From 4ed309387fc33c110f517c49b005b6a447224d4b Mon Sep 17 00:00:00 2001 From: Spoopr <70044204+Spoopr@users.noreply.github.com> Date: Wed, 10 Jan 2024 18:27:52 -0600 Subject: [PATCH 01/33] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 21c8cea..60801e0 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,3 @@ -## Fwerb's Robot Code +# RobotCode2024 -FWERB (FIRST Wobotics Engineering Research Bot) is a swerve drive test robot 2530 has been working on in the 2023 offseason. \ No newline at end of file +Team 2530's Robot Code for 2024 From 07ba4c39384762e4a27e1c6c2a00a57f7c05b423 Mon Sep 17 00:00:00 2001 From: Colten Kiehne Date: Fri, 12 Jan 2024 15:03:16 -0600 Subject: [PATCH 02/33] Update for 2024 and remove unrelated things --- README.md | 3 - WPILib-License.md | 2 +- build.gradle | 16 +- drive_sysid_config.json | 42 - drivesysid/sysid_data20230924-110610.json | 24830 ---- gradle/wrapper/gradle-wrapper.jar | Bin 60756 -> 43462 bytes gradle/wrapper/gradle-wrapper.properties | 4 +- gradlew | 35 +- gradlew.bat | 1 + groundsysid/sysid_data20230923-121923.json | 104120 --------------- networktables.json | 10 - networktables.json.bck | 1 - settings.gradle | 5 +- shuffleboard.json | 259 - simgui-ds.json | 102 - simgui.json | 59 - src/main/deploy/images/cone.png | Bin 120 -> 0 bytes src/main/deploy/images/cube.png | Bin 114 -> 0 bytes src/main/deploy/images/logo.png | Bin 138 -> 0 bytes src/main/deploy/pathplanner/2PieceAuto.path | 144 - src/main/deploy/pathplanner/Circle.path | 127 - .../deploy/pathplanner/Forwards 1 meter.path | 49 - src/main/deploy/pathplanner/New Path.path | 74 - src/main/deploy/pathplanner/Other Side.path | 141 - src/main/deploy/pathplanner/Spin.path | 49 - src/main/deploy/pathplanner/TestPath.path | 117 - .../generatedJSON/2PieceAuto Copy.wpilib.json | 1 - .../generatedJSON/2PieceAuto RED.wpilib.json | 1 - .../generatedJSON/2PieceAuto.wpilib.json | 1 - .../generatedJSON/Circle.wpilib.json | 1 - .../Forwards 1 meter.wpilib.json | 1 - .../generatedJSON/New New Path.wpilib.json | 1 - .../generatedJSON/New Path.wpilib.json | 1 - .../generatedJSON/Other Side Red.wpilib.json | 1 - .../generatedJSON/Other Side.wpilib.json | 1 - .../generatedJSON/Spin.wpilib.json | 1 - .../generatedJSON/TestPath.wpilib.json | 1 - src/main/java/frc/robot/Constants.java | 27 - src/main/java/frc/robot/RobotContainer.java | 396 +- .../java/frc/robot/commands/DriveCommand.java | 23 +- .../frc/robot/commands/OperatorCommand.java | 82 +- .../robot/commands/ResetIntakeCommand.java | 76 - .../java/frc/robot/subsystems/Intake.java | 175 - .../java/frc/robot/subsystems/Lights.java | 139 - .../frc/robot/subsystems/SwerveModule.java | 16 +- .../frc/robot/subsystems/SwerveSubsystem.java | 23 +- .../java/frc/robot/util/PathGenerator.java | 5 + steer_sysid_config.json | 42 - sysid.json | 5 - sysid_steerground2.json | 42 - vendordeps/NavX.json | 13 +- vendordeps/PathplannerLib.json | 11 +- vendordeps/Phoenix.json | 423 - vendordeps/Phoenix6.json | 59 +- vendordeps/REVLib.json | 13 +- vendordeps/WPILibNewCommands.json | 75 +- 56 files changed, 188 insertions(+), 131658 deletions(-) delete mode 100644 README.md delete mode 100644 drive_sysid_config.json delete mode 100644 drivesysid/sysid_data20230924-110610.json delete mode 100644 groundsysid/sysid_data20230923-121923.json delete mode 100644 networktables.json delete mode 100644 networktables.json.bck delete mode 100644 shuffleboard.json delete mode 100644 simgui-ds.json delete mode 100644 simgui.json delete mode 100644 src/main/deploy/images/cone.png delete mode 100644 src/main/deploy/images/cube.png delete mode 100644 src/main/deploy/images/logo.png delete mode 100644 src/main/deploy/pathplanner/2PieceAuto.path delete mode 100644 src/main/deploy/pathplanner/Circle.path delete mode 100644 src/main/deploy/pathplanner/Forwards 1 meter.path delete mode 100644 src/main/deploy/pathplanner/New Path.path delete mode 100644 src/main/deploy/pathplanner/Other Side.path delete mode 100644 src/main/deploy/pathplanner/Spin.path delete mode 100644 src/main/deploy/pathplanner/TestPath.path delete mode 100644 src/main/deploy/pathplanner/generatedJSON/2PieceAuto Copy.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/2PieceAuto RED.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/2PieceAuto.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Circle.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Forwards 1 meter.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/New New Path.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/New Path.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Other Side Red.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Other Side.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/Spin.wpilib.json delete mode 100644 src/main/deploy/pathplanner/generatedJSON/TestPath.wpilib.json delete mode 100644 src/main/java/frc/robot/commands/ResetIntakeCommand.java delete mode 100644 src/main/java/frc/robot/subsystems/Intake.java delete mode 100644 src/main/java/frc/robot/subsystems/Lights.java create mode 100644 src/main/java/frc/robot/util/PathGenerator.java delete mode 100644 steer_sysid_config.json delete mode 100644 sysid.json delete mode 100644 sysid_steerground2.json delete mode 100644 vendordeps/Phoenix.json diff --git a/README.md b/README.md deleted file mode 100644 index 60801e0..0000000 --- a/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# RobotCode2024 - -Team 2530's Robot Code for 2024 diff --git a/WPILib-License.md b/WPILib-License.md index ba35a02..8434944 100644 --- a/WPILib-License.md +++ b/WPILib-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2021 FIRST and other WPILib contributors +Copyright (c) 2009-2023 FIRST and other WPILib contributors All rights reserved. Redistribution and use in source and binary forms, with or without diff --git a/build.gradle b/build.gradle index d2fd751..e97f427 100644 --- a/build.gradle +++ b/build.gradle @@ -1,10 +1,12 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2023.4.3" + id "edu.wpi.first.GradleRIO" version "2024.1.1" } -sourceCompatibility = JavaVersion.VERSION_11 -targetCompatibility = JavaVersion.VERSION_11 +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} def ROBOT_MAIN_CLASS = "frc.robot.Main" @@ -43,7 +45,7 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava wpi.java.debugJni = false // Set this to true to enable desktop support. -def includeDesktopSupport = true +def includeDesktopSupport = false // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. @@ -65,9 +67,8 @@ dependencies { nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() - testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2' - testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2' - testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2' + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' } test { @@ -84,6 +85,7 @@ wpi.sim.addDriverstation() // knows where to look for our Robot Class. jar { from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) duplicatesStrategy = DuplicatesStrategy.INCLUDE } diff --git a/drive_sysid_config.json b/drive_sysid_config.json deleted file mode 100644 index c8804a5..0000000 --- a/drive_sysid_config.json +++ /dev/null @@ -1,42 +0,0 @@ -{ - "counts per rotation": 1.0, - "encoder type": "Encoder Port", - "encoding": false, - "gearing denominator": 1.0, - "gearing numerator": 6.75, - "gyro": "NavX", - "gyro ctor": "I2C (MXP)", - "is drivetrain": true, - "motor controllers": [ - "SPARK MAX (Brushless)", - "SPARK MAX (Brushless)" - ], - "number of samples per average": 1, - "primary encoder inverted": false, - "primary encoder ports": [ - 0, - 1 - ], - "primary motor ports": [ - 2, - 8 - ], - "primary motors inverted": [ - false, - false - ], - "secondary encoder inverted": true, - "secondary encoder ports": [ - 2, - 3 - ], - "secondary motor ports": [ - 4, - 6 - ], - "secondary motors inverted": [ - true, - true - ], - "velocity measurement period": 100 -} \ No newline at end of file diff --git a/drivesysid/sysid_data20230924-110610.json b/drivesysid/sysid_data20230924-110610.json deleted file mode 100644 index d8da669..0000000 --- a/drivesysid/sysid_data20230924-110610.json +++ /dev/null @@ -1,24830 +0,0 @@ -{ - "fast-backward": [ - 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MAX_FD=maximum @@ -133,22 +131,29 @@ location of your Java installation." fi else JAVACMD=java - which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. Please set the JAVA_HOME variable in your environment to match the location of your Java installation." + fi fi # Increase the maximum file descriptors if we can. if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then case $MAX_FD in #( max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 MAX_FD=$( ulimit -H -n ) || warn "Could not query maximum file descriptor limit" esac case $MAX_FD in #( '' | soft) :;; #( *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 ulimit -n "$MAX_FD" || warn "Could not set maximum file descriptor limit to $MAX_FD" esac @@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then done fi -# Collect all arguments for the java command; -# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of -# shell script including quotes and variable substitutions, so put them in -# double quotes to make sure that they get re-expanded; and -# * put everything else in single quotes, so that it's not re-expanded. + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. set -- \ "-Dorg.gradle.appname=$APP_BASE_NAME" \ diff --git a/gradlew.bat b/gradlew.bat index 53a6b23..6689b85 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal set DIRNAME=%~dp0 if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused set APP_BASE_NAME=%~n0 set APP_HOME=%DIRNAME% diff --git a/groundsysid/sysid_data20230923-121923.json b/groundsysid/sysid_data20230923-121923.json deleted file mode 100644 index 9810ddd..0000000 --- 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frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') @@ -25,3 +25,6 @@ pluginManagement { } } } + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/shuffleboard.json b/shuffleboard.json deleted file mode 100644 index b9b2088..0000000 --- a/shuffleboard.json +++ /dev/null @@ -1,259 +0,0 @@ -{ - "tabPane": [ - { - "title": "SmartDashboard", - "autoPopulate": true, - "autoPopulatePrefix": "SmartDashboard/", - "widgetPane": { - "gridSize": 128.0, - "showGrid": true, - "hgap": 16.0, - "vgap": 16.0, - "titleType": 0, - "tiles": { - "2,0": { - "size": [ - 7, - 4 - ], - "content": { - "_type": "Field", - "_source0": "network_table:///SmartDashboard/Field", - "_title": "Field", - "_glyph": 148, - "_showGlyph": false, - "Game/Game": "A2023_Charged_Up", - "Visuals/Robot Icon Size": 50.0, - "Visuals/Show Outside Circles": false - } - }, - "9,0": { - "size": [ - 1, - 4 - ], - "content": { - "_type": "Text View", - "_source0": "network_table:///SmartDashboard/Intake State", - "_title": "Intake State", - "_glyph": 148, - "_showGlyph": false - } - }, - "1,4": { - "size": [ - 1, - 1 - ], - "content": { - "_type": "Text View", - "_source0": "network_table:///SmartDashboard/Intake Current (A)", - "_title": "Intake Current (A)", - "_glyph": 148, - "_showGlyph": false - } - }, - "0,0": { - "size": [ - 2, - 2 - ], - "content": { - "_type": "List Layout", - "_title": "List Layout", - "_glyph": 149, - "_showGlyph": false, - "Layout/Label position": "BOTTOM", - "_children": [ - { - "_type": "Text View", - "_source0": "network_table:///SmartDashboard/Robot Pose", - "_title": "Robot Pose", - "_glyph": 148, - "_showGlyph": false - }, - { - "_type": "Text View", - "_source0": "network_table:///SmartDashboard/Spin Velocity", - "_title": "Spin Velocity", - "_glyph": 148, - "_showGlyph": false - }, - { - "_type": "Text View", - "_source0": "network_table:///SmartDashboard/PPSwerveControllerCommand/rotationErrorDegrees", - "_title": "PPSwerveControllerCommand/rotationErrorDegrees", - "_glyph": 148, - "_showGlyph": false - }, - { - "_type": "Text View", - "_source0": "network_table:///SmartDashboard/PPSwerveControllerCommand/yErrorMeters", - "_title": "PPSwerveControllerCommand/yErrorMeters", - "_glyph": 148, - "_showGlyph": false - }, - { - "_type": "Text View", - "_source0": "network_table:///SmartDashboard/PPSwerveControllerCommand/xErrorMeters", - "_title": "PPSwerveControllerCommand/xErrorMeters", - "_glyph": 148, - "_showGlyph": false - } - ] - } - }, - "0,2": { - "size": [ - 2, - 2 - ], - "content": { - "_type": "Grid Layout", - "_title": "Grid Layout", - "_glyph": 149, - "_showGlyph": false, - "Layout/Number of columns": 3, - "Layout/Number of rows": 3, - "Layout/Label position": "BOTTOM", - "_children": { - "0,0": { - "_type": "Number Bar", - "_source0": "network_table:///SmartDashboard/Drive0", - "_title": 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"_showGlyph": false, - "Range/Min": -1.0, - "Range/Max": 1.0, - "Range/Center": 0.0, - "Visuals/Num tick marks": 5, - "Visuals/Show text": true, - "Visuals/Orientation": "HORIZONTAL" - } - } - } - }, - "0,4": { - "size": [ - 1, - 1 - ], - "content": { - "_type": "Text View", - "_source0": "network_table:///SmartDashboard/PDH Amps", - "_title": "SmartDashboard/PDH Amps", - "_glyph": 148, - "_showGlyph": false - } - }, - "2,4": { - "size": [ - 1, - 1 - ], - "content": { - "_type": "Text View", - "_source0": "network_table:///SmartDashboard/DSA", - "_title": "DSA", - "_glyph": 148, - "_showGlyph": false - } - } - } - } - }, - { - "title": "LiveWindow", - "autoPopulate": true, - "autoPopulatePrefix": "LiveWindow/", - "widgetPane": { - "gridSize": 128.0, - "showGrid": true, - "hgap": 16.0, - "vgap": 16.0, - "titleType": 0, - "tiles": {} - } - }, - { - "title": "Tab 3", - "autoPopulate": false, - "autoPopulatePrefix": "", - "widgetPane": { - "gridSize": 128.0, - "showGrid": true, - "hgap": 16.0, - "vgap": 16.0, - "titleType": 0, - "tiles": { - "0,0": { - "size": [ - 10, - 4 - ], - "content": { - "_type": "Camera Stream", - "_source0": "camera_server://USB Camera 0", - "_title": "USB Camera 0", - "_glyph": 148, - "_showGlyph": false, - "Crosshair/Show crosshair": true, - "Crosshair/Crosshair color": "#FFFFFFFF", - "Controls/Show controls": true, - "Controls/Rotation": "NONE", - "compression": -1.0, - "fps": -1, - "imageWidth": 0, - "imageHeight": 0 - } - } - } - } - } - ], - "windowGeometry": { - "x": -7.199999809265137, - "y": -7.199999809265137, - "width": 1550.4000244140625, - "height": 838.4000244140625 - } -} \ No newline at end of file diff --git a/simgui-ds.json b/simgui-ds.json deleted file mode 100644 index d810406..0000000 --- a/simgui-ds.json +++ /dev/null @@ -1,102 +0,0 @@ -{ - "keyboardJoysticks": [ - { - "axisConfig": [ - { - "decKey": 65, - "incKey": 68 - }, - { - "decKey": 87, - "incKey": 83 - }, - { - "decKey": 69, - "decayRate": 0.0, - "incKey": 82, - "keyRate": 0.009999999776482582 - } - ], - "axisCount": 3, - "buttonCount": 4, - "buttonKeys": [ - 90, - 88, - 67, - 86 - ], - "povConfig": [ - { - "key0": 328, - "key135": 323, - "key180": 322, - "key225": 321, - "key270": 324, - "key315": 327, - "key45": 329, - "key90": 326 - } - ], - "povCount": 1 - }, - { - "axisConfig": [ - { - "decKey": 74, - "incKey": 76 - }, - { - "decKey": 73, - "incKey": 75 - } - ], - "axisCount": 2, - "buttonCount": 4, - "buttonKeys": [ - 77, - 44, - 46, - 47 - ], - "povCount": 0 - }, - { - "axisConfig": [ - { - "decKey": 263, - "incKey": 262 - }, - { - "decKey": 265, - "incKey": 264 - } - ], - "axisCount": 2, - "buttonCount": 6, - "buttonKeys": [ - 260, - 268, - 266, - 261, - 269, - 267 - ], - "povCount": 0 - }, - { - "axisCount": 0, - "buttonCount": 0, - "povCount": 0 - } - ], - "robotJoysticks": [ - { - "guid": "Keyboard0" - }, - {}, - { - "guid": "78696e70757401000000000000000000", - "useGamepad": true - } - ] -} diff --git a/simgui.json b/simgui.json deleted file mode 100644 index 7d9cb4b..0000000 --- a/simgui.json +++ /dev/null @@ -1,59 +0,0 @@ -{ - "HALProvider": { - "Other Devices": { - "SPARK MAX [0]": { - "header": { - "open": false - } - }, - "SPARK MAX [1]": { - "header": { - "open": true - } - }, - "SPARK MAX [2]": { - "header": { - "open": true - } - }, - "SPARK MAX [9]": { - "header": { - "open": true - } - }, - "Talon SRX[11]": { - "header": { - "open": true - } - }, - "Victor SPX[11]": { - "header": { - "open": true - } - } - } - }, - "NTProvider": { - "types": { - "/FMSInfo": "FMSInfo", - "/SmartDashboard/Field": "Field2d" - }, - "windows": { - "/SmartDashboard/Field": { - "window": { - "visible": true - } - } - } - }, - "NetworkTables": { - "transitory": { - "SmartDashboard": { - "Field": { - "open": true - }, - "open": true - } - } - } -} diff --git a/src/main/deploy/images/cone.png b/src/main/deploy/images/cone.png deleted file mode 100644 index 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--git a/src/main/deploy/pathplanner/Forwards 1 meter.path b/src/main/deploy/pathplanner/Forwards 1 meter.path deleted file mode 100644 index 9b47a4d..0000000 --- a/src/main/deploy/pathplanner/Forwards 1 meter.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 2.343708277160144, - "y": 4.56766725499263 - }, - "prevControl": null, - "nextControl": { - "x": 3.3437082771601436, - "y": 4.56766725499263 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 3.348595073258523, - "y": 4.579086423130112 - }, - "prevControl": { - "x": 2.9032475158967417, - "y": 4.56766725499263 - }, - "nextControl": null, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - 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\ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index d13174a..0fdd7c1 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -4,8 +4,6 @@ package frc.robot; -import org.opencv.core.Mat; - import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; @@ -107,29 +105,4 @@ public static final class ModuleIndices { public static final double XY_SPEED_LIMIT = 1.0; public static final double Z_SPEED_LIMIT = 1.0; } - - public static class IntakeConstants { - // Intake ports - public static final int WHEEL_LEFT_PORT = 9; - public static final int WHEEL_RIGHT_PORT = 10; - public static final int INTAKE_CURRENT_LIMIT = 40; - public static final int LIMIT_PORT = 0; - - public static final int ACTUATOR_MOTOR_PORT = 11; - public static final int ACTUATOR_ENCODER_PORT = 5; - // CANcoder #5 reading when intake is vertical - public static final double OFFSET_RADIANS = Units.degreesToRadians(136.582); - public static final double ACTUATOR_GEAR_RATIO = (30.f / 28.f); - - public static final double SWITCH_OFFSET_RADIANS = Units.degreesToRadians(-42.0); - - public static final double MAX_SPEED = 0.50; - } - - public static class MiscConstants { - public static final int LED_PORT = 0; - public static final int STRIP_W = 9; - public static final int STRIP_H = 8; - public static final int NUM_LEDS = STRIP_H * STRIP_W; - } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 403f86d..80cf02f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,65 +4,14 @@ package frc.robot; -import frc.robot.Constants.ControllerConstants; -import frc.robot.Constants.DriveConstants; -import frc.robot.Constants.IntakeConstants; -import frc.robot.Constants.SwerveModuleConstants; -import frc.robot.commands.DriveCommand; -import frc.robot.commands.OperatorCommand; -import frc.robot.commands.ResetIntakeCommand; -import frc.robot.subsystems.Intake; -import frc.robot.subsystems.Lights; +import frc.robot.Constants.*; +import frc.robot.commands.*; import frc.robot.subsystems.SwerveSubsystem; -import frc.robot.subsystems.Intake.IntakeState; -import frc.robot.subsystems.Lights.LightState; import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.cscore.UsbCamera; -import edu.wpi.first.math.MathUtil; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.trajectory.Trajectory; -import edu.wpi.first.math.trajectory.constraint.MecanumDriveKinematicsConstraint; -import edu.wpi.first.wpilibj.*; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import edu.wpi.first.wpilibj.GenericHID.RumbleType; -import edu.wpi.first.wpilibj.smartdashboard.Field2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandBase; -import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup; -import edu.wpi.first.wpilibj2.command.ParallelRaceGroup; -import edu.wpi.first.wpilibj2.command.PrintCommand; -import edu.wpi.first.wpilibj2.command.RepeatCommand; -import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; -import edu.wpi.first.wpilibj2.command.Subsystem; -import edu.wpi.first.wpilibj2.command.WaitCommand; -import edu.wpi.first.wpilibj2.command.WaitUntilCommand; +import edu.wpi.first.wpilibj2.command.*; import edu.wpi.first.wpilibj2.command.button.*; -import java.io.File; -import java.lang.reflect.Field; -import java.nio.file.Files; -import java.nio.file.Paths; -import java.util.ArrayList; -import java.util.HashMap; -import java.util.List; -import java.util.Map; -import java.util.Set; -import java.util.function.BooleanSupplier; - -import com.pathplanner.lib.PathConstraints; -import com.pathplanner.lib.PathPlanner; -import com.pathplanner.lib.PathPlannerTrajectory; -import com.pathplanner.lib.PathPoint; -import com.pathplanner.lib.commands.FollowPathWithEvents; -import com.pathplanner.lib.commands.PPSwerveControllerCommand; -import com.pathplanner.lib.controllers.PPHolonomicDriveController; - /** * This class is where the bulk of the robot should be declared. Since * Command-based is a @@ -79,18 +28,10 @@ public class RobotContainer { ControllerConstants.OPERATOR_CONTROLLER_PORT); private final SwerveSubsystem swerveDriveSubsystem = new SwerveSubsystem(); - private final Intake intake = new Intake(driverXbox.getHID()); - public static final Lights lights = new Lights(); private final UsbCamera intakeCam = CameraServer.startAutomaticCapture(); private final DriveCommand normalDrive = new DriveCommand(swerveDriveSubsystem, driverXbox.getHID()); - private final OperatorCommand normalOperator = new OperatorCommand(intake, operatorXbox.getHID()); - - // private final TagFollowCommand tagFollow = new - // TagFollowCommand(swerveDriveSubsystem, driverXbox.getHID()); - - DigitalInput intakeLimitSw = new DigitalInput(IntakeConstants.LIMIT_PORT); /** * The container for the robot. Contains subsystems, OI devices, and commands. @@ -98,22 +39,6 @@ public class RobotContainer { public RobotContainer() { // Configure the trigger bindings configureBindings(); - - File ppdir = Paths.get(Filesystem.getDeployDirectory().getAbsolutePath(), "pathplanner").toFile(); - int i = 0; - for (String file : ppdir.list()) { - if (file.endsWith(".path")) { - System.out.println(file); - String fname = file.replace(".path", ""); - if (i == 0) - Robot.autoChooser.setDefaultOption(fname, fname); - Robot.autoChooser.addOption(fname, fname); - i++; - } - } - - swerveDriveSubsystem.setDefaultCommand(normalDrive); - intake.setDefaultCommand(normalOperator); } /** @@ -130,65 +55,7 @@ public RobotContainer() { * {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight * joysticks}. */ - private Command resetCommand = new ParallelRaceGroup(new WaitCommand(10.0), - new ResetIntakeCommand(intake, intakeLimitSw)); - - private Command otfCommandRunning = null; - private Pose2d target = null; - - private void configureBindings() { - // Needs to be held for 1/2 second! - // Automatically aborted if the intake takes longer than 10 seconds to zero - // (probably jammed in that case) - operatorXbox.y().debounce(0.5).onTrue(resetCommand); - operatorXbox.a().onTrue(new InstantCommand(() -> resetCommand.cancel())); - - // Use Y to enable tag following! - // driverXbox.y().onTrue(tagFollow).onFalse(new InstantCommand(() -> - // tagFollow.cancel())); - - // Drive with a on-the-fly generated path to (0,0) WHILE right bumper is held - driverXbox.rightBumper().and(new BooleanSupplier() { - public boolean getAsBoolean() { - return target != null; - }; - }).onTrue(new InstantCommand(() -> { - // Instant command so path is generated at the time the trigger is pressed - // (dynamically) - otfCommandRunning = genOTFDriveCommand(true, target); - otfCommandRunning.schedule(); - })).onFalse(new InstantCommand(() -> { - otfCommandRunning.cancel(); - })); - - driverXbox.y().and(new BooleanSupplier() { - public boolean getAsBoolean() { - return target != null; - }; - }).onTrue(new InstantCommand(() -> { - // Instant command so path is generated at the time the trigger is pressed - // (dynamically) - otfCommandRunning = genOTFDriveCommand(true, - new Pose2d(target.getTranslation().plus(new Translation2d(-1.5, target.getRotation())), - target.getRotation()), - target); - otfCommandRunning.schedule(); - })).onFalse(new InstantCommand(() -> { - otfCommandRunning.cancel(); - })); - - driverXbox.a().onTrue(new InstantCommand(() -> { - target = swerveDriveSubsystem.getPose(); - })); - - intake.intakeStallTrigger().whileTrue(new RepeatCommand(new InstantCommand(() -> { - driverXbox.getHID().setRumble(RumbleType.kBothRumble, 1); - operatorXbox.getHID().setRumble(RumbleType.kBothRumble, 1); - }))).onFalse(new InstantCommand(() -> { - driverXbox.getHID().setRumble(RumbleType.kBothRumble, 0); - operatorXbox.getHID().setRumble(RumbleType.kBothRumble, 0); - })); - } + private void configureBindings() {} /** * Use this to pass the autonomous command to the main {@link Robot} class. @@ -196,258 +63,7 @@ public boolean