELERATION = 10.0; static final double MAX_AUTOAIM_SPEED = 3.0; - static final double MAX_AUTOAIM_ACCELERATION = 2.0; + static final double MAX_AUTOAIM_ACCELERATION = 4.0; public static final Translation2d BLUE_REEF_CENTER = new Translation2d(Units.inchesToMeters(176.746), Units.inchesToMeters(158.501)); public static final Translation2d RED_REEF_CENTER = ChoreoAllianceFlipUtil.flip(BLUE_REEF_CENTER); - public static double BLUE_NET_X = 8.76 + Units.inchesToMeters(30.0); + public static double BLUE_NET_X = 8.08; public static double RED_NET_X = ChoreoAllianceFlipUtil.flipX(BLUE_NET_X); 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; public static Command translateToPose(SwerveSubsystem swerve, Supplier target) { + return translateToPose(swerve, target, () -> new ChassisSpeeds()); + } + + public static Command translateToPose( + SwerveSubsystem swerve, Supplier target, Supplier speedsModifier) { // This feels like a horrible way of getting around lambda final requirements // Is there a cleaner way of doing this? final Pose2d cachedTarget[] = {new Pose2d()}; @@ -47,64 +55,60 @@ public static Command translateToPose(SwerveSubsystem swerve, Supplier t headingController.enableContinuousInput(-Math.PI, Math.PI); final ProfiledPIDController vxController = new ProfiledPIDController( - 6.0, + 10.0, + 0.01, 0.01, - 0.0, new TrapezoidProfile.Constraints(MAX_AUTOAIM_SPEED, MAX_AUTOAIM_ACCELERATION)); final ProfiledPIDController vyController = new ProfiledPIDController( - 6.0, + 10.0, + 0.01, 0.01, - 0.0, new TrapezoidProfile.Constraints(MAX_AUTOAIM_SPEED, MAX_AUTOAIM_ACCELERATION)); return Commands.runOnce( () -> { cachedTarget[0] = target.get(); final var diff = swerve.getPose().minus(cachedTarget[0]); - Logger.recordOutput("AutoAim/Cached Target", cachedTarget[0]); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("AutoAim/Cached Target", cachedTarget[0]); headingController.reset( swerve.getPose().getRotation().getRadians(), swerve.getVelocityFieldRelative().omegaRadiansPerSecond); vxController.reset( - swerve.getPose().getX(), - swerve.getVelocityFieldRelative().vxMetersPerSecond * Math.signum(diff.getX()) - < 0.0 - ? swerve.getVelocityFieldRelative().vxMetersPerSecond - : 0.0); + swerve.getPose().getX(), swerve.getVelocityFieldRelative().vxMetersPerSecond); vyController.reset( - swerve.getPose().getY(), - swerve.getVelocityFieldRelative().vyMetersPerSecond * Math.signum(diff.getY()) - < 0.0 - ? swerve.getVelocityFieldRelative().vyMetersPerSecond - : 0.0); + swerve.getPose().getY(), swerve.getVelocityFieldRelative().vyMetersPerSecond); }) .andThen( swerve.driveVelocityFieldRelative( () -> { final var diff = swerve.getPose().minus(cachedTarget[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.getX(), Units.inchesToMeters(0.75)) + && MathUtil.isNear(0.0, diff.getY(), Units.inchesToMeters(0.75)) && MathUtil.isNear(0.0, diff.getRotation().getDegrees(), 0.5) - ? new ChassisSpeeds() + ? new ChassisSpeeds().plus(speedsModifier.get()) : new ChassisSpeeds( - vxController.calculate( - swerve.getPose().getX(), cachedTarget[0].getX()) - + vxController.getSetpoint().velocity, - vyController.calculate( - swerve.getPose().getY(), cachedTarget[0].getY()) - + vyController.getSetpoint().velocity, - headingController.calculate( - swerve.getPose().getRotation().getRadians(), - cachedTarget[0].getRotation().getRadians()) - + headingController.getSetpoint().velocity); - Logger.recordOutput( - "AutoAim/Target Pose", - new Pose2d( - vxController.getSetpoint().position, - vyController.getSetpoint().position, - Rotation2d.fromRadians(headingController.getSetpoint().position))); - Logger.recordOutput("AutoAim/Target Speeds", speeds); + vxController.calculate( + swerve.getPose().getX(), cachedTarget[0].getX()) + + vxController.getSetpoint().velocity, + vyController.calculate( + swerve.getPose().getY(), cachedTarget[0].getY()) + + vyController.getSetpoint().velocity, + headingController.calculate( + swerve.getPose().getRotation().getRadians(), + 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 Speeds", speeds); return speeds; })); } @@ -135,7 +139,8 @@ public static Command translateToXCoord( return Commands.runOnce( () -> { cachedTarget[0] = new Pose2d(x.getAsDouble(), 0, headingTarget.get()); - Logger.recordOutput("AutoAim/Cached Target", cachedTarget[0]); + 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); }) @@ -158,13 +163,55 @@ public static Command translateToXCoord( swerve.getPose().getRotation().getRadians(), cachedTarget[0].getRotation().getRadians()) + headingController.getSetpoint().velocity); - Logger.recordOutput( - "AutoAim/Target Pose", - new Pose2d( - vxController.getSetpoint().position, - 0, - Rotation2d.fromRadians(headingController.getSetpoint().position))); - Logger.recordOutput("AutoAim/Target Speeds", speeds); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/Target Pose", + new Pose2d( + vxController.getSetpoint().position, + 0, + 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 + // Is there a cleaner way of doing this? + final Pose2d cachedTarget[] = {new Pose2d()}; + final PIDController headingController = + // assume we can accelerate to max in 2/3 of a second + new PIDController(Robot.ROBOT_HARDWARE.swerveConstants.getHeadingVelocityKP(), 0.0, 0.0); + headingController.enableContinuousInput(-Math.PI, Math.PI); + final PIDController vyController = new PIDController(10.0, 0.01, 0.01); + return Commands.runOnce( + () -> { + cachedTarget[0] = target.get(); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("AutoAim/Cached Target", cachedTarget[0]); + }) + .andThen( + swerve.driveVelocity( + () -> { + final var diff = cachedTarget[0].relativeTo(swerve.getPose()); + final var speeds = + MathUtil.isNear(0.0, diff.getX(), Units.inchesToMeters(0.75)) + && MathUtil.isNear(0.0, diff.getY(), Units.inchesToMeters(0.75)) + && MathUtil.isNear(0.0, diff.getRotation().getDegrees(), 0.5) + ? new ChassisSpeeds() + : new ChassisSpeeds( + approachSpeed, + -vyController.calculate(diff.getY(), 0.0), + headingController.calculate( + swerve.getPose().getRotation().getRadians(), + cachedTarget[0].getRotation().getRadians())); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("AutoAim/Target Pose", target.get()); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("AutoAim/Target Speeds", speeds); + if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("AutoAim/Diff", diff); return speeds; })); } @@ -184,4 +231,37 @@ public static boolean isInToleranceAlgaeIntake(Pose2d pose) { && MathUtil.isNear( 0.0, diff.getRotation().getRadians(), AutoAim.ROTATION_TOLERANCE_RADIANS); } + + public static boolean isInTolerance(Pose2d pose, Pose2d pose2) { + final var diff = pose.minus(pose2); + return MathUtil.isNear( + 0.0, Math.hypot(diff.getX(), diff.getY()), AutoAim.TRANSLATION_TOLERANCE_METERS) + && MathUtil.isNear( + 0.0, diff.getRotation().getRadians(), AutoAim.ROTATION_TOLERANCE_RADIANS); + } + + public static boolean isInTolerance(Pose2d pose1, Pose2d pose2, ChassisSpeeds speeds) { + return isInTolerance( + pose1, + pose2, + speeds, + AutoAim.TRANSLATION_TOLERANCE_METERS, + AutoAim.ROTATION_TOLERANCE_RADIANS); + } + + public static boolean isInTolerance( + Pose2d pose1, + Pose2d pose2, + ChassisSpeeds speeds, + double translationTolerance, + double rotationTolerance) { + final var diff = pose1.minus(pose2); + return MathUtil.isNear(0.0, Math.hypot(diff.getX(), diff.getY()), translationTolerance) + && MathUtil.isNear(0.0, diff.getRotation().getRadians(), rotationTolerance) + && MathUtil.isNear( + 0, + Math.hypot(speeds.vxMetersPerSecond, speeds.vyMetersPerSecond), + VELOCITY_TOLERANCE_METERSPERSECOND) + && MathUtil.isNear(0.0, speeds.omegaRadiansPerSecond, 3.0); + } } From f194d5d6e6fba1a9d4721124a9d462a187424c94 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Wed, 5 Mar 2025 16:27:00 -0800 Subject: [PATCH 04/24] update vendordeps --- vendordeps/AdvantageKit.json | 11 +- vendordeps/ChoreoLib2025.json | 6 +- ....1.0.json => Phoenix6-frc2025-latest.json} | 114 +++++++++++++----- vendordeps/maple-sim.json | 4 +- ...hotonlib-v2025.1.1.json => photonlib.json} | 12 +- 5 files changed, 104 insertions(+), 43 deletions(-) rename vendordeps/{Phoenix6-25.1.0.json => Phoenix6-frc2025-latest.json} (80%) rename vendordeps/{photonlib-v2025.1.1.json => photonlib.json} (90%) diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index c7f5262f..79bdf3e4 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,7 +1,7 @@ { "fileName": "AdvantageKit.json", "name": "AdvantageKit", - "version": "4.0.0", + "version": "4.1.1", "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", "frcYear": "2025", "mavenUrls": [ @@ -12,21 +12,22 @@ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-java", - "version": "4.0.0" + "version": "4.1.1" } ], "jniDependencies": [ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-wpilibio", - "version": "4.0.0", + "version": "4.1.1", "skipInvalidPlatforms": false, "isJar": false, "validPlatforms": [ "linuxathena", - "windowsx86-64", "linuxx86-64", - "osxuniversal" + "linuxarm64", + "osxuniversal", + "windowsx86-64" ] } ], diff --git a/vendordeps/ChoreoLib2025.json b/vendordeps/ChoreoLib2025.json index faef0111..2c2d3c38 100644 --- a/vendordeps/ChoreoLib2025.json +++ b/vendordeps/ChoreoLib2025.json @@ -1,7 +1,7 @@ { "fileName": "ChoreoLib2025.json", "name": "ChoreoLib", - "version": "2025.0.1", + "version": "2025.0.3", "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", "frcYear": "2025", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-java", - "version": "2025.0.1" + "version": "2025.0.3" }, { "groupId": "com.google.code.gson", @@ -26,7 +26,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-cpp", - "version": "2025.0.1", + "version": "2025.0.3", "libName": "ChoreoLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/Phoenix6-25.1.0.json b/vendordeps/Phoenix6-frc2025-latest.json similarity index 80% rename from vendordeps/Phoenix6-25.1.0.json rename to vendordeps/Phoenix6-frc2025-latest.json index 18462c6f..f378c137 100644 --- a/vendordeps/Phoenix6-25.1.0.json +++ b/vendordeps/Phoenix6-frc2025-latest.json @@ -1,7 +1,7 @@ { - "fileName": "Phoenix6-25.1.0.json", + "fileName": "Phoenix6-frc2025-latest.json", "name": "CTRE-Phoenix (v6)", - "version": "25.1.0", + "version": "25.3.1", "frcYear": "2025", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.1.0" + "version": "25.3.1" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.1.0", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.1.0", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "25.1.0", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.1.0", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.1.0", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.1.0", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.1.0", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.1.0", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.1.0", + "version": "25.3.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.1.0", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.1.0", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +194,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.1.0", + "version": "25.3.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "25.3.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -196,7 +224,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -212,7 +240,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -228,7 +256,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -244,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -260,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -276,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -292,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -308,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -324,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -337,10 +365,26 @@ ], "simMode": "swsim" }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "25.3.1", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -356,7 +400,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -372,7 +416,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.1.0", + "version": "25.3.1", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -384,6 +428,22 @@ "osxuniversal" ], "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "25.3.1", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" } ] } diff --git a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json index 39a6c80b..a863f408 100644 --- a/vendordeps/maple-sim.json +++ b/vendordeps/maple-sim.json @@ -1,7 +1,7 @@ { "fileName": "maple-sim.json", "name": "maplesim", - "version": "0.3.1", + "version": "0.3.10", "frcYear": "2025", "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "org.ironmaple", "artifactId": "maplesim-java", - "version": "0.3.1" + "version": "0.3.10" }, { "groupId": "org.dyn4j", diff --git a/vendordeps/photonlib-v2025.1.1.json b/vendordeps/photonlib.json similarity index 90% rename from vendordeps/photonlib-v2025.1.1.json rename to vendordeps/photonlib.json index a9089236..32a648cc 100644 --- a/vendordeps/photonlib-v2025.1.1.json +++ b/vendordeps/photonlib.json @@ -1,7 +1,7 @@ { "fileName": "photonlib.json", "name": "photonlib", - "version": "v2025.1.1", + "version": "v2025.2.1", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", "frcYear": "2025", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2025.1.1", + "version": "v2025.2.