getAsBoolean() { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - // PathPlannerTrajectory traj = PathPlanner.generatePath( - // new PathConstraints(Constants.DriveConstants.MAX_ROBOT_VELOCITY, 3), - // new PathPoint(new Translation2d(0, 0), Rotation2d.fromDegrees(0)), // - // position, heading - // new PathPoint(new Translation2d(10.0, 0), Rotation2d.fromDegrees(0)) // - // position, heading - // ); - - // TODO: FIX AUTO! - - // CommandBase shootcommand = new SequentialCommandGroup( - // new InstantCommand(() -> { - // System.out.println("Starting Shooting"); - // intake.setIntakeState(IntakeState.HIGH); - // }), - // new WaitCommand(0.75), - // new InstantCommand(() -> { - // intake.enableCurrentControl(false); - // intake.setIntakeSpeed(1.0); - // }), - // new WaitCommand(0.5), - // new InstantCommand(() -> { - // intake.setIntakeSpeed(0.0); - // intake.enableCurrentControl(true); - // intake.setIntakeState(IntakeState.STOWED); - // System.out.println("Done Shooting"); - // })); - - // shootcommand.addRequirements(intake); - - // return shootcommand; - - intake.setIntakeState(IntakeState.STOWED); - List traj = PathPlanner.loadPathGroup(Robot.autoChooser.getSelected(), - new PathConstraints(Constants.DriveConstants.MAX_ROBOT_VELOCITY / 1.5, - Constants.DriveConstants.MAX_ROBOT_VELOCITY / 1.5)); - - /* - * new PathConstraints(Constants.DriveConstants.MAX_ROBOT_VELOCITY / 1.5, - * Constants.DriveConstants.MAX_ROBOT_VELOCITY / 1.5) - */ - - return getAutoCommand(traj); - } - - public Command getAutoCommand(List path) { - - SequentialCommandGroup auton = new SequentialCommandGroup(); - - auton.addCommands(new InstantCommand(() -> lights.setState(LightState.LOGO))); - - // Pre-drive commands - if (path.size() > 0 && path.get(0).getStartStopEvent().names.size() > 0) { - CommandBase intakecommand = new InstantCommand(() -> { - System.out.println("Starting intake!"); - intake.setIntakeState(IntakeState.PICKUP); - intake.addIntakeState(-10.0); - intake.setIntakeSpeed(-0.2); - }); - CommandBase stowcommand = new InstantCommand(() -> { - System.out.println("Stowing intake!"); - intake.setIntakeState(IntakeState.STOWED); - intake.setIntakeSpeed(-0.2); - }); - CommandBase shootcommand = new SequentialCommandGroup( - new InstantCommand(() -> { - System.out.println("Starting Shooting"); - intake.setIntakeState(IntakeState.HIGH); - }), - new WaitCommand(0.75), - new InstantCommand(() -> { - intake.enableCurrentControl(false); - intake.setIntakeSpeed(1.0); - }), - new WaitCommand(0.5), - new InstantCommand(() -> { - intake.setIntakeSpeed(0.0); - intake.enableCurrentControl(true); - intake.setIntakeState(IntakeState.STOWED); - System.out.println("Done Shooting"); - })); - intakecommand.addRequirements(intake); - stowcommand.addRequirements(intake); - shootcommand.addRequirements(intake); - - CommandBase stopcommand = new InstantCommand(() -> { - swerveDriveSubsystem.stopDrive(); - }); - stopcommand.addRequirements(swerveDriveSubsystem); - - HashMap eventMap = new HashMap<>(); - // Make the intake intake - eventMap.put("intake", intakecommand); - // Stow the intake, hold game object - eventMap.put("stow", stowcommand); - // Rotate to shoot, shoot at max power - eventMap.put("shoot", shootcommand); - for (String name : path.get(0).getStartStopEvent().names) { - if (eventMap.containsKey(name)) - auton.addCommands(eventMap.get(name)); - } - } - - for (int i = 0; i < path.size(); ++i) { - CommandBase intakecommand = new InstantCommand(() -> { - System.out.println("Starting intake!"); - intake.setIntakeState(IntakeState.PICKUP); - intake.addIntakeState(-10.0); - intake.setIntakeSpeed(-0.2); - }); - CommandBase stowcommand = new InstantCommand(() -> { - System.out.println("Stowing intake!"); - intake.setIntakeState(IntakeState.STOWED); - intake.setIntakeSpeed(-0.2); - }); - CommandBase shootcommand = new SequentialCommandGroup( - new InstantCommand(() -> { - System.out.println("Starting Shooting"); - intake.setIntakeState(IntakeState.HIGH); - }), - new WaitCommand(0.75), - new InstantCommand(() -> { - intake.enableCurrentControl(false); - intake.setIntakeSpeed(1.0); - }), - new WaitCommand(0.5), - new InstantCommand(() -> { - intake.setIntakeSpeed(0.0); - intake.enableCurrentControl(true); - intake.setIntakeState(IntakeState.STOWED); - System.out.println("Done Shooting"); - })); - intakecommand.addRequirements(intake); - stowcommand.addRequirements(intake); - shootcommand.addRequirements(intake); - - CommandBase stopcommand = new InstantCommand(() -> { - swerveDriveSubsystem.stopDrive(); - }); - stopcommand.addRequirements(swerveDriveSubsystem); - - HashMap eventMap = new HashMap<>(); - // Make the intake intake - eventMap.put("intake", intakecommand); - // Stow the intake, hold game object - eventMap.put("stow", stowcommand); - // Rotate to shoot, shoot at max power - eventMap.put("shoot", shootcommand); - auton.addCommands(followTrajectoryCommand(path.get(i), i == 0, eventMap, true)); - List names = path.get(i).getEndStopEvent().names; - - // if (names.size() > 0) - // auton.addCommands(stopcommand); - - for (String name : names) { - if (eventMap.containsKey(name)) - auton.addCommands(eventMap.get(name)); - } - } - - auton.addCommands(new InstantCommand(() -> { - // swerveDriveSubsystem.setHeading(180); - // swerveDriveSubsystem.setHeading(path.get(path.size()-1).getEndState().holonomicRotation.getDegrees()); - })); - - return auton; - } - - // Assuming this method is part of a drivetrain subsystem that provides the - // necessary methods - public Command followTrajectoryCommand(PathPlannerTrajectory traj, boolean isFirstPath, - HashMap eventMap, boolean mirror) { - - PathPlannerTrajectory t_transformed = PathPlannerTrajectory.transformTrajectoryForAlliance(traj, - mirror ? DriverStation.getAlliance() : Alliance.Blue); - - Command swerveController = new PPSwerveControllerCommand( - t_transformed, - swerveDriveSubsystem::getPose, // Pose supplier - new PIDController( - 5.0, - 0, - 0), // X controller - new PIDController( - 5.0, - 0, - 0), // Y controller - new PIDController(2.0, 0, 0.0), // Rotation controller - swerveDriveSubsystem::setChassisSpeedsAUTO, // Chassis speeds states consumer - false, // Should the path be automatically mirrored depending on alliance color. - // Optional, defaults to true - swerveDriveSubsystem // Requires this drive subsystem - ); - - return new SequentialCommandGroup( - new InstantCommand(() -> { - // Reset odometry for the first path you run during auto - if (isFirstPath) { - SmartDashboard.putString("DSA", DriverStation.getAlliance().toString()); - swerveDriveSubsystem.zeroHeading(); - Pose2d initpose = t_transformed.getInitialHolonomicPose(); - swerveDriveSubsystem.setHeading(initpose.getRotation().getDegrees()); - swerveDriveSubsystem.resetOdometry(initpose); - } - }), - new FollowPathWithEvents(swerveController, t_transformed.getMarkers(), eventMap)); - } - - public Command genOTFDriveCommand(boolean useRotation, Pose2d... points) { - ArrayList poses = new ArrayList<>(); - for (Pose2d pose : points) { - poses.add(pose); - } - return genOTFDriveCommand(useRotation, poses); - } - - public Command genOTFDriveCommand(boolean useRotation, List points) { - List evts = new ArrayList<>(); - PathPlannerTrajectory.EventMarker startmarker = new PathPlannerTrajectory.EventMarker(List.of("start"), 0.0); - PathPlannerTrajectory.EventMarker endmarker = new PathPlannerTrajectory.EventMarker(List.of("end"), - points.size() * 1.0); - evts.add(endmarker); - evts.add(startmarker); - Rotation2d driveangle_init = points.get(0).getTranslation() - .minus(swerveDriveSubsystem.getPose().getTranslation()).getAngle(); - - List pp = new ArrayList<>(); - double speed = new Translation2d(swerveDriveSubsystem.getChassisSpeeds().vxMetersPerSecond, - swerveDriveSubsystem.getChassisSpeeds().vyMetersPerSecond).getNorm(); - pp.add(new PathPoint(swerveDriveSubsystem.getPose().getTranslation(), driveangle_init, - swerveDriveSubsystem.getPose().getRotation(), speed)); - - for (int i = 0; i < points.size(); i++) { - Rotation2d driveangle = points.get(i).getTranslation().minus(pp.get(i).position).getAngle(); - pp.add(new PathPoint(points.get(i).getTranslation(), driveangle, - useRotation ? points.get(i).getRotation() : swerveDriveSubsystem.getPose().getRotation())); - System.out.println(points.get(i).getRotation().toString()); - } - - PathPlannerTrajectory hometraj = PathPlanner.generatePath( - new PathConstraints(Constants.DriveConstants.MAX_ROBOT_VELOCITY / 1.5, - Constants.DriveConstants.MAX_ROBOT_VELOCITY / 1.5), - // new PathConstraints(Constants.DriveConstants.MAX_ROBOT_VELOCITY/2.0, - // Constants.DriveConstants.MAX_ROBOT_VELOCITY/3.0), - pp, - evts); - - Map evtmap = Map.of( - "start", ((Command) new PrintCommand("############# Starting OTF path!")), - "end", ((Command) new PrintCommand("///////////// Finished OTF path!"))); - - CommandBase followcmd = (CommandBase) followTrajectoryCommand(hometraj, false, new HashMap<>(evtmap), false); - return followcmd; + // TODO: Implement Auto Command + return null; } } diff --git a/src/main/java/frc/robot/commands/DriveCommand.java b/src/main/java/frc/robot/commands/DriveCommand.java index fb9a6ee..f475586 100644 --- a/src/main/java/frc/robot/commands/DriveCommand.java +++ b/src/main/java/frc/robot/commands/DriveCommand.java @@ -1,20 +1,18 @@ package frc.robot.commands; +import java.util.HashSet; +import java.util.Set; + import edu.wpi.first.math.filter.SlewRateLimiter; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; -import edu.wpi.first.math.kinematics.SwerveDriveKinematics; -import edu.wpi.first.math.kinematics.SwerveModuleState; -import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj2.command.CommandBase; -import frc.robot.Constants.DriveConstants; -import frc.robot.Constants.SwerveModuleConstants; +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.kinematics.*; +import edu.wpi.first.wpilibj.*; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Subsystem; +import frc.robot.Constants.*; import frc.robot.subsystems.SwerveSubsystem; -public class DriveCommand extends CommandBase { +public class DriveCommand extends Command { private final SwerveSubsystem swerveSubsystem; private final XboxController xbox; @@ -135,7 +133,6 @@ public void end(boolean interrupted) { swerveSubsystem.stopDrive(); } - @Override public boolean isFinished() { return false; } diff --git a/src/main/java/frc/robot/commands/OperatorCommand.java b/src/main/java/frc/robot/commands/OperatorCommand.java index 381bdee..8a242f6 100644 --- a/src/main/java/frc/robot/commands/OperatorCommand.java +++ b/src/main/java/frc/robot/commands/OperatorCommand.java @@ -1,25 +1,19 @@ package frc.robot.commands; -import java.lang.Thread.State; +import java.util.HashSet; +import java.util.Set; -import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.CommandBase; -import frc.robot.RobotContainer; -import frc.robot.subsystems.Intake; -import frc.robot.subsystems.Intake.IntakeState; -import frc.robot.subsystems.Lights.LightState; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Subsystem; -public class OperatorCommand extends CommandBase { +public class OperatorCommand extends Command { private final XboxController xbox; - private final Intake intake; - public OperatorCommand(Intake intake, XboxController xbox) { - this.xbox = xbox; - this.intake = intake; + private Set requirements = new HashSet<>(); - addRequirements(intake); + public OperatorCommand(XboxController xbox) { + this.xbox = xbox; } public double DeadBand(double input, double deadband) { @@ -27,64 +21,18 @@ public double DeadBand(double input, double deadband) { } @Override - public void execute() { - if (DriverStation.isTeleop()) { - boolean intakeIn = ((intake.getIntakeState() == IntakeState.TIPPEDCONE_CUBE) - || (intake.getIntakeState() == IntakeState.STOWED) || (intake - .getIntakeState() == IntakeState.PICKUP)) - && !xbox.getBButton(); - - if (xbox.getRightBumper()) { - if (intakeIn) - intake.setIntakeSpeed(-0.7); - else { - intake.setIntakeSpeed(1.0); - intake.enableCurrentControl(false); - } - } else { - intake.enableCurrentControl(true); - intake.setIntakeSpeed(xbox.getRightTriggerAxis() * (intakeIn ? -1 : 1) - 0.2); // Max 80% output! - } - - intake.enableStateControl(true); - - // Set intake state based on the xbox POV - switch (xbox.getPOV()) { - case -1: - break; - case 0: - intake.setIntakeState(IntakeState.HIGH); - break; - case 90: - intake.setIntakeState(IntakeState.STOWED); - break; - case 180: - intake.setIntakeState(IntakeState.PICKUP); - break; - case 270: - intake.setIntakeState(IntakeState.LOW); - break; - } - - if (xbox.getLeftBumper()) { - intake.setIntakeState(IntakeState.TIPPEDCONE_CUBE); - } - - intake.addIntakeState((0.02 * DeadBand(xbox.getLeftY(), 0.1)) * 60.0); - } else { - // Auton - intake.setIntakeSpeed(0.0); - intake.setIntakeState(IntakeState.STOWED); - } - } + public void execute() {} @Override - public void end(boolean interrupted) { - intake.stop(); - } + public void end(boolean interrupted) {} @Override public boolean isFinished() { return false; } + + @Override + public Set getRequirements() { + return requirements; + } } \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/ResetIntakeCommand.java b/src/main/java/frc/robot/commands/ResetIntakeCommand.java deleted file mode 100644 index 53723f9..0000000 --- a/src/main/java/frc/robot/commands/ResetIntakeCommand.java +++ /dev/null @@ -1,76 +0,0 @@ -package frc.robot.commands; - -import edu.wpi.first.wpilibj.DigitalInput; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.CommandBase; -import frc.robot.Constants.IntakeConstants; -import frc.robot.subsystems.Intake; -import frc.robot.subsystems.Intake.IntakeState; - -public class ResetIntakeCommand extends CommandBase { - private final Intake intake; - private final DigitalInput limitsw; - - private boolean done; - - public ResetIntakeCommand(Intake intake, DigitalInput limit) { - this.limitsw = limit; - this.intake = intake; - - done = false; - - addRequirements(intake); - } - - @Override - public void initialize() { - // Limit switch is initially high (disconnected!) - if (limitsw.get()) { - System.out.println("ResetIntakeCommand.ResetIntakeCommand() ERROR: Limitswitch initially depressed!"); - done = true; - } - done = false; - - intake.enableStateControl(false); - intake.setActuatorRaw(-0.1); - - System.out.println("Starting Intake Homing"); - } - - @Override - public void execute() { - if (!done) { - // Switch is NORMALLY CLOSED - if (limitsw.get()) { - // Done - - intake.setActuatorRaw(0.0); - double zeroangle = intake.getEncoderAngleRaw() - IntakeConstants.SWITCH_OFFSET_RADIANS; - intake.setZeroAngleRaw(zeroangle); - - // intake.enableStateControl(true); - // intake.setIntakeState(IntakeState.STOWED); - - System.out.printf("Homing done: zero set to %f radians\n", zeroangle); - - done = true; - } else { - intake.enableStateControl(false); - intake.setActuatorRaw(-0.17); - } - } - } - - @Override - public void end(boolean interrupted) { - intake.enableStateControl(true); - done = false; - } - - @Override - public boolean isFinished() { - return done; - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java deleted file mode 100644 index 17c6534..0000000 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ /dev/null @@ -1,175 +0,0 @@ -package frc.robot.subsystems; - -import java.io.File; -import java.util.Map; -import java.util.function.BooleanSupplier; - -import com.ctre.phoenix.Util; -import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX; -import com.revrobotics.CANSparkMax; -import com.revrobotics.CANSparkMax.IdleMode; -import com.revrobotics.CANSparkMaxLowLevel.MotorType; - -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.util.Units; -import edu.wpi.first.util.concurrent.Event; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.Preferences; -import edu.wpi.first.wpilibj.XboxController; -import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.RobotContainer; -import frc.robot.Constants.IntakeConstants; -import frc.robot.subsystems.Lights.LightState; - -public class Intake extends SubsystemBase { - - private WPI_VictorSPX actuatorMotor = new WPI_VictorSPX(IntakeConstants.ACTUATOR_MOTOR_PORT); - private CANSparkMax leftIntake; - private CANSparkMax rightIntake; - - private com.ctre.phoenix6.hardware.CANcoder actuatorEncoder = new com.ctre.phoenix6.hardware.CANcoder( - IntakeConstants.ACTUATOR_ENCODER_PORT); - - private final PIDController actuatorPID = new PIDController(1.25, 0.0, 0.0); - - private double ANGLE_OFFSET = IntakeConstants.OFFSET_RADIANS; - - public static enum IntakeState { - STOWED(-30), - // STOWED(-), - PICKUP(120), - LOW(70), - HIGH(35), - TIPPEDCONE_CUBE(95); - - private double angleDegrees; - - IntakeState(double angleDegrees) { - this.angleDegrees = angleDegrees; - } - } - - private IntakeState intakeState = IntakeState.STOWED; - private boolean statectl_enabled = true; - - private final XboxController xbox; - - private double stateDegrees; - - public Intake(XboxController xbox) { - this.xbox = xbox; - - this.leftIntake = new CANSparkMax(IntakeConstants.WHEEL_LEFT_PORT, MotorType.kBrushless); - this.rightIntake = new CANSparkMax(IntakeConstants.WHEEL_RIGHT_PORT, MotorType.kBrushless); - - leftIntake.setIdleMode(IdleMode.kBrake); - rightIntake.setIdleMode(IdleMode.kBrake); - - enableCurrentControl(true); - enableStateControl(true); - - Preferences.initDouble("ANGLE_OFFSET", IntakeConstants.OFFSET_RADIANS); - ANGLE_OFFSET = Preferences.getDouble("ANGLE_OFFSET", IntakeConstants.OFFSET_RADIANS); - System.out.printf("Angle offset is %f\n", ANGLE_OFFSET); - } - - public void enableCurrentControl(boolean currentcontrol) { - if (currentcontrol) { - leftIntake.setSmartCurrentLimit(IntakeConstants.INTAKE_CURRENT_LIMIT); - rightIntake.setSmartCurrentLimit(IntakeConstants.INTAKE_CURRENT_LIMIT); - } else { - leftIntake.setSmartCurrentLimit(80); - rightIntake.setSmartCurrentLimit(80); - } - } - - public double getIntakeSpeed() { - return (leftIntake.getEncoder().getVelocity() - rightIntake.getEncoder().getVelocity()) * 0.5; - } - - public Trigger intakeStallTrigger() { - return new Trigger(new BooleanSupplier() { - @Override - public boolean getAsBoolean() { - return isStalled(); - } - }); - } - - public boolean isStalled() { - return (Math.abs(getIntakeSpeed()) < (0.1 * 6000 * Math.abs(leftIntake.get()))); - } - - public IntakeState getIntakeState() { - return this.intakeState; - } - - public void addIntakeState(double degreesmove) { - this.stateDegrees = Math.min(Math.max(stateDegrees + degreesmove, IntakeState.STOWED.angleDegrees), - IntakeState.PICKUP.angleDegrees + 10); - } - - @Override - public void periodic() { - double currentAngle = (getEncoderAngleRaw() - - ANGLE_OFFSET) * IntakeConstants.ACTUATOR_GEAR_RATIO; - - SmartDashboard.putNumber("Intake current angle", getEncoderAngleRaw()); - // SmartDashboard.putNumber("Intake zeroed angle", currentAngle); - if (this.statectl_enabled) { - actuatorMotor - .set(Util.cap(actuatorPID.calculate(currentAngle, Units.degreesToRadians(stateDegrees)), - IntakeConstants.MAX_SPEED)); - } - - SmartDashboard.putNumber("Intake Current (A)", leftIntake.getOutputCurrent()); - SmartDashboard.putString("Intake State", getIntakeState().toString()); - SmartDashboard.putBoolean("Stalled", isStalled()); - } - - public void setActuatorRaw(double speed) { - this.actuatorMotor.set(speed); - } - - public void enableStateControl(boolean enabled) { - this.statectl_enabled = enabled; - } - - // Returns Radians - public double getEncoderAngleRaw() { - return Units.rotationsToRadians(actuatorEncoder.getPosition().getValue()); - } - - public void setZeroAngleRaw(double radians_at_zero) { - this.ANGLE_OFFSET = radians_at_zero; - Preferences.setDouble("ANGLE_OFFSET", this.ANGLE_OFFSET); - } - - public void setIntakeSpeed(double speed) { - leftIntake.set(speed); - rightIntake.set(-speed); - } - - public void stop() { - leftIntake.set(0); - rightIntake.set(0); - actuatorMotor.set(0); - } - - public void setIntakeState(IntakeState state) { - if (DriverStation.isTeleop()) { - RobotContainer.lights.setState(Map.of( - IntakeState.STOWED, LightState.RAINBOW, - IntakeState.PICKUP, LightState.CONE, - IntakeState.TIPPEDCONE_CUBE, LightState.CUBE, - IntakeState.HIGH, LightState.RAINBOW, - IntakeState.LOW, LightState.RAINBOW).getOrDefault(state, LightState.BLANK)); - } - - this.intakeState = state; - this.stateDegrees = state.angleDegrees; - } -} diff --git a/src/main/java/frc/robot/subsystems/Lights.java b/src/main/java/frc/robot/subsystems/Lights.java deleted file mode 100644 index ff6ec9b..0000000 --- a/src/main/java/frc/robot/subsystems/Lights.java +++ /dev/null @@ -1,139 +0,0 @@ -package frc.robot.subsystems; - -import java.awt.image.BufferedImage; -import java.io.File; -import java.io.IOException; -import java.nio.file.Paths; -import java.util.HashMap; -import java.util.function.Supplier; - -import javax.imageio.ImageIO; - -import edu.wpi.first.wpilibj.AddressableLED; -import edu.wpi.first.wpilibj.AddressableLEDBuffer; -import edu.wpi.first.wpilibj.Filesystem; -import edu.wpi.first.wpilibj.Timer; -import java.awt.Color; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.Constants.MiscConstants; - -public class Lights extends SubsystemBase { - AddressableLED driver; - AddressableLEDBuffer buffer; - - public enum LightState { - CONE(staticImageSupplier("cone.png")), - CUBE(staticImageSupplier("cube.png")), - LOGO(staticImageSupplier("logo.png")), - BLANK(new Supplier() { - public BufferedImage get() { - return new BufferedImage(MiscConstants.STRIP_W, MiscConstants.STRIP_H, - BufferedImage.TYPE_INT_ARGB); - }; - }), - RAINBOW(new Supplier() { - public BufferedImage get() { - return rainbow(); - }; - }); - - private Supplier supplier; - - private LightState(Supplier supplier) { - this.supplier = supplier; - } - } - - public static LightState state = LightState.LOGO; - - public Lights() { - driver = new AddressableLED(MiscConstants.LED_PORT); - driver.setLength(MiscConstants.NUM_LEDS); - buffer = new AddressableLEDBuffer(MiscConstants.NUM_LEDS); - } - - @Override - public void periodic() { - // TODO Auto-generated method stub - super.periodic(); - - clear(); - setImage(state.supplier.get()); - driver.setData(buffer); - driver.start(); - } - - public static BufferedImage rainbow() { - BufferedImage img = new BufferedImage(MiscConstants.STRIP_W, MiscConstants.STRIP_H, - BufferedImage.TYPE_INT_ARGB); - for (int i = 0; i < MiscConstants.NUM_LEDS; ++i) { - Color c = Color.getHSBColor( - (((float) i / MiscConstants.NUM_LEDS) + ((float) Timer.getFPGATimestamp() * 0.25f)) % 1.0f, - 1.0f, - 0.5f); - img.setRGB(i / MiscConstants.STRIP_H, i % MiscConstants.STRIP_H, c.getRGB()); - } - - return img; - } - - private int getPixelIndex(int x, int y) { - x = MiscConstants.STRIP_W - 1 - x; - y = MiscConstants.STRIP_H - 1 - y; - - return x * MiscConstants.STRIP_H + (((x & 1) == 1) ? MiscConstants.STRIP_H - 1 - y : y); - } - - public void clear() { - for (int i = 0; i < buffer.getLength(); ++i) { - buffer.setRGB(i, 0, 0, 0); - } - } - - private void setPixel(int x, int y, Color color) { - if (x >= 0 && y >= 0 && x < MiscConstants.STRIP_W && y < MiscConstants.STRIP_H) { - buffer.setRGB(getPixelIndex(x, y), color.getRed(), color.getGreen(), color.getBlue()); - } - } - - private void setImage(BufferedImage img) { - - for (int x = 0; x < img.getWidth(); ++x) { - for (int y = 0; y < img.getHeight(); ++y) { - int c = img.getRGB(x, y); - // Color v = new Color(((c & 0xFF0000) >> 16), ((c & 0xFF00) >> 8), ((c & - // 0xFF))); - Color v = new Color(c); - setPixel(x, MiscConstants.STRIP_H - 1 - y, v); - } - } - } - - private static BufferedImage loadImage(String name) { - File file = Paths.get(Filesystem.getDeployDirectory().getAbsolutePath(), "images", name).toFile(); - BufferedImage img; - - try { - img = ImageIO.read(file); - return img; - } catch (IOException e) { - System.err.println(e); - return null; - } - } - - private static Supplier staticImageSupplier(String path) { - return new Supplier() { - BufferedImage img = loadImage(path); - - @Override - public BufferedImage get() { - return img; - } - }; - } - - public void setState(LightState state) { - Lights.state = state; - } -} diff --git a/src/main/java/frc/robot/subsystems/SwerveModule.java b/src/main/java/frc/robot/subsystems/SwerveModule.java index ce0e20e..832532d 100644 --- a/src/main/java/frc/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc/robot/subsystems/SwerveModule.java @@ -1,26 +1,17 @@ package frc.robot.subsystems; -import com.ctre.phoenix6.configs.CANcoderConfigurator; import com.revrobotics.*; -import com.revrobotics.CANSparkMax.IdleMode; -import com.revrobotics.CANSparkMaxLowLevel.MotorType; +import com.revrobotics.CANSparkBase.IdleMode; +import com.revrobotics.CANSparkLowLevel.MotorType; -import edu.wpi.first.hal.SimDouble; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.filter.SlewRateLimiter; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.*; import edu.wpi.first.math.util.Units; -import edu.wpi.first.wpilibj.AnalogInput; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj.Timer; -import edu.wpi.first.wpilibj.simulation.EncoderSim; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import frc.robot.Constants; import frc.robot.Robot; -import frc.robot.Constants.DriveConstants; -import frc.robot.Constants.SwerveModuleConstants; +import frc.robot.Constants.*; public class SwerveModule { private final CANSparkMax driveMotor; @@ -58,6 +49,7 @@ public SwerveModule(int steerCanID, int driveCanID, int absoluteEncoderPort, dou driveMotorEncoder = driveMotor.getEncoder(); steerMotorEncoder = steerMotor.getEncoder(); + // Reset encoder offsets possibly set in Tuner X absoluteEncoder = new com.ctre.phoenix6.hardware.CANcoder(absoluteEncoderPort); com.ctre.phoenix6.configs.CANcoderConfiguration cfg = new com.ctre.phoenix6.configs.CANcoderConfiguration(); cfg.MagnetSensor = new com.ctre.phoenix6.configs.MagnetSensorConfigs(); diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java index f1b2e1d..d79d89c 100644 --- a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java @@ -8,16 +8,13 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.PowerDistribution; -import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.SPI; -import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants; -import frc.robot.LimelightHelpers; import frc.robot.Robot; import frc.robot.Constants.*; @@ -75,10 +72,22 @@ public void periodic() { // odometry.addVisionMeasurement(LimelightHelpers.getBotPose2d(null), // Timer.getFPGATimestamp()); - field.setRobotPose((DriverStation.getAlliance() == Alliance.Red) - ? new Pose2d(new Translation2d(16.5 - getPose().getX(), 8.02 - getPose().getY()), - getPose().getRotation().rotateBy(Rotation2d.fromDegrees(180))) - : getPose()); + if(DriverStation.getAlliance().isPresent()) { + switch (DriverStation.getAlliance().get()) { + case Red: + field.setRobotPose(new Pose2d(new Translation2d(16.5 - getPose().getX(), 8.02 - getPose().getY()), + getPose().getRotation().rotateBy(Rotation2d.fromDegrees(180)))); + break; + + case Blue: + field.setRobotPose(getPose()); + break; + } + } else { + // If no alliance provided, just go with blue + field.setRobotPose(getPose()); + } + SmartDashboard.putData("Field", field); SmartDashboard.putString("Robot Pose", diff --git a/src/main/java/frc/robot/util/PathGenerator.java b/src/main/java/frc/robot/util/PathGenerator.java new file mode 100644 index 0000000..7f0c4e7 --- /dev/null +++ b/src/main/java/frc/robot/util/PathGenerator.java @@ -0,0 +1,5 @@ +package frc.robot.util; + +public class PathGenerator { + // Use this class for everything pathplanner related! +} diff --git a/steer_sysid_config.json b/steer_sysid_config.json deleted file mode 100644 index d3bbacf..0000000 --- a/steer_sysid_config.json +++ /dev/null @@ -1,42 +0,0 @@ -{ - "canivore names": [ - "rio" - ], - "counts per rotation": 1.0, - "encoder canivore name": "rio", - "encoder type": "Encoder Port", - "encoding": false, - "gearing denominator": 1.0, - "gearing numerator": 21.42, - "gyro": "Analog Gyro", - "gyro canivore name": "rio", - "gyro ctor": "0", - "is drivetrain": false, - "motor controllers": [ - "SPARK MAX (Brushless)" - ], - "number of samples per average": 8, - "primary encoder inverted": false, - "primary encoder ports": [ - 0, - 1 - ], - "primary motor ports": [ - 25 - ], - "primary motors inverted": [ - true - ], - "secondary encoder inverted": false, - "secondary encoder ports": [ - 2, - 3 - ], - "secondary motor ports": [ - 2 - ], - "secondary motors inverted": [ - false - ], - "velocity measurement period": 8 -} \ No newline at end of file diff --git a/sysid.json b/sysid.json deleted file mode 100644 index de74a00..0000000 --- a/sysid.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "SysId": { - "Analysis Type": "General Mechanism" - } -} diff --git a/sysid_steerground2.json b/sysid_steerground2.json deleted file mode 100644 index f057377..0000000 --- a/sysid_steerground2.json +++ /dev/null @@ -1,42 +0,0 @@ -{ - "canivore names": [ - "rio" - ], - "counts per rotation": 1.0, - "encoder canivore name": "rio", - "encoder type": "Encoder Port", - "encoding": false, - "gearing denominator": 1.0, - "gearing numerator": 21.42857, - "gyro": "Analog Gyro", - "gyro canivore name": "rio", - "gyro ctor": "0", - "is drivetrain": false, - "motor controllers": [ - "SPARK MAX (Brushless)" - ], - "number of samples per average": 8, - "primary encoder inverted": false, - "primary encoder ports": [ - 0, - 1 - ], - "primary motor ports": [ - 7 - ], - "primary motors inverted": [ - true - ], - "secondary encoder inverted": false, - "secondary encoder ports": [ - 2, - 3 - ], - "secondary motor ports": [ - 2 - ], - "secondary motors inverted": [ - false - ], - "velocity measurement period": 8 -} \ No newline at end of file diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json index 1ebc114..e978a5f 100644 --- a/vendordeps/NavX.json +++ b/vendordeps/NavX.json @@ -1,17 +1,18 @@ { "fileName": "NavX.json", - "name": "KauaiLabs_navX_FRC", - "version": "2023.0.3", + "name": "NavX", + "version": "2024.1.0", "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "frcYear": "2024", "mavenUrls": [ - "https://dev.studica.com/maven/release/2023/" + "https://dev.studica.com/maven/release/2024/" ], - "jsonUrl": "https://dev.studica.com/releases/2023/NavX.json", + "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json", "javaDependencies": [ { "groupId": "com.kauailabs.navx.frc", "artifactId": "navx-frc-java", - "version": "2023.0.3" + "version": "2024.1.0" } ], "jniDependencies": [], @@ -19,7 +20,7 @@ { "groupId": "com.kauailabs.navx.frc", "artifactId": "navx-frc-cpp", - "version": "2023.0.3", + "version": "2024.1.0", "headerClassifier": "headers", "sourcesClassifier": "sources", "sharedLibrary": false, diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json index 8e61586..3c74146 100644 --- a/vendordeps/PathplannerLib.json +++ b/vendordeps/PathplannerLib.json @@ -1,8 +1,9 @@ { "fileName": "PathplannerLib.json", "name": "PathplannerLib", - "version": "2023.4.4", + "version": "2024.1.2", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2024", "mavenUrls": [ "https://3015rangerrobotics.github.io/pathplannerlib/repo" ], @@ -11,7 +12,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2023.4.4" + "version": "2024.1.2" } ], "jniDependencies": [], @@ -19,7 +20,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2023.4.4", + "version": "2024.1.2", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -28,7 +29,9 @@ "windowsx86-64", "linuxx86-64", "osxuniversal", - "linuxathena" + "linuxathena", + "linuxarm32", + "linuxarm64" ] } ] diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json deleted file mode 100644 index 614dc3a..0000000 --- a/vendordeps/Phoenix.json +++ /dev/null @@ -1,423 +0,0 @@ -{ - "fileName": "Phoenix.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.31.0+23.2.2", - "frcYear": 2023, - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2023-latest.json", - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.31.0" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.31.0" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.31.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.31.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "23.2.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "23.2.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "23.2.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonFX", - "version": "23.2.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "23.2.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "23.2.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "23.2.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "23.2.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "23.2.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "23.2.2", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.31.0", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.31.0", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.31.0", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "23.2.2", - "libName": "CTRE_PhoenixTools", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.31.0", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.31.0", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.31.0", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "23.2.2", - "libName": "CTRE_PhoenixTools_Sim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "23.2.2", - "libName": "CTRE_SimTalonSRX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonFX", - "version": "23.2.2", - "libName": "CTRE_SimTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "23.2.2", - "libName": "CTRE_SimVictorSPX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "23.2.2", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "23.2.2", - "libName": "CTRE_SimCANCoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "23.2.2", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "23.2.2", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "23.2.2", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json index a5620fa..69a4079 100644 --- a/vendordeps/Phoenix6.json +++ b/vendordeps/Phoenix6.json @@ -1,25 +1,32 @@ { "fileName": "Phoenix6.json", "name": "CTRE-Phoenix (v6)", - "version": "23.2.2", - "frcYear": 2023, + "version": "24.1.0", + "frcYear": 2024, "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json", + "conflictsWith": [ + { + "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a", + "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.", + "offlineFileName": "Phoenix6And5.json" + } + ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "23.2.2" + "version": "24.1.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "23.2.2", + "version": "24.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -32,7 +39,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "23.2.2", + "version": "24.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -45,7 +52,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "23.2.2", + "version": "24.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -58,7 +65,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "23.2.2", + "version": "24.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -71,7 +78,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "23.2.2", + "version": "24.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -84,7 +91,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "23.2.2", + "version": "24.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -97,7 +104,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "23.2.2", + "version": "24.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +117,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "23.2.2", + "version": "24.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -123,7 +130,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "23.2.2", + "version": "24.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -136,7 +143,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "23.2.2", + "version": "24.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -151,7 +158,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -166,7 +173,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -181,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -196,7 +203,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -211,7 +218,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -226,7 +233,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_SimTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -241,7 +248,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -256,7 +263,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -271,7 +278,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -286,7 +293,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -301,7 +308,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -316,7 +323,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "23.2.2", + "version": "24.1.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json index f2d0b7d..0f3520e 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,24 +1,25 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2023.1.3", + "version": "2024.2.0", + "frcYear": "2024", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2023.json", + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json", "javaDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2023.1.3" + "version": "2024.2.0" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2023.1.3", + "version": "2024.2.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +37,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2023.1.3", + "version": "2024.2.0", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -54,7 +55,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2023.1.3", + "version": "2024.2.0", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json index da4bc52..67bf389 100644 --- a/vendordeps/WPILibNewCommands.json +++ b/vendordeps/WPILibNewCommands.json @@ -1,37 +1,38 @@ -{ - "fileName": "WPILibNewCommands.json", - "name": "WPILib-New-Commands", - "version": "1.0.0", - "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "mavenUrls": [], - "jsonUrl": "", - "javaDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-java", - "version": "wpilib" - } - ], - "jniDependencies": [], - "cppDependencies": [ - { - "groupId": "edu.wpi.first.wpilibNewCommands", - "artifactId": "wpilibNewCommands-cpp", - "version": "wpilib", - "libName": "wpilibNewCommands", - "headerClassifier": "headers", - "sourcesClassifier": "sources", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "windowsx86-64", - "windowsx86", - "linuxx86-64", - "osxuniversal" - ] - } - ] -} +{ + "fileName": "WPILibNewCommands.json", + "name": "WPILib-New-Commands", + "version": "1.0.0", + "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", + "frcYear": "2024", + "mavenUrls": [], + "jsonUrl": "", + "javaDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-java", + "version": "wpilib" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "edu.wpi.first.wpilibNewCommands", + "artifactId": "wpilibNewCommands-cpp", + "version": "wpilib", + "libName": "wpilibNewCommands", + "headerClassifier": "headers", + "sourcesClassifier": "sources", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "linuxathena", + "linuxarm32", + "linuxarm64", + "windowsx86-64", + "windowsx86", + "linuxx86-64", + "osxuniversal" + ] + } + ] +} From d51a30eb6fb5ea36360bb034a030a8736fa9e032 Mon Sep 17 00:00:00 2001 From: Colten Kiehne Date: Sat, 13 Jan 2024 11:59:37 -0600 Subject: [PATCH 03/33] Remove getRequirements() --- src/main/java/frc/robot/commands/OperatorCommand.java | 5 ----- 1 file changed, 5 deletions(-) diff --git a/src/main/java/frc/robot/commands/OperatorCommand.java b/src/main/java/frc/robot/commands/OperatorCommand.java index 8a242f6..8ea1a37 100644 --- a/src/main/java/frc/robot/commands/OperatorCommand.java +++ b/src/main/java/frc/robot/commands/OperatorCommand.java @@ -30,9 +30,4 @@ public void end(boolean interrupted) {} public boolean isFinished() { return false; } - - @Override - public Set getRequirements() { - return requirements; - } } \ No newline at end of file From fd77ac4918621890532e9eee6de5ea39fb00cfb6 Mon Sep 17 00:00:00 2001 From: Adamfire Date: Sat, 13 Jan 2024 13:03:28 -0600 Subject: [PATCH 04/33] Re-add drive command --- src/main/java/frc/robot/RobotContainer.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 80cf02f..82063b7 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -39,6 +39,8 @@ public class RobotContainer { public RobotContainer() { // Configure the trigger bindings configureBindings(); + + swerveDriveSubsystem.setDefaultCommand(normalDrive); } /** From 41993089df23dd26e8cf42eb8360303968fbe3ea Mon Sep 17 00:00:00 2001 From: TechGuru2530 Date: Sun, 14 Jan 2024 09:32:08 -0600 Subject: [PATCH 05/33] Initial Vision code checked in for 2024 Game. This is untested. Need to test in shop --- src/main/java/frc/robot/Constants.java | 39 +++++ src/main/java/frc/robot/KnownAprilTag.java | 35 ++++ src/main/java/frc/robot/RobotContainer.java | 8 +- .../robot/commands/GoToAprilTagCommand.java | 155 ++++++++++++++++++ .../robot/subsystems/LimeLightSubsystem.java | 118 +++++++++++++ 5 files changed, 354 insertions(+), 1 deletion(-) create mode 100644 src/main/java/frc/robot/KnownAprilTag.java create mode 100644 src/main/java/frc/robot/commands/GoToAprilTagCommand.java create mode 100644 src/main/java/frc/robot/subsystems/LimeLightSubsystem.java diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 0fdd7c1..36352b9 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -5,7 +5,10 @@ package frc.robot; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.util.Units; @@ -105,4 +108,40 @@ public static final class ModuleIndices { public static final double XY_SPEED_LIMIT = 1.0; public static final double Z_SPEED_LIMIT = 1.0; } + + public static class CommonConstants { + public static final boolean LOG_INTO_FILE_ENABLED = false; + } + + public static class VisionContsants { + + public static final double THETA_kP = .9; + public static final double THETA_kI = 0.0; + public static final double THETA_kD = 0.08; + + public static final double X_kP = 1.0; + public static final double X_kI = 0.0; + public static final double X_kD = 0.02; + + public static final double Y_kP = 1.5; + public static final double Y_kI = 0.0; + public static final double Y_kD = 0.02; + } + + public static class LimelightConstants { + public static final String limeLightName = "limelight"; + public static final Transform3d robotToCamera = new Transform3d( + new Translation3d(0.06, -0.2, 0.2127), + new Rotation3d(0.0, Units.degreesToRadians(-15.0), Units.degreesToRadians(3.0))); + } + + public static class AprilTags { + //Area left or single tags + public static final String[] BLUE_ALLIANCE_LEFT_OR_SINGLE_APRILTAGS = { "2", "8", "6", "14", "15", "16" }; + //Area right tags + public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1", "7" }; + //Area left or single tags + public static final String[] RED_ALLIANCE_LEFT_OR_SINLGE_APRILTAGS = { "10", "4", "5", "11", "12", "13" }; + public static final String[] RED_ALLIANCE_RIGHT_APRILTAGS = { "9", "3" }; + } } diff --git a/src/main/java/frc/robot/KnownAprilTag.java b/src/main/java/frc/robot/KnownAprilTag.java new file mode 100644 index 0000000..46f5d2b --- /dev/null +++ b/src/main/java/frc/robot/KnownAprilTag.java @@ -0,0 +1,35 @@ +package frc.robot; + +import java.time.LocalDateTime; +import edu.wpi.first.math.geometry.Pose3d; + +public class KnownAprilTag { + private double _tagId; + private LocalDateTime _tagCaptureTime; + private Pose3d _tagPose3d; + public KnownAprilTag(double tagId, LocalDateTime tagCaptureTime, Pose3d tagPose3d){ + _tagId = tagId; + _tagCaptureTime = tagCaptureTime; + _tagPose3d = tagPose3d; + } + + public void SetTagCaptureTime(LocalDateTime tagCaptureTime){ + _tagCaptureTime = tagCaptureTime; + } + + public LocalDateTime GetTagCaptureTime(){ + return _tagCaptureTime; + } + + public void SetTagPose3d(Pose3d tagPose3d){ + _tagPose3d = tagPose3d; + } + + public Pose3d GetTagPose3d(){ + return _tagPose3d; + } + + public double GetTagId(){ + return _tagId; + } +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 82063b7..bcc46ab 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,6 +6,7 @@ import frc.robot.Constants.*; import frc.robot.commands.*; +import frc.robot.subsystems.LimeLightSubsystem; import frc.robot.subsystems.SwerveSubsystem; import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.cscore.UsbCamera; @@ -28,6 +29,7 @@ public class RobotContainer { ControllerConstants.OPERATOR_CONTROLLER_PORT); private final SwerveSubsystem swerveDriveSubsystem = new SwerveSubsystem(); + private final LimeLightSubsystem limeLightSubsystem = new LimeLightSubsystem(); private final UsbCamera intakeCam = CameraServer.startAutomaticCapture(); @@ -57,7 +59,11 @@ public RobotContainer() { * {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight * joysticks}. */ - private void configureBindings() {} + private void configureBindings() { + // use b to chase April tag + driverXbox.b().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, false)); + driverXbox.a().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, true)); + } /** * Use this to pass the autonomous command to the main {@link Robot} class. diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java new file mode 100644 index 0000000..77bad1b --- /dev/null +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java @@ -0,0 +1,155 @@ +package frc.robot.commands; +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.util.datalog.StringLogEntry; +import edu.wpi.first.wpilibj.DataLogManager; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants.VisionContsants; +import frc.robot.Constants.CommonConstants; +import frc.robot.Constants.DriveConstants; +import frc.robot.subsystems.LimeLightSubsystem; +import frc.robot.subsystems.SwerveSubsystem; +import static edu.wpi.first.math.MathUtil.clamp; + +import java.io.IOException; +import java.nio.file.Files; +import java.nio.file.Path; +import java.nio.file.Paths; + +public class GoToAprilTagCommand extends Command { + + private final SwerveSubsystem swerveSubsystem; + public final LimeLightSubsystem limeLightSubsystem; + public final boolean isItForRightSideAprilTag; + + private final ProfiledPIDController pidControllerX = new ProfiledPIDController(VisionContsants.X_kP, VisionContsants.X_kI, VisionContsants.X_kD, new Constraints(DriveConstants.MAX_ROBOT_VELOCITY, DriveConstants.MAX_ROBOT_RAD_VELOCITY)); + private final ProfiledPIDController pidControllerY = new ProfiledPIDController(VisionContsants.Y_kP, VisionContsants.Y_kI, VisionContsants.Y_kD, new Constraints(DriveConstants.MAX_ROBOT_VELOCITY, DriveConstants.MAX_ROBOT_RAD_VELOCITY)); + private final ProfiledPIDController pidControllerOmega = new ProfiledPIDController(VisionContsants.THETA_kP, VisionContsants.THETA_kI, VisionContsants.THETA_kD, new Constraints(DriveConstants.MAX_ROBOT_VELOCITY, DriveConstants.MAX_ROBOT_RAD_VELOCITY)); + + StringLogEntry log; + + public GoToAprilTagCommand( + SwerveSubsystem swerveSubsystem, + LimeLightSubsystem limeLightSubsystem, + boolean isItForRightSideAprilTag) + { + this.swerveSubsystem = swerveSubsystem; + this.limeLightSubsystem = limeLightSubsystem; + this.isItForRightSideAprilTag = isItForRightSideAprilTag; + addRequirements(swerveSubsystem); + } + + @Override + public void initialize() { + super.initialize(); + //pidControllerX.reset(swerveSubsystem.getPose().getY()); + //pidControllerY.reset(swerveSubsystem.getPose().getX()); + //pidControllerOmega.reset(swerveSubsystem.getRotation2d().getRadians()); + + + pidControllerX.setGoal(Units.inchesToMeters(36)); // Move forward/backwork to keep 36 inches from the target + pidControllerX.setTolerance(Units.inchesToMeters(2.5)); + + pidControllerY.setGoal(0); // Move side to side to keep target centered + pidControllerY.setTolerance(Units.inchesToMeters(2.5)); + + pidControllerOmega.setGoal(Units.degreesToRadians(0)); // Rotate the keep perpendicular with the target + pidControllerOmega.setTolerance(Units.degreesToRadians(1)); + + if(CommonConstants.LOG_INTO_FILE_ENABLED){ + /// Starts recording to data log + try { + String directory = Paths.get("").toAbsolutePath().toString(); + Files.createDirectories(Path.of(directory)); + DataLogManager.start(directory); + } catch (IOException e) { + SmartDashboard.putString("AprilTag Log error", e.getMessage()); + } + // Record both DS control and joystick data + DriverStation.startDataLog(DataLogManager.getLog()); + log = new StringLogEntry(DataLogManager.getLog(), "ChaseApriltagCommand"); + } + + } + + @Override + public void execute() { + try{ + ChassisSpeeds speeds; + if(limeLightSubsystem.isAprilTagFound()){ + Pose3d pose = limeLightSubsystem.getKnownAprilTagPose3d(isItForRightSideAprilTag); + + var xspeed = pidControllerX.calculate(pose.getZ()); + if (pidControllerX.atSetpoint()) { + xspeed = 0; + } + + // Handle alignment side-to-side + var ySpeed = pidControllerY.calculate(pose.getX()); + if (pidControllerY.atSetpoint()) { + ySpeed = 0; + } + + // Handle rotation using target Yaw/Z rotation + var omegaSpeed = pidControllerOmega.calculate(pose.getRotation().getY()); + if (pidControllerOmega.atSetpoint()) { + omegaSpeed = 0; + } + + if(CommonConstants.LOG_INTO_FILE_ENABLED){ + String logMessage = "target X: " + pose.getX() + ": "; + logMessage += "target X(inches): " + Units.metersToInches(pose.getZ()) + ": "; + logMessage += "X speed : " + xspeed + ": "; + logMessage += "X SetPoint : " + pidControllerX.getSetpoint() + ": "; + logMessage += "X is at SetPoint : " + pidControllerX.atSetpoint() + ": "; + logMessage += "target Y: " + pose.getX() + ": "; + logMessage += "Y speed : " + ySpeed + ": "; + logMessage += "Y SetPoint : " + pidControllerY.getSetpoint() + ": "; + logMessage += "Y is at SetPoint : " + pidControllerY.atSetpoint() + ": "; + logMessage += "target rotation: " + pose.getRotation().getY() + ": "; + logMessage += "rotation speed : " + omegaSpeed + ": "; + logMessage += "rotation SetPoint : " + pidControllerOmega.getSetpoint() + ": "; + logMessage += "rotation is at SetPoint : " + pidControllerOmega.atSetpoint() + ": "; + log.append(logMessage); + } + //speeds = ChassisSpeeds.fromFieldRelativeSpeeds(-xspeed, -ySpeed, -zSpeed, swerveSubsystem.getRotation2d()); + speeds = new ChassisSpeeds(-ySpeed, xspeed, omegaSpeed); + + SwerveModuleState[] calculatedModuleStates = DriveConstants.KINEMATICS.toSwerveModuleStates(speeds); + swerveSubsystem.setModules(calculatedModuleStates); + + } + } + catch(Exception e){ + SmartDashboard.putString("AprilTag