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -28,7 +28,7 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-cpp", - "version": "v2025.1.1", + "version": "v2025.2.1", "libName": "photonlib", "headerClassifier": "headers", "sharedLibrary": true, @@ -43,7 +43,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2025.1.1", + "version": "v2025.2.1", "libName": "photontargeting", "headerClassifier": "headers", "sharedLibrary": true, @@ -60,12 +60,12 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-java", - "version": "v2025.1.1" + "version": "v2025.2.1" }, { "groupId": "org.photonvision", "artifactId": "photontargeting-java", - "version": "v2025.1.1" + "version": "v2025.2.1" } ] } From a2aa2b706d641b5885cf7356ef98acb191e3031f Mon Sep 17 00:00:00 2001 From: SCool62 <79726681+SCool62@users.noreply.github.com> Date: Wed, 5 Mar 2025 17:16:12 -0800 Subject: [PATCH 05/24] =?UTF-8?q?Allow=20state=20transitions=20directly=20?= =?UTF-8?q?from=20reef=20scoring=20to=20reef=20algae=20inta=E2=80=A6=20(#6?= =?UTF-8?q?7)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Allow state transitions directly from reef scoring to reef algae intaking * Rewrite with less repitition --- .vscode/settings.json | 3 ++- src/main/java/frc/robot/Robot.java | 7 +++--- .../frc/robot/subsystems/Superstructure.java | 23 ++++++++++++++----- .../robot/subsystems/roller/RollerIOSim.java | 3 +-- 4 files changed, 23 insertions(+), 13 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index 57b1c91f..26bbbfd3 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -57,5 +57,6 @@ "edu.wpi.first.math.**.proto.*", "edu.wpi.first.math.**.struct.*", ], - "java.compile.nullAnalysis.mode": "automatic" + "java.compile.nullAnalysis.mode": "automatic", + "java.debug.settings.onBuildFailureProceed": true } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 821d5b70..980153df 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -112,7 +112,7 @@ private RobotHardware(SwerveConstants swerveConstants) { } } - public static final RobotType ROBOT_TYPE = Robot.isReal() ? RobotType.REAL : RobotType.REPLAY; + public static final RobotType ROBOT_TYPE = Robot.isReal() ? RobotType.REAL : RobotType.SIM; // For replay to work properly this should match the hardware used in the log public static final RobotHardware ROBOT_HARDWARE = RobotHardware.KELPIE; @@ -685,12 +685,11 @@ public Robot() { driver .povUp() .and(() -> ROBOT_TYPE == RobotType.SIM) - .onTrue(Commands.runOnce(() -> manipulator.setSecondBeambreak(true)).ignoringDisable(true)); + .onTrue(Commands.runOnce(() -> manipulator.setFirstBeambreak(true)).ignoringDisable(true)); driver .povDown() .and(() -> ROBOT_TYPE == RobotType.SIM) - .onTrue( - Commands.runOnce(() -> manipulator.setSecondBeambreak(false)).ignoringDisable(true)); + .onTrue(Commands.runOnce(() -> manipulator.setFirstBeambreak(false)).ignoringDisable(true)); driver .povRight() .and(() -> ROBOT_TYPE == RobotType.SIM) diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index 8b1f5ac5..ca6c65f0 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -423,18 +423,24 @@ private void configureStateTransitionCommands() { stateTriggers .get(SuperState.SCORE_CORAL) .and(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak()) + .and(() -> !intakeAlgaeReq.getAsBoolean() || !intakeTargetOnReef()) // .debounce(0.15) .whileTrue( this.extendWithClearance( 0.0, ShoulderSubsystem.SHOULDER_HP_POS, WristSubsystem.WRIST_HP_POS)) .and(() -> elevator.isNearExtension(0)) - .onTrue(this.forceState(SuperState.IDLE)); + .onTrue(forceState(SuperState.IDLE)); - antiJamReq - .and(stateTriggers.get(SuperState.CLIMB).negate()) - .and(stateTriggers.get(SuperState.PRE_CLIMB).negate()) - .onTrue(forceState(SuperState.ANTI_JAM)) - .onFalse(forceState(SuperState.IDLE)); + stateTriggers + .get(SuperState.SCORE_CORAL) + .and(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak()) + .and(intakeAlgaeReq) + .and(() -> intakeTargetOnReef()) + .onTrue( + forceState( + algaeIntakeTarget.get() == AlgaeIntakeTarget.HIGH + ? SuperState.INTAKE_ALGAE_HIGH + : SuperState.INTAKE_ALGAE_LOW)); // ANTI_JAM logic stateTriggers @@ -721,6 +727,11 @@ public boolean stateIsAlgaeAlike() { || this.state == SuperState.SCORE_ALGAE_PROCESSOR; } + public boolean intakeTargetOnReef() { + return this.algaeIntakeTarget.get() == AlgaeIntakeTarget.HIGH + || this.algaeIntakeTarget.get() == AlgaeIntakeTarget.LOW; + } + private Command forceState(SuperState nextState) { return Commands.runOnce( () -> { diff --git a/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java b/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java index 70d82a98..3fe028c8 100644 --- a/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java +++ b/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java @@ -66,8 +66,7 @@ public void registerSimulationCallback(Consumer callba @Override public void setPosition(Rotation2d rot) { - // TODO Auto-generated method stub - throw new UnsupportedOperationException("Unimplemented method 'setPosition'"); + // TODO Actually simulate } @Override From ce0d0e13e59a4bcccf8c71dfcbf7f39efab68522 Mon Sep 17 00:00:00 2001 From: SCool62 <79726681+SCool62@users.noreply.github.com> Date: Fri, 7 Mar 2025 16:11:29 -0800 Subject: [PATCH 06/24] More auto aims (#69) * Allow READY_CORAL state in sim * Rotate targets correctly * Offset target pose * Add cage auto aim * Requested changes * add CageTargets.java * More requested changes * Stop tracking .factorypath * run spotless * run format in build? --------- Co-authored-by: Lewis-Seiden Co-authored-by: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> --- .gitignore | 2 + src/main/java/frc/robot/Robot.java | 69 ++++++++++++++- .../frc/robot/subsystems/Superstructure.java | 6 +- .../java/frc/robot/utils/autoaim/AutoAim.java | 3 + .../frc/robot/utils/autoaim/CageTargets.java | 86 +++++++++++++++++++ 5 files changed, 162 insertions(+), 4 deletions(-) create mode 100644 src/main/java/frc/robot/utils/autoaim/CageTargets.java diff --git a/.gitignore b/.gitignore index f20c8041..1cc6504d 100644 --- a/.gitignore +++ b/.gitignore @@ -186,3 +186,5 @@ compile_commands.json # Generated BuildConstants.java + +.factorypath diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 980153df..0b35229d 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -70,8 +70,10 @@ import frc.robot.utils.Tracer; import frc.robot.utils.autoaim.AlgaeIntakeTargets; import frc.robot.utils.autoaim.AutoAim; +import frc.robot.utils.autoaim.CageTargets; import frc.robot.utils.autoaim.CoralTargets; import java.util.HashMap; +import java.util.List; import java.util.Optional; import java.util.Set; import java.util.function.BiConsumer; @@ -645,6 +647,65 @@ public Robot() { Commands.waitUntil(() -> AutoAim.isInToleranceAlgaeIntake(swerve.getPose())) .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); + driver + .rightBumper() + .or(driver.leftBumper()) + .and( + () -> + superstructure.getState() == SuperState.READY_ALGAE + || superstructure.getState() == SuperState.PRE_PROCESSOR) + .and(() -> algaeScoreTarget == AlgaeScoreTarget.PROCESSOR) + .whileTrue( + Commands.parallel( + AutoAim.translateToPose( + swerve, + () -> + swerve + .getPose() + .nearest(List.of(AutoAim.BLUE_PROCESSOR_POS, AutoAim.RED_PROCESSOR_POS)) + // Moves the target pose inside the field, with the bumpers aligned with + // the wall + .transformBy( + new Transform2d( + -(ROBOT_HARDWARE.swerveConstants.getBumperLength() / 2), + 0.0, + Rotation2d.kZero))), + Commands.waitUntil( + () -> + AutoAim.isInTolerance( + swerve + .getPose() + .nearest( + List.of( + AutoAim.BLUE_PROCESSOR_POS, AutoAim.RED_PROCESSOR_POS)) + // Moves the target pose inside the field, with the bumpers + // aligned with the wall + .transformBy( + new Transform2d( + -(ROBOT_HARDWARE.swerveConstants.getBumperLength() / 2), + 0.0, + Rotation2d.kZero)), + swerve.getPose())) + .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); + + driver + .rightBumper() + .or(driver.leftBumper()) + .and( + () -> + superstructure.getState() == SuperState.PRE_CLIMB + || superstructure.getState() == SuperState.CLIMB) + .whileTrue( + Commands.parallel( + AutoAim.translateToPose( + swerve, () -> CageTargets.getOffsetClosestTarget(swerve.getPose())), + Commands.waitUntil( + () -> + AutoAim.isInTolerance( + CageTargets.getOffsetClosestTarget(swerve.getPose()), + swerve.getPose())) + .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); + driver .rightBumper() .or(driver.leftBumper()) @@ -652,10 +713,10 @@ public Robot() { () -> superstructure.getState() == SuperState.READY_ALGAE || superstructure.getState() == SuperState.PRE_NET) + .and(() -> algaeScoreTarget == AlgaeScoreTarget.NET) .whileTrue( Commands.parallel( AutoAim.translateToXCoord( - // TODO: PUT ACUAL NET POSE swerve, () -> Math.abs(swerve.getPose().getX() - AutoAim.BLUE_NET_X) @@ -776,6 +837,12 @@ public Robot() { .map((target) -> CoralTargets.getRobotTargetLocation(target.location)) .toArray(Pose2d[]::new)); // Log locations of all autoaim targets + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput( + "AutoAim/Targets/Cage", + Stream.of(CageTargets.values()) + .map((target) -> target.getLocation()) + .toArray(Pose2d[]::new)); if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput( "AutoAim/Targets/Algae", diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index ca6c65f0..2d515e62 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -452,7 +452,7 @@ private void configureStateTransitionCommands() { stateTriggers .get(SuperState.CHECK_ALGAE) .and(() -> stateTimer.hasElapsed(1.0)) - .and(() -> manipulator.getStatorCurrentAmps() <= 20.0) + .and(() -> manipulator.getStatorCurrentAmps() <= 20.0 && Robot.ROBOT_TYPE != RobotType.SIM) .onTrue(this.forceState(SuperState.IDLE)); // change intake target @@ -550,7 +550,7 @@ private void configureStateTransitionCommands() { ? WristSubsystem.WRIST_RETRACTED_POS : WristSubsystem.WRIST_INTAKE_ALGAE_REEF_RETRACT_POS)) .and(() -> stateTimer.hasElapsed(1.0)) - .and(() -> manipulator.getStatorCurrentAmps() > 20.0) + .and(() -> manipulator.getStatorCurrentAmps() > 20.0 || Robot.ROBOT_TYPE == RobotType.SIM) .and( () -> AlgaeIntakeTargets.getClosestTarget(pose.get()) @@ -590,7 +590,7 @@ private void configureStateTransitionCommands() { stateTriggers .get(SuperState.READY_ALGAE) - .and(() -> manipulator.getStatorCurrentAmps() < 20.0) + .and(() -> manipulator.getStatorCurrentAmps() < 20.0 && Robot.ROBOT_TYPE != RobotType.SIM) .onTrue(forceState(SuperState.CHECK_ALGAE)); // SPIT_ALGAE -> PRE_CLIMB stateTriggers diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index c97c5dc3..624dc09b 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -32,6 +32,9 @@ public class AutoAim { public static double BLUE_NET_X = 8.08; public static double RED_NET_X = ChoreoAllianceFlipUtil.flipX(BLUE_NET_X); + public static Pose2d BLUE_PROCESSOR_POS = new Pose2d(5.973, 0, Rotation2d.fromDegrees(270)); + public static Pose2d RED_PROCESSOR_POS = ChoreoAllianceFlipUtil.flip(BLUE_PROCESSOR_POS); + 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; diff --git a/src/main/java/frc/robot/utils/autoaim/CageTargets.java b/src/main/java/frc/robot/utils/autoaim/CageTargets.java new file mode 100644 index 00000000..ec26cc99 --- /dev/null +++ b/src/main/java/frc/robot/utils/autoaim/CageTargets.java @@ -0,0 +1,86 @@ +package frc.robot.utils.autoaim; + +import choreo.util.ChoreoAllianceFlipUtil; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import frc.robot.Robot; +import java.util.Arrays; +import java.util.List; + +public enum CageTargets { + BLUE_OUTSIDE(new Pose2d(8.760, 0.799, Rotation2d.fromDegrees(0)), Alliance.Blue), + BLUE_MIDDLE(new Pose2d(8.760, 1.889, Rotation2d.fromDegrees(0)), Alliance.Blue), + BLUE_INSIDE(new Pose2d(8.760, 2.980, Rotation2d.fromDegrees(0)), Alliance.Blue), + + RED_OUTSIDE(ChoreoAllianceFlipUtil.flip(BLUE_OUTSIDE.getLocation()), Alliance.Red), + RED_MIDDLE(ChoreoAllianceFlipUtil.flip(BLUE_MIDDLE.getLocation()), Alliance.Red), + RED_INSIDE(ChoreoAllianceFlipUtil.flip(BLUE_INSIDE.getLocation()), Alliance.Red); + + private static final List poses = + Arrays.stream(values()).map((CageTargets target) -> target.getLocation()).toList(); + + private final Pose2d location; + private final Alliance alliance; + + private CageTargets(Pose2d location, Alliance alliance) { + this.location = location; + this.alliance = alliance; + } + + public static Pose2d getOffsetClosestTarget(Pose2d robotPose) { + if (DriverStation.getAlliance().isPresent()) { + // If it's across the field, x > 8.76 on blue and x < 8.76 on red + return getOffsetClosestTarget( + robotPose, + (DriverStation.getAlliance().get() == Alliance.Blue && robotPose.getX() > 