chase command error", e.getMessage()); + } + } + + public Translation2d DeadBand(Translation2d input, double deadzone) { + double mag = input.getNorm(); + Translation2d norm = input.div(mag); + + if (mag < deadzone) { + return new Translation2d(0.0, 0.0); + } else { + // TODO: Check is it sqrt2 or 1.0... + Translation2d result = norm.times((mag - deadzone) / (1.0 - deadzone)); + return new Translation2d( + clamp(result.getX(), -1.0, 1.0), + clamp(result.getY(), -1.0, 1.0)); + } +} + + @Override + public void end(boolean interrupted) { + swerveSubsystem.stopDrive(); + } +} + diff --git a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java new file mode 100644 index 0000000..a983194 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java @@ -0,0 +1,118 @@ +package frc.robot.subsystems; + +import java.time.LocalDateTime; +import java.util.Dictionary; +import java.util.Enumeration; +import java.util.Hashtable; +import java.util.Optional; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.KnownAprilTag; +import frc.robot.LimelightHelpers; +import frc.robot.Constants.AprilTags; +import frc.robot.Constants.LimelightConstants; +import frc.robot.LimelightHelpers.LimelightTarget_Fiducial; + +public class LimeLightSubsystem extends SubsystemBase { + private Boolean hasAprilTag = false; + private Boolean hasRetroTape = false; + Dictionary lastKnownAprilTags = new Hashtable(); + + public LimeLightSubsystem() { + } + + @Override + public void periodic() { + try{ + KnownAprilTag aprilTag; + LimelightHelpers.LimelightResults results = LimelightHelpers.getLatestResults((LimelightConstants.limeLightName)); + + //If we see april tag(s), we update the dictionary if needed, with position, capture time, and tag ID + if(results.targetingResults.targets_Fiducials.length > 0){ + for (LimelightTarget_Fiducial fd : results.targetingResults.targets_Fiducials){ + aprilTag = lastKnownAprilTags.get(fd.fiducialID); + //If the april tag doesn't already exist in the dictionary, add it + if(aprilTag == null){ + aprilTag = new KnownAprilTag(fd.fiducialID, LocalDateTime.now(), fd.getTargetPose_RobotSpace()); + } + else{ //If it DOES exist, make sure it's up to date + aprilTag.SetTagCaptureTime(LocalDateTime.now()); + aprilTag.SetTagPose3d(fd.getTargetPose_RobotSpace()); + } + lastKnownAprilTags.put(String.valueOf(fd.fiducialID), aprilTag); + } + Enumeration e = lastKnownAprilTags.keys(); + //Loops through dictionary of april tags, and if it's been over a second from capture time, removes the tag + while(e.hasMoreElements()) { + String key = e.nextElement(); + aprilTag = lastKnownAprilTags.get(key); + if((LocalDateTime.now().getSecond() * 1000 - aprilTag.GetTagCaptureTime().getSecond() * 1000) >= 1000){ + lastKnownAprilTags.remove(key); + } + } + e = lastKnownAprilTags.keys(); + //Loops through values of dictionary, for each april tag, prints ID as well as positioning/rotation + while(e.hasMoreElements()) { + String key = e.nextElement(); + aprilTag = lastKnownAprilTags.get(key); + Pose3d pose3d = aprilTag.GetTagPose3d(); + SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() + " X", pose3d.getZ()); + SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() + " Y", pose3d.getX()); + SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() +" Rotation", pose3d.getRotation().getY()); + } + } + else{ + hasAprilTag = false; + } + } + catch(Exception e){ + SmartDashboard.putString("LimeLight Read error", e.getMessage()); + } + } + + public Boolean isAprilTagFound() { + return hasAprilTag; + } + + public Boolean isRetorTapeFound() { + return hasRetroTape; + } + + public Pose3d getKnownAprilTagPose3d(boolean isItForRightSideAprilTag) + { + Pose3d returnValue = null; + String[] tagIdsForThisAction = {}; + Optional alliance = DriverStation.getAlliance(); + KnownAprilTag aprilTag; + if(alliance.isPresent()){ + if(alliance.get() == Alliance.Blue){ + if(isItForRightSideAprilTag){ + tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_RIGHT_APRILTAGS; + } + else{ + tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_LEFT_OR_SINGLE_APRILTAGS; + } + } + else if(alliance.get() == Alliance.Red){ + if(isItForRightSideAprilTag){ + tagIdsForThisAction = AprilTags.RED_ALLIANCE_RIGHT_APRILTAGS; + } + else{ + tagIdsForThisAction = AprilTags.RED_ALLIANCE_LEFT_OR_SINLGE_APRILTAGS; + } + } + for (String tagIdForThisAction : tagIdsForThisAction){ + aprilTag = lastKnownAprilTags.get(tagIdForThisAction); + if(aprilTag != null){ + returnValue = aprilTag.GetTagPose3d(); + break; + } + } + } + return returnValue; + } +} From 67dda2c3dbf7c024a663770124dab323d9ed4d45 Mon Sep 17 00:00:00 2001 From: turtlehedgehog Date: Mon, 15 Jan 2024 20:14:03 -0600 Subject: [PATCH 06/33] 1.15.2024 added more debugging and fixed some issues --- .../robot/commands/GoToAprilTagCommand.java | 22 +++++++++++-------- .../robot/subsystems/LimeLightSubsystem.java | 15 +++++++------ 2 files changed, 21 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java index 77bad1b..4570764 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java @@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants.VisionContsants; +import frc.robot.KnownAprilTag; import frc.robot.Constants.CommonConstants; import frc.robot.Constants.DriveConstants; import frc.robot.subsystems.LimeLightSubsystem; @@ -84,36 +85,39 @@ public void execute() { try{ ChassisSpeeds speeds; if(limeLightSubsystem.isAprilTagFound()){ - Pose3d pose = limeLightSubsystem.getKnownAprilTagPose3d(isItForRightSideAprilTag); - - var xspeed = pidControllerX.calculate(pose.getZ()); + KnownAprilTag aprilTag = limeLightSubsystem.getKnownAprilTag(isItForRightSideAprilTag); + Pose3d pose3d = aprilTag.GetTagPose3d(); + SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " X", pose3d.getZ()); + SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " Y", pose3d.getX()); + SmartDashboard.putNumber("CurrentApril Tag "+ aprilTag.GetTagId() +" Rotation", pose3d.getRotation().getY()); + var xspeed = pidControllerX.calculate(pose3d.getZ()); if (pidControllerX.atSetpoint()) { xspeed = 0; } // Handle alignment side-to-side - var ySpeed = pidControllerY.calculate(pose.getX()); + var ySpeed = pidControllerY.calculate(pose3d.getX()); if (pidControllerY.atSetpoint()) { ySpeed = 0; } // Handle rotation using target Yaw/Z rotation - var omegaSpeed = pidControllerOmega.calculate(pose.getRotation().getY()); + var omegaSpeed = pidControllerOmega.calculate(pose3d.getRotation().getY()); if (pidControllerOmega.atSetpoint()) { omegaSpeed = 0; } if(CommonConstants.LOG_INTO_FILE_ENABLED){ - String logMessage = "target X: " + pose.getX() + ": "; - logMessage += "target X(inches): " + Units.metersToInches(pose.getZ()) + ": "; + String logMessage = "target X: " + pose3d.getX() + ": "; + logMessage += "target X(inches): " + Units.metersToInches(pose3d.getZ()) + ": "; logMessage += "X speed : " + xspeed + ": "; logMessage += "X SetPoint : " + pidControllerX.getSetpoint() + ": "; logMessage += "X is at SetPoint : " + pidControllerX.atSetpoint() + ": "; - logMessage += "target Y: " + pose.getX() + ": "; + logMessage += "target Y: " + pose3d.getX() + ": "; logMessage += "Y speed : " + ySpeed + ": "; logMessage += "Y SetPoint : " + pidControllerY.getSetpoint() + ": "; logMessage += "Y is at SetPoint : " + pidControllerY.atSetpoint() + ": "; - logMessage += "target rotation: " + pose.getRotation().getY() + ": "; + logMessage += "target rotation: " + pose3d.getRotation().getY() + ": "; logMessage += "rotation speed : " + omegaSpeed + ": "; logMessage += "rotation SetPoint : " + pidControllerOmega.getSetpoint() + ": "; logMessage += "rotation is at SetPoint : " + pidControllerOmega.atSetpoint() + ": "; diff --git a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java index a983194..bfbe518 100644 --- a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java +++ b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java @@ -33,6 +33,7 @@ public void periodic() { //If we see april tag(s), we update the dictionary if needed, with position, capture time, and tag ID if(results.targetingResults.targets_Fiducials.length > 0){ + hasAprilTag = true; for (LimelightTarget_Fiducial fd : results.targetingResults.targets_Fiducials){ aprilTag = lastKnownAprilTags.get(fd.fiducialID); //If the april tag doesn't already exist in the dictionary, add it @@ -50,7 +51,7 @@ public void periodic() { while(e.hasMoreElements()) { String key = e.nextElement(); aprilTag = lastKnownAprilTags.get(key); - if((LocalDateTime.now().getSecond() * 1000 - aprilTag.GetTagCaptureTime().getSecond() * 1000) >= 1000){ + if((LocalDateTime.now().getSecond() * 1000 - aprilTag.GetTagCaptureTime().getSecond() * 1000) >= 20){ lastKnownAprilTags.remove(key); } } @@ -82,12 +83,11 @@ public Boolean isRetorTapeFound() { return hasRetroTape; } - public Pose3d getKnownAprilTagPose3d(boolean isItForRightSideAprilTag) + public KnownAprilTag getKnownAprilTag(boolean isItForRightSideAprilTag) { - Pose3d returnValue = null; - String[] tagIdsForThisAction = {}; + String[] tagIdsForThisAction = {}; Optional alliance = DriverStation.getAlliance(); - KnownAprilTag aprilTag; + KnownAprilTag aprilTag = null; if(alliance.isPresent()){ if(alliance.get() == Alliance.Blue){ if(isItForRightSideAprilTag){ @@ -107,12 +107,13 @@ else if(alliance.get() == Alliance.Red){ } for (String tagIdForThisAction : tagIdsForThisAction){ aprilTag = lastKnownAprilTags.get(tagIdForThisAction); + SmartDashboard.putString(getSubsystem(), "I am in inside" + tagIdForThisAction); if(aprilTag != null){ - returnValue = aprilTag.GetTagPose3d(); break; } + } } - return returnValue; + return aprilTag; } } From 4bfa591b757903378024762a12b5a8046b94937e Mon Sep 17 00:00:00 2001 From: Goms8277 Date: Wed, 17 Jan 2024 18:02:22 -0600 Subject: [PATCH 07/33] Vision added debugging details --- src/main/java/frc/robot/Constants.java | 8 +- .../robot/commands/GoToAprilTagCommand.java | 87 ++++++++++--------- .../robot/subsystems/LimeLightSubsystem.java | 70 ++++++++------- 3 files changed, 87 insertions(+), 78 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 36352b9..5173bf8 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -133,15 +133,17 @@ public static class LimelightConstants { public static final Transform3d robotToCamera = new Transform3d( new Translation3d(0.06, -0.2, 0.2127), new Rotation3d(0.0, Units.degreesToRadians(-15.0), Units.degreesToRadians(3.0))); + public static final boolean LOG_APRIL_TAGS_INTO_SMARTDASH_BOARD = true; } public static class AprilTags { - //Area left or single tags + //Blue alliance left or single tags public static final String[] BLUE_ALLIANCE_LEFT_OR_SINGLE_APRILTAGS = { "2", "8", "6", "14", "15", "16" }; - //Area right tags + //Blue alliance right tags public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1", "7" }; - //Area left or single tags + //Red alliance left or single tags public static final String[] RED_ALLIANCE_LEFT_OR_SINLGE_APRILTAGS = { "10", "4", "5", "11", "12", "13" }; + //Blue alliance right tags public static final String[] RED_ALLIANCE_RIGHT_APRILTAGS = { "9", "3" }; } } diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java index 4570764..9b37050 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java @@ -86,49 +86,50 @@ public void execute() { ChassisSpeeds speeds; if(limeLightSubsystem.isAprilTagFound()){ KnownAprilTag aprilTag = limeLightSubsystem.getKnownAprilTag(isItForRightSideAprilTag); - Pose3d pose3d = aprilTag.GetTagPose3d(); - SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " X", pose3d.getZ()); - SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " Y", pose3d.getX()); - SmartDashboard.putNumber("CurrentApril Tag "+ aprilTag.GetTagId() +" Rotation", pose3d.getRotation().getY()); - var xspeed = pidControllerX.calculate(pose3d.getZ()); - if (pidControllerX.atSetpoint()) { - xspeed = 0; - } - - // Handle alignment side-to-side - var ySpeed = pidControllerY.calculate(pose3d.getX()); - if (pidControllerY.atSetpoint()) { - ySpeed = 0; - } - - // Handle rotation using target Yaw/Z rotation - var omegaSpeed = pidControllerOmega.calculate(pose3d.getRotation().getY()); - if (pidControllerOmega.atSetpoint()) { - omegaSpeed = 0; - } - - if(CommonConstants.LOG_INTO_FILE_ENABLED){ - String logMessage = "target X: " + pose3d.getX() + ": "; - logMessage += "target X(inches): " + Units.metersToInches(pose3d.getZ()) + ": "; - logMessage += "X speed : " + xspeed + ": "; - logMessage += "X SetPoint : " + pidControllerX.getSetpoint() + ": "; - logMessage += "X is at SetPoint : " + pidControllerX.atSetpoint() + ": "; - logMessage += "target Y: " + pose3d.getX() + ": "; - logMessage += "Y speed : " + ySpeed + ": "; - logMessage += "Y SetPoint : " + pidControllerY.getSetpoint() + ": "; - logMessage += "Y is at SetPoint : " + pidControllerY.atSetpoint() + ": "; - logMessage += "target rotation: " + pose3d.getRotation().getY() + ": "; - logMessage += "rotation speed : " + omegaSpeed + ": "; - logMessage += "rotation SetPoint : " + pidControllerOmega.getSetpoint() + ": "; - logMessage += "rotation is at SetPoint : " + pidControllerOmega.atSetpoint() + ": "; - log.append(logMessage); - } - //speeds = ChassisSpeeds.fromFieldRelativeSpeeds(-xspeed, -ySpeed, -zSpeed, swerveSubsystem.getRotation2d()); - speeds = new ChassisSpeeds(-ySpeed, xspeed, omegaSpeed); - - SwerveModuleState[] calculatedModuleStates = DriveConstants.KINEMATICS.toSwerveModuleStates(speeds); - swerveSubsystem.setModules(calculatedModuleStates); - + if(aprilTag != null){ + Pose3d pose3d = aprilTag.GetTagPose3d(); + SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " X", pose3d.getZ()); + SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " Y", pose3d.getX()); + SmartDashboard.putNumber("CurrentApril Tag "+ aprilTag.GetTagId() +" Rotation", pose3d.getRotation().getY()); + var xspeed = pidControllerX.calculate(pose3d.getZ()); + if (pidControllerX.atSetpoint()) { + xspeed = 0; + } + + // Handle alignment side-to-side + var ySpeed = pidControllerY.calculate(pose3d.getX()); + if (pidControllerY.atSetpoint()) { + ySpeed = 0; + } + + // Handle rotation using target Yaw/Z rotation + var omegaSpeed = pidControllerOmega.calculate(pose3d.getRotation().getY()); + if (pidControllerOmega.atSetpoint()) { + omegaSpeed = 0; + } + + if(CommonConstants.LOG_INTO_FILE_ENABLED){ + String logMessage = "target X: " + pose3d.getX() + ": "; + logMessage += "target X(inches): " + Units.metersToInches(pose3d.getZ()) + ": "; + logMessage += "X speed : " + xspeed + ": "; + logMessage += "X SetPoint : " + pidControllerX.getSetpoint() + ": "; + logMessage += "X is at SetPoint : " + pidControllerX.atSetpoint() + ": "; + logMessage += "target Y: " + pose3d.getX() + ": "; + logMessage += "Y speed : " + ySpeed + ": "; + logMessage += "Y SetPoint : " + pidControllerY.getSetpoint() + ": "; + logMessage += "Y is at SetPoint : " + pidControllerY.atSetpoint() + ": "; + logMessage += "target rotation: " + pose3d.getRotation().getY() + ": "; + logMessage += "rotation speed : " + omegaSpeed + ": "; + logMessage += "rotation SetPoint : " + pidControllerOmega.getSetpoint() + ": "; + logMessage += "rotation is at SetPoint : " + pidControllerOmega.atSetpoint() + ": "; + log.append(logMessage); + } + //speeds = ChassisSpeeds.fromFieldRelativeSpeeds(-xspeed, -ySpeed, -zSpeed, swerveSubsystem.getRotation2d()); + speeds = new ChassisSpeeds(-ySpeed, xspeed, omegaSpeed); + + SwerveModuleState[] calculatedModuleStates = DriveConstants.KINEMATICS.toSwerveModuleStates(speeds); + swerveSubsystem.setModules(calculatedModuleStates); + } } } catch(Exception e){ diff --git a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java index bfbe518..f001b0e 100644 --- a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java +++ b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java @@ -1,5 +1,6 @@ package frc.robot.subsystems; +import java.time.Duration; import java.time.LocalDateTime; import java.util.Dictionary; import java.util.Enumeration; @@ -51,19 +52,24 @@ public void periodic() { while(e.hasMoreElements()) { String key = e.nextElement(); aprilTag = lastKnownAprilTags.get(key); - if((LocalDateTime.now().getSecond() * 1000 - aprilTag.GetTagCaptureTime().getSecond() * 1000) >= 20){ + Duration duration = Duration.between(LocalDateTime.now(), aprilTag.GetTagCaptureTime()); + if(duration.getSeconds() * 1000 >= 40){ lastKnownAprilTags.remove(key); } } - e = lastKnownAprilTags.keys(); - //Loops through values of dictionary, for each april tag, prints ID as well as positioning/rotation - while(e.hasMoreElements()) { - String key = e.nextElement(); - aprilTag = lastKnownAprilTags.get(key); - Pose3d pose3d = aprilTag.GetTagPose3d(); - SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() + " X", pose3d.getZ()); - SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() + " Y", pose3d.getX()); - SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() +" Rotation", pose3d.getRotation().getY()); + if(LimelightConstants.LOG_APRIL_TAGS_INTO_SMARTDASH_BOARD){ + e = lastKnownAprilTags.keys(); + //Loops through values of dictionary, for each april tag, prints ID as well as positioning/rotation + while(e.hasMoreElements()) { + String key = e.nextElement(); + aprilTag = lastKnownAprilTags.get(key); + if(aprilTag != null){ + Pose3d pose3d = aprilTag.GetTagPose3d(); + SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() + " X", pose3d.getZ()); + SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() + " Y", pose3d.getX()); + SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() +" Rotation", pose3d.getRotation().getY()); + } + } } } else{ @@ -85,33 +91,33 @@ public Boolean isRetorTapeFound() { public KnownAprilTag getKnownAprilTag(boolean isItForRightSideAprilTag) { - String[] tagIdsForThisAction = {}; - Optional alliance = DriverStation.getAlliance(); - KnownAprilTag aprilTag = null; - if(alliance.isPresent()){ - if(alliance.get() == Alliance.Blue){ - if(isItForRightSideAprilTag){ - tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_RIGHT_APRILTAGS; - } - else{ - tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_LEFT_OR_SINGLE_APRILTAGS; - } + String[] tagIdsForThisAction = {}; + Optional alliance = DriverStation.getAlliance(); + KnownAprilTag aprilTag = null; + if(alliance.isPresent()){ + if(alliance.get() == Alliance.Blue){ + if(isItForRightSideAprilTag){ + tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_RIGHT_APRILTAGS; + } + else{ + tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_LEFT_OR_SINGLE_APRILTAGS; + } + } + else if(alliance.get() == Alliance.Red){ + if(isItForRightSideAprilTag){ + tagIdsForThisAction = AprilTags.RED_ALLIANCE_RIGHT_APRILTAGS; + } + else{ + tagIdsForThisAction = AprilTags.RED_ALLIANCE_LEFT_OR_SINLGE_APRILTAGS; } - else if(alliance.get() == Alliance.Red){ - if(isItForRightSideAprilTag){ - tagIdsForThisAction = AprilTags.RED_ALLIANCE_RIGHT_APRILTAGS; - } - else{ - tagIdsForThisAction = AprilTags.RED_ALLIANCE_LEFT_OR_SINLGE_APRILTAGS; - } } - for (String tagIdForThisAction : tagIdsForThisAction){ - aprilTag = lastKnownAprilTags.get(tagIdForThisAction); - SmartDashboard.putString(getSubsystem(), "I am in inside" + tagIdForThisAction); + for (int i = 0; i < tagIdsForThisAction.length; i++) { + aprilTag = lastKnownAprilTags.get(tagIdsForThisAction[i]); + SmartDashboard.putString("I am inside 1 : ", tagIdsForThisAction[i]); if(aprilTag != null){ + SmartDashboard.putString("Found aprilTag: ", "Id : " + aprilTag.GetTagId()); break; } - } } return aprilTag; From f69a34d262490da7c1c3d47684295095c095ea2f Mon Sep 17 00:00:00 2001 From: Goms8277 Date: Thu, 18 Jan 2024 16:08:49 -0600 Subject: [PATCH 08/33] Vision changes for GoToAprilTagCommand --- src/main/java/frc/robot/Constants.java | 20 ++++++++++++++---- src/main/java/frc/robot/RobotContainer.java | 10 ++++++--- .../robot/commands/GoToAprilTagCommand.java | 9 ++++---- .../robot/subsystems/LimeLightSubsystem.java | 21 ++++++++++++------- 4 files changed, 42 insertions(+), 18 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 5173bf8..a039381 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -137,13 +137,25 @@ public static class LimelightConstants { } public static class AprilTags { - //Blue alliance left or single tags - public static final String[] BLUE_ALLIANCE_LEFT_OR_SINGLE_APRILTAGS = { "2", "8", "6", "14", "15", "16" }; + //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16 + //Blue alliance left tags + public static final String[] BLUE_ALLIANCE_LEFT_APRILTAGS = { "2", "8" }; //Blue alliance right tags public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1", "7" }; - //Red alliance left or single tags - public static final String[] RED_ALLIANCE_LEFT_OR_SINLGE_APRILTAGS = { "10", "4", "5", "11", "12", "13" }; + //Blue alliance center/single tags + public static final String[] BLUE_ALLIANCE_CENTER_APRILTAGS = { "6", "14", "15", "16"}; + //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 + //Red alliance left tags + public static final String[] RED_ALLIANCE_LEFT_APRILTAGS = { "10", "4" }; //Blue alliance right tags public static final String[] RED_ALLIANCE_RIGHT_APRILTAGS = { "9", "3" }; + //Blue alliance center/single tags + public static final String[] RED_ALLIANCE_CENTER_APRILTAGS = { "5", "11", "12", "13"}; + + public static enum AprilTagPosition { + LEFT, + RIGHT, + CENTER + } } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index bcc46ab..77cead1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -5,6 +5,7 @@ package frc.robot; import frc.robot.Constants.*; +import frc.robot.Constants.AprilTags.AprilTagPosition; import frc.robot.commands.*; import frc.robot.subsystems.LimeLightSubsystem; import frc.robot.subsystems.SwerveSubsystem; @@ -60,9 +61,12 @@ public RobotContainer() { * joysticks}. */ private void configureBindings() { - // use b to chase April tag - driverXbox.b().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, false)); - driverXbox.a().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, true)); + // Left tag + driverXbox.a().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.LEFT)); + // Right tag + driverXbox.b().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.RIGHT)); + // single/center tag + driverXbox.y().