8.76) + || (DriverStation.getAlliance().get() == Alliance.Red && robotPose.getX() < 8.76)); + } + return getOffsetClosestTarget(robotPose, false); + } + + public static Pose2d getOffsetClosestTarget(Pose2d robotPose, boolean far) { + Pose2d nearestPose; + if (DriverStation.getAlliance().isPresent()) { + nearestPose = + robotPose.nearest( + Arrays.stream(values()) + .filter(target -> target.getAlliance() != DriverStation.getAlliance().get()) + .map(target -> target.getLocation()) + .toList()); + } else { + nearestPose = robotPose.nearest(poses); + } + if (far) { + return getFarRobotTargetLocation(nearestPose); + } else { + return getCloseRobotTargetLocation(nearestPose); + } + } + + public static Pose2d getCloseRobotTargetLocation(Pose2d pose) { + return pose.transformBy( + new Transform2d( + (Robot.ROBOT_HARDWARE.swerveConstants.getBumperLength() / 2) + 0.087, + 0, + Rotation2d.kZero)); + } + + public static Pose2d getFarRobotTargetLocation(Pose2d pose) { + return pose.transformBy( + new Transform2d( + -(Robot.ROBOT_HARDWARE.swerveConstants.getBumperLength() / 2) - 0.087, + 0, + Rotation2d.k180deg)); + } + + public Pose2d getLocation() { + return this.location; + } + + public Alliance getAlliance() { + return this.alliance; + } +} From 6b2fb763594de4a5fa182554984464b97695c1da Mon Sep 17 00:00:00 2001 From: SCool62 <79726681+SCool62@users.noreply.github.com> Date: Fri, 7 Mar 2025 16:35:24 -0800 Subject: [PATCH 07/24] Log swerve motor temperature and turn supply current (#72) --- .../frc/robot/subsystems/swerve/ModuleIO.java | 7 +++-- .../subsystems/swerve/ModuleIOMapleSim.java | 27 ++++++++++++++----- .../robot/subsystems/swerve/ModuleIOReal.java | 27 ++++++++++++++----- .../robot/subsystems/swerve/ModuleIOSim.java | 4 +-- 4 files changed, 49 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java index 4965d5c7..69c06755 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIO.java @@ -24,14 +24,17 @@ public static class ModuleIOInputs { public double drivePositionMeters = 0.0; public double driveVelocityMetersPerSec = 0.0; public double driveAppliedVolts = 0.0; - public double driveCurrentAmps = 0.0; + public double driveStatorCurrentAmps = 0.0; public double driveSupplyCurrentAmps = 0.0; + public double driveTempC = 0.0; public Rotation2d turnAbsolutePosition = new Rotation2d(); public Rotation2d turnPosition = new Rotation2d(); public double turnVelocityRadPerSec = 0.0; public double turnAppliedVolts = 0.0; - public double turnCurrentAmps = 0.0; + public double turnStatorCurrentAmps = 0.0; + public double turnSupplyCurrentAmps = 0.0; + public double turnTempC = 0.0; } /** Updates the set of loggable inputs. */ diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIOMapleSim.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIOMapleSim.java index ae43eaa1..5731c2e8 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIOMapleSim.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIOMapleSim.java @@ -60,12 +60,15 @@ public class ModuleIOMapleSim implements ModuleIO { private final BaseStatusSignal driveAppliedVolts; private final BaseStatusSignal driveCurrent; private final BaseStatusSignal driveSupplyCurrent; + private final BaseStatusSignal driveTempC; private final BaseStatusSignal turnAbsolutePosition; private final BaseStatusSignal turnPosition; private final BaseStatusSignal turnVelocity; private final BaseStatusSignal turnAppliedVolts; - private final BaseStatusSignal turnCurrent; + private final BaseStatusSignal turnStatorCurrent; + private final BaseStatusSignal turnSupplyCurrent; + private final BaseStatusSignal turnTempC; // Control modes private final VoltageOut driveVoltage = new VoltageOut(0.0).withEnableFOC(true); @@ -99,12 +102,15 @@ public ModuleIOMapleSim( driveAppliedVolts = driveTalon.getMotorVoltage(); driveCurrent = driveTalon.getStatorCurrent(); driveSupplyCurrent = driveTalon.getSupplyCurrent(); + driveTempC = driveTalon.getDeviceTemp(); turnAbsolutePosition = cancoder.getAbsolutePosition(); turnPosition = turnTalon.getPosition(); turnVelocity = turnTalon.getVelocity(); turnAppliedVolts = turnTalon.getMotorVoltage(); - turnCurrent = turnTalon.getStatorCurrent(); + turnStatorCurrent = turnTalon.getStatorCurrent(); + turnSupplyCurrent = turnTalon.getSupplyCurrent(); + turnTempC = turnTalon.getDeviceTemp(); PhoenixOdometryThread.getInstance() .registerSignals( @@ -127,10 +133,13 @@ public ModuleIOMapleSim( driveAppliedVolts, driveCurrent, driveSupplyCurrent, + driveTempC, turnAbsolutePosition, turnVelocity, turnAppliedVolts, - turnCurrent); + turnStatorCurrent, + turnSupplyCurrent, + turnTempC); driveTalon.optimizeBusUtilization(); turnTalon.optimizeBusUtilization(); cancoder.optimizeBusUtilization(); @@ -155,25 +164,31 @@ public void updateInputs(final ModuleIOInputs inputs) { driveAppliedVolts, driveCurrent, driveSupplyCurrent, + driveTempC, turnAbsolutePosition, turnPosition, turnVelocity, turnAppliedVolts, - turnCurrent); + turnStatorCurrent, + turnSupplyCurrent, + turnTempC); inputs.prefix = constants.prefix(); inputs.drivePositionMeters = drivePosition.getValueAsDouble(); inputs.driveVelocityMetersPerSec = driveVelocity.getValueAsDouble(); inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble(); - inputs.driveCurrentAmps = driveCurrent.getValueAsDouble(); + inputs.driveStatorCurrentAmps = driveCurrent.getValueAsDouble(); inputs.driveSupplyCurrentAmps = driveSupplyCurrent.getValueAsDouble(); + inputs.driveTempC = driveTempC.getValueAsDouble(); inputs.turnAbsolutePosition = Rotation2d.fromRotations(turnAbsolutePosition.getValueAsDouble()); inputs.turnPosition = Rotation2d.fromRotations(turnPosition.getValueAsDouble()); inputs.turnVelocityRadPerSec = Units.rotationsToRadians(turnVelocity.getValueAsDouble()); inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble(); - inputs.turnCurrentAmps = turnCurrent.getValueAsDouble(); + inputs.turnStatorCurrentAmps = turnStatorCurrent.getValueAsDouble(); + inputs.turnSupplyCurrentAmps = turnSupplyCurrent.getValueAsDouble(); + inputs.turnTempC = turnTempC.getValueAsDouble(); } @Override diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java index ec97a6ca..9e9b394a 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIOReal.java @@ -56,12 +56,15 @@ public class ModuleIOReal implements ModuleIO { private final BaseStatusSignal driveAppliedVolts; private final BaseStatusSignal driveCurrent; private final BaseStatusSignal driveSupplyCurrent; + private final BaseStatusSignal driveTempC; private final BaseStatusSignal turnAbsolutePosition; private final BaseStatusSignal turnPosition; private final BaseStatusSignal turnVelocity; private final BaseStatusSignal turnAppliedVolts; - private final BaseStatusSignal turnCurrent; + private final BaseStatusSignal turnStatorCurrent; + private final BaseStatusSignal turnSupplyCurrent; + private final BaseStatusSignal turnTempC; // Control modes private final VoltageOut driveVoltage = new VoltageOut(0.0).withEnableFOC(true); @@ -91,12 +94,15 @@ public ModuleIOReal(ModuleConstants moduleConstants, SwerveConstants swerveConst driveAppliedVolts = driveTalon.getMotorVoltage(); driveCurrent = driveTalon.getStatorCurrent(); driveSupplyCurrent = driveTalon.getSupplyCurrent(); + driveTempC = driveTalon.getDeviceTemp(); turnAbsolutePosition = cancoder.getAbsolutePosition(); turnPosition = turnTalon.getPosition(); turnVelocity = turnTalon.getVelocity(); turnAppliedVolts = turnTalon.getMotorVoltage(); - turnCurrent = turnTalon.getStatorCurrent(); + turnStatorCurrent = turnTalon.getStatorCurrent(); + turnSupplyCurrent = turnTalon.getSupplyCurrent(); + turnTempC = turnTalon.getDeviceTemp(); PhoenixOdometryThread.getInstance() .registerSignals( @@ -119,10 +125,13 @@ public ModuleIOReal(ModuleConstants moduleConstants, SwerveConstants swerveConst driveAppliedVolts, driveCurrent, driveSupplyCurrent, + driveTempC, turnAbsolutePosition, turnVelocity, turnAppliedVolts, - turnCurrent); + turnStatorCurrent, + turnSupplyCurrent, + turnTempC); driveTalon.optimizeBusUtilization(); turnTalon.optimizeBusUtilization(); cancoder.optimizeBusUtilization(); @@ -136,25 +145,31 @@ public void updateInputs(final ModuleIOInputs inputs) { driveAppliedVolts, driveCurrent, driveSupplyCurrent, + driveTempC, turnAbsolutePosition, turnPosition, turnVelocity, turnAppliedVolts, - turnCurrent); + turnStatorCurrent, + turnSupplyCurrent, + turnTempC); inputs.prefix = constants.prefix(); inputs.drivePositionMeters = drivePosition.getValueAsDouble(); inputs.driveVelocityMetersPerSec = driveVelocity.getValueAsDouble(); inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble(); - inputs.driveCurrentAmps = driveCurrent.getValueAsDouble(); + inputs.driveStatorCurrentAmps = driveCurrent.getValueAsDouble(); inputs.driveSupplyCurrentAmps = driveSupplyCurrent.getValueAsDouble(); + inputs.driveTempC = driveTempC.getValueAsDouble(); inputs.turnAbsolutePosition = Rotation2d.fromRotations(turnAbsolutePosition.getValueAsDouble()); inputs.turnPosition = Rotation2d.fromRotations(turnPosition.getValueAsDouble()); inputs.turnVelocityRadPerSec = Units.rotationsToRadians(turnVelocity.getValueAsDouble()); inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble(); - inputs.turnCurrentAmps = turnCurrent.getValueAsDouble(); + inputs.turnStatorCurrentAmps = turnStatorCurrent.getValueAsDouble(); + inputs.turnSupplyCurrentAmps = turnSupplyCurrent.getValueAsDouble(); + inputs.turnTempC = turnTempC.getValueAsDouble(); } @Override diff --git a/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java index 7458296c..0019eeae 100644 --- a/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java +++ b/src/main/java/frc/robot/subsystems/swerve/ModuleIOSim.java @@ -96,14 +96,14 @@ public void updateInputs(final ModuleIOInputs inputs) { inputs.driveVelocityMetersPerSec = driveSim.getAngularVelocityRadPerSec() * swerveConstants.getWheelRadiusMeters(); inputs.driveAppliedVolts = driveSimState.getMotorVoltage(); - inputs.driveCurrentAmps = Math.abs(driveSim.getCurrentDrawAmps()); + inputs.driveStatorCurrentAmps = Math.abs(driveSim.getCurrentDrawAmps()); inputs.turnAbsolutePosition = new Rotation2d(turnSim.getAngularPositionRad()).plus(turnAbsoluteInitPosition); inputs.turnPosition = new Rotation2d(turnSim.getAngularPositionRad()); inputs.turnVelocityRadPerSec = turnSim.getAngularVelocityRadPerSec(); inputs.turnAppliedVolts = turnAppliedVolts; - inputs.turnCurrentAmps = Math.abs(turnSim.getCurrentDrawAmps()); + inputs.turnStatorCurrentAmps = Math.abs(turnSim.getCurrentDrawAmps()); } @Override From a3749c3af6555a2c435178660d4bf7c087dc4b87 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Sat, 8 Mar 2025 12:42:43 -0800 Subject: [PATCH 08/24] Initialize canivore (#62) * make bring up note match other notes formatting * add conservative current limits to everything for bring up * add climber current limit * reduce elevator motion magic speed * check off items * add shoulder cancoder offset - seeing some slightly off values so there might be a bug lurking * set up wrist gear ratio and init, verify with ascope * check off items * make led use ledid constant * make rollerio refresh inputs * add swerve offsets * disable mechs, verify HOME state * mess with wrist zeroing: probably still some bugs lurking but its good enough for now * tune wrist pidf * tune shoulder * adjust elevator homing, tuning * adjust ground algae location, roller enable * fix algae intaking * adjust processor * adjust algae and coral tuning * fix some state transitions and adjust funnel * adjust algae current threshold * fill out checkboxes * slow down wrist for barge scoring * split processor and net scoring states * adjust led logic * add check algae state * adjust check algae state * adjust l4 color * force idle state if coral isnt there in ready coral * adjust index command for coral * additional empty manipulator checks for prepare states * l4 scoring works!!!1!!1!!!1!! * fix L4 robot self-collision * adjust reef scoring clearances * re-add algae intaking and anti jam bindings (they got nuked???????) * add extend with clearance command * make funnel spin backwards in anti-jam * make state triggers check for robot enable * make manipulator coral indexing skip early steps if no piece, make IDLE->READY_CORAL check first beambreak not second * make home not exit until request ends * fix l3 extension, extend with clearance hold * adjust barge scoring and algae intaking * fix algae intake not running on first press * make reef algae intake use clearance, adjust tuning * make algae reef intaking cook * fix net autoaim * adjust controller buzzing, lower manip current limit * add current control to rollers * tune reef coral placing * add reef cancelling, funnel reverse button * trust gyro more for pose est * add front camera calibration * run spotless * make CHECK_ALGAE hold elevator position and wait until not near reef * add mechanism pose viz for shoulder zeroing pose * fix arm zeroing * adjust funnel voltage * made algae intake on ground retract after intake * adjusted algae intake from the reef to start further back * adjusted