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.CENTER)); } /** diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java index 9b37050..a025ad2 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java @@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants.VisionContsants; +import frc.robot.Constants.AprilTags.AprilTagPosition; import frc.robot.KnownAprilTag; import frc.robot.Constants.CommonConstants; import frc.robot.Constants.DriveConstants; @@ -28,7 +29,7 @@ public class GoToAprilTagCommand extends Command { private final SwerveSubsystem swerveSubsystem; public final LimeLightSubsystem limeLightSubsystem; - public final boolean isItForRightSideAprilTag; + public final AprilTagPosition tagPosition; private final ProfiledPIDController pidControllerX = new ProfiledPIDController(VisionContsants.X_kP, VisionContsants.X_kI, VisionContsants.X_kD, new Constraints(DriveConstants.MAX_ROBOT_VELOCITY, DriveConstants.MAX_ROBOT_RAD_VELOCITY)); private final ProfiledPIDController pidControllerY = new ProfiledPIDController(VisionContsants.Y_kP, VisionContsants.Y_kI, VisionContsants.Y_kD, new Constraints(DriveConstants.MAX_ROBOT_VELOCITY, DriveConstants.MAX_ROBOT_RAD_VELOCITY)); @@ -39,11 +40,11 @@ public class GoToAprilTagCommand extends Command { public GoToAprilTagCommand( SwerveSubsystem swerveSubsystem, LimeLightSubsystem limeLightSubsystem, - boolean isItForRightSideAprilTag) + AprilTagPosition tagPosition) { this.swerveSubsystem = swerveSubsystem; this.limeLightSubsystem = limeLightSubsystem; - this.isItForRightSideAprilTag = isItForRightSideAprilTag; + this.tagPosition = tagPosition; addRequirements(swerveSubsystem); } @@ -85,7 +86,7 @@ public void execute() { try{ ChassisSpeeds speeds; if(limeLightSubsystem.isAprilTagFound()){ - KnownAprilTag aprilTag = limeLightSubsystem.getKnownAprilTag(isItForRightSideAprilTag); + KnownAprilTag aprilTag = limeLightSubsystem.getKnownAprilTag(tagPosition); if(aprilTag != null){ Pose3d pose3d = aprilTag.GetTagPose3d(); SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " X", pose3d.getZ()); diff --git a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java index f001b0e..d8b7500 100644 --- a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java +++ b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java @@ -16,6 +16,7 @@ import frc.robot.LimelightHelpers; import frc.robot.Constants.AprilTags; import frc.robot.Constants.LimelightConstants; +import frc.robot.Constants.AprilTags.AprilTagPosition; import frc.robot.LimelightHelpers.LimelightTarget_Fiducial; public class LimeLightSubsystem extends SubsystemBase { @@ -89,26 +90,32 @@ public Boolean isRetorTapeFound() { return hasRetroTape; } - public KnownAprilTag getKnownAprilTag(boolean isItForRightSideAprilTag) + public KnownAprilTag getKnownAprilTag(AprilTagPosition tagPosition) { String[] tagIdsForThisAction = {}; Optional alliance = DriverStation.getAlliance(); KnownAprilTag aprilTag = null; if(alliance.isPresent()){ if(alliance.get() == Alliance.Blue){ - if(isItForRightSideAprilTag){ + if(tagPosition == AprilTagPosition.LEFT){ + tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_LEFT_APRILTAGS; + } + else if(tagPosition == AprilTagPosition.RIGHT){ tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_RIGHT_APRILTAGS; } - else{ - tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_LEFT_OR_SINGLE_APRILTAGS; + else if(tagPosition == AprilTagPosition.CENTER){ + tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_CENTER_APRILTAGS; } } else if(alliance.get() == Alliance.Red){ - if(isItForRightSideAprilTag){ + if(tagPosition == AprilTagPosition.LEFT){ + tagIdsForThisAction = AprilTags.RED_ALLIANCE_LEFT_APRILTAGS; + } + else if(tagPosition == AprilTagPosition.RIGHT){ tagIdsForThisAction = AprilTags.RED_ALLIANCE_RIGHT_APRILTAGS; } - else{ - tagIdsForThisAction = AprilTags.RED_ALLIANCE_LEFT_OR_SINLGE_APRILTAGS; + else if(tagPosition == AprilTagPosition.CENTER){ + tagIdsForThisAction = AprilTags.RED_ALLIANCE_CENTER_APRILTAGS; } } for (int i = 0; i < tagIdsForThisAction.length; i++) { From 04f9a8192a110d00563a78abc4fef1d5167210eb Mon Sep 17 00:00:00 2001 From: Techneekal-Guru Date: Sat, 20 Jan 2024 00:31:54 -0600 Subject: [PATCH 09/33] Stuff #2 Easier for Byron --- src/main/java/frc/robot/Constants.java | 12 ++++++------ .../frc/robot/subsystems/LimeLightSubsystem.java | 12 ++++++------ 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a039381..f05b508 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -139,18 +139,18 @@ public static class LimelightConstants { public static class AprilTags { //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16 //Blue alliance left tags - public static final String[] BLUE_ALLIANCE_LEFT_APRILTAGS = { "2", "8" }; + public static final String[] BLUE_ALLIANCE_LEFT_APRILTAGS = { "2.0", "8.0" }; //Blue alliance right tags - public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1", "7" }; + public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1.0", "7.0" }; //Blue alliance center/single tags - public static final String[] BLUE_ALLIANCE_CENTER_APRILTAGS = { "6", "14", "15", "16"}; + public static final String[] BLUE_ALLIANCE_CENTER_APRILTAGS = { "6.0", "14.0", "15.0", "16.0"}; //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 //Red alliance left tags - public static final String[] RED_ALLIANCE_LEFT_APRILTAGS = { "10", "4" }; + public static final String[] RED_ALLIANCE_LEFT_APRILTAGS = { "10.0", "4.0" }; //Blue alliance right tags - public static final String[] RED_ALLIANCE_RIGHT_APRILTAGS = { "9", "3" }; + public static final String[] RED_ALLIANCE_RIGHT_APRILTAGS = { "9.0", "3.0" }; //Blue alliance center/single tags - public static final String[] RED_ALLIANCE_CENTER_APRILTAGS = { "5", "11", "12", "13"}; + public static final String[] RED_ALLIANCE_CENTER_APRILTAGS = { "5.0", "11.0", "12.0", "13.0"}; public static enum AprilTagPosition { LEFT, diff --git a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java index d8b7500..46a8d4c 100644 --- a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java +++ b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java @@ -48,10 +48,10 @@ public void periodic() { } lastKnownAprilTags.put(String.valueOf(fd.fiducialID), aprilTag); } - Enumeration e = lastKnownAprilTags.keys(); + Enumeration latestResults = lastKnownAprilTags.keys(); //Loops through dictionary of april tags, and if it's been over a second from capture time, removes the tag - while(e.hasMoreElements()) { - String key = e.nextElement(); + while(latestResults.hasMoreElements()) { + String key = latestResults.nextElement(); aprilTag = lastKnownAprilTags.get(key); Duration duration = Duration.between(LocalDateTime.now(), aprilTag.GetTagCaptureTime()); if(duration.getSeconds() * 1000 >= 40){ @@ -59,10 +59,10 @@ public void periodic() { } } if(LimelightConstants.LOG_APRIL_TAGS_INTO_SMARTDASH_BOARD){ - e = lastKnownAprilTags.keys(); + latestResults = lastKnownAprilTags.keys(); //Loops through values of dictionary, for each april tag, prints ID as well as positioning/rotation - while(e.hasMoreElements()) { - String key = e.nextElement(); + while(latestResults.hasMoreElements()) { + String key = latestResults.nextElement(); aprilTag = lastKnownAprilTags.get(key); if(aprilTag != null){ Pose3d pose3d = aprilTag.GetTagPose3d(); From 4b2859c473a98c0fbaa875459d0e6dbd596a81aa Mon Sep 17 00:00:00 2001 From: Goms8277 Date: Sat, 20 Jan 2024 06:44:37 -0600 Subject: [PATCH 10/33] Added Comments --- src/main/java/frc/robot/Constants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a039381..8096b8b 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -137,8 +137,8 @@ public static class LimelightConstants { } public static class AprilTags { - //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16 - //Blue alliance left tags + //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16. + //Blue alliance left tags. public static final String[] BLUE_ALLIANCE_LEFT_APRILTAGS = { "2", "8" }; //Blue alliance right tags public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1", "7" }; From 954f6b8c0124046d342c66350f588c5b042a4bb7 Mon Sep 17 00:00:00 2001 From: Techneekal-Guru Date: Sat, 20 Jan 2024 07:19:55 -0600 Subject: [PATCH 11/33] Revert "Stuff #2" This reverts commit 04f9a8192a110d00563a78abc4fef1d5167210eb. --- src/main/java/frc/robot/Constants.java | 12 ++++++------ .../frc/robot/subsystems/LimeLightSubsystem.java | 12 ++++++------ 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index f05b508..a039381 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -139,18 +139,18 @@ public static class LimelightConstants { public static class AprilTags { //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16 //Blue alliance left tags - public static final String[] BLUE_ALLIANCE_LEFT_APRILTAGS = { "2.0", "8.0" }; + public static final String[] BLUE_ALLIANCE_LEFT_APRILTAGS = { "2", "8" }; //Blue alliance right tags - public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1.0", "7.0" }; + public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1", "7" }; //Blue alliance center/single tags - public static final String[] BLUE_ALLIANCE_CENTER_APRILTAGS = { "6.0", "14.0", "15.0", "16.0"}; + public static final String[] BLUE_ALLIANCE_CENTER_APRILTAGS = { "6", "14", "15", "16"}; //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 //Red alliance left tags - public static final String[] RED_ALLIANCE_LEFT_APRILTAGS = { "10.0", "4.0" }; + public static final String[] RED_ALLIANCE_LEFT_APRILTAGS = { "10", "4" }; //Blue alliance right tags - public static final String[] RED_ALLIANCE_RIGHT_APRILTAGS = { "9.0", "3.0" }; + public static final String[] RED_ALLIANCE_RIGHT_APRILTAGS = { "9", "3" }; //Blue alliance center/single tags - public static final String[] RED_ALLIANCE_CENTER_APRILTAGS = { "5.0", "11.0", "12.0", "13.0"}; + public static final String[] RED_ALLIANCE_CENTER_APRILTAGS = { "5", "11", "12", "13"}; public static enum AprilTagPosition { LEFT, diff --git a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java index 46a8d4c..d8b7500 100644 --- a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java +++ b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java @@ -48,10 +48,10 @@ public void periodic() { } lastKnownAprilTags.put(String.valueOf(fd.fiducialID), aprilTag); } - Enumeration latestResults = lastKnownAprilTags.keys(); + Enumeration e = lastKnownAprilTags.keys(); //Loops through dictionary of april tags, and if it's been over a second from capture time, removes the tag - while(latestResults.hasMoreElements()) { - String key = latestResults.nextElement(); + while(e.hasMoreElements()) { + String key = e.nextElement(); aprilTag = lastKnownAprilTags.get(key); Duration duration = Duration.between(LocalDateTime.now(), aprilTag.GetTagCaptureTime()); if(duration.getSeconds() * 1000 >= 40){ @@ -59,10 +59,10 @@ public void periodic() { } } if(LimelightConstants.LOG_APRIL_TAGS_INTO_SMARTDASH_BOARD){ - latestResults = lastKnownAprilTags.keys(); + e = lastKnownAprilTags.keys(); //Loops through values of dictionary, for each april tag, prints ID as well as positioning/rotation - while(latestResults.hasMoreElements()) { - String key = latestResults.nextElement(); + while(e.hasMoreElements()) { + String key = e.nextElement(); aprilTag = lastKnownAprilTags.get(key); if(aprilTag != null){ Pose3d pose3d = aprilTag.GetTagPose3d(); From f243f277d1f949a9b703f8c9f3fb7ebb61b72f9c Mon Sep 17 00:00:00 2001 From: Techneekal-Guru Date: Sat, 20 Jan 2024 07:27:43 -0600 Subject: [PATCH 12/33] Changed the tagId to double in constants --- src/main/java/frc/robot/Constants.java | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 8096b8b..7f43060 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -139,18 +139,18 @@ public static class LimelightConstants { public static class AprilTags { //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16. //Blue alliance left tags. - public static final String[] BLUE_ALLIANCE_LEFT_APRILTAGS = { "2", "8" }; + public static final String[] BLUE_ALLIANCE_LEFT_APRILTAGS = { "2.0", "8.0" }; //Blue alliance right tags - public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1", "7" }; + public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1.0", "70" }; //Blue alliance center/single tags - public static final String[] BLUE_ALLIANCE_CENTER_APRILTAGS = { "6", "14", "15", "16"}; + public static final String[] BLUE_ALLIANCE_CENTER_APRILTAGS = { "6.0", "14.0", "15.0", "16.0"}; //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 //Red alliance left tags - public static final String[] RED_ALLIANCE_LEFT_APRILTAGS = { "10", "4" }; + public static final String[] RED_ALLIANCE_LEFT_APRILTAGS = { "10.0", "4.0" }; //Blue alliance right tags - public static final String[] RED_ALLIANCE_RIGHT_APRILTAGS = { "9", "3" }; + public static final String[] RED_ALLIANCE_RIGHT_APRILTAGS = { "9.0", "3.0" }; //Blue alliance center/single tags - public static final String[] RED_ALLIANCE_CENTER_APRILTAGS = { "5", "11", "12", "13"}; + public static final String[] RED_ALLIANCE_CENTER_APRILTAGS = { "5.0", "11.0", "12.0", "13.0"}; public static enum AprilTagPosition { LEFT, From 547a6a6ef07c2689a013f1f001dba2215099dc1d Mon Sep 17 00:00:00 2001 From: Techneekal-Guru Date: Sat, 20 Jan 2024 07:29:31 -0600 Subject: [PATCH 13/33] Changed the tagId to double in constants --- src/main/java/frc/robot/Constants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 7f43060..a680cc8 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -141,7 +141,7 @@ public static class AprilTags { //Blue alliance left tags. public static final String[] BLUE_ALLIANCE_LEFT_APRILTAGS = { "2.0", "8.0" }; //Blue alliance right tags - public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1.0", "70" }; + public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1.0", "7.0" }; //Blue alliance center/single tags public static final String[] BLUE_ALLIANCE_CENTER_APRILTAGS = { "6.0", "14.0", "15.0", "16.0"}; //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 From 4409b0936d1c619fe42baa881efb91c90499ff6a Mon Sep 17 00:00:00 2001 From: Yunju607 Date: Sat, 20 Jan 2024 10:39:31 -0600 Subject: [PATCH 14/33] Amp apriltag working version in shop --- .../frc/robot/commands/GoToAprilTagCommand.java | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java index a025ad2..76c3164 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java @@ -51,12 +51,12 @@ public GoToAprilTagCommand( @Override public void initialize() { super.initialize(); - //pidControllerX.reset(swerveSubsystem.getPose().getY()); - //pidControllerY.reset(swerveSubsystem.getPose().getX()); - //pidControllerOmega.reset(swerveSubsystem.getRotation2d().getRadians()); + pidControllerX.reset(swerveSubsystem.getPose().getY()); + pidControllerY.reset(swerveSubsystem.getPose().getX()); + pidControllerOmega.reset(swerveSubsystem.getRotation2d().getRadians()); - pidControllerX.setGoal(Units.inchesToMeters(36)); // Move forward/backwork to keep 36 inches from the target + pidControllerX.setGoal(Units.inchesToMeters(0)); // Move forward/backwork to keep 36 inches from the target pidControllerX.setTolerance(Units.inchesToMeters(2.5)); pidControllerY.setGoal(0); // Move side to side to keep target centered @@ -131,6 +131,12 @@ public void execute() { SwerveModuleState[] calculatedModuleStates = DriveConstants.KINEMATICS.toSwerveModuleStates(speeds); swerveSubsystem.setModules(calculatedModuleStates); } + else{ + swerveSubsystem.stopDrive(); + } + } + else{ + swerveSubsystem.stopDrive(); } } catch(Exception e){ From 405b5a31aa754eef5f84903df1cc9ce04f7d4de4 Mon Sep 17 00:00:00 2001 From: Yunju607 Date: Sat, 20 Jan 2024 12:17:32 -0600 Subject: [PATCH 15/33] Working version for robot position based on april tag position --- .../frc/robot/commands/GoToAprilTagCommand.java | 8 ++++---- .../frc/robot/subsystems/LimeLightSubsystem.java | 16 +++++++++------- 2 files changed, 13 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java index 76c3164..3e2e9e4 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java @@ -51,12 +51,12 @@ public GoToAprilTagCommand( @Override public void initialize() { super.initialize(); - pidControllerX.reset(swerveSubsystem.getPose().getY()); - pidControllerY.reset(swerveSubsystem.getPose().getX()); - pidControllerOmega.reset(swerveSubsystem.getRotation2d().getRadians()); + //pidControllerX.reset(swerveSubsystem.getPose().getY()); + //pidControllerY.reset(swerveSubsystem.getPose().getX()); + //pidControllerOmega.reset(swerveSubsystem.getRotation2d().getRadians()); - pidControllerX.setGoal(Units.inchesToMeters(0)); // Move forward/backwork to keep 36 inches from the target + pidControllerX.setGoal(Units.inchesToMeters(50)); // Move forward/backwork to keep 36 inches from the target pidControllerX.setTolerance(Units.inchesToMeters(2.5)); pidControllerY.setGoal(0); // Move side to side to keep target centered diff --git a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java index d8b7500..a6b440d 100644 --- a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java +++ b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java @@ -48,13 +48,18 @@ public void periodic() { } lastKnownAprilTags.put(String.valueOf(fd.fiducialID), aprilTag); } - Enumeration e = lastKnownAprilTags.keys(); + } + else{ + hasAprilTag = false; + } + Enumeration e = lastKnownAprilTags.keys(); //Loops through dictionary of april tags, and if it's been over a second from capture time, removes the tag while(e.hasMoreElements()) { String key = e.nextElement(); aprilTag = lastKnownAprilTags.get(key); - Duration duration = Duration.between(LocalDateTime.now(), aprilTag.GetTagCaptureTime()); - if(duration.getSeconds() * 1000 >= 40){ + Duration duration = Duration.between(aprilTag.GetTagCaptureTime(), LocalDateTime.now()); + SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() + " duration ", duration.toMillis()); + if(duration.toMillis() >= 40){ lastKnownAprilTags.remove(key); } } @@ -72,10 +77,7 @@ public void periodic() { } } } - } - else{ - hasAprilTag = false; - } + SmartDashboard.putNumber("April Tags Count", lastKnownAprilTags.size()); } catch(Exception e){ SmartDashboard.putString("LimeLight Read error", e.getMessage()); From 704c254cf49ba166ce98947addf052e4cb71155b Mon Sep 17 00:00:00 2001 From: Yunju607 Date: Mon, 22 Jan 2024 19:52:10 -0600 Subject: [PATCH 16/33] Cleanup in GoToAprilTagCommand --- src/main/java/frc/robot/Constants.java | 1 + src/main/java/frc/robot/commands/GoToAprilTagCommand.java | 8 +++++--- .../java/frc/robot/subsystems/LimeLightSubsystem.java | 4 ++-- 3 files changed, 8 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a680cc8..1b3e6e1 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -134,6 +134,7 @@ public static class LimelightConstants { new Translation3d(0.06, -0.2, 0.2127), new Rotation3d(0.0, Units.degreesToRadians(-15.0), Units.degreesToRadians(3.0))); public static final boolean LOG_APRIL_TAGS_INTO_SMARTDASH_BOARD = true; + public static final int CLEAR_APRILTAG_INTERVAL = 40; // 20 mili sec } public static class AprilTags { diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java index 3e2e9e4..5cede61 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java @@ -89,9 +89,11 @@ public void execute() { KnownAprilTag aprilTag = limeLightSubsystem.getKnownAprilTag(tagPosition); if(aprilTag != null){ Pose3d pose3d = aprilTag.GetTagPose3d(); - SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " X", pose3d.getZ()); - SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " Y", pose3d.getX()); - SmartDashboard.putNumber("CurrentApril Tag "+ aprilTag.GetTagId() +" Rotation", pose3d.getRotation().getY()); + if(CommonConstants.LOG_INTO_FILE_ENABLED){ + SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " X", pose3d.getZ()); + SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " Y", pose3d.getX()); + SmartDashboard.putNumber("CurrentApril Tag "+ aprilTag.GetTagId() +" Rotation", pose3d.getRotation().getY()); + } var xspeed = pidControllerX.calculate(pose3d.getZ()); if (pidControllerX.atSetpoint()) { xspeed = 0; diff --git a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java index a6b440d..3b1e5ae 100644 --- a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java +++ b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java @@ -59,7 +59,7 @@ public void periodic() { aprilTag = lastKnownAprilTags.get(key); Duration duration = Duration.between(aprilTag.GetTagCaptureTime(), LocalDateTime.now()); SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() + " duration ", duration.toMillis()); - if(duration.toMillis() >= 40){ + if(duration.toMillis() >= LimelightConstants.CLEAR_APRILTAG_INTERVAL){ lastKnownAprilTags.remove(key); } } @@ -76,8 +76,8 @@ public void periodic() { SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() +" Rotation", pose3d.getRotation().getY()); } } + SmartDashboard.putNumber("April Tags Count", lastKnownAprilTags.size()); } - SmartDashboard.putNumber("April Tags Count", lastKnownAprilTags.size()); } catch(Exception e){ SmartDashboard.putString("LimeLight Read error", e.getMessage()); From 6df37fbb5cff4b50872a9d586730bb711cf7e054 Mon Sep 17 00:00:00 2001 From: Spoopr Date: Sat, 27 Jan 2024 12:51:06 -0600 Subject: [PATCH 17/33] reimplemented x-stance, bound to right bumper --- .../java/frc/robot/commands/DriveCommand.java | 2 +- .../frc/robot/subsystems/SwerveSubsystem.java | 20 ++++++++----------- 2 files changed, 9 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc/robot/commands/DriveCommand.java b/src/main/java/frc/robot/commands/DriveCommand.java index f475586..1a2ed56 100644 --- a/src/main/java/frc/robot/commands/DriveCommand.java +++ b/src/main/java/frc/robot/commands/DriveCommand.java @@ -109,7 +109,7 @@ public void execute() { // State transition logic switch (state) { case Free: - state = xbox.getBButton() ? DriveState.Locked : DriveState.Free; + state = xbox.getRightBumper() ? DriveState.Locked : DriveState.Free; break; case Locked: state = ((xyRaw.getNorm() > 0.15) && !xbox.getBButton()) ? DriveState.Free : DriveState.Locked; diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java index d79d89c..a8cea1c 100644 --- a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java @@ -162,18 +162,14 @@ public void setChassisSpeedsAUTO(ChassisSpeeds speeds) { } public void setXstance() { - // frontLeft.setModuleStateRaw(new SwerveModuleState(0, - // Rotation2d.fromDegrees(45))); - // frontRight.setModuleStateRaw(new SwerveModuleState(0, - // Rotation2d.fromDegrees(-45))); - // backLeft.setModuleStateRaw(new SwerveModuleState(0, - // Rotation2d.fromDegrees(-45))); - // backRight.setModuleStateRaw(new SwerveModuleState(0, - // Rotation2d.fromDegrees(45))); - frontLeft.setModuleStateRaw(new SwerveModuleState(0.1, Rotation2d.fromDegrees(0))); - frontRight.setModuleStateRaw(new SwerveModuleState(0.1, Rotation2d.fromDegrees(0))); - backLeft.setModuleStateRaw(new SwerveModuleState(0.1, Rotation2d.fromDegrees(0))); - backRight.setModuleStateRaw(new SwerveModuleState(0.1, Rotation2d.fromDegrees(0))); + frontLeft.setModuleStateRaw(new SwerveModuleState(0, + Rotation2d.fromDegrees(45))); + frontRight.setModuleStateRaw(new SwerveModuleState(0, + Rotation2d.fromDegrees(-45))); + backLeft.setModuleStateRaw(new SwerveModuleState(0, + Rotation2d.fromDegrees(-45))); + backRight.setModuleStateRaw(new SwerveModuleState(0, + Rotation2d.fromDegrees(45))); } public ChassisSpeeds getChassisSpeeds() { From 4c0570896e974186dade172e04409475f13481b8 Mon Sep 17 00:00:00 2001 From: michael-m-2983 <116770284+michael-m-2983@users.noreply.github.com> Date: Sat, 27 Jan 2024 12:54:58 -0600 Subject: [PATCH 18/33] Eradicate JUnit --- build.gradle | 8 -------- 1 file changed, 8 deletions(-) diff --git a/build.gradle b/build.gradle index e97f427..32601c1 100644 --- a/build.gradle +++ b/build.gradle @@ -66,14 +66,6 @@ dependencies { nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) simulationRelease wpi.sim.enableRelease() - - testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' - testRuntimeOnly 'org.junit.platform:junit-platform-launcher' -} - -test { - useJUnitPlatform() - systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' } // Simulation configuration (e.g. environment variables). From d738ea05f4bb296154e6fcc5686e6358e2f52e2a Mon Sep 17 00:00:00 2001 From: Tekneekal-Guru Date: Mon, 29 Jan 2024 16:34:42 -0800 Subject: [PATCH 19/33] Comp Robot Works! --- src/main/java/frc/robot/Constants.java | 34 +++++++++++++------------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 5173bf8..d3a6767 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -49,34 +49,34 @@ public static class SwerveModuleConstants { public static final double MODULE_KD = 0.0066806;// 0.0057682; //0.0076954; // --------- Front Left Module --------- \\ - public static final int FL_DRIVE_ID = 2; - public static final int FL_STEER_ID = 1; + public static final int FL_DRIVE_ID = 1; + public static final int FL_STEER_ID = 2; public static final int FL_ABSOLUTE_ENCODER_PORT = 1; - public static final double FL_OFFSET_RADIANS = Units.rotationsToRadians(0.074951) + Math.PI * 0.5; + public static final double FL_OFFSET_RADIANS = Units.rotationsToRadians(-0.288574) + Math.PI * 0.5 + Math.PI; public static final boolean FL_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean FL_MOTOR_REVERSED = false; // --------- Front Right Module --------- \\ - public static final int FR_DRIVE_ID = 4; - public static final int FR_STEER_ID = 3; - public static final int FR_ABSOLUTE_ENCODER_PORT = 4; - public static final double FR_OFFSET_RADIANS = Units.rotationsToRadians(-0.062256) + Math.PI * 0.5; + public static final int FR_DRIVE_ID = 7; + public static final int FR_STEER_ID = 8; + public static final int FR_ABSOLUTE_ENCODER_PORT = 2; + public static final double FR_OFFSET_RADIANS = Units.rotationsToRadians(0.193848) + Math.PI * 0.5 + Math.PI; public static final boolean FR_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean FR_MOTOR_REVERSED = false; // --------- Back Right Module --------- \\ - public static final int BR_DRIVE_ID = 6; - public static final int BR_STEER_ID = 5; - public static final int BR_ABSOLUTE_ENCODER_PORT = 2; - public static final double BR_OFFSET_RADIANS = Units.rotationsToRadians(0.152100) + Math.PI * 0.5; + public static final int BR_DRIVE_ID = 5; + public static final int BR_STEER_ID = 6; + public static final int BR_ABSOLUTE_ENCODER_PORT = 3; + public static final double BR_OFFSET_RADIANS = Units.rotationsToRadians(0.269043) + Math.PI * 0.5; public static final boolean BR_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean BR_MOTOR_REVERSED = false; // --------- Back Left Module --------- \\ - public static final int BL_DRIVE_ID = 8; - public static final int BL_STEER_ID = 7; - public static final int BL_ABSOLUTE_ENCODER_PORT = 3; - public static final double BL_OFFSET_RADIANS = Units.rotationsToRadians(-0.109131) + Math.PI * 0.5; + public static final int BL_DRIVE_ID = 3; + public static final int BL_STEER_ID = 4; + public static final int BL_ABSOLUTE_ENCODER_PORT = 4; + public static final double BL_OFFSET_RADIANS = Units.rotationsToRadians(0.423340) + Math.PI * 0.5 + Math.PI; public static final boolean BL_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean BL_MOTOR_REVERSED = false; @@ -88,8 +88,8 @@ public static class DriveConstants { public static final double MAX_ROBOT_RAD_VELOCITY = 12.0; // Approx. Measured rads/sec // TODO: Change based on actual robot! - public static final double TRACK_WIDTH = Units.inchesToMeters(18.75); - public static final double WHEEL_BASE = Units.inchesToMeters(18.75); + public static final double TRACK_WIDTH = Units.inchesToMeters(19.75); + public static final double WHEEL_BASE = Units.inchesToMeters(24.75); public static final Rotation2d NAVX_ANGLE_OFFSET = Rotation2d.fromDegrees(90); public static final class ModuleIndices { From fa8322ddb65e0db458b8f3f710d271815fb57aa0 Mon Sep 17 00:00:00 2001 From: Adamfire Date: Wed, 31 Jan 2024 18:27:05 -0600 Subject: [PATCH 20/33] Recalibrated swerve module offsets --- src/main/java/frc/robot/Constants.