shoulder retraction from intaking algae off the reef * tuned PID in kelpie swerve constants * tuned PID in kelpie swerve constants and auto aim acceleration * disable autoalign stopping on moving away (it was borked :( ) * fix atuoalign using vel instead of pos * make funnel only run when close to hp station * add funnel spin override * increase wrist current filter timescale * make manipulator use position hold on pre coral score * Fix l1 manipulator scoring * Make l1 scoring work * Update LED constants * reset manipulator position only on beambreak trip in right config * make net scoring YEET algae * regenerated choreo trajs with proper constants * make score in auto use autoalign, check for velocity before scoring * improved scoring and intaking in auto to wait and get the correct pose * Home in auto and reset auto score reqs on enable * Make vision distance falloff larger, change weight of module force FFs, and disable force FFs while decelerating * regen choreo trajs w 0.5Nm torque * Adjusted vision trust and made scoreInAuto take a pose to score on * make intake in auto push into wall * add configurable tolerance for autoalign check, tighten tolerance in auto (its too tight now so its slow :( ) * increase translation tolerance in auto * speed up funnel + adjust offset (might be wrong?) * made net extension parallel * fix manipulator extending when algae gets knocked out * adjust purple color * reduce swerve current limits * make ready algae use clearance * import cam constants, reduce z error threshold * adjust reef algae intake autoalign, vision * add heading reset * run spotless * run format * fix heading reset + barge autoaim * log more gyro stuff, fix algae autoalign * i was silly * filter ambigugous single target estimates, adjust auto traj * make PLO slam into station more * reduce accel, adjust delay after scoring for general state machine and auto * update camera calibrations * run spotless * adjust choreo max torque, module tracking * gc tuning and more tracing * add commented out visualvm jvm settings * only run recordOutput in non-real modes * fix sim vs real io init when in replay, activate replay * updated auto pose ro to match lo * updating auto paths so they don't scrape the reef * make algae intake autoaim run in idle * make coral autoaling look ahead 0.3s * reduce algae autoalign speed * reduce drive current limit * renamble gyro return status logging, reduce async odo rate * make alga eintake autoalign wait for elevator * revert drive current limit reduction * hopefully fix auto path population * make push auto use autoalign to finish traj * make push auto use autoalign to finish traj * run spotless * make algae intake autoalign roobot relative * check shoulder when intaking algae from reef * make push auto timeout pushing * prep climber for testing * run spotless * tune climb * more funnel release tuning * adjust l1, servo latch pos * Update at 'Thu Feb 27 13:53:18 PST 2025' * Update at 'Thu Feb 27 13:53:26 PST 2025' * Update at 'Thu Feb 27 14:09:55 PST 2025' * make operator able to start climb * make net toss slower * fix Rotation2d being created with 0,0 on robot rel force of 0 * run format * whack harder * add climber zero button to dashboard * :clown: * Update at 'Thu Feb 27 17:32:24 PST 2025' * Update at 'Thu Feb 27 17:35:14 PST 2025' * the clowning continues :clown: * add more clearance on EtoPRO * run fmt * trust back cameras less * disable back cameras * initialize canivore before mechanisms * run spotless * fix logging canivore status --------- Co-authored-by: Lewis-Seiden Co-authored-by: SCool62 Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com> --- src/main/java/frc/robot/Robot.java | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 0b35229d..be257406 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -10,6 +10,8 @@ import static edu.wpi.first.units.Units.Volts; import static frc.robot.subsystems.elevator.ElevatorSubsystem.ELEVATOR_ANGLE; +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.CANBus.CANBusStatus; import com.ctre.phoenix6.SignalLogger; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.configs.FeedbackConfigs; @@ -114,7 +116,7 @@ private RobotHardware(SwerveConstants swerveConstants) { } } - public static final RobotType ROBOT_TYPE = Robot.isReal() ? RobotType.REAL : RobotType.SIM; + public static final RobotType ROBOT_TYPE = Robot.isReal() ? RobotType.REAL : RobotType.REPLAY; // For replay to work properly this should match the hardware used in the log public static final RobotHardware ROBOT_HARDWARE = RobotHardware.KELPIE; @@ -180,6 +182,10 @@ public static enum AlgaeScoreTarget { @AutoLogOutput private boolean haveAutosGenerated = false; + private static CANBus canivore = new CANBus("*"); + + private static CANBusStatus canivoreStatus = canivore.getStatus(); + private final CommandXboxControllerSubsystem driver = new CommandXboxControllerSubsystem(0); private final CommandXboxControllerSubsystem operator = new CommandXboxControllerSubsystem(1); @@ -458,6 +464,7 @@ public Robot() { // be added. swerve.startOdoThread(); SignalLogger.setPath("/media/sda1/"); + Logger.recordOutput("Canivore Status", canivoreStatus.Status); if (ROBOT_TYPE == RobotType.SIM) { SimulatedArena.getInstance().addDriveTrainSimulation(swerveDriveSimulation.orElse(null)); From 010693f2e392009f8b846c5ec7ad21a38cc845fe Mon Sep 17 00:00:00 2001 From: SCool62 <79726681+SCool62@users.noreply.github.com> Date: Sat, 8 Mar 2025 15:01:17 -0800 Subject: [PATCH 09/24] add transition pose + turn on back cameras (#77) Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com> --- src/main/java/frc/robot/Robot.java | 59 +++++++++++++++---- .../swerve/KelpieSwerveConstants.java | 2 +- .../java/frc/robot/utils/autoaim/AutoAim.java | 4 +- 3 files changed, 50 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index be257406..e8465cf4 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -665,18 +665,53 @@ public Robot() { .whileTrue( Commands.parallel( AutoAim.translateToPose( - swerve, - () -> - swerve - .getPose() - .nearest(List.of(AutoAim.BLUE_PROCESSOR_POS, AutoAim.RED_PROCESSOR_POS)) - // Moves the target pose inside the field, with the bumpers aligned with - // the wall - .transformBy( - new Transform2d( - -(ROBOT_HARDWARE.swerveConstants.getBumperLength() / 2), - 0.0, - Rotation2d.kZero))), + swerve, + () -> + swerve + .getPose() + .nearest( + List.of(AutoAim.BLUE_PROCESSOR_POS, AutoAim.RED_PROCESSOR_POS)) + // Moves the target pose inside the field, with the bumpers aligned + // with + // the wall + .transformBy( + new Transform2d( + -(ROBOT_HARDWARE.swerveConstants.getBumperLength() / 2) + - 0.5, + 0.0, + Rotation2d.kZero))) + .until( + () -> + AutoAim.isInTolerance( + swerve.getPose(), + swerve + .getPose() + .nearest( + List.of( + AutoAim.BLUE_PROCESSOR_POS, AutoAim.RED_PROCESSOR_POS)) + .transformBy( + new Transform2d( + -(ROBOT_HARDWARE.swerveConstants.getBumperLength() / 2) + - 0.5, + 0.0, + Rotation2d.kZero)))) + .andThen( + AutoAim.translateToPose( + swerve, + () -> + swerve + .getPose() + .nearest( + List.of( + AutoAim.BLUE_PROCESSOR_POS, AutoAim.RED_PROCESSOR_POS)) + // Moves the target pose inside the field, with the bumpers + // aligned with + // the wall + .transformBy( + new Transform2d( + -(ROBOT_HARDWARE.swerveConstants.getBumperLength() / 2), + 0.0, + Rotation2d.kZero)))), Commands.waitUntil( () -> AutoAim.isInTolerance( diff --git a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java index 9924f7d5..361a0b28 100644 --- a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java @@ -223,7 +223,7 @@ public VisionConstants[] getVisionConstants() { new Rotation3d(0, Units.degreesToRadians(-10), Units.degreesToRadians(30))), FRONT_CAMERA_MATRIX, FRONT_DIST_COEFFS); - return new VisionConstants[] {frontCamConstants}; + return new VisionConstants[] {backLeftCamConstants, backRightCamConstants, frontCamConstants}; } @Override diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 624dc09b..40fec0ee 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -72,8 +72,8 @@ public static Command translateToPose( () -> { cachedTarget[0] = target.get(); final var diff = swerve.getPose().minus(cachedTarget[0]); - if (Robot.ROBOT_TYPE != RobotType.REAL) - Logger.recordOutput("AutoAim/Cached Target", cachedTarget[0]); + // if (Robot.ROBOT_TYPE != RobotType.REAL)% + Logger.recordOutput("AutoAim/Cached Target", cachedTarget[0]); headingController.reset( swerve.getPose().getRotation().getRadians(), swerve.getVelocityFieldRelative().omegaRadiansPerSecond); From fd393baf92419a7031acc0530b8170fc90beb30d Mon Sep 17 00:00:00 2001 From: SCool62 <79726681+SCool62@users.noreply.github.com> Date: Sat, 8 Mar 2025 15:11:33 -0800 Subject: [PATCH 10/24] Tune climb (#75) * Tune climb * run spotless --------- Co-authored-by: spellingcat <70864274+spellingcat@users.noreply.github.com> --- src/main/java/frc/robot/utils/autoaim/AutoAim.java | 4 ++-- .../java/frc/robot/utils/autoaim/CageTargets.java | 14 +++++++------- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 40fec0ee..624dc09b 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -72,8 +72,8 @@ public static Command translateToPose( () -> { cachedTarget[0] = target.get(); final var diff = swerve.getPose().minus(cachedTarget[0]); - // if (Robot.ROBOT_TYPE != RobotType.REAL)% - Logger.recordOutput("AutoAim/Cached Target", cachedTarget[0]); + if (Robot.ROBOT_TYPE != RobotType.REAL) + Logger.recordOutput("AutoAim/Cached Target", cachedTarget[0]); headingController.reset( swerve.getPose().getRotation().getRadians(), swerve.getVelocityFieldRelative().omegaRadiansPerSecond); diff --git a/src/main/java/frc/robot/utils/autoaim/CageTargets.java b/src/main/java/frc/robot/utils/autoaim/CageTargets.java index ec26cc99..f585a615 100644 --- a/src/main/java/frc/robot/utils/autoaim/CageTargets.java +++ b/src/main/java/frc/robot/utils/autoaim/CageTargets.java @@ -11,13 +11,13 @@ import java.util.List; public enum CageTargets { - BLUE_OUTSIDE(new Pose2d(8.760, 0.799, Rotation2d.fromDegrees(0)), Alliance.Blue), - BLUE_MIDDLE(new Pose2d(8.760, 1.889, Rotation2d.fromDegrees(0)), Alliance.Blue), - BLUE_INSIDE(new Pose2d(8.760, 2.980, Rotation2d.fromDegrees(0)), Alliance.Blue), + RED_OUTSIDE(new Pose2d(8.760, 0.799, Rotation2d.fromDegrees(0)), Alliance.Red), + RED_MIDDLE(new Pose2d(8.760, 1.889 + 0.15, Rotation2d.fromDegrees(0)), Alliance.Red), + RED_INSIDE(new Pose2d(8.760, 2.980, Rotation2d.fromDegrees(0)), Alliance.Red), - RED_OUTSIDE(ChoreoAllianceFlipUtil.flip(BLUE_OUTSIDE.getLocation()), Alliance.Red), - RED_MIDDLE(ChoreoAllianceFlipUtil.flip(BLUE_MIDDLE.getLocation()), Alliance.Red), - RED_INSIDE(ChoreoAllianceFlipUtil.flip(BLUE_INSIDE.getLocation()), Alliance.Red); + BLUE_OUTSIDE(ChoreoAllianceFlipUtil.flip(RED_OUTSIDE.getLocation()), Alliance.Blue), + BLUE_MIDDLE(ChoreoAllianceFlipUtil.flip(RED_MIDDLE.getLocation()), Alliance.Blue), + BLUE_INSIDE(ChoreoAllianceFlipUtil.flip(RED_INSIDE.getLocation()), Alliance.Blue); private static final List poses = Arrays.stream(values()).map((CageTargets target) -> target.getLocation()).toList(); @@ -47,7 +47,7 @@ public static Pose2d getOffsetClosestTarget(Pose2d robotPose, boolean far) { nearestPose = robotPose.nearest( Arrays.stream(values()) - .filter(target -> target.getAlliance() != DriverStation.getAlliance().get()) + .filter(target -> target.getAlliance() == DriverStation.getAlliance().get()) .map(target -> target.getLocation()) .toList()); } else { From 6fb0e9d78bf53e9be6dadab0f87464c8dbd77cc7 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Sat, 8 Mar 2025 15:51:06 -0800 Subject: [PATCH 11/24] make IDLE use clearance extension (#79) Co-authored-by: Lewis-Seiden --- src/main/java/frc/robot/subsystems/Superstructure.java | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index 2d515e62..d6d15c12 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -173,9 +173,11 @@ public void periodic() { private void configureStateTransitionCommands() { stateTriggers .get(SuperState.IDLE) - .whileTrue(elevator.setExtension(ElevatorSubsystem.HP_EXTENSION_METERS)) - .whileTrue(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_HP_POS)) - .