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index d3a6767..2531019 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -52,7 +52,7 @@ public static class SwerveModuleConstants { public static final int FL_DRIVE_ID = 1; public static final int FL_STEER_ID = 2; public static final int FL_ABSOLUTE_ENCODER_PORT = 1; - public static final double FL_OFFSET_RADIANS = Units.rotationsToRadians(-0.288574) + Math.PI * 0.5 + Math.PI; + public static final double FL_OFFSET_RADIANS = Units.rotationsToRadians(0.213135) + Math.PI * 0.5 + Math.PI; public static final boolean FL_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean FL_MOTOR_REVERSED = false; @@ -60,7 +60,7 @@ public static class SwerveModuleConstants { public static final int FR_DRIVE_ID = 7; public static final int FR_STEER_ID = 8; public static final int FR_ABSOLUTE_ENCODER_PORT = 2; - public static final double FR_OFFSET_RADIANS = Units.rotationsToRadians(0.193848) + Math.PI * 0.5 + Math.PI; + public static final double FR_OFFSET_RADIANS = Units.rotationsToRadians(-0.305908) + Math.PI * 0.5 + Math.PI; public static final boolean FR_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean FR_MOTOR_REVERSED = false; @@ -68,7 +68,7 @@ public static class SwerveModuleConstants { public static final int BR_DRIVE_ID = 5; public static final int BR_STEER_ID = 6; public static final int BR_ABSOLUTE_ENCODER_PORT = 3; - public static final double BR_OFFSET_RADIANS = Units.rotationsToRadians(0.269043) + Math.PI * 0.5; + public static final double BR_OFFSET_RADIANS = Units.rotationsToRadians(0.230225) + Math.PI * 0.5 + Math.PI; public static final boolean BR_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean BR_MOTOR_REVERSED = false; @@ -76,7 +76,7 @@ public static class SwerveModuleConstants { public static final int BL_DRIVE_ID = 3; public static final int BL_STEER_ID = 4; public static final int BL_ABSOLUTE_ENCODER_PORT = 4; - public static final double BL_OFFSET_RADIANS = Units.rotationsToRadians(0.423340) + Math.PI * 0.5 + Math.PI; + public static final double BL_OFFSET_RADIANS = Units.rotationsToRadians(-0.077637) + Math.PI * 0.5 + Math.PI; public static final boolean BL_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean BL_MOTOR_REVERSED = false; From a782cde2c2bc80c61c0c5698e03518cd45503993 Mon Sep 17 00:00:00 2001 From: turtlehedgehog Date: Wed, 31 Jan 2024 20:31:08 -0600 Subject: [PATCH 21/33] -Vision capabilities--Drive to april tags, rotate until finding and drive -Comments --- src/main/java/frc/robot/AprilTag.java | 35 ++++++ src/main/java/frc/robot/Constants.java | 66 ++++++---- ...AprilTag.java => KnownAprilTagDetail.java} | 15 ++- src/main/java/frc/robot/Robot.java | 3 + src/main/java/frc/robot/RobotContainer.java | 26 +++- .../robot/commands/GoToAprilTagCommand.java | 60 ++++++--- .../robot/subsystems/LimeLightSubsystem.java | 118 ++++++++++-------- 7 files changed, 219 insertions(+), 104 deletions(-) create mode 100644 src/main/java/frc/robot/AprilTag.java rename src/main/java/frc/robot/{KnownAprilTag.java => KnownAprilTagDetail.java} (62%) diff --git a/src/main/java/frc/robot/AprilTag.java b/src/main/java/frc/robot/AprilTag.java new file mode 100644 index 0000000..9026012 --- /dev/null +++ b/src/main/java/frc/robot/AprilTag.java @@ -0,0 +1,35 @@ +package frc.robot; + +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import frc.robot.Constants.AprilTagPosition; +import frc.robot.Constants.AprilTagType; + +public class AprilTag { + private String _tagId; + private AprilTagType _tagType; + private AprilTagPosition _tagPosition; + private Alliance _alliance; + + public AprilTag(String tagId, AprilTagType tagType, AprilTagPosition tagPosition, Alliance alliance){ + _tagId = tagId; + _tagType = tagType; + _tagPosition = tagPosition; + _alliance = alliance; + } + + public AprilTagType GetTagType(){ + return _tagType; + } + + public String GetTagId(){ + return _tagId; + } + + public AprilTagPosition GetTagPosition(){ + return _tagPosition; + } + + public Alliance GetAlliance(){ + return _alliance; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 1b3e6e1..ede0dc6 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -4,13 +4,18 @@ package frc.robot; +import java.util.Dictionary; +import java.util.Hashtable; + import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.DriverStation.Alliance; /** * The Constants class provides a convenient place for teams to hold robot-wide @@ -110,7 +115,7 @@ public static final class ModuleIndices { } public static class CommonConstants { - public static final boolean LOG_INTO_FILE_ENABLED = false; + public static final boolean LOG_INTO_FILE_ENABLED = true; } public static class VisionContsants { @@ -134,29 +139,44 @@ public static class LimelightConstants { new Translation3d(0.06, -0.2, 0.2127), new Rotation3d(0.0, Units.degreesToRadians(-15.0), Units.degreesToRadians(3.0))); public static final boolean LOG_APRIL_TAGS_INTO_SMARTDASH_BOARD = true; - public static final int CLEAR_APRILTAG_INTERVAL = 40; // 20 mili sec + public static final int CLEAR_APRILTAG_INTERVAL = 40; // in mili sec + public static final int APRILTAG_SEARCH_ROTATION = 40; // in degrees + public static Constraints pidXConstriants = new Constraints(5, 5); + public static Constraints pidYConstraints = new Constraints(5, 5); + public static Constraints pidOmegaConstraints = new Constraints(20, 20); } - public static class AprilTags { - //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16. - //Blue alliance left tags. - public static final String[] BLUE_ALLIANCE_LEFT_APRILTAGS = { "2.0", "8.0" }; - //Blue alliance right tags - public static final String[] BLUE_ALLIANCE_RIGHT_APRILTAGS = { "1.0", "7.0" }; - //Blue alliance center/single tags - public static final String[] BLUE_ALLIANCE_CENTER_APRILTAGS = { "6.0", "14.0", "15.0", "16.0"}; - //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 - //Red alliance left tags - public static final String[] RED_ALLIANCE_LEFT_APRILTAGS = { "10.0", "4.0" }; - //Blue alliance right tags - public static final String[] RED_ALLIANCE_RIGHT_APRILTAGS = { "9.0", "3.0" }; - //Blue alliance center/single tags - public static final String[] RED_ALLIANCE_CENTER_APRILTAGS = { "5.0", "11.0", "12.0", "13.0"}; - - public static enum AprilTagPosition { - LEFT, - RIGHT, - CENTER + public static enum AprilTagPosition { + LEFT, + RIGHT, + CENTER } + + public static enum AprilTagType { + SOURCE, + AMP, + SPEAKER, + STAGE } -} + + public static Dictionary AllAprilTags = new Hashtable() {{ + //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16. + put("2.0", new AprilTag("2.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Blue)); + put("8.0", new AprilTag("8.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Blue)); + put("1.0", new AprilTag("1.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Blue)); + put("7.0", new AprilTag("7.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Blue)); + put("6.0", new AprilTag("6.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Blue)); + put("14.0", new AprilTag("14.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue)); + put("15.0", new AprilTag("15.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue)); + put("16.0", new AprilTag("16.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue)); + //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 + put("10.0", new AprilTag("10.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Red)); + put("4.0", new AprilTag("4.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Red)); + put("9.0", new AprilTag("9.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Red)); + put("3.0", new AprilTag("3.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Red)); + put("5.0", new AprilTag("5.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Red)); + put("11.0", new AprilTag("11.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red)); + put("12.0", new AprilTag("12.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red)); + put("13.0", new AprilTag("13.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red)); + }}; +} \ No newline at end of file diff --git a/src/main/java/frc/robot/KnownAprilTag.java b/src/main/java/frc/robot/KnownAprilTagDetail.java similarity index 62% rename from src/main/java/frc/robot/KnownAprilTag.java rename to src/main/java/frc/robot/KnownAprilTagDetail.java index 46f5d2b..c6a33df 100644 --- a/src/main/java/frc/robot/KnownAprilTag.java +++ b/src/main/java/frc/robot/KnownAprilTagDetail.java @@ -2,13 +2,16 @@ import java.time.LocalDateTime; import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import frc.robot.Constants.AprilTagPosition; +import frc.robot.Constants.AprilTagType; -public class KnownAprilTag { - private double _tagId; +public class KnownAprilTagDetail { + private AprilTag _tag; private LocalDateTime _tagCaptureTime; private Pose3d _tagPose3d; - public KnownAprilTag(double tagId, LocalDateTime tagCaptureTime, Pose3d tagPose3d){ - _tagId = tagId; + public KnownAprilTagDetail(AprilTag tag, LocalDateTime tagCaptureTime, Pose3d tagPose3d){ + _tag = tag; _tagCaptureTime = tagCaptureTime; _tagPose3d = tagPose3d; } @@ -29,7 +32,7 @@ public Pose3d GetTagPose3d(){ return _tagPose3d; } - public double GetTagId(){ - return _tagId; + public AprilTag GetAprilTag() { + return _tag; } } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 8e5dd02..bfb68f9 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -21,6 +21,8 @@ * project. */ public class Robot extends TimedRobot { + + private Command m_autonomousCommand; private RobotContainer m_robotContainer; @@ -62,6 +64,7 @@ public void robotPeriodic() { // and running subsystem periodic() methods. This must be called from the // robot's periodic // block in order for anything in the Command-based framework to work. + CommandScheduler.getInstance().run(); } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 77cead1..a9221b7 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -5,12 +5,21 @@ package frc.robot; import frc.robot.Constants.*; -import frc.robot.Constants.AprilTags.AprilTagPosition; import frc.robot.commands.*; import frc.robot.subsystems.LimeLightSubsystem; import frc.robot.subsystems.SwerveSubsystem; + +import java.io.IOException; +import java.nio.file.Files; +import java.nio.file.Path; +import java.nio.file.Paths; + import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.cscore.UsbCamera; +import edu.wpi.first.util.datalog.StringLogEntry; +import edu.wpi.first.wpilibj.DataLogManager; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.*; import edu.wpi.first.wpilibj2.command.button.*; @@ -42,7 +51,6 @@ public class RobotContainer { public RobotContainer() { // Configure the trigger bindings configureBindings(); - swerveDriveSubsystem.setDefaultCommand(normalDrive); } @@ -62,11 +70,17 @@ public RobotContainer() { */ private void configureBindings() { // Left tag - driverXbox.a().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.LEFT)); + driverXbox.a().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.LEFT, null)); // Right tag - driverXbox.b().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.RIGHT)); + driverXbox.b().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.RIGHT, null)); // single/center tag - driverXbox.y().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.CENTER)); + driverXbox.y().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.CENTER, null)); + // Search and go to AMP April Tag + driverXbox.povRight().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.AMP)); + // Search and got to AMP April Tag + driverXbox.povDown().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.SPEAKER)); + // Search and got to AMP April Tag + driverXbox.povUp().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.STAGE)); } /** @@ -78,4 +92,4 @@ public Command getAutonomousCommand() { // TODO: Implement Auto Command return null; } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java index 5cede61..b3c3e6e 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java @@ -12,10 +12,12 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants.VisionContsants; -import frc.robot.Constants.AprilTags.AprilTagPosition; -import frc.robot.KnownAprilTag; +import frc.robot.KnownAprilTagDetail; +import frc.robot.Constants.AprilTagPosition; +import frc.robot.Constants.AprilTagType; import frc.robot.Constants.CommonConstants; import frc.robot.Constants.DriveConstants; +import frc.robot.Constants.LimelightConstants; import frc.robot.subsystems.LimeLightSubsystem; import frc.robot.subsystems.SwerveSubsystem; import static edu.wpi.first.math.MathUtil.clamp; @@ -30,27 +32,33 @@ public class GoToAprilTagCommand extends Command { private final SwerveSubsystem swerveSubsystem; public final LimeLightSubsystem limeLightSubsystem; public final AprilTagPosition tagPosition; + public final AprilTagType searchTagType; - private final ProfiledPIDController pidControllerX = new ProfiledPIDController(VisionContsants.X_kP, VisionContsants.X_kI, VisionContsants.X_kD, new Constraints(DriveConstants.MAX_ROBOT_VELOCITY, DriveConstants.MAX_ROBOT_RAD_VELOCITY)); - private final ProfiledPIDController pidControllerY = new ProfiledPIDController(VisionContsants.Y_kP, VisionContsants.Y_kI, VisionContsants.Y_kD, new Constraints(DriveConstants.MAX_ROBOT_VELOCITY, DriveConstants.MAX_ROBOT_RAD_VELOCITY)); - private final ProfiledPIDController pidControllerOmega = new ProfiledPIDController(VisionContsants.THETA_kP, VisionContsants.THETA_kI, VisionContsants.THETA_kD, new Constraints(DriveConstants.MAX_ROBOT_VELOCITY, DriveConstants.MAX_ROBOT_RAD_VELOCITY)); + private final ProfiledPIDController pidControllerX = new ProfiledPIDController(VisionContsants.X_kP, VisionContsants.X_kI, VisionContsants.X_kD, LimelightConstants.pidXConstriants); + private final ProfiledPIDController pidControllerY = new ProfiledPIDController(VisionContsants.Y_kP, VisionContsants.Y_kI, VisionContsants.Y_kD, LimelightConstants.pidYConstraints); + private final ProfiledPIDController pidControllerOmega = new ProfiledPIDController(VisionContsants.THETA_kP, VisionContsants.THETA_kI, VisionContsants.THETA_kD, LimelightConstants.pidOmegaConstraints); StringLogEntry log; + Boolean isSearchTagFound = false; public GoToAprilTagCommand( SwerveSubsystem swerveSubsystem, LimeLightSubsystem limeLightSubsystem, - AprilTagPosition tagPosition) + AprilTagPosition tagPosition, + AprilTagType searchTagType) { this.swerveSubsystem = swerveSubsystem; this.limeLightSubsystem = limeLightSubsystem; this.tagPosition = tagPosition; + this.searchTagType = searchTagType; addRequirements(swerveSubsystem); } @Override public void initialize() { super.initialize(); + isSearchTagFound = false; + //pidControllerX.reset(swerveSubsystem.getPose().getY()); //pidControllerY.reset(swerveSubsystem.getPose().getX()); //pidControllerOmega.reset(swerveSubsystem.getRotation2d().getRadians()); @@ -76,7 +84,7 @@ public void initialize() { } // Record both DS control and joystick data DriverStation.startDataLog(DataLogManager.getLog()); - log = new StringLogEntry(DataLogManager.getLog(), "ChaseApriltagCommand"); + log = new StringLogEntry(DataLogManager.getLog(), "GoToAprilTagCommand"); } } @@ -86,13 +94,22 @@ public void execute() { try{ ChassisSpeeds speeds; if(limeLightSubsystem.isAprilTagFound()){ - KnownAprilTag aprilTag = limeLightSubsystem.getKnownAprilTag(tagPosition); + KnownAprilTagDetail aprilTag = null; + if(searchTagType == null){ + aprilTag = limeLightSubsystem.getKnownAprilTagDetail(tagPosition); + } + else{ + aprilTag = limeLightSubsystem.getKnownAprilTagDetailByType(searchTagType); + } if(aprilTag != null){ + if(searchTagType != null){ + isSearchTagFound = true; + } Pose3d pose3d = aprilTag.GetTagPose3d(); if(CommonConstants.LOG_INTO_FILE_ENABLED){ - SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " X", pose3d.getZ()); - SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetTagId() + " Y", pose3d.getX()); - SmartDashboard.putNumber("CurrentApril Tag "+ aprilTag.GetTagId() +" Rotation", pose3d.getRotation().getY()); + SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetAprilTag().GetTagId() + " X", pose3d.getZ()); + SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetAprilTag().GetTagId() + " Y", pose3d.getX()); + SmartDashboard.putNumber("CurrentApril Tag "+ aprilTag.GetAprilTag().GetTagId() +" Rotation", pose3d.getRotation().getY()); } var xspeed = pidControllerX.calculate(pose3d.getZ()); if (pidControllerX.atSetpoint()) { @@ -134,11 +151,25 @@ public void execute() { swerveSubsystem.setModules(calculatedModuleStates); } else{ - swerveSubsystem.stopDrive(); + if(searchTagType != null && !isSearchTagFound){ + speeds = new ChassisSpeeds(0, 0, Units.degreesToRadians(LimelightConstants.APRILTAG_SEARCH_ROTATION)); + SwerveModuleState[] calculatedModuleStates = DriveConstants.KINEMATICS.toSwerveModuleStates(speeds); + swerveSubsystem.setModules(calculatedModuleStates); + } + else{ + swerveSubsystem.stopDrive(); + } } } else{ - swerveSubsystem.stopDrive(); + if(searchTagType != null && !isSearchTagFound){ + speeds = new ChassisSpeeds(0, 0, Units.degreesToRadians(LimelightConstants.APRILTAG_SEARCH_ROTATION)); + SwerveModuleState[] calculatedModuleStates = DriveConstants.KINEMATICS.toSwerveModuleStates(speeds); + swerveSubsystem.setModules(calculatedModuleStates); + } + else{ + swerveSubsystem.stopDrive(); + } } } catch(Exception e){ @@ -165,5 +196,6 @@ public Translation2d DeadBand(Translation2d input, double deadzone) { public void end(boolean interrupted) { swerveSubsystem.stopDrive(); } -} + +} diff --git a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java index 3b1e5ae..490f855 100644 --- a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java +++ b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java @@ -12,17 +12,19 @@ import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.KnownAprilTag; +import frc.robot.AprilTag; +import frc.robot.Constants; +import frc.robot.KnownAprilTagDetail; import frc.robot.LimelightHelpers; -import frc.robot.Constants.AprilTags; +import frc.robot.Constants.AprilTagPosition; +import frc.robot.Constants.AprilTagType; import frc.robot.Constants.LimelightConstants; -import frc.robot.Constants.AprilTags.AprilTagPosition; import frc.robot.LimelightHelpers.LimelightTarget_Fiducial; public class LimeLightSubsystem extends SubsystemBase { private Boolean hasAprilTag = false; private Boolean hasRetroTape = false; - Dictionary lastKnownAprilTags = new Hashtable(); + Dictionary lastKnownAprilTagDetails = new Hashtable(); public LimeLightSubsystem() { } @@ -30,53 +32,60 @@ public LimeLightSubsystem() { @Override public void periodic() { try{ - KnownAprilTag aprilTag; + KnownAprilTagDetail aprilTagDetail; + AprilTag tag; LimelightHelpers.LimelightResults results = LimelightHelpers.getLatestResults((LimelightConstants.limeLightName)); //If we see april tag(s), we update the dictionary if needed, with position, capture time, and tag ID if(results.targetingResults.targets_Fiducials.length > 0){ hasAprilTag = true; for (LimelightTarget_Fiducial fd : results.targetingResults.targets_Fiducials){ - aprilTag = lastKnownAprilTags.get(fd.fiducialID); + aprilTagDetail = lastKnownAprilTagDetails.get(fd.fiducialID); + tag = Constants.AllAprilTags.get(Double.toString(fd.fiducialID)); + if(tag != null) + { + SmartDashboard.putString("Number of tags 1: ", tag.GetTagId()); + } //If the april tag doesn't already exist in the dictionary, add it - if(aprilTag == null){ - aprilTag = new KnownAprilTag(fd.fiducialID, LocalDateTime.now(), fd.getTargetPose_RobotSpace()); + if(aprilTagDetail == null && tag != null){ + aprilTagDetail = new KnownAprilTagDetail(tag, LocalDateTime.now(), fd.getTargetPose_RobotSpace()); + } + else if(aprilTagDetail != null){ //If it DOES exist, make sure it's up to date + aprilTagDetail.SetTagCaptureTime(LocalDateTime.now()); + aprilTagDetail.SetTagPose3d(fd.getTargetPose_RobotSpace()); } - else{ //If it DOES exist, make sure it's up to date - aprilTag.SetTagCaptureTime(LocalDateTime.now()); - aprilTag.SetTagPose3d(fd.getTargetPose_RobotSpace()); + if(aprilTagDetail != null){ + lastKnownAprilTagDetails.put(String.valueOf(fd.fiducialID), aprilTagDetail); } - lastKnownAprilTags.put(String.valueOf(fd.fiducialID), aprilTag); } } else{ hasAprilTag = false; } - Enumeration e = lastKnownAprilTags.keys(); + Enumeration e = lastKnownAprilTagDetails.keys(); //Loops through dictionary of april tags, and if it's been over a second from capture time, removes the tag while(e.hasMoreElements()) { String key = e.nextElement(); - aprilTag = lastKnownAprilTags.get(key); - Duration duration = Duration.between(aprilTag.GetTagCaptureTime(), LocalDateTime.now()); - SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() + " duration ", duration.toMillis()); + aprilTagDetail = lastKnownAprilTagDetails.get(key); + Duration duration = Duration.between(aprilTagDetail.GetTagCaptureTime(), LocalDateTime.now()); if(duration.toMillis() >= LimelightConstants.CLEAR_APRILTAG_INTERVAL){ - lastKnownAprilTags.remove(key); + lastKnownAprilTagDetails.remove(key); } } if(LimelightConstants.LOG_APRIL_TAGS_INTO_SMARTDASH_BOARD){ - e = lastKnownAprilTags.keys(); + e = lastKnownAprilTagDetails.keys(); //Loops through values of dictionary, for each april tag, prints ID as well as positioning/rotation while(e.hasMoreElements()) { String key = e.nextElement(); - aprilTag = lastKnownAprilTags.get(key); - if(aprilTag != null){ - Pose3d pose3d = aprilTag.GetTagPose3d(); - SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() + " X", pose3d.getZ()); - SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() + " Y", pose3d.getX()); - SmartDashboard.putNumber("April Tag "+ aprilTag.GetTagId() +" Rotation", pose3d.getRotation().getY()); + aprilTagDetail = lastKnownAprilTagDetails.get(key); + if(aprilTagDetail != null){ + Pose3d pose3d = aprilTagDetail.GetTagPose3d(); + SmartDashboard.putNumber("April Tag "+ aprilTagDetail.GetAprilTag().GetTagId() + " X", pose3d.getZ()); + SmartDashboard.putNumber("April Tag "+ aprilTagDetail.GetAprilTag().GetTagId() + " Y", pose3d.getX()); + SmartDashboard.putNumber("April Tag "+ aprilTagDetail.GetAprilTag().GetTagId() +" Rotation", pose3d.getRotation().getY()); } } - SmartDashboard.putNumber("April Tags Count", lastKnownAprilTags.size()); + SmartDashboard.putNumber("April Tags Count", lastKnownAprilTagDetails.size()); } } catch(Exception e){ @@ -92,43 +101,42 @@ public Boolean isRetorTapeFound() { return hasRetroTape; } - public KnownAprilTag getKnownAprilTag(AprilTagPosition tagPosition) + public KnownAprilTagDetail getKnownAprilTagDetail(AprilTagPosition tagPosition) { - String[] tagIdsForThisAction = {}; + // if there is an alliance it gets the alliance (blue or red) Optional alliance = DriverStation.getAlliance(); - KnownAprilTag aprilTag = null; + KnownAprilTagDetail returnValue = null; + // loops through the hashtable and finds the correct apriltag and returns the details if(alliance.isPresent()){ - if(alliance.get() == Alliance.Blue){ - if(tagPosition == AprilTagPosition.LEFT){ - tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_LEFT_APRILTAGS; - } - else if(tagPosition == AprilTagPosition.RIGHT){ - tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_RIGHT_APRILTAGS; - } - else if(tagPosition == AprilTagPosition.CENTER){ - tagIdsForThisAction = AprilTags.BLUE_ALLIANCE_CENTER_APRILTAGS; - } - } - else if(alliance.get() == Alliance.Red){ - if(tagPosition == AprilTagPosition.LEFT){ - tagIdsForThisAction = AprilTags.RED_ALLIANCE_LEFT_APRILTAGS; - } - else if(tagPosition == AprilTagPosition.RIGHT){ - tagIdsForThisAction = AprilTags.RED_ALLIANCE_RIGHT_APRILTAGS; - } - else if(tagPosition == AprilTagPosition.CENTER){ - tagIdsForThisAction = AprilTags.RED_ALLIANCE_CENTER_APRILTAGS; + Enumeration e = lastKnownAprilTagDetails.keys(); + while(e.hasMoreElements()) { + String key = e.nextElement(); + KnownAprilTagDetail aprilTagDetail = lastKnownAprilTagDetails.get(key); + if(aprilTagDetail != null && aprilTagDetail.GetAprilTag().GetAlliance() == alliance.get() && aprilTagDetail.GetAprilTag().GetTagPosition() == tagPosition){ + returnValue = aprilTagDetail; + break; } } - for (int i = 0; i < tagIdsForThisAction.length; i++) { - aprilTag = lastKnownAprilTags.get(tagIdsForThisAction[i]); - SmartDashboard.putString("I am inside 1 : ", tagIdsForThisAction[i]); - if(aprilTag != null){ - SmartDashboard.putString("Found aprilTag: ", "Id : " + aprilTag.GetTagId()); + } + return returnValue; + } + + public KnownAprilTagDetail getKnownAprilTagDetailByType(AprilTagType tagType) + { + Optional alliance = DriverStation.getAlliance(); + KnownAprilTagDetail returnValue = null; + if(alliance.isPresent()){ + Enumeration e = lastKnownAprilTagDetails.keys(); + while(e.hasMoreElements()) { + String key = e.nextElement(); + KnownAprilTagDetail aprilTagDetail = lastKnownAprilTagDetails.get(key); + if(aprilTagDetail != null && aprilTagDetail.GetAprilTag().GetAlliance() == alliance.get() && aprilTagDetail.GetAprilTag().GetTagType() == tagType){ + returnValue = aprilTagDetail; break; } } } - return aprilTag; + return returnValue; } -} + +} \ No newline at end of file From 13ff4803237c968fff030116f041d8bd43a89450 Mon Sep 17 00:00:00 2001 From: Adamfire Date: Wed, 31 Jan 2024 20:34:45 -0600 Subject: [PATCH 22/33] Update drive constants Robot should drive the correct way depending on the way you drive the robot --- src/main/java/frc/robot/commands/DriveCommand.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/DriveCommand.java b/src/main/java/frc/robot/commands/DriveCommand.java index 1a2ed56..0d504f1 100644 --- a/src/main/java/frc/robot/commands/DriveCommand.java +++ b/src/main/java/frc/robot/commands/DriveCommand.java @@ -99,7 +99,7 @@ public void execute() { // Drive Non Field Oriented if (!xbox.getLeftBumper()) { - speeds = ChassisSpeeds.fromFieldRelativeSpeeds(ySpeed, -xSpeed, -zSpeed, + speeds = ChassisSpeeds.fromFieldRelativeSpeeds(-ySpeed, xSpeed, zSpeed, new Rotation2d( -swerveSubsystem.getRotation2d().rotateBy(DriveConstants.NAVX_ANGLE_OFFSET).getRadians())); } else { From 4f0edf3947c8d245e45c4307e6bcdee3eb660ac7 Mon Sep 17 00:00:00 2001 From: Technological-Guru Date: Wed, 7 Feb 2024 19:16:44 -0600 Subject: [PATCH 23/33] Removed unnecessary import --- 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 bfb68f9..76c3965 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -5,7 +5,6 @@ package frc.robot; import edu.wpi.first.wpilibj.TimedRobot; -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; From 31a6ded880eaeb224715a65a76c3ae6ff335ad2a Mon Sep 17 00:00:00 2001 From: Technological-Guru Date: Wed, 7 Feb 2024 19:54:15 -0600 Subject: [PATCH 24/33] Added Pose estimtor into vision branch --- src/main/java/frc/robot/AprilTag.java | 18 +- src/main/java/frc/robot/Constants.java | 36 ++-- .../java/frc/robot/KnownAprilTagDetail.java | 17 +- src/main/java/frc/robot/RobotContainer.java | 13 +- .../robot/commands/GoToAprilTagCommand.java | 35 ++-- ...GoToAprilTagCommandUsingPoseEstimator.java | 191 ++++++++++++++++++ .../robot/subsystems/LimeLightSubsystem.java | 5 +- .../frc/robot/subsystems/SwerveSubsystem.java | 19 +- 8 files changed, 266 insertions(+), 68 deletions(-) create mode 100644 src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java diff --git a/src/main/java/frc/robot/AprilTag.java b/src/main/java/frc/robot/AprilTag.java index 9026012..aa89adb 100644 --- a/src/main/java/frc/robot/AprilTag.java +++ b/src/main/java/frc/robot/AprilTag.java @@ -1,5 +1,9 @@ package frc.robot; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation.Alliance; import frc.robot.Constants.AprilTagPosition; import frc.robot.Constants.AprilTagType; @@ -9,12 +13,20 @@ public class AprilTag { private AprilTagType _tagType; private AprilTagPosition _tagPosition; private Alliance _alliance; + private Double _x; + private Double _y; + private Double _z; + private double _rotation; - public AprilTag(String tagId, AprilTagType tagType, AprilTagPosition tagPosition, Alliance alliance){ + public AprilTag(String tagId, AprilTagType tagType, AprilTagPosition tagPosition, Alliance alliance, Double x, Double y, Double z, Double rotation){ _tagId = tagId; _tagType = tagType; _tagPosition = tagPosition; _alliance = alliance; + _x = x; + _y = y; + _z = z; + _rotation = rotation; } public AprilTagType GetTagType(){ @@ -32,4 +44,8 @@ public AprilTagPosition GetTagPosition(){ public Alliance GetAlliance(){ return _alliance; } + + public Pose2d getPose2d(){ + return new Pose2d(new Translation2d(_x, _y), new Rotation2d(Units.degreesToRadians(_rotation))); + } } \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index ede0dc6..8be7231 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -156,27 +156,27 @@ public static enum AprilTagType { SOURCE, AMP, SPEAKER, - STAGE + STAGE, } public static Dictionary AllAprilTags = new Hashtable() {{ - //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16. - put("2.0", new AprilTag("2.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Blue)); - put("8.0", new AprilTag("8.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Blue)); - put("1.0", new AprilTag("1.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Blue)); - put("7.0", new AprilTag("7.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Blue)); - put("6.0", new AprilTag("6.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Blue)); - put("14.0", new AprilTag("14.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue)); - put("15.0", new AprilTag("15.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue)); - put("16.0", new AprilTag("16.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue)); + //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16 //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 - put("10.0", new AprilTag("10.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Red)); - put("4.0", new AprilTag("4.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Red)); - put("9.0", new AprilTag("9.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Red)); - put("3.0", new AprilTag("3.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Red)); - put("5.0", new AprilTag("5.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Red)); - put("11.0", new AprilTag("11.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red)); - put("12.0", new AprilTag("12.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red)); - put("13.0", new AprilTag("13.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red)); + put("1.0", new AprilTag("1.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Blue, 593.68, 9.68, 53.38, 120.00)); + put("2.0", new AprilTag("2.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Blue, 637.21, 34.79, 53.38, 120.00)); + put("3.0", new AprilTag("3.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Red, 652.73,196.17, 57.13, 180.00)); + put("4.0", new AprilTag("4.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Red, 652.73, 218.42, 57.13, 180.00)); + put("5.0", new AprilTag("5.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Red, 578.77, 323.00, 53.38, 270.00)); + put("6.0", new AprilTag("6.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Blue, 72.5, 323.00, 53.38, 270.00)); + put("7.0", new AprilTag("7.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Blue, -1.50, 218.42, 57.13, 0.00)); + put("8.0", new AprilTag("8.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Blue, -1.50, 196.17, 57.13, 0.00)); + put("9.0", new AprilTag("9.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Red, 14.02, 34.79, 53.38, 60.00)); + put("10.0", new AprilTag("10.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Red, 57.54, 9.68, 53.38, 60.00)); + put("11.0", new AprilTag("11.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 146.19, 52.00, 300.00)); + put("12.0", new AprilTag("12.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 177.10, 52.00, 60.00)); + put("13.0", new AprilTag("13.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 441.74, 161.62, 52.00, 180.00)); + put("14.0", new AprilTag("14.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 209.48, 161.62, 52.00, 0.00)); + put("15.0", new AprilTag("15.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 177.10, 52.00, 120.00)); + put("16.0", new AprilTag("16.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 146.19, 52.00, 240.00)); }}; } \ No newline at end of file diff --git a/src/main/java/frc/robot/KnownAprilTagDetail.java b/src/main/java/frc/robot/KnownAprilTagDetail.java index c6a33df..3371777 100644 --- a/src/main/java/frc/robot/KnownAprilTagDetail.java +++ b/src/main/java/frc/robot/KnownAprilTagDetail.java @@ -2,18 +2,15 @@ import java.time.LocalDateTime; import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.wpilibj.DriverStation.Alliance; -import frc.robot.Constants.AprilTagPosition; -import frc.robot.Constants.AprilTagType; public class KnownAprilTagDetail { private AprilTag _tag; private LocalDateTime _tagCaptureTime; - private Pose3d _tagPose3d; - public KnownAprilTagDetail(AprilTag tag, LocalDateTime tagCaptureTime, Pose3d tagPose3d){ + private Pose3d _targetPoseRobotSpace; + public KnownAprilTagDetail(AprilTag tag, LocalDateTime tagCaptureTime, Pose3d targetPoseRobotSpace){ _tag = tag; _tagCaptureTime = tagCaptureTime; - _tagPose3d = tagPose3d; + _targetPoseRobotSpace = targetPoseRobotSpace; } public void SetTagCaptureTime(LocalDateTime tagCaptureTime){ @@ -24,12 +21,12 @@ public LocalDateTime GetTagCaptureTime(){ return _tagCaptureTime; } - public void SetTagPose3d(Pose3d tagPose3d){ - _tagPose3d = tagPose3d; + public void SetTargetPoseRobotSpace(Pose3d targetPoseRobotSpace){ + _targetPoseRobotSpace = targetPoseRobotSpace; } - public Pose3d GetTagPose3d(){ - return _tagPose3d; + public Pose3d GetTargetPoseRobotSpace(){ + return _targetPoseRobotSpace; } public AprilTag GetAprilTag() { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a9221b7..8ec0d68 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -9,17 +9,8 @@ import frc.robot.subsystems.LimeLightSubsystem; import frc.robot.subsystems.SwerveSubsystem; -import java.io.IOException; -import java.nio.file.Files; -import java.nio.file.Path; -import java.nio.file.Paths; - import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.cscore.UsbCamera; -import edu.wpi.first.util.datalog.StringLogEntry; -import edu.wpi.first.wpilibj.DataLogManager; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.*; import edu.wpi.first.wpilibj2.command.button.*; @@ -81,6 +72,10 @@ private void configureBindings() { driverXbox.povDown().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.SPEAKER)); // Search and got to AMP April Tag driverXbox.povUp().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.STAGE)); + + // driverXbox.y().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.LEFT, AprilTagType.SPEAKER)); + // driverXbox.a().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.CENTER, AprilTagType.AMP)); + // driverXbox.b().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.CENTER, AprilTagType.STAGE)); } /** diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java index b3c3e6e..a0a342a 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java @@ -1,10 +1,8 @@ package frc.robot.commands; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveModuleState; -import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; import edu.wpi.first.math.util.Units; import edu.wpi.first.util.datalog.StringLogEntry; import edu.wpi.first.wpilibj.DataLogManager; @@ -20,7 +18,6 @@ import frc.robot.Constants.LimelightConstants; import frc.robot.subsystems.LimeLightSubsystem; import frc.robot.subsystems.SwerveSubsystem; -import static edu.wpi.first.math.MathUtil.clamp; import java.io.IOException; import java.nio.file.Files; @@ -105,7 +102,7 @@ public void execute() { if(searchTagType != null){ isSearchTagFound = true; } - Pose3d pose3d = aprilTag.GetTagPose3d(); + Pose3d pose3d = aprilTag.GetTargetPoseRobotSpace(); if(CommonConstants.LOG_INTO_FILE_ENABLED){ SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetAprilTag().GetTagId() + " X", pose3d.getZ()); SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetAprilTag().GetTagId() + " Y", pose3d.getX()); @@ -157,7 +154,7 @@ public void execute() { swerveSubsystem.setModules(calculatedModuleStates); } else{ - swerveSubsystem.stopDrive(); + //swerveSubsystem.stopDrive(); } } } @@ -168,7 +165,7 @@ public void execute() { swerveSubsystem.setModules(calculatedModuleStates); } else{ - swerveSubsystem.stopDrive(); + //swerveSubsystem.stopDrive(); } } } @@ -177,25 +174,19 @@ public void execute() { } } - public Translation2d DeadBand(Translation2d input, double deadzone) { - double mag = input.getNorm(); - Translation2d norm = input.div(mag); - - if (mag < deadzone) { - return new Translation2d(0.0, 0.0); - } else { - // TODO: Check is it sqrt2 or 1.0... - Translation2d result = norm.times((mag - deadzone) / (1.0 - deadzone)); - return new Translation2d( - clamp(result.getX(), -1.0, 1.0), - clamp(result.getY(), -1.0, 1.0)); - } -} - @Override public void end(boolean interrupted) { swerveSubsystem.stopDrive(); } - + + public boolean atGoal() { + return pidControllerX.atGoal() && pidControllerY.atGoal() && pidControllerOmega.atGoal(); + } + + + @Override + public boolean isFinished() { + return atGoal(); + } } diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java new file mode 100644 index 0000000..9a43cee --- /dev/null +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java @@ -0,0 +1,191 @@ +package frc.robot.commands; +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.util.datalog.StringLogEntry; +import edu.wpi.first.wpilibj.DataLogManager; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Constants.VisionContsants; +import frc.robot.AprilTag; +import frc.robot.Constants; +import frc.robot.KnownAprilTagDetail; +import frc.robot.Constants.AprilTagPosition; +import frc.robot.Constants.AprilTagType; +import frc.robot.Constants.CommonConstants; +import frc.robot.Constants.DriveConstants; +import frc.robot.Constants.LimelightConstants; +import frc.robot.subsystems.SwerveSubsystem; + +import java.io.IOException; +import java.nio.file.Files; +import java.nio.file.Path; +import java.nio.file.Paths; +import java.util.Enumeration; +import java.util.Optional; +import java.util.function.Supplier; + +public class GoToAprilTagCommandUsingPoseEstimator extends Command { + + private final SwerveSubsystem swerveSubsystem; + public final Supplier robotPoseSupplier; + public final AprilTagPosition tagPosition; + public final AprilTagType tagType; + public final AprilTag tag; + + private final ProfiledPIDController pidControllerX = new ProfiledPIDController(VisionContsants.X_kP, VisionContsants.X_kI, VisionContsants.X_kD, LimelightConstants.pidXConstriants); + private final ProfiledPIDController pidControllerY = new ProfiledPIDController(VisionContsants.Y_kP, VisionContsants.Y_kI, VisionContsants.Y_kD, LimelightConstants.pidYConstraints); + private final ProfiledPIDController pidControllerOmega = new ProfiledPIDController(VisionContsants.THETA_kP, VisionContsants.THETA_kI, VisionContsants.THETA_kD, LimelightConstants.pidOmegaConstraints); + + StringLogEntry log; + + public GoToAprilTagCommandUsingPoseEstimator( + SwerveSubsystem swerveSubsystem, + Supplier robotPoseSupplier, + AprilTagPosition tagPosition, + AprilTagType tagType) + { + this.swerveSubsystem = swerveSubsystem; + this.robotPoseSupplier = robotPoseSupplier; + this.tagPosition = tagPosition; + this.tagType = tagType; + this.tag = getApirlTag(tagPosition, tagType); + addRequirements(swerveSubsystem); + } + + @Override + public void initialize() { + super.initialize(); + if(tag != null) + { + Pose2d goalPose = tag.getPose2d(); + if(goalPose != null){ + resetPIDControllers(); + pidControllerX.setGoal(Units.inchesToMeters(goalPose.getX())); // Move forward/backwork to keep 36 inches from the target + pidControllerX.setTolerance(Units.inchesToMeters(2.5)); + + pidControllerY.setGoal(goalPose.getY()); // Move side to side to keep target centered + pidControllerY.setTolerance(Units.inchesToMeters(2.5)); + + pidControllerOmega.setGoal(Units.degreesToRadians(goalPose.getRotation().getRadians())); // Rotate the keep perpendicular with the target + pidControllerOmega.setTolerance(Units.degreesToRadians(1)); + + if(CommonConstants.LOG_INTO_FILE_ENABLED){ + /// Starts recording to data log + try { + String directory = Paths.get("").toAbsolutePath().toString(); + Files.createDirectories(Path.of(directory)); + DataLogManager.start(directory); + } catch (IOException e) { + SmartDashboard.putString("AprilTag Log error", e.getMessage()); + } + // Record both DS control and joystick data + DriverStation.startDataLog(DataLogManager.getLog()); + log = new StringLogEntry(DataLogManager.getLog(), "GoToAprilTagCommand"); + } + } + } + } + + @Override + public void execute() { + try{ + ChassisSpeeds speeds; + Pose2d robotPose = robotPoseSupplier.get(); + if(robotPose != null){ + if(CommonConstants.LOG_INTO_FILE_ENABLED){ + SmartDashboard.putNumber("Current pose X", robotPose.getX()); + SmartDashboard.putNumber("Current pose Y", robotPose.getY()); + SmartDashboard.putNumber("Current pose Rotation", robotPose.getRotation().getRadians()); + } + var xSpeed = pidControllerX.calculate(robotPose.getX()); + if (pidControllerX.atSetpoint()) { + xSpeed = 0; + } + + // Handle alignment side-to-side + var ySpeed = pidControllerY.calculate(robotPose.getY()); + if (pidControllerY.atSetpoint()) { + ySpeed = 0; + } + + // Handle rotation using target Yaw/Z rotation + var omegaSpeed = pidControllerOmega.calculate(robotPose.getRotation().getDegrees()); + if (pidControllerOmega.atSetpoint()) { + omegaSpeed = 0; + } + + if(CommonConstants.LOG_INTO_FILE_ENABLED){ + String logMessage = "target X: " + robotPose.getX() + ": "; + logMessage += "target X(inches): " + Units.metersToInches(robotPose.getX()) + ": "; + logMessage += "X speed : " + xSpeed + ": "; + logMessage += "X SetPoint : " + pidControllerX.getSetpoint() + ": "; + logMessage += "X is at SetPoint : " + pidControllerX.atSetpoint() + ": "; + logMessage += "target Y: " + robotPose.getY() + ": "; + logMessage += "Y speed : " + ySpeed + ": "; + logMessage += "Y SetPoint : " + pidControllerY.getSetpoint() + ": "; + logMessage += "Y is at SetPoint : " + pidControllerY.atSetpoint() + ": "; + logMessage += "target rotation: " + robotPose.getRotation().getRadians() + ": "; + logMessage += "rotation speed : " + omegaSpeed + ": "; + logMessage += "rotation SetPoint : " + pidControllerOmega.getSetpoint() + ": "; + logMessage += "rotation is at SetPoint : " + pidControllerOmega.atSetpoint() + ": "; + log.append(logMessage); + } + speeds = ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, omegaSpeed, robotPose.getRotation()); + + SwerveModuleState[] calculatedModuleStates = DriveConstants.KINEMATICS.toSwerveModuleStates(speeds); + swerveSubsystem.setModules(calculatedModuleStates); + } + } + catch(Exception e){ + SmartDashboard.putString("AprilTag pose command error", e.getMessage()); + } + } + + @Override + public void end(boolean interrupted) { + swerveSubsystem.stopDrive(); + } + + public boolean atGoal() { + return pidControllerX.atGoal() && pidControllerY.atGoal() && pidControllerOmega.atGoal(); + } + + @Override + public boolean isFinished() { + return atGoal(); + } + + private void resetPIDControllers() { + var robotPose = robotPoseSupplier.get(); + pidControllerOmega.reset(robotPose.getRotation().getRadians()); + pidControllerX.reset(robotPose.getX()); + pidControllerY.reset(robotPose.getY()); + } + + public AprilTag getApirlTag(AprilTagPosition tagPosition, AprilTagType tagType) + { + // if there is an alliance it gets the alliance (blue or red) + Optional alliance = DriverStation.getAlliance(); + AprilTag returnValue = null; + // loops through the hashtable and finds the correct apriltag and returns the details + if(alliance.isPresent()){ + Enumeration e = Constants.AllAprilTags.keys(); + AprilTag tag = null; + while(e.hasMoreElements()) { + String key = e.nextElement(); + tag = Constants.AllAprilTags.get(key); + if(tag != null && tag.GetAlliance() == alliance.get() && tag.GetTagPosition() == tagPosition && tag.GetTagType() == tagType){ + returnValue = tag; + break; + } + } + } + return returnValue; + } + +} diff --git a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java index 490f855..1e1200f 100644 --- a/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java +++ b/src/main/java/frc/robot/subsystems/LimeLightSubsystem.java @@ -35,7 +35,6 @@ public void periodic() { KnownAprilTagDetail aprilTagDetail; AprilTag tag; LimelightHelpers.LimelightResults results = LimelightHelpers.getLatestResults((LimelightConstants.limeLightName)); - //If we see april tag(s), we update the dictionary if needed, with position, capture time, and tag ID if(results.targetingResults.targets_Fiducials.length > 0){ hasAprilTag = true; @@ -52,7 +51,7 @@ public void periodic() { } else if(aprilTagDetail != null){ //If it DOES exist, make sure it's up to date aprilTagDetail.SetTagCaptureTime(LocalDateTime.now()); - aprilTagDetail.SetTagPose3d(fd.getTargetPose_RobotSpace()); + aprilTagDetail.SetTargetPoseRobotSpace(fd.getTargetPose_RobotSpace()); } if(aprilTagDetail != null){ lastKnownAprilTagDetails.put(String.valueOf(fd.fiducialID), aprilTagDetail); @@ -79,7 +78,7 @@ else if(aprilTagDetail != null){ //If it DOES exist, make sure it's up to date String key = e.nextElement(); aprilTagDetail = lastKnownAprilTagDetails.get(key); if(aprilTagDetail != null){ - Pose3d pose3d = aprilTagDetail.GetTagPose3d(); + Pose3d pose3d = aprilTagDetail.GetTargetPoseRobotSpace(); SmartDashboard.putNumber("April Tag "+ aprilTagDetail.GetAprilTag().GetTagId() + " X", pose3d.getZ()); SmartDashboard.putNumber("April Tag "+ aprilTagDetail.GetAprilTag().GetTagId() + " Y", pose3d.getX()); SmartDashboard.putNumber("April Tag "+ aprilTagDetail.GetAprilTag().GetTagId() +" Rotation", pose3d.getRotation().getY()); diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java index d79d89c..061280d 100644 --- a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java @@ -9,7 +9,6 @@ import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.SPI; -import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; @@ -17,6 +16,7 @@ import frc.robot.Constants; import frc.robot.Robot; import frc.robot.Constants.*; +import frc.robot.LimelightHelpers; public class SwerveSubsystem extends SubsystemBase { SwerveModule frontLeft = new SwerveModule(SwerveModuleConstants.FL_STEER_ID, SwerveModuleConstants.FL_DRIVE_ID, @@ -67,10 +67,15 @@ public SwerveSubsystem() { public void periodic() { odometry.update(getRotation2d(), getModulePositions()); - // TODO: Test - // WARNING: REMOVE IF USING TAG FOLLOW!!! - // odometry.addVisionMeasurement(LimelightHelpers.getBotPose2d(null), - // Timer.getFPGATimestamp()); + var poseEntry = LimelightHelpers.getLimelightNTTableEntry("limelight", "botpose_wpiblue"); + var poseArray = poseEntry.getDoubleArray(new double[0]); + var timestamp = poseEntry.getLastChange() / 1e6 - poseArray[6] / 1e3; + + var pose = new Pose2d( + new Translation2d(poseArray[0], poseArray[1]), + new Rotation2d(Units.degreesToRadians(poseArray[5]))); + + odometry.addVisionMeasurement(pose, timestamp); if(DriverStation.getAlliance().isPresent()) { switch (DriverStation.getAlliance().get()) { @@ -205,4 +210,8 @@ public void simulationPeriodic() { backRight.simulate_step(); navxSim += 0.02 * lastChassisSpeeds.omegaRadiansPerSecond; } + + public Pose2d getEstimatedPosition(){ + return odometry.getEstimatedPosition(); + } } From 004472fc6514529c4c613b46fe02d69555da2028 Mon Sep 17 00:00:00 2001 From: Yunju607 Date: Thu, 8 Feb 2024 19:58:45 -0600 Subject: [PATCH 25/33] Partialy working vision version 2 --- src/main/java/frc/robot/AprilTag.java | 22 ++++++++++++- src/main/java/frc/robot/Constants.java | 32 +++++++++---------- src/main/java/frc/robot/RobotContainer.java | 30 ++++++++--------- ...GoToAprilTagCommandUsingPoseEstimator.java | 7 ++-- .../frc/robot/subsystems/SwerveSubsystem.java | 28 ++++++++++------ 5 files changed, 74 insertions(+), 45 deletions(-) diff --git a/src/main/java/frc/robot/AprilTag.java b/src/main/java/frc/robot/AprilTag.java index aa89adb..eb84cac 100644 --- a/src/main/java/frc/robot/AprilTag.java +++ b/src/main/java/frc/robot/AprilTag.java @@ -17,8 +17,12 @@ public class AprilTag { private Double _y; private Double _z; private double _rotation; + // _preset is for the distance to stop from the target + private double _presetX; + private double _presetY; + private double _presetRotation; - public AprilTag(String tagId, AprilTagType tagType, AprilTagPosition tagPosition, Alliance alliance, Double x, Double y, Double z, Double rotation){ + public AprilTag(String tagId, AprilTagType tagType, AprilTagPosition tagPosition, Alliance alliance, double x, double y, double z, double rotation, double presetX, double presetY, double presetRotation){ _tagId = tagId; _tagType = tagType; _tagPosition = tagPosition; @@ -27,6 +31,9 @@ public AprilTag(String tagId, AprilTagType tagType, AprilTagPosition tagPosition _y = y; _z = z; _rotation = rotation; + _presetX = presetX; + _presetY = presetY; + _presetRotation = presetRotation; } public AprilTagType GetTagType(){ @@ -46,6 +53,19 @@ public Alliance GetAlliance(){ } public Pose2d getPose2d(){ + //return new Pose2d(new Translation2d(_x-_presetX, _y-_presetY), new Rotation2d(Units.degreesToRadians(_rotation))); return new Pose2d(new Translation2d(_x, _y), new Rotation2d(Units.degreesToRadians(_rotation))); } + + public double getPresetX(){ + return(_presetX); + } + + public double getPresetY(){ + return(_presetY); + } + + public double getPresetRotation(){ + return(_presetRotation); + } } \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 8be7231..14154e8 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -162,21 +162,21 @@ public static enum AprilTagType { public static Dictionary AllAprilTags = new Hashtable() {{ //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16 //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 - put("1.0", new AprilTag("1.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Blue, 593.68, 9.68, 53.38, 120.00)); - put("2.0", new AprilTag("2.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Blue, 637.21, 34.79, 53.38, 120.00)); - put("3.0", new AprilTag("3.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Red, 652.73,196.17, 57.13, 180.00)); - put("4.0", new AprilTag("4.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Red, 652.73, 218.42, 57.13, 180.00)); - put("5.0", new AprilTag("5.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Red, 578.77, 323.00, 53.38, 270.00)); - put("6.0", new AprilTag("6.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Blue, 72.5, 323.00, 53.38, 270.00)); - put("7.0", new AprilTag("7.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Blue, -1.50, 218.42, 57.13, 0.00)); - put("8.0", new AprilTag("8.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Blue, -1.50, 196.17, 57.13, 0.00)); - put("9.0", new AprilTag("9.