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_HP_POS)) + .whileTrue( + extendWithClearance( + ElevatorSubsystem.HP_EXTENSION_METERS, + ShoulderSubsystem.SHOULDER_HP_POS, + WristSubsystem.WRIST_HP_POS)) .whileTrue(manipulator.index()) .whileTrue( funnel.setVoltage( From 2d736953e522397e09c319623f22b06cd8f39f3f Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sat, 8 Mar 2025 17:29:30 -0800 Subject: [PATCH 12/24] Auto algae height (#80) * made it so algae intake automatically goes high or low depending on the closest target * pr review feedback * run spotless --------- Co-authored-by: Lewis-Seiden Co-authored-by: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> --- src/main/java/frc/robot/Robot.java | 16 +++++-- .../frc/robot/subsystems/Superstructure.java | 2 +- .../utils/autoaim/AlgaeIntakeTargets.java | 47 +++++++++++++------ .../java/frc/robot/utils/autoaim/AutoAim.java | 2 +- 4 files changed, 46 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index e8465cf4..f759a2a3 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -629,17 +629,23 @@ public Robot() { .whileTrue( Commands.parallel( Commands.sequence( + Commands.runOnce( + () -> { + algaeIntakeTarget = + AlgaeIntakeTargets.getClosestTarget(swerve.getPose()).height; + }), AutoAim.translateToPose( swerve, () -> AlgaeIntakeTargets.getOffsetLocation( - AlgaeIntakeTargets.getClosestTarget(swerve.getPose()))) + AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose()))) .until( () -> AutoAim.isInTolerance( swerve.getPose(), AlgaeIntakeTargets.getOffsetLocation( - AlgaeIntakeTargets.getClosestTarget(swerve.getPose())), + AlgaeIntakeTargets.getClosestTargetPose( + swerve.getPose())), swerve.getVelocityFieldRelative(), Units.inchesToMeters(1.0), Units.degreesToRadians(1.0)) @@ -650,7 +656,9 @@ public Robot() { && shoulder.isNearAngle( ShoulderSubsystem.SHOULDER_INTAKE_ALGAE_REEF_POS)), AutoAim.approachAlgae( - swerve, () -> AlgaeIntakeTargets.getClosestTarget(swerve.getPose()), 0.75)), + swerve, + () -> AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose()), + 0.75)), Commands.waitUntil(() -> AutoAim.isInToleranceAlgaeIntake(swerve.getPose())) .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); @@ -778,7 +786,7 @@ public Robot() { final var diff = swerve .getPose() - .minus(AlgaeIntakeTargets.getClosestTarget(swerve.getPose())); + .minus(AlgaeIntakeTargets.getClosestTargetPose(swerve.getPose())); return MathUtil.isNear(0.0, diff.getX(), Units.inchesToMeters(1.0)) && MathUtil.isNear(0.0, diff.getY(), Units.inchesToMeters(1.0)) && MathUtil.isNear(0.0, diff.getRotation().getDegrees(), 2.0); diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index d6d15c12..b6a0e8f9 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -555,7 +555,7 @@ private void configureStateTransitionCommands() { .and(() -> manipulator.getStatorCurrentAmps() > 20.0 || Robot.ROBOT_TYPE == RobotType.SIM) .and( () -> - AlgaeIntakeTargets.getClosestTarget(pose.get()) + AlgaeIntakeTargets.getClosestTargetPose(pose.get()) .getTranslation() .minus(pose.get().getTranslation()) .getNorm() diff --git a/src/main/java/frc/robot/utils/autoaim/AlgaeIntakeTargets.java b/src/main/java/frc/robot/utils/autoaim/AlgaeIntakeTargets.java index a9ac3e1b..bfb2d116 100644 --- a/src/main/java/frc/robot/utils/autoaim/AlgaeIntakeTargets.java +++ b/src/main/java/frc/robot/utils/autoaim/AlgaeIntakeTargets.java @@ -5,31 +5,37 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; import frc.robot.Robot; +import frc.robot.Robot.AlgaeIntakeTarget; import java.util.Arrays; +import java.util.Collections; +import java.util.Comparator; import java.util.List; +import java.util.stream.Stream; public enum AlgaeIntakeTargets { // All coordinates are global coordinates from the lower, blue alliance side corner, if the walls // were extended beyond the coral station // All angles from the center of the coral with 0° across the width of the field, counterclockwise - BLUE_AB(new Pose2d(3.64, 4.03, Rotation2d.fromDegrees(180))), - BLUE_CD(new Pose2d(4.06, 3.31, Rotation2d.fromDegrees(240))), - BLUE_EF(new Pose2d(4.89, 3.31, Rotation2d.fromDegrees(300))), - BLUE_GH(new Pose2d(5.31, 4.03, Rotation2d.fromDegrees(0))), - BLUE_IJ(new Pose2d(4.89, 4.75, Rotation2d.fromDegrees(60))), - BLUE_KL(new Pose2d(4.06, 4.75, Rotation2d.fromDegrees(120))), - - RED_AB(ChoreoAllianceFlipUtil.flip(BLUE_AB.location)), - RED_CD(ChoreoAllianceFlipUtil.flip(BLUE_CD.location)), - RED_EF(ChoreoAllianceFlipUtil.flip(BLUE_EF.location)), - RED_GH(ChoreoAllianceFlipUtil.flip(BLUE_GH.location)), - RED_IJ(ChoreoAllianceFlipUtil.flip(BLUE_IJ.location)), - RED_KL(ChoreoAllianceFlipUtil.flip(BLUE_KL.location)); + BLUE_AB(new Pose2d(3.64, 4.03, Rotation2d.fromDegrees(180)), AlgaeIntakeTarget.HIGH), + BLUE_CD(new Pose2d(4.06, 3.31, Rotation2d.fromDegrees(240)), AlgaeIntakeTarget.LOW), + BLUE_EF(new Pose2d(4.89, 3.31, Rotation2d.fromDegrees(300)), AlgaeIntakeTarget.HIGH), + BLUE_GH(new Pose2d(5.31, 4.03, Rotation2d.fromDegrees(0)), AlgaeIntakeTarget.LOW), + BLUE_IJ(new Pose2d(4.89, 4.75, Rotation2d.fromDegrees(60)), AlgaeIntakeTarget.HIGH), + BLUE_KL(new Pose2d(4.06, 4.75, Rotation2d.fromDegrees(120)), AlgaeIntakeTarget.LOW), + + RED_AB(ChoreoAllianceFlipUtil.flip(BLUE_AB.location), AlgaeIntakeTarget.HIGH), + RED_CD(ChoreoAllianceFlipUtil.flip(BLUE_CD.location), AlgaeIntakeTarget.LOW), + RED_EF(ChoreoAllianceFlipUtil.flip(BLUE_EF.location), AlgaeIntakeTarget.HIGH), + RED_GH(ChoreoAllianceFlipUtil.flip(BLUE_GH.location), AlgaeIntakeTarget.LOW), + RED_IJ(ChoreoAllianceFlipUtil.flip(BLUE_IJ.location), AlgaeIntakeTarget.HIGH), + RED_KL(ChoreoAllianceFlipUtil.flip(BLUE_KL.location), AlgaeIntakeTarget.LOW); public final Pose2d location; + public final AlgaeIntakeTarget height; - private AlgaeIntakeTargets(Pose2d location) { + private AlgaeIntakeTargets(Pose2d location, AlgaeIntakeTarget height) { this.location = location; + this.height = height; } private static final List transformedPoses = @@ -53,7 +59,18 @@ public static Pose2d getOffsetLocation(Pose2d original) { } /** Gets the closest offset target to the given pose. */ - public static Pose2d getClosestTarget(Pose2d pose) { + public static Pose2d getClosestTargetPose(Pose2d pose) { return pose.nearest(transformedPoses); } + + public static AlgaeIntakeTargets getClosestTarget(Pose2d pose) { + return Collections.min( + Stream.of(AlgaeIntakeTargets.values()).toList(), + Comparator.comparing( + (AlgaeIntakeTargets other) -> + pose.getTranslation().getDistance(other.location.getTranslation())) + .thenComparing( + (AlgaeIntakeTargets other) -> + Math.abs(pose.getRotation().minus(other.location.getRotation()).getRadians()))); + } } diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java index 624dc09b..bbdf7919 100644 --- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java +++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java @@ -228,7 +228,7 @@ public static boolean isInToleranceCoral(Pose2d pose) { } public static boolean isInToleranceAlgaeIntake(Pose2d pose) { - final var diff = pose.minus(AlgaeIntakeTargets.getClosestTarget(pose)); + final var diff = pose.minus(AlgaeIntakeTargets.getClosestTargetPose(pose)); return MathUtil.isNear( 0.0, Math.hypot(diff.getX(), diff.getY()), AutoAim.TRANSLATION_TOLERANCE_METERS) && MathUtil.isNear( From 81ad1f3429a9012f471b7ac119dccfa887b74d21 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Sat, 8 Mar 2025 17:56:24 -0800 Subject: [PATCH 13/24] Auto algae height missed commits (#81) * made it so algae intake automatically goes high or low depending on the closest target * pr review feedback * make tracer log in REAL --------- Co-authored-by: vivi-o Co-authored-by: Lewis-Seiden --- src/main/java/frc/robot/utils/Tracer.java | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/utils/Tracer.java b/src/main/java/frc/robot/utils/Tracer.java index 6f93096a..19986966 100644 --- a/src/main/java/frc/robot/utils/Tracer.java +++ b/src/main/java/frc/robot/utils/Tracer.java @@ -2,8 +2,6 @@ import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.RobotController; -import frc.robot.Robot; -import frc.robot.Robot.RobotType; import java.lang.management.GarbageCollectorMXBean; import java.lang.management.ManagementFactory; import java.util.ArrayList; @@ -107,19 +105,18 @@ private void endCycle() { // if the entry isn't found, time will null-cast to 0.0 Double time = traceTimes.remove(entry); if (time == null) time = 0.0; - if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Tracer/" + entry, time); + Logger.recordOutput("Tracer/" + entry, time); } // log all new entries for (var traceTime : traceTimes.entrySet()) { - if (Robot.ROBOT_TYPE != RobotType.REAL) - Logger.recordOutput("Tracer/" + traceTime.getKey(), traceTime.getValue()); + + Logger.recordOutput("Tracer/" + traceTime.getKey(), traceTime.getValue()); entryArray.add(traceTime.getKey()); } // log gc time - if (gcs.size() > 0) - if (Robot.ROBOT_TYPE != RobotType.REAL) - Logger.recordOutput("Tracer/GCTime", gcTimeThisCycle); + if (gcs.size() > 0) Logger.recordOutput("Tracer/GCTime", gcTimeThisCycle); + gcTimeThisCycle = 0.0; // clean up state From b80ad4fb07999a7ab7f6d646fa5f6fb2742adabf Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Sun, 9 Mar 2025 16:30:40 -0700 Subject: [PATCH 14/24] make SCORE_ALGAE_NET go directly to IDLE instead of waiting for retraction (#82) Co-authored-by: Lewis-Seiden --- src/main/java/frc/robot/subsystems/Superstructure.java | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index b6a0e8f9..6b056faa 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -637,10 +637,6 @@ private void configureStateTransitionCommands() { .whileTrue(shoulder.setTargetAngleSlow(ShoulderSubsystem.SHOULDER_SHOOT_NET_POS)) .whileTrue(wrist.setTargetAngle(WristSubsystem.WRIST_SHOOT_NET_POS)) .and(() -> stateTimer.hasElapsed(1)) - .whileTrue( - this.extendWithClearance( - 0.0, ShoulderSubsystem.SHOULDER_HP_POS, WristSubsystem.WRIST_HP_POS)) - .and(() -> elevator.isNearExtension(0)) .onTrue(forceState(SuperState.IDLE)); stateTriggers From 449e7a82b9bfd943c9df8bb5ccd380b0e12ace25 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Wed, 12 Mar 2025 15:47:10 -0700 Subject: [PATCH 15/24] make indexing slightly faster for better consistency with new funnel (#84) Co-authored-by: Lewis-Seiden --- src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java index 59dbe2a1..354ddb05 100644 --- a/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ManipulatorSubsystem.java @@ -68,7 +68,7 @@ public void periodic() { public Command index() { return Commands.sequence( - setVelocity(6.0).until(() -> firstBBInputs.get).unless(() -> firstBBInputs.get), + setVelocity(9.0).until(() -> firstBBInputs.get).unless(() -> firstBBInputs.get), setVelocity(3.0).until(() -> secondBBInputs.get).unless(() -> secondBBInputs.get), // TODO tune timeout // Commands.runOnce(() -> io.resetEncoder(0.0)), From 20b86e4a74b0f1954302fd12ce624f2aabb9d51d Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Wed, 12 Mar 2025 15:47:23 -0700 Subject: [PATCH 16/24] Elevator speedups and sysid (#83) * adjust elevator to use motionmagicexpotorque * add sysid for elevator * remove elevator 0 on config * add current sysid * test sysid in sim * run spotless --------- Co-authored-by: Lewis-Seiden --- src/main/java/frc/robot/Robot.java | 8 ++- .../robot/subsystems/elevator/ElevatorIO.java | 2 + .../subsystems/elevator/ElevatorIOReal.java | 61 +++++++++++++------ .../subsystems/elevator/ElevatorIOSim.java | 9 +++ .../elevator/ElevatorSubsystem.java | 52 +++++++++++++++- 5 files changed, 112 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index f759a2a3..a90ad0a3 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -116,7 +116,7 @@ private RobotHardware(SwerveConstants swerveConstants) { } } - public static final RobotType ROBOT_TYPE = Robot.isReal() ? RobotType.REAL : RobotType.REPLAY; + public static final RobotType ROBOT_TYPE = Robot.isReal() ? RobotType.REAL : RobotType.SIM; // For replay to work properly this should match the hardware used in the log public static final RobotHardware ROBOT_HARDWARE = RobotHardware.KELPIE; @@ -483,6 +483,12 @@ public Robot() { autos = new Autos(swerve, manipulator); autoChooser.addDefaultOption("None", autos.getNoneAuto()); + SmartDashboard.putData( + "Run Elevator Sysid", + elevator + .runSysid() + .raceWith(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_CLEARANCE_POS))); + // Run auto when auto starts. Matches Choreolib's defer impl RobotModeTriggers.autonomous() .whileTrue(Commands.defer(() -> autoChooser.get().asProxy(), Set.of())); diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java index 84681259..f82c23b5 100644 --- a/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java @@ -23,6 +23,8 @@ public static class ElevatorIOInputs { public void setVoltage(final double voltage); + public void setCurrent(final double amps); + public default void stop() { setVoltage(0); } diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java index 0090b8d2..7a5b625d 100644 --- a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java @@ -8,7 +8,8 @@ import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.controls.Follower; -import com.ctre.phoenix6.controls.MotionMagicVoltage; +import com.ctre.phoenix6.controls.MotionMagicExpoTorqueCurrentFOC; +import com.ctre.phoenix6.controls.TorqueCurrentFOC; import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.signals.GravityTypeValue; @@ -27,8 +28,9 @@ public class ElevatorIOReal implements ElevatorIO { private final TalonFX follower = new TalonFX(17, "*"); private final VoltageOut voltageOut = new VoltageOut(0.0).withEnableFOC(true); - private final MotionMagicVoltage positionVoltage = - new MotionMagicVoltage(0.0).withEnableFOC(true); + private final TorqueCurrentFOC torque = new TorqueCurrentFOC(0.0); + private final MotionMagicExpoTorqueCurrentFOC positionTorque = + new MotionMagicExpoTorqueCurrentFOC(0.0); // misusing type system here - these correspond to linear meters, NOT rotations private final StatusSignal position = motor.getPosition(); @@ -45,32 +47,50 @@ public ElevatorIOReal() { config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; + // Carriage position meters in direction of elevator + config.Feedback.SensorToMechanismRatio = + ElevatorSubsystem.GEAR_RATIO / (2 * Math.PI * ElevatorSubsystem.DRUM_RADIUS_METERS); + + // Carriage mass is 12lbs + // Manipulator is 5lbs + // First stage is ~4lbs + // 16lbs counterspringing from stage 1 to carriage + // (ie 16lbs of force pulling carriage up) config.Slot0.GravityType = GravityTypeValue.Elevator_Static; - config.Slot0.kG = 0.4; - config.Slot0.kS = 0.15; - config.Slot0.kV = 4.2; - config.Slot0.kA = 0.0; - config.Slot0.kP = 100.0; - config.Slot0.kD = 10.0; + config.Slot0.kG = + (483.0 / 9.37) + * config.Feedback.SensorToMechanismRatio + * Units.lbsToKilograms(12 + 5 + (4.0 / 2.0) - 16); + config.Slot0.kS = 0.0; + config.Slot0.kV = 0.0; + // converts accel -> force, force -> motor torque, motor torque -> amperage + config.Slot0.kA = + (483.0 / 9.37) + * config.Feedback.SensorToMechanismRatio + * Units.lbsToKilograms(12 + 5 + (4.0 / 2.0)); + config.Slot0.kP = 0.0; + config.Slot0.kD = 0.0; config.ClosedLoopRamps.VoltageClosedLoopRampPeriod = 0.1; - // TODO increase once validated config.CurrentLimits.StatorCurrentLimit = 80.0; - config.CurrentLimits.StatorCurrentLimitEnable = true; - config.CurrentLimits.SupplyCurrentLimit = 40.0; + // Fuck it we ball + config.CurrentLimits.StatorCurrentLimitEnable = false; + config.CurrentLimits.SupplyCurrentLimit = 60.0; config.CurrentLimits.SupplyCurrentLimitEnable = true; + config.CurrentLimits.SupplyCurrentLowerLimit = 40.0; + config.CurrentLimits.SupplyCurrentLowerTime = 0.0; config.MotionMagic.MotionMagicAcceleration = 8.0; // Estimated from slightly less than motor free speed - config.MotionMagic.MotionMagicCruiseVelocity = 4.0; + config.MotionMagic.MotionMagicCruiseVelocity = + (5500.0 / 60.0) / config.Feedback.SensorToMechanismRatio; - // Carriage position meters in direction of elevator - config.Feedback.SensorToMechanismRatio = - ElevatorSubsystem.GEAR_RATIO / (2 * Math.PI * ElevatorSubsystem.DRUM_RADIUS_METERS); + config.MotionMagic.MotionMagicExpo_kV = + (5800.0 / 60.0) / config.Feedback.SensorToMechanismRatio; + config.MotionMagic.MotionMagicExpo_kA = 0.06; // from recalc motor.getConfigurator().apply(config); - motor.setPosition(Units.inchesToMeters(0.0)); // Assume we boot nearly 0ed follower.getConfigurator().apply(config); follower.setControl(new Follower(motor.getDeviceID(), true)); @@ -93,7 +113,7 @@ public void updateInputs(final ElevatorIOInputsAutoLogged inputs) { @Override public void setTarget(final double meters) { - motor.setControl(positionVoltage.withPosition(meters)); + motor.setControl(positionTorque.withPosition(meters)); } @Override @@ -101,6 +121,11 @@ public void setVoltage(final double voltage) { motor.setControl(voltageOut.withOutput(voltage)); } + @Override + public void setCurrent(final double amps) { + motor.setControl(torque.withOutput(amps)); + } + @Override public void resetEncoder(final double position) { motor.setPosition(position); diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java index cd65953f..b8632a12 100644 --- a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOSim.java @@ -62,6 +62,15 @@ public void setVoltage(final double voltage) { physicsSim.setInputVoltage(MathUtil.clamp(voltage, -12.0, 12.0)); } + @Override + public void setCurrent(double amps) { + setVoltage( + DCMotor.getKrakenX60Foc(2) + .getVoltage( + amps, + physicsSim.getVelocityMetersPerSecond() / ElevatorSubsystem.DRUM_RADIUS_METERS)); + } + @Override public void resetEncoder(final double position) { // sim always has a perfectly accurate encoder diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java index 55f94890..8c4a75ba 100644 --- a/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java @@ -4,6 +4,9 @@ package frc.robot.subsystems.elevator; +import static edu.wpi.first.units.Units.Second; +import static edu.wpi.first.units.Units.Volts; + import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.filter.LinearFilter; import edu.wpi.first.math.geometry.Pose3d; @@ -13,9 +16,13 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; +import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config; +import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Mechanism; import frc.robot.Robot; import frc.robot.Robot.RobotType; import java.util.function.DoubleSupplier; +import java.util.function.Function; import org.littletonrobotics.junction.Logger; import org.littletonrobotics.junction.mechanism.LoggedMechanism2d; import org.littletonrobotics.junction.mechanism.LoggedMechanismLigament2d; @@ -24,7 +31,7 @@ /** Cascading elevator */ public class ElevatorSubsystem extends SubsystemBase { // Constants - public static final double GEAR_RATIO = 4.5 / 1.0; + public static final double GEAR_RATIO = 2.5 / 1.0; public static final double DRUM_RADIUS_METERS = Units.inchesToMeters(1.751 / 2.0); public static final Rotation2d ELEVATOR_ANGLE = Rotation2d.fromDegrees(90.0); @@ -56,6 +63,9 @@ public class ElevatorSubsystem extends SubsystemBase { private double setpoint = 0.0; + private final SysIdRoutine voltageSysid; + private final SysIdRoutine currentSysid; + // For dashboard private final LoggedMechanism2d mech2d = new LoggedMechanism2d(3.0, Units.feetToMeters(4.0)); private final LoggedMechanismRoot2d @@ -68,6 +78,23 @@ public class ElevatorSubsystem extends SubsystemBase { /** Creates a new ElevatorSubsystem. */ public ElevatorSubsystem(ElevatorIO io) { this.io = io; + voltageSysid = + new SysIdRoutine( + new Config( + null, + null, + null, + (state) -> Logger.recordOutput("Elevator/SysIdTestStateVolts", state.toString())), + new Mechanism((volts) -> io.setVoltage(volts.in(Volts)), null, this)); + + currentSysid = + new SysIdRoutine( + new Config( + Volts.of(10.0).per(Second), + Volts.of(30.0), + null, + (state) -> Logger.recordOutput("Elevator/SysIdTestStateCurrent", state.toString())), + new Mechanism((volts) -> io.setCurrent(volts.in(Volts)), null, this)); } @Override @@ -124,6 +151,29 @@ public Command runCurrentZeroing() { }); } + public Command runSysid() { + final Function runSysid = + (routine) -> + Commands.sequence( + routine + .quasistatic(SysIdRoutine.Direction.kForward) + .until(() -> inputs.positionMeters > Units.inchesToMeters(50.0)), + Commands.waitUntil(() -> inputs.velocityMetersPerSec < 0.1), + routine + .quasistatic(SysIdRoutine.Direction.kReverse) + .until(() -> inputs.positionMeters < Units.inchesToMeters(5.0)), + Commands.waitUntil(() -> Math.abs(inputs.velocityMetersPerSec) < 0.1), + routine + .dynamic(SysIdRoutine.Direction.kForward) + .until(() -> inputs.positionMeters > Units.inchesToMeters(50.0)), + Commands.waitUntil(() -> inputs.velocityMetersPerSec < 0.1), + routine + .dynamic(SysIdRoutine.Direction.kReverse) + .until(() -> inputs.positionMeters < Units.inchesToMeters(5.0))); + return Commands.sequence( + runCurrentZeroing(), runSysid.apply(voltageSysid), runSysid.apply(currentSysid)); + } + public Command setVoltage(double voltage) { return this.run( () -> { From 636570a4c4925dc04ca887c261a29d63952c3ccf Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Wed, 12 Mar 2025 16:16:31 -0700 Subject: [PATCH 17/24] gyro failure postmortem (#76) * add initial gyro failure post mortem writeup * add reporting failure to process failures section * additional info in not using sheet bulletpoint * run spotless --------- Co-authored-by: Lewis-Seiden --- notes/gyroPostmortem.md | 67 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 67 insertions(+) create mode 100644 notes/gyroPostmortem.md diff --git a/notes/gyroPostmortem.md b/notes/gyroPostmortem.md new file mode 100644 index 00000000..37972e1c --- /dev/null +++ b/notes/gyroPostmortem.md @@ -0,0 +1,67 @@ +# OCR Gyro Issue Postmortem + +This writeup pertains to the gyro issue which cost us quals 66 and 77 and OCR. +Match videos for those quals are available on TBA and logs were sent in a zip file on the **#software** channel on slack. + +## Symptoms + +The issue was first noticed in the week (ish) before OCR as a ```Missing Gyro Data``` alert. +This alert would appear at startup and never clear. +Data from the gyro would not appear in the ```Async Odo``` inputs. +The gyro inputs would have an `isConnected` value of `false` and the position and velocity inputs would not change. +During debugging we logged the `StatusCode` of the `yaw` status signal in `GyroIOPigeon2`. +This would return a value of `CanMessageStale` when the issue occurred, and `Ok` otherwise. +Once we saw a value of `RxTimeout`, but this did not reproduce and is likely another manifestation of the same issue. + +## Debugging + +Our initial theory for the cause of the issue was a bug in the pose estimation stack. +Because of the rewrite this offseason, we weren't 100% confident in it. +Thorough inspection did not yield any issues and logging of the `StatusCode` of the `yaw` signal indicated an issue elsewhere. + +At this point we had not noticed that the issue only appeared on startup, and did not investigate it as such. + +The next major theory was that there was a hardware issue somewhere on the robot. +A CAN bus break seemed unlikely because the Pigeon was the first device on the bus, so we should see the entire bus go down. +Similar reasoning was applied to a CANivore issue. + +This lead us to believe there was an internal hardware issue with the Pigeon. +This made sense for an intermittent issue, and given that we did not have a clear smoking gun in our code or wiring made sense to us. +However, swapping the Pigeon would be somewhat difficult and require equipment and spares we did not have stocked at the Loom. +Therefore, we did not conduct the swap. +Without any further evidence or realizing that the issue was only at startup, we did not come up with any other theories before OCR. + +The issue reappeared in quals 66 at OCR, and the prevailing "internal hardware issue" theory was applied. +After the Pigeon was swapped, the robot was powered on once and the issue did not reappear. +The issue appeared on the field the next match. + +Around this time at OCR, it was realized that the issue was exclusively on startup. +Similarly, it was found that the Pigeon was the first CAN device initialized. +This lead to the theory that there was a race condition involving the CANivore initialization, possible related to our use of the ```"*"``` wildcard identifier for CANivores. + +Restarting the RoboRIO appeared to clear the issue, leading further credibility to a startup issue. +For the remainder of OCR, a status indicator was added to the dashboard and the drive team was instructed to restart the robot whenever the issue reappeared. + +After OCR we reproduced the issue on an elevator TalonFX by initializing that device first. +This appears to confirm the race condition theory. +A fix explicitly blocking on CANivore initialization before any devices are initialized appears to work at time of writing after several reboots to attempt to reproduce the issue. + +## Process failures + +Several process failures resulted in this issue costing us quals 66 and 77. +In roughly chronological order, they are: + + 1. Not resolving the issue after it appeared. + This issue was clearly problematic as soon as it appeared. + It should not have been ignored and the assumed fix should have been checked. + 2. Not rigorously testing the "fix" after applying it. + We only powered on once after swapping the pigeon. + The issue was known to be intermittent, therefore we should have tested it many times to ensure it would not reappear. + 3. Not checking for the failure on the field after "fixing" it. + It was easy to add a widget to elastic to display the gyro's status. + We even did so for elims. + We did not do so immediately after making the fix, which resulted in the issue going unnoticed during quals 77. + 4. Not recording the failure on slack, in the failures sheet, or otherwise properly communicating it before OCR. + If the failure had been properly recorded and reported, it would have had a greater chance of being given attention and solved before OCR. + The sheet has been largely unused by the team, which contributed to it not being filled out for this issue. + Building momentum behind it will help prevent similar failures in the future. From 049d6ec00cc611cb6e336f70db59da5cc8a0bfa1 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Wed, 12 Mar 2025 16:59:37 -0700 Subject: [PATCH 18/24] track per subclass of SwerveConstants (#86) Co-authored-by: Lewis-Seiden --- .../robot/subsystems/swerve/AlphaSwerveConstants.java | 10 ++++++++++ .../subsystems/swerve/BansheeSwerveConstants.java | 9 +++++++++ .../robot/subsystems/swerve/KelpieSwerveConstants.java | 10 ++++++++++ .../frc/robot/subsystems/swerve/SwerveConstants.java | 8 +------- 4 files changed, 30 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/AlphaSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/AlphaSwerveConstants.java index b46aea55..436ad47c 100644 --- a/src/main/java/frc/robot/subsystems/swerve/AlphaSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/AlphaSwerveConstants.java @@ -24,6 +24,16 @@ import frc.robot.subsystems.vision.Vision.VisionConstants; public class AlphaSwerveConstants extends SwerveConstants { + private static boolean instantiated = false; + + public AlphaSwerveConstants() { + super(); + if (instantiated) { + SwerveConstants.multipleInstancesAlert.set(true); + } + instantiated = true; + } + @Override public double getMaxLinearSpeed() { // motor speed (RPM) / gear ratio * pi * wheel diameter (inches) / 12 / 60 diff --git a/src/main/java/frc/robot/subsystems/swerve/BansheeSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/BansheeSwerveConstants.java index d6c94ac3..008c71d8 100644 --- a/src/main/java/frc/robot/subsystems/swerve/BansheeSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/BansheeSwerveConstants.java @@ -25,6 +25,15 @@ import frc.robot.subsystems.vision.Vision.VisionConstants; public class BansheeSwerveConstants extends SwerveConstants { + private static boolean instantiated = false; + + public BansheeSwerveConstants() { + super(); + if (instantiated) { + SwerveConstants.multipleInstancesAlert.set(true); + } + instantiated = true; + } @Override public double getMaxLinearSpeed() { diff --git a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java index 361a0b28..145576ea 100644 --- a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java @@ -24,6 +24,16 @@ import frc.robot.subsystems.vision.Vision.VisionConstants; public class KelpieSwerveConstants extends SwerveConstants { + private static boolean instantiated = false; + + public KelpieSwerveConstants() { + super(); + if (instantiated) { + SwerveConstants.multipleInstancesAlert.set(true); + } + instantiated = true; + } + @Override public double getMaxLinearSpeed() { // From https://www.swervedrivespecialties.com/products/mk4n-swerve-module, L2+ with KrakenX60 diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/SwerveConstants.java index 61ed970e..ba2c98a2 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveConstants.java @@ -25,19 +25,13 @@ * same gear ratios Subclass this to make constants for a specific robot. */ public abstract class SwerveConstants { - private static boolean instantiated = false; - private static final Alert multipleInstancesAlert = + protected static final Alert multipleInstancesAlert = new Alert("Multiple Swerve Constants Files", AlertType.kError); private static final Alert tagLoadFailureAlert = new Alert("Failed to load custom tag map", AlertType.kWarning); protected AprilTagFieldLayout fieldTags; public SwerveConstants() { - if (instantiated) { - multipleInstancesAlert.set(true); - } - instantiated = true; - try { fieldTags = new AprilTagFieldLayout( From 9ce73c6f4ecfed90b3a01f19b2eed4c0a740f3e1 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Wed, 12 Mar 2025 17:58:08 -0700 Subject: [PATCH 19/24] New front camera + adjust back camera offsets (#85) * add new front camera constants * adjust back camera angles --------- Co-authored-by: Lewis-Seiden --- .../swerve/KelpieSwerveConstants.java | 38 ++++++++++++++----- .../subsystems/swerve/SwerveSubsystem.java | 6 ++- 2 files changed, 34 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java index 145576ea..bab47658 100644 --- a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java @@ -191,10 +191,16 @@ public VisionConstants[] getVisionConstants() { final Matrix BACK_RIGHT_DIST_COEFFS = MatBuilder.fill( Nat.N8(), Nat.N1(), 0.058, -0.09, 0.006, -0.003, 0.022, -0.002, 0.004, -0.001); - final Matrix FRONT_CAMERA_MATRIX = + final Matrix FRONT_RIGHT_CAMERA_MATRIX = MatBuilder.fill( Nat.N3(), Nat.N3(), 911.67, 0.0, 663.03, 0.0, 909.82, 408.72, 0.0, 0.0, 1.0); - final Matrix FRONT_DIST_COEFFS = + final Matrix FRONT_RIGHT_DIST_COEFFS = + MatBuilder.fill( + Nat.N8(), Nat.N1(), 0.044, -0.069, 0.001, 0.001, 0.013, -0.002, 0.004, 0.001); + final Matrix FRONT_LEFT_CAMERA_MATRIX = + MatBuilder.fill( + Nat.N3(), Nat.N3(), 911.67, 0.0, 663.03, 0.0, 909.82, 408.72, 0.0, 0.0, 1.0); + final Matrix FRONT_LEFT_DIST_COEFFS = MatBuilder.fill( Nat.N8(), Nat.N1(), 0.044, -0.069, 0.001, 0.001, 0.013, -0.002, 0.004, 0.001); final VisionConstants backLeftCamConstants = @@ -207,7 +213,7 @@ public VisionConstants[] getVisionConstants() { Units.inchesToMeters(9.052)), new Rotation3d( Units.degreesToRadians(0.0), - Units.degreesToRadians(-28.125), + Units.degreesToRadians(-(90.0 - 61.875)), Units.degreesToRadians(150))), BACK_LEFT_CAMERA_MATRIX, BACK_LEFT_DIST_COEFFS); @@ -219,21 +225,35 @@ public VisionConstants[] getVisionConstants() { Units.inchesToMeters(-11.600), Units.inchesToMeters(-11.400488), Units.inchesToMeters(9.052)), - new Rotation3d(0, Units.degreesToRadians(-28.125), Units.degreesToRadians(210))), + new Rotation3d( + 0, Units.degreesToRadians(-(90.0 - 61.875)), Units.degreesToRadians(210))), BACK_RIGHT_CAMERA_MATRIX, BACK_RIGHT_DIST_COEFFS); - final VisionConstants frontCamConstants = + final VisionConstants frontRightCamConstants = new VisionConstants( - "Front_Camera", + "Front_Right_Camera", new Transform3d( new Translation3d( Units.inchesToMeters(6.664129), Units.inchesToMeters(-12.320709), Units.inchesToMeters(8.885504)), new Rotation3d(0, Units.degreesToRadians(-10), Units.degreesToRadians(30))), - FRONT_CAMERA_MATRIX, - FRONT_DIST_COEFFS); - return new VisionConstants[] {backLeftCamConstants, backRightCamConstants, frontCamConstants}; + FRONT_RIGHT_CAMERA_MATRIX, + FRONT_RIGHT_DIST_COEFFS); + final VisionConstants frontLeftCamConstants = + new VisionConstants( + "Front_Left_Camera", + new Transform3d( + new Translation3d( + Units.inchesToMeters(6.664129), + Units.inchesToMeters(12.320709), + Units.inchesToMeters(8.885504)), + new Rotation3d(0, Units.degreesToRadians(-10), Units.degreesToRadians(-30))), + FRONT_LEFT_CAMERA_MATRIX, + FRONT_LEFT_DIST_COEFFS); + return new VisionConstants[] { + backLeftCamConstants, backRightCamConstants, frontRightCamConstants, frontLeftCamConstants + }; } @Override diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 809fd5da..c49ccc62 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -329,7 +329,11 @@ private void updateVision() { camera.inputs.captureTimestampMicros / 1.0e6, deviations .times(DriverStation.isAutonomous() ? 2.0 : 1.0) - .times(camera.getName().equals("Front_Camera") ? 1.0 : 1.5)); + .times( + camera.getName().equals("Front_Left_Camera") + || camera.getName().equals("Front_Right_Camera") + ? 1.0 + : 1.5)); }); lastEstTimestamp = camera.inputs.captureTimestampMicros / 1e6; // if (Robot.ROBOT_TYPE != RobotType.REAL) From a0bac65b240ffcb892bb35e4223f0b88abb7ee80 Mon Sep 17 00:00:00 2001 From: spellingcat <70864274+spellingcat@users.noreply.github.com> Date: Thu, 13 Mar 2025 17:32:17 -0700 Subject: [PATCH 20/24] don't wait for elevator to retract to go to idle (#89) * don't wait for elevator to retract to go to idle * feedback --- src/main/java/frc/robot/subsystems/Superstructure.java | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index 6b056faa..4047f730 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -427,10 +427,6 @@ private void configureStateTransitionCommands() { .and(() -> !manipulator.getFirstBeambreak() && !manipulator.getSecondBeambreak()) .and(() -> !intakeAlgaeReq.getAsBoolean() || !intakeTargetOnReef()) // .debounce(0.15) - .whileTrue( - this.extendWithClearance( - 0.0, ShoulderSubsystem.SHOULDER_HP_POS, WristSubsystem.WRIST_HP_POS)) - .and(() -> elevator.isNearExtension(0)) .onTrue(forceState(SuperState.IDLE)); stateTriggers From aac520133b3ed9b0a47dd6ef77d68bd1e4f4e176 Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Fri, 14 Mar 2025 11:27:57 -0700 Subject: [PATCH 21/24] add pre sfr bring up checklist (#87) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * add pre sfr bring up checklist * add stuff i forgor 💀 --------- Co-authored-by: Lewis-Seiden --- notes/bringUpSFR.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) create mode 100644 notes/bringUpSFR.md diff --git a/notes/bringUpSFR.md b/notes/bringUpSFR.md new file mode 100644 index 00000000..36b7eb9a --- /dev/null +++ b/notes/bringUpSFR.md @@ -0,0 +1,12 @@ +# Checklist for bringing up elevator changes + other stuff before SFR + +- [ ] Sysid elevator +- [ ] Tune elevator +- [ ] Test new cameras +- [ ] Algae cam tuning +- [ ] Make new climb work +- [ ] Test dot product selection +- [ ] Test IK extension +- [ ] Test intermediate pose autoaims +- [ ] Test smoother autoaims if ready +- [ ] Test adjusted extend with clearance From 50b422ccc6d21ea24957669b9698566632bfd08d Mon Sep 17 00:00:00 2001 From: Lewis-Seiden <70111132+Lewis-Seiden@users.noreply.github.com> Date: Fri, 14 Mar 2025 15:31:55 -0700 Subject: [PATCH 22/24] Pre sfr bring up (#92) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * add pre sfr bring up checklist * add stuff i forgor 💀 * turn off elevator pidf for initial tuning * turn elevator gear ratio from "insane" to "ludicrous" * initial elevator retuning, static friction is :( * run sysid again w 5:1 * tested various gains, sticking w sysid voltage for now * turn elevator current limits back off * new camera offsets frfr --------- Co-authored-by: Lewis-Seiden --- .SysId/sysid.json | 1 + src/main/java/frc/robot/Robot.java | 6 +++ .../frc/robot/subsystems/Superstructure.java | 5 +-- .../subsystems/elevator/ElevatorIOReal.java | 40 +++++++++---------- .../elevator/ElevatorSubsystem.java | 19 ++++++--- .../swerve/KelpieSwerveConstants.java | 10 ++--- 6 files changed, 46 insertions(+), 35 deletions(-) create mode 100644 .SysId/sysid.json diff --git a/.SysId/sysid.json b/.SysId/sysid.json new file mode 100644 index 00000000..0967ef42 --- /dev/null +++ b/.SysId/sysid.json @@ -0,0 +1 @@ +{} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index a90ad0a3..299184b1 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -489,6 +489,12 @@ public Robot() { .runSysid() .raceWith(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_CLEARANCE_POS))); + SmartDashboard.putData( + "Step Elevator Current", + elevator + .setCurrent(60.0) + .raceWith(shoulder.setTargetAngle(ShoulderSubsystem.SHOULDER_CLEARANCE_POS))); + // Run auto when auto starts. Matches Choreolib's defer impl RobotModeTriggers.autonomous() .whileTrue(Commands.defer(() -> autoChooser.get().asProxy(), Set.of())); diff --git a/src/main/java/frc/robot/subsystems/Superstructure.java b/src/main/java/frc/robot/subsystems/Superstructure.java index 4047f730..74ff9997 100644 --- a/src/main/java/frc/robot/subsystems/Superstructure.java +++ b/src/main/java/frc/robot/subsystems/Superstructure.java @@ -195,7 +195,7 @@ private void configureStateTransitionCommands() { .min(Double::compare) .get() < 1.0) - ? 12.0 + ? 4.0 : 0.0))) .and(manipulator::getFirstBeambreak) .onTrue(this.forceState(SuperState.READY_CORAL)); @@ -253,8 +253,7 @@ private void configureStateTransitionCommands() { .get(SuperState.HOME) .whileTrue( Commands.parallel( - elevator.runCurrentZeroing(), wrist.currentZero(() -> shoulder.getInputs())) - .andThen(Commands.waitUntil(homeReq.negate()), this.forceState(SuperState.IDLE))) + elevator.runCurrentZeroing(), wrist.currentZero(() -> shoulder.getInputs()))) .and(() -> elevator.hasZeroed && wrist.hasZeroed && !homeReq.getAsBoolean()) .onTrue(this.forceState(prevState)); diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java index 7a5b625d..4fd147ab 100644 --- a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.java @@ -8,14 +8,13 @@ import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.controls.Follower; -import com.ctre.phoenix6.controls.MotionMagicExpoTorqueCurrentFOC; +import com.ctre.phoenix6.controls.MotionMagicExpoVoltage; import com.ctre.phoenix6.controls.TorqueCurrentFOC; import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.signals.GravityTypeValue; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; -import edu.wpi.first.math.util.Units; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularVelocity; import edu.wpi.first.units.measure.Current; @@ -29,8 +28,8 @@ public class ElevatorIOReal implements ElevatorIO { private final VoltageOut voltageOut = new VoltageOut(0.0).withEnableFOC(true); private final TorqueCurrentFOC torque = new TorqueCurrentFOC(0.0); - private final MotionMagicExpoTorqueCurrentFOC positionTorque = - new MotionMagicExpoTorqueCurrentFOC(0.0); + private final MotionMagicExpoVoltage positionTorque = + new MotionMagicExpoVoltage(0.0).withEnableFOC(true); // misusing type system here - these correspond to linear meters, NOT rotations private final StatusSignal position = motor.getPosition(); @@ -57,27 +56,27 @@ public ElevatorIOReal() { // 16lbs counterspringing from stage 1 to carriage // (ie 16lbs of force pulling carriage up) config.Slot0.GravityType = GravityTypeValue.Elevator_Static; - config.Slot0.kG = - (483.0 / 9.37) - * config.Feedback.SensorToMechanismRatio - * Units.lbsToKilograms(12 + 5 + (4.0 / 2.0) - 16); - config.Slot0.kS = 0.0; - config.Slot0.kV = 0.0; + config.Slot0.kG = 0.43832; + // (483.0 / 9.37) + // * config.Feedback.SensorToMechanismRatio + // * Units.lbsToKilograms(12 + 5 + (4.0 / 2.0) - 16); + config.Slot0.kS = 1.1062; + config.Slot0.kV = 1.9542; // converts accel -> force, force -> motor torque, motor torque -> amperage - config.Slot0.kA = - (483.0 / 9.37) - * config.Feedback.SensorToMechanismRatio - * Units.lbsToKilograms(12 + 5 + (4.0 / 2.0)); - config.Slot0.kP = 0.0; - config.Slot0.kD = 0.0; + config.Slot0.kA = 0.26245; + // (483.0 / 9.37)$ + // * config.Feedback.SensorToMechanismRatio + // * Units.lbsToKilograms(12 + 5 + (4.0 / 2.0)); + config.Slot0.kP = 69.925; + config.Slot0.kD = 5.5908; config.ClosedLoopRamps.VoltageClosedLoopRampPeriod = 0.1; config.CurrentLimits.StatorCurrentLimit = 80.0; // Fuck it we ball config.CurrentLimits.StatorCurrentLimitEnable = false; - config.CurrentLimits.SupplyCurrentLimit = 60.0; - config.CurrentLimits.SupplyCurrentLimitEnable = true; + config.CurrentLimits.SupplyCurrentLimit = 70.0; + config.CurrentLimits.SupplyCurrentLimitEnable = false; config.CurrentLimits.SupplyCurrentLowerLimit = 40.0; config.CurrentLimits.SupplyCurrentLowerTime = 0.0; @@ -86,9 +85,8 @@ public ElevatorIOReal() { config.MotionMagic.MotionMagicCruiseVelocity = (5500.0 / 60.0) / config.Feedback.SensorToMechanismRatio; - config.MotionMagic.MotionMagicExpo_kV = - (5800.0 / 60.0) / config.Feedback.SensorToMechanismRatio; - config.MotionMagic.MotionMagicExpo_kA = 0.06; // from recalc + config.MotionMagic.MotionMagicExpo_kV = 1.9542; + config.MotionMagic.MotionMagicExpo_kA = 0.26245; motor.getConfigurator().apply(config); follower.getConfigurator().apply(config); diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java index 8c4a75ba..c8027015 100644 --- a/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java +++ b/src/main/java/frc/robot/subsystems/elevator/ElevatorSubsystem.java @@ -90,8 +90,8 @@ public ElevatorSubsystem(ElevatorIO io) { currentSysid = new SysIdRoutine( new Config( - Volts.of(10.0).per(Second), - Volts.of(30.0), + Volts.of(30.0).per(Second), + Volts.of(120.0), null, (state) -> Logger.recordOutput("Elevator/SysIdTestStateCurrent", state.toString())), new Mechanism((volts) -> io.setCurrent(volts.in(Volts)), null, this)); @@ -136,12 +136,12 @@ public Command hold() { public Command runCurrentZeroing() { return this.run( () -> { - io.setVoltage(-0.5); + io.setVoltage(-2.0); setpoint = 0.0; if (Robot.ROBOT_TYPE != RobotType.REAL) Logger.recordOutput("Elevator/Setpoint", Double.NaN); }) - .until(() -> Math.abs(currentFilterValue) > 19.0) + .until(() -> Math.abs(currentFilterValue) > 50.0) .finallyDo( (interrupted) -> { if (!interrupted) { @@ -161,7 +161,7 @@ public Command runSysid() { Commands.waitUntil(() -> inputs.velocityMetersPerSec < 0.1), routine .quasistatic(SysIdRoutine.Direction.kReverse) - .until(() -> inputs.positionMeters < Units.inchesToMeters(5.0)), + .until(() -> inputs.positionMeters < Units.inchesToMeters(10.0)), Commands.waitUntil(() -> Math.abs(inputs.velocityMetersPerSec) < 0.1), routine .dynamic(SysIdRoutine.Direction.kForward) @@ -169,7 +169,7 @@ public Command runSysid() { Commands.waitUntil(() -> inputs.velocityMetersPerSec < 0.1), routine .dynamic(SysIdRoutine.Direction.kReverse) - .until(() -> inputs.positionMeters < Units.inchesToMeters(5.0))); + .until(() -> inputs.positionMeters < Units.inchesToMeters(10.0))); return Commands.sequence( runCurrentZeroing(), runSysid.apply(voltageSysid), runSysid.apply(currentSysid)); } @@ -185,6 +185,13 @@ public Command setVoltage(DoubleSupplier voltage) { return this.setVoltage(voltage.getAsDouble()); } + public Command setCurrent(double amps) { + return this.run( + () -> { + io.setCurrent(amps); + }); + } + public Pose3d getCarriagePose() { return new Pose3d( Units.inchesToMeters(4.5) + inputs.positionMeters * ELEVATOR_ANGLE.getCos(), diff --git a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java index bab47658..c74fc848 100644 --- a/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/swerve/KelpieSwerveConstants.java @@ -213,7 +213,7 @@ public VisionConstants[] getVisionConstants() { Units.inchesToMeters(9.052)), new Rotation3d( Units.degreesToRadians(0.0), - Units.degreesToRadians(-(90.0 - 61.875)), + Units.degreesToRadians(-(90 - 76.875000)), Units.degreesToRadians(150))), BACK_LEFT_CAMERA_MATRIX, BACK_LEFT_DIST_COEFFS); @@ -223,10 +223,10 @@ public VisionConstants[] getVisionConstants() { new Transform3d( new Translation3d( Units.inchesToMeters(-11.600), - Units.inchesToMeters(-11.400488), - Units.inchesToMeters(9.052)), + Units.inchesToMeters(-11.416), + Units.inchesToMeters(9.061)), new Rotation3d( - 0, Units.degreesToRadians(-(90.0 - 61.875)), Units.degreesToRadians(210))), + 0, Units.degreesToRadians(-(90 - 76.875000)), Units.degreesToRadians(210))), BACK_RIGHT_CAMERA_MATRIX, BACK_RIGHT_DIST_COEFFS); final VisionConstants frontRightCamConstants = @@ -252,7 +252,7 @@ public VisionConstants[] getVisionConstants() { FRONT_LEFT_CAMERA_MATRIX, FRONT_LEFT_DIST_COEFFS); return new VisionConstants[] { - backLeftCamConstants, backRightCamConstants, frontRightCamConstants, frontLeftCamConstants + backLeftCamConstants, backRightCamConstants, frontRightCamConstants }; } From bf9e4f1d7210f788dd209460f2e8954310cba8d9 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sat, 29 Mar 2025 20:43:13 -0700 Subject: [PATCH 23/24] updated dot prod to check for all reef targets --- src/main/java/frc/robot/Robot.java | 70 ++++++++++++++++-------------- 1 file changed, 38 insertions(+), 32 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 04ed1962..c0c6f7f5 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -75,11 +75,15 @@ import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.CageTargets; import frc.robot.utils.autoaim.CoralTargets; + +import java.util.Arrays; +import java.util.Comparator; import java.util.HashMap; import java.util.List; import java.util.Optional; import java.util.Set; import java.util.function.BiConsumer; +import java.util.stream.Collectors; import java.util.stream.Stream; import org.ironmaple.simulation.SimulatedArena; import org.ironmaple.simulation.drivesims.GyroSimulation; @@ -620,42 +624,18 @@ public Robot() { AutoAim.translateToPose( swerve, () -> { - var twist = swerve.getVelocityFieldRelative().toTwist2d(0.3); - - Pose2d targetPose = - CoralTargets.getHandedClosestTarget( - swerve - .getPose() - .plus( - new Transform2d( - twist.dx, - twist.dy, - Rotation2d.fromRadians(twist.dtheta))), - driver.leftBumper().getAsBoolean()); - // VR - robot, VT - target, VN - robot in 0.3 sec - Translation2d vectorR = - new Translation2d(swerve.getPose().getX(), swerve.getPose().getY()); - Translation2d vectorT = - new Translation2d(targetPose.getX(), targetPose.getY()); - Translation2d vectorN = - new Translation2d(vectorR.getX() + twist.dx, vectorR.getY() + twist.dy); + List vectorTs = Arrays.stream(CoralTargets.values()) + .map(target -> CoralTargets.getRobotTargetLocation(target.location)) // Correct method call + .collect(Collectors.toList()); - Translation2d vectorRT = vectorT.minus(vectorR); - Translation2d vectorNT = vectorT.minus(vectorN); + //has to be pose2d + // Pose2d maxPose = Arrays.stream((DotProd(vectorTs)/vectorTs.getDistance())).max().getPose(); - double dotProd = - vectorRT.getX() * vectorNT.getX() + vectorRT.getY() * vectorNT.getY(); + Pose2d maxPose = vectorTs.stream() + .max(Comparator.comparingDouble(pose -> dotProd(pose) / pose.getTranslation().getNorm())).orElseThrow(); + return maxPose; - return CoralTargets.getHandedClosestTarget( - dotProd >= 0 - ? swerve - .getPose() - .plus( - new Transform2d( - twist.dx, twist.dy, Rotation2d.fromRadians(twist.dtheta))) - : swerve.getPose(), - driver.leftBumper().getAsBoolean()); }), Commands.waitUntil(() -> AutoAim.isInToleranceCoral(swerve.getPose())) .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); @@ -1115,6 +1095,32 @@ public static void setCurrentTarget(ReefTarget target) { currentTarget = target; } + public double dotProd(Pose2d targetPose) { + var twist = swerve.getVelocityFieldRelative().toTwist2d(0.3); + + // VR - robot, VT - target, VN - robot in 0.3 sec + Translation2d vectorR = + new Translation2d(swerve.getPose().getX(), swerve.getPose().getY()); + + Translation2d vectorN = + new Translation2d(vectorR.getX() + twist.dx, vectorR.getY() + twist.dy); + + Translation2d vectorT = + new Translation2d(targetPose.getX(), targetPose.getY()); + + + + Translation2d vectorRT = vectorT.minus(vectorR); + Translation2d vectorNT = vectorT.minus(vectorN); + + double dotProd = + vectorRT.getX() * vectorNT.getX() + vectorRT.getY() * vectorNT.getY(); + + // Arrays.stream(values()).map(()-> ((dotProd)/Math.pow(2, vectorT))) + return dotProd; + + } + public ReefTarget getCurrentTarget() { return currentTarget; } From 12ded9d0bf8aa75c169d6df00597c4d29f8d43c6 Mon Sep 17 00:00:00 2001 From: vivi-o Date: Sun, 30 Mar 2025 15:22:59 -0700 Subject: [PATCH 24/24] ran formater and deleted extra comments --- src/main/java/frc/robot/Robot.java | 57 +++++++++---------- .../robot/subsystems/roller/RollerIOSim.java | 1 - .../subsystems/swerve/SwerveSubsystem.java | 2 - 3 files changed, 26 insertions(+), 34 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index c0c6f7f5..ec5b3a54 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -75,7 +75,6 @@ import frc.robot.utils.autoaim.AutoAim; import frc.robot.utils.autoaim.CageTargets; import frc.robot.utils.autoaim.CoralTargets; - import java.util.Arrays; import java.util.Comparator; import java.util.HashMap; @@ -624,18 +623,21 @@ public Robot() { AutoAim.translateToPose( swerve, () -> { - - List vectorTs = Arrays.stream(CoralTargets.values()) - .map(target -> CoralTargets.getRobotTargetLocation(target.location)) // Correct method call - .collect(Collectors.toList()); - - //has to be pose2d - // Pose2d maxPose = Arrays.stream((DotProd(vectorTs)/vectorTs.getDistance())).max().getPose(); - - Pose2d maxPose = vectorTs.stream() - .max(Comparator.comparingDouble(pose -> dotProd(pose) / pose.getTranslation().getNorm())).orElseThrow(); - return maxPose; - + List vectorTs = + Arrays.stream(CoralTargets.values()) + .map( + target -> + CoralTargets.getRobotTargetLocation( + target.location)) // Correct method call + .collect(Collectors.toList()); + + Pose2d maxPose = + vectorTs.stream() + .max( + Comparator.comparingDouble( + pose -> dotProd(pose) / pose.getTranslation().getNorm())) + .orElseThrow(); + return maxPose; }), Commands.waitUntil(() -> AutoAim.isInToleranceCoral(swerve.getPose())) .andThen(driver.rumbleCmd(1.0, 1.0).withTimeout(0.75).asProxy()))); @@ -1096,29 +1098,22 @@ public static void setCurrentTarget(ReefTarget target) { } public double dotProd(Pose2d targetPose) { - var twist = swerve.getVelocityFieldRelative().toTwist2d(0.3); + var twist = swerve.getVelocityFieldRelative().toTwist2d(0.3); + + // VR - robot, VT - target, VN - robot in 0.3 sec + Translation2d vectorR = new Translation2d(swerve.getPose().getX(), swerve.getPose().getY()); - // VR - robot, VT - target, VN - robot in 0.3 sec - Translation2d vectorR = - new Translation2d(swerve.getPose().getX(), swerve.getPose().getY()); - - Translation2d vectorN = - new Translation2d(vectorR.getX() + twist.dx, vectorR.getY() + twist.dy); + Translation2d vectorN = new Translation2d(vectorR.getX() + twist.dx, vectorR.getY() + twist.dy); - Translation2d vectorT = - new Translation2d(targetPose.getX(), targetPose.getY()); + Translation2d vectorT = new Translation2d(targetPose.getX(), targetPose.getY()); - - - Translation2d vectorRT = vectorT.minus(vectorR); - Translation2d vectorNT = vectorT.minus(vectorN); + Translation2d vectorRT = vectorT.minus(vectorR); + Translation2d vectorNT = vectorT.minus(vectorN); - double dotProd = - vectorRT.getX() * vectorNT.getX() + vectorRT.getY() * vectorNT.getY(); + double dotProd = vectorRT.getX() * vectorNT.getX() + vectorRT.getY() * vectorNT.getY(); - // Arrays.stream(values()).map(()-> ((dotProd)/Math.pow(2, vectorT))) - return dotProd; - + // Arrays.stream(values()).map(()-> ((dotProd)/Math.pow(2, vectorT))) + return dotProd; } public ReefTarget getCurrentTarget() { diff --git a/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java b/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java index befefef1..3fe028c8 100644 --- a/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java +++ b/src/main/java/frc/robot/subsystems/roller/RollerIOSim.java @@ -4,7 +4,6 @@ import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.controller.SimpleMotorFeedforward; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.wpilibj.simulation.DCMotorSim; diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 1fe32447..c49ccc62 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -15,8 +15,6 @@ import choreo.trajectory.SwerveSample; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import edu.wpi.first.math.VecBuilder; -import com.ctre.phoenix6.configs.CurrentLimitsConfigs; -import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.geometry.Pose2d;