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Red, 14.02, 34.79, 53.38, 60.00)); - put("10.0", new AprilTag("10.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Red, 57.54, 9.68, 53.38, 60.00)); - put("11.0", new AprilTag("11.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 146.19, 52.00, 300.00)); - put("12.0", new AprilTag("12.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 177.10, 52.00, 60.00)); - put("13.0", new AprilTag("13.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 441.74, 161.62, 52.00, 180.00)); - put("14.0", new AprilTag("14.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 209.48, 161.62, 52.00, 0.00)); - put("15.0", new AprilTag("15.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 177.10, 52.00, 120.00)); - put("16.0", new AprilTag("16.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 146.19, 52.00, 240.00)); + put("1.0", new AprilTag("1.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Blue, 593.68, 9.68, 53.38, 120.00, 25.0, 0, 0)); + put("2.0", new AprilTag("2.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Blue, 637.21, 34.79, 53.38, 120.00, 25.0, 0, 0)); + put("3.0", new AprilTag("3.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Red, 652.73,196.17, 57.13, 180.00, 55.0, 0, 30)); + put("4.0", new AprilTag("4.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Red, 652.73, 218.42, 57.13, 180.00, 55.0, 0, 0)); + put("5.0", new AprilTag("5.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Red, 578.77, 323.00, 53.38, 270.00, 20.0, 0, 0)); + put("6.0", new AprilTag("6.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Blue, 72.5, 323.00, 53.38, 270.00, 20, 0, 0)); + put("7.0", new AprilTag("7.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Blue, -1.50, 218.42, 57.13, 0.00, 55, 0, 45)); + put("8.0", new AprilTag("8.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Blue, -1.50, 196.17, 57.13, 0.00, 55, 0, 0)); + put("9.0", new AprilTag("9.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Red, 14.02, 34.79, 53.38, 60.00, 25, 0, 0)); + put("10.0", new AprilTag("10.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Red, 57.54, 9.68, 53.38, 60.00, 20, 0, 0)); + put("11.0", new AprilTag("11.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 146.19, 52.00, 300.00, 16, 0, 0)); + put("12.0", new AprilTag("12.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 177.10, 52.00, 60.00, 16, 0, 0)); + put("13.0", new AprilTag("13.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 441.74, 161.62, 52.00, 180.00, 16, 0, 0)); + put("14.0", new AprilTag("14.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 209.48, 161.62, 52.00, 0.00, 16, 0, 0)); + put("15.0", new AprilTag("15.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 177.10, 52.00, 120.00, 16, 0, 0)); + put("16.0", new AprilTag("16.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 146.19, 52.00, 240.00, 16, 0, 0)); }}; } \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8ec0d68..e85cbb5 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -60,22 +60,22 @@ public RobotContainer() { * joysticks}. */ private void configureBindings() { - // Left tag - driverXbox.a().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.LEFT, null)); - // Right tag - driverXbox.b().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.RIGHT, null)); - // single/center tag - driverXbox.y().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.CENTER, null)); - // Search and go to AMP April Tag - driverXbox.povRight().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.AMP)); - // Search and got to AMP April Tag - driverXbox.povDown().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.SPEAKER)); - // Search and got to AMP April Tag - driverXbox.povUp().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.STAGE)); + // // Left tag + // driverXbox.a().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.LEFT, null)); + // // Right tag + // driverXbox.b().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.RIGHT, null)); + // // single/center tag + // driverXbox.y().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, AprilTagPosition.CENTER, null)); + // // Search and go to AMP April Tag + // driverXbox.povRight().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.AMP)); + // // Search and got to AMP April Tag + // driverXbox.povDown().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.SPEAKER)); + // // Search and got to AMP April Tag + // driverXbox.povUp().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.STAGE)); - // driverXbox.y().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.LEFT, AprilTagType.SPEAKER)); - // driverXbox.a().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.CENTER, AprilTagType.AMP)); - // driverXbox.b().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.CENTER, AprilTagType.STAGE)); + //driverXbox.y().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.LEFT, AprilTagType.SPEAKER)); + //driverXbox.a().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.CENTER, AprilTagType.AMP)); + //driverXbox.b().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.CENTER, AprilTagType.STAGE)); } /** diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java index 9a43cee..583c67b 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java @@ -98,6 +98,7 @@ public void execute() { Pose2d robotPose = robotPoseSupplier.get(); if(robotPose != null){ if(CommonConstants.LOG_INTO_FILE_ENABLED){ + SmartDashboard.putString("Current tagID", tag.GetTagId()); SmartDashboard.putNumber("Current pose X", robotPose.getX()); SmartDashboard.putNumber("Current pose Y", robotPose.getY()); SmartDashboard.putNumber("Current pose Rotation", robotPose.getRotation().getRadians()); @@ -108,13 +109,13 @@ public void execute() { } // Handle alignment side-to-side - var ySpeed = pidControllerY.calculate(robotPose.getY()); + var ySpeed = 0;//pidControllerY.calculate(robotPose.getY()); if (pidControllerY.atSetpoint()) { ySpeed = 0; } // Handle rotation using target Yaw/Z rotation - var omegaSpeed = pidControllerOmega.calculate(robotPose.getRotation().getDegrees()); + var omegaSpeed = 0;//pidControllerOmega.calculate(robotPose.getRotation().getDegrees()); if (pidControllerOmega.atSetpoint()) { omegaSpeed = 0; } @@ -135,7 +136,7 @@ public void execute() { logMessage += "rotation is at SetPoint : " + pidControllerOmega.atSetpoint() + ": "; log.append(logMessage); } - speeds = ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, omegaSpeed, robotPose.getRotation()); + speeds = ChassisSpeeds.fromFieldRelativeSpeeds(ySpeed, -xSpeed, omegaSpeed, robotPose.getRotation()); SwerveModuleState[] calculatedModuleStates = DriveConstants.KINEMATICS.toSwerveModuleStates(speeds); swerveSubsystem.setModules(calculatedModuleStates); diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java index 061280d..1265ebc 100644 --- a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java @@ -66,16 +66,24 @@ public SwerveSubsystem() { @Override public void periodic() { odometry.update(getRotation2d(), getModulePositions()); - - var poseEntry = LimelightHelpers.getLimelightNTTableEntry("limelight", "botpose_wpiblue"); - var poseArray = poseEntry.getDoubleArray(new double[0]); - var timestamp = poseEntry.getLastChange() / 1e6 - poseArray[6] / 1e3; - - var pose = new Pose2d( - new Translation2d(poseArray[0], poseArray[1]), - new Rotation2d(Units.degreesToRadians(poseArray[5]))); - - odometry.addVisionMeasurement(pose, timestamp); + + try{ + double timestamp; + var poseEntry = LimelightHelpers.getLimelightNTTableEntry("limelight", "botpose_wpiblue"); + var poseArray = poseEntry.getDoubleArray(new double[0]); + if(poseArray.length >= 7) + { + timestamp = poseEntry.getLastChange() / 1e6 - poseArray[6] / 1e3; + var pose = new Pose2d( + new Translation2d(poseArray[0], poseArray[1]), + new Rotation2d(Units.degreesToRadians(poseArray[5]))); + + odometry.addVisionMeasurement(pose, timestamp); + } + } + catch(Exception e){ + SmartDashboard.putString("AddvisionError", e.getMessage()); + } if(DriverStation.getAlliance().isPresent()) { switch (DriverStation.getAlliance().get()) { From 0d1f41c1aa4e3e7e14f3034448758fdc53f8453b Mon Sep 17 00:00:00 2001 From: Sunghwan1234 Date: Sat, 10 Feb 2024 11:13:40 -0600 Subject: [PATCH 26/33] getAprilTag misspell fix in GoToAprilTagCommandUsingPoseEstimator changed getApirlTag to getAprilTag --- .../robot/commands/GoToAprilTagCommandUsingPoseEstimator.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java index 583c67b..8c94474 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java @@ -53,7 +53,7 @@ public GoToAprilTagCommandUsingPoseEstimator( this.robotPoseSupplier = robotPoseSupplier; this.tagPosition = tagPosition; this.tagType = tagType; - this.tag = getApirlTag(tagPosition, tagType); + this.tag = getAprilTag(tagPosition, tagType); addRequirements(swerveSubsystem); } @@ -168,7 +168,7 @@ private void resetPIDControllers() { pidControllerY.reset(robotPose.getY()); } - public AprilTag getApirlTag(AprilTagPosition tagPosition, AprilTagType tagType) + public AprilTag getAprilTag(AprilTagPosition tagPosition, AprilTagType tagType) { // if there is an alliance it gets the alliance (blue or red) Optional alliance = DriverStation.getAlliance(); From 465524b5d53436139d3f995713c8f3e31a814e6f Mon Sep 17 00:00:00 2001 From: Yunju607 Date: Sat, 10 Feb 2024 14:33:39 -0600 Subject: [PATCH 27/33] Vision V2 April Tag Pose converted to meters from inches --- src/main/java/frc/robot/Constants.java | 66 +++++++++---------- .../java/frc/robot/commands/DriveCommand.java | 6 +- ...GoToAprilTagCommandUsingPoseEstimator.java | 31 ++------- .../frc/robot/subsystems/SwerveSubsystem.java | 58 ++++++++++++---- 4 files changed, 89 insertions(+), 72 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 80d961e..58d510b 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -54,34 +54,34 @@ public static class SwerveModuleConstants { public static final double MODULE_KD = 0.0066806;// 0.0057682; //0.0076954; // --------- Front Left Module --------- \\ - public static final int FL_DRIVE_ID = 1; - public static final int FL_STEER_ID = 2; + public static final int FL_DRIVE_ID = 2; + public static final int FL_STEER_ID = 1; public static final int FL_ABSOLUTE_ENCODER_PORT = 1; - public static final double FL_OFFSET_RADIANS = Units.rotationsToRadians(0.213135) + Math.PI * 0.5 + Math.PI; + public static final double FL_OFFSET_RADIANS = Units.rotationsToRadians(0.074951) + Math.PI * 0.5; public static final boolean FL_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean FL_MOTOR_REVERSED = false; // --------- Front Right Module --------- \\ - public static final int FR_DRIVE_ID = 7; - public static final int FR_STEER_ID = 8; - public static final int FR_ABSOLUTE_ENCODER_PORT = 2; - public static final double FR_OFFSET_RADIANS = Units.rotationsToRadians(-0.305908) + Math.PI * 0.5 + Math.PI; + public static final int FR_DRIVE_ID = 4; + public static final int FR_STEER_ID = 3; + public static final int FR_ABSOLUTE_ENCODER_PORT = 4; + public static final double FR_OFFSET_RADIANS = Units.rotationsToRadians(-0.062256) + Math.PI * 0.5; public static final boolean FR_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean FR_MOTOR_REVERSED = false; // --------- Back Right Module --------- \\ - public static final int BR_DRIVE_ID = 5; - public static final int BR_STEER_ID = 6; - public static final int BR_ABSOLUTE_ENCODER_PORT = 3; - public static final double BR_OFFSET_RADIANS = Units.rotationsToRadians(0.230225) + Math.PI * 0.5 + Math.PI; + public static final int BR_DRIVE_ID = 6; + public static final int BR_STEER_ID = 5; + public static final int BR_ABSOLUTE_ENCODER_PORT = 2; + public static final double BR_OFFSET_RADIANS = Units.rotationsToRadians(0.152100) + Math.PI * 0.5; public static final boolean BR_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean BR_MOTOR_REVERSED = false; // --------- Back Left Module --------- \\ - public static final int BL_DRIVE_ID = 3; - public static final int BL_STEER_ID = 4; - public static final int BL_ABSOLUTE_ENCODER_PORT = 4; - public static final double BL_OFFSET_RADIANS = Units.rotationsToRadians(-0.077637) + Math.PI * 0.5 + Math.PI; + public static final int BL_DRIVE_ID = 8; + public static final int BL_STEER_ID = 7; + public static final int BL_ABSOLUTE_ENCODER_PORT = 3; + public static final double BL_OFFSET_RADIANS = Units.rotationsToRadians(-0.109131) + Math.PI * 0.5; public static final boolean BL_ABSOLUTE_ENCODER_REVERSED = true; public static final boolean BL_MOTOR_REVERSED = false; @@ -93,8 +93,8 @@ public static class DriveConstants { public static final double MAX_ROBOT_RAD_VELOCITY = 12.0; // Approx. Measured rads/sec // TODO: Change based on actual robot! - public static final double TRACK_WIDTH = Units.inchesToMeters(19.75); - public static final double WHEEL_BASE = Units.inchesToMeters(24.75); + public static final double TRACK_WIDTH = Units.inchesToMeters(18.75); + public static final double WHEEL_BASE = Units.inchesToMeters(18.75); public static final Rotation2d NAVX_ANGLE_OFFSET = Rotation2d.fromDegrees(90); public static final class ModuleIndices { @@ -162,21 +162,21 @@ public static enum AprilTagType { public static Dictionary AllAprilTags = new Hashtable() {{ //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16 //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 - put("1.0", new AprilTag("1.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Blue, 593.68, 9.68, 53.38, 120.00, 25.0, 0, 0)); - put("2.0", new AprilTag("2.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Blue, 637.21, 34.79, 53.38, 120.00, 25.0, 0, 0)); - put("3.0", new AprilTag("3.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Red, 652.73,196.17, 57.13, 180.00, 55.0, 0, 30)); - put("4.0", new AprilTag("4.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Red, 652.73, 218.42, 57.13, 180.00, 55.0, 0, 0)); - put("5.0", new AprilTag("5.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Red, 578.77, 323.00, 53.38, 270.00, 20.0, 0, 0)); - put("6.0", new AprilTag("6.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Blue, 72.5, 323.00, 53.38, 270.00, 20, 0, 0)); - put("7.0", new AprilTag("7.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Blue, -1.50, 218.42, 57.13, 0.00, 55, 0, 45)); - put("8.0", new AprilTag("8.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Blue, -1.50, 196.17, 57.13, 0.00, 55, 0, 0)); - put("9.0", new AprilTag("9.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Red, 14.02, 34.79, 53.38, 60.00, 25, 0, 0)); - put("10.0", new AprilTag("10.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Red, 57.54, 9.68, 53.38, 60.00, 20, 0, 0)); - put("11.0", new AprilTag("11.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 146.19, 52.00, 300.00, 16, 0, 0)); - put("12.0", new AprilTag("12.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 177.10, 52.00, 60.00, 16, 0, 0)); - put("13.0", new AprilTag("13.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 441.74, 161.62, 52.00, 180.00, 16, 0, 0)); - put("14.0", new AprilTag("14.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 209.48, 161.62, 52.00, 0.00, 16, 0, 0)); - put("15.0", new AprilTag("15.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 177.10, 52.00, 120.00, 16, 0, 0)); - put("16.0", new AprilTag("16.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 146.19, 52.00, 240.00, 16, 0, 0)); + put("1.0", new AprilTag("1.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Blue, Units.inchesToMeters(593.68), Units.inchesToMeters(9.68), Units.inchesToMeters(53.38), 120.00, 25.0, 0, 0)); + put("2.0", new AprilTag("2.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Blue, Units.inchesToMeters(637.21), Units.inchesToMeters(34.79), Units.inchesToMeters(53.38), 120.00, 25.0, 0, 0)); + put("3.0", new AprilTag("3.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Red, Units.inchesToMeters(652.73),Units.inchesToMeters(196.17), Units.inchesToMeters(57.13), 180.00, 55.0, 0, 30)); + put("4.0", new AprilTag("4.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Red, Units.inchesToMeters(652.73), Units.inchesToMeters(218.42), Units.inchesToMeters(57.13), 180.00, 55.0, 0, 0)); + put("5.0", new AprilTag("5.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Red, Units.inchesToMeters(578.77), Units.inchesToMeters(323.00), Units.inchesToMeters(53.38), 270.00, 20.0, 0, 0)); + put("6.0", new AprilTag("6.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Blue, Units.inchesToMeters(72.5), Units.inchesToMeters(323.00), Units.inchesToMeters(53.38), 270.00, 20, 0, 0)); + put("7.0", new AprilTag("7.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Blue, Units.inchesToMeters(-1.50), Units.inchesToMeters(218.42), Units.inchesToMeters(57.13), 0.00, 55, 0, 45)); + put("8.0", new AprilTag("8.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Blue, Units.inchesToMeters(-1.50), Units.inchesToMeters(196.17), Units.inchesToMeters(57.13), 0.00, 55, 0, 0)); + put("9.0", new AprilTag("9.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Red, Units.inchesToMeters(14.02), Units.inchesToMeters(34.79), Units.inchesToMeters(53.38), 60.00, 25, 0, 0)); + put("10.0", new AprilTag("10.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Red, Units.inchesToMeters(57.54), Units.inchesToMeters(9.68), Units.inchesToMeters(53.38), 60.00, 20, 0, 0)); + put("11.0", new AprilTag("11.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, Units.inchesToMeters(468.69), Units.inchesToMeters(146.19), Units.inchesToMeters(52.00), 300.00, 16, 0, 0)); + put("12.0", new AprilTag("12.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, Units.inchesToMeters(468.69), Units.inchesToMeters(177.10), Units.inchesToMeters(52.00), 60.00, 16, 0, 0)); + put("13.0", new AprilTag("13.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, Units.inchesToMeters(441.74), Units.inchesToMeters(161.62), Units.inchesToMeters(52.00), 180.00, 16, 0, 0)); + put("14.0", new AprilTag("14.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, Units.inchesToMeters(209.48), Units.inchesToMeters(161.62), Units.inchesToMeters(52.00), 0.00, 16, 0, 0)); + put("15.0", new AprilTag("15.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, Units.inchesToMeters(182.73), Units.inchesToMeters(177.10), Units.inchesToMeters(52.00), 120.00, 16, 0, 0)); + put("16.0", new AprilTag("16.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, Units.inchesToMeters(182.73), Units.inchesToMeters(146.19), Units.inchesToMeters(52.00), 240.00, 16, 0, 0)); }}; } \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/DriveCommand.java b/src/main/java/frc/robot/commands/DriveCommand.java index 0d504f1..429fc2d 100644 --- a/src/main/java/frc/robot/commands/DriveCommand.java +++ b/src/main/java/frc/robot/commands/DriveCommand.java @@ -99,7 +99,7 @@ public void execute() { // Drive Non Field Oriented if (!xbox.getLeftBumper()) { - speeds = ChassisSpeeds.fromFieldRelativeSpeeds(-ySpeed, xSpeed, zSpeed, + speeds = ChassisSpeeds.fromFieldRelativeSpeeds(ySpeed, -xSpeed, -zSpeed, new Rotation2d( -swerveSubsystem.getRotation2d().rotateBy(DriveConstants.NAVX_ANGLE_OFFSET).getRadians())); } else { @@ -109,8 +109,8 @@ public void execute() { // State transition logic switch (state) { case Free: - state = xbox.getRightBumper() ? DriveState.Locked : DriveState.Free; - break; + state = xbox.getRightBumper() ? DriveState.Locked : DriveState.Free; + break; case Locked: state = ((xyRaw.getNorm() > 0.15) && !xbox.getBButton()) ? DriveState.Free : DriveState.Locked; break; diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java index 583c67b..c240c09 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java @@ -13,7 +13,6 @@ import frc.robot.Constants.VisionContsants; import frc.robot.AprilTag; import frc.robot.Constants; -import frc.robot.KnownAprilTagDetail; import frc.robot.Constants.AprilTagPosition; import frc.robot.Constants.AprilTagType; import frc.robot.Constants.CommonConstants; @@ -53,7 +52,7 @@ public GoToAprilTagCommandUsingPoseEstimator( this.robotPoseSupplier = robotPoseSupplier; this.tagPosition = tagPosition; this.tagType = tagType; - this.tag = getApirlTag(tagPosition, tagType); + this.tag = swerveSubsystem.getApirlTag(tagPosition, tagType); addRequirements(swerveSubsystem); } @@ -64,6 +63,12 @@ public void initialize() { { Pose2d goalPose = tag.getPose2d(); if(goalPose != null){ + if(CommonConstants.LOG_INTO_FILE_ENABLED){ + SmartDashboard.putNumber("GoalPoseX", goalPose.getX()); + SmartDashboard.putNumber("GoalPoseY", goalPose.getY()); + SmartDashboard.putNumber("GoalPoseRotation", goalPose.getRotation().getRadians()); + + } resetPIDControllers(); pidControllerX.setGoal(Units.inchesToMeters(goalPose.getX())); // Move forward/backwork to keep 36 inches from the target pidControllerX.setTolerance(Units.inchesToMeters(2.5)); @@ -167,26 +172,4 @@ private void resetPIDControllers() { pidControllerX.reset(robotPose.getX()); pidControllerY.reset(robotPose.getY()); } - - public AprilTag getApirlTag(AprilTagPosition tagPosition, AprilTagType tagType) - { - // if there is an alliance it gets the alliance (blue or red) - Optional alliance = DriverStation.getAlliance(); - AprilTag returnValue = null; - // loops through the hashtable and finds the correct apriltag and returns the details - if(alliance.isPresent()){ - Enumeration e = Constants.AllAprilTags.keys(); - AprilTag tag = null; - while(e.hasMoreElements()) { - String key = e.nextElement(); - tag = Constants.AllAprilTags.get(key); - if(tag != null && tag.GetAlliance() == alliance.get() && tag.GetTagPosition() == tagPosition && tag.GetTagType() == tagType){ - returnValue = tag; - break; - } - } - } - return returnValue; - } - } diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java index 09f8b87..2ca3ead 100644 --- a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java @@ -1,5 +1,8 @@ package frc.robot.subsystems; +import java.util.Enumeration; +import java.util.Optional; + import com.kauailabs.navx.frc.AHRS; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; @@ -7,12 +10,14 @@ import edu.wpi.first.math.kinematics.*; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.SPI; import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.AprilTag; import frc.robot.Constants; import frc.robot.Robot; import frc.robot.Constants.*; @@ -68,13 +73,13 @@ public void periodic() { odometry.update(getRotation2d(), getModulePositions()); try{ - double timestamp; var poseEntry = LimelightHelpers.getLimelightNTTableEntry("limelight", "botpose_wpiblue"); var poseArray = poseEntry.getDoubleArray(new double[0]); - if(poseArray.length >= 7) + if(poseArray.length > 0) { - timestamp = poseEntry.getLastChange() / 1e6 - poseArray[6] / 1e3; - var pose = new Pose2d( + SmartDashboard.putNumber("I am here", poseArray.length); + double timestamp = poseEntry.getLastChange() / 1e6 - poseArray[6] / 1e3; + Pose2d pose = new Pose2d( new Translation2d(poseArray[0], poseArray[1]), new Rotation2d(Units.degreesToRadians(poseArray[5]))); @@ -175,14 +180,18 @@ public void setChassisSpeedsAUTO(ChassisSpeeds speeds) { } public void setXstance() { - frontLeft.setModuleStateRaw(new SwerveModuleState(0, - Rotation2d.fromDegrees(45))); - frontRight.setModuleStateRaw(new SwerveModuleState(0, - Rotation2d.fromDegrees(-45))); - backLeft.setModuleStateRaw(new SwerveModuleState(0, - Rotation2d.fromDegrees(-45))); - backRight.setModuleStateRaw(new SwerveModuleState(0, - Rotation2d.fromDegrees(45))); + // frontLeft.setModuleStateRaw(new SwerveModuleState(0, + // Rotation2d.fromDegrees(45))); + // frontRight.setModuleStateRaw(new SwerveModuleState(0, + // Rotation2d.fromDegrees(-45))); + // backLeft.setModuleStateRaw(new SwerveModuleState(0, + // Rotation2d.fromDegrees(-45))); + // backRight.setModuleStateRaw(new SwerveModuleState(0, + // Rotation2d.fromDegrees(45))); + frontLeft.setModuleStateRaw(new SwerveModuleState(0.1, Rotation2d.fromDegrees(0))); + frontRight.setModuleStateRaw(new SwerveModuleState(0.1, Rotation2d.fromDegrees(0))); + backLeft.setModuleStateRaw(new SwerveModuleState(0.1, Rotation2d.fromDegrees(0))); + backRight.setModuleStateRaw(new SwerveModuleState(0.1, Rotation2d.fromDegrees(0))); } public ChassisSpeeds getChassisSpeeds() { @@ -218,4 +227,29 @@ public void simulationPeriodic() { public Pose2d getEstimatedPosition(){ return odometry.getEstimatedPosition(); } + + public AprilTag getApirlTag(AprilTagPosition tagPosition, AprilTagType tagType) + { + // if there is an alliance it gets the alliance (blue or red) + Optional alliance = DriverStation.getAlliance(); + AprilTag returnValue = null; + // loops through the hashtable and finds the correct apriltag and returns the details + if(alliance.isPresent()){ + Enumeration e = Constants.AllAprilTags.keys(); + AprilTag tag = null; + while(e.hasMoreElements()) { + String key = e.nextElement(); + tag = Constants.AllAprilTags.get(key); + if(tag != null && tag.GetAlliance() == alliance.get() && tag.GetTagPosition() == tagPosition && tag.GetTagType() == tagType){ + returnValue = tag; + break; + } + } + } + return returnValue; + } + + public AprilTag getAprilTagByID (String tagId){ + return Constants.AllAprilTags.get(tagId); + } } From 30093fad94c1468d8556f6328e68593206cefc2e Mon Sep 17 00:00:00 2001 From: Yunju607 Date: Sat, 10 Feb 2024 14:41:51 -0600 Subject: [PATCH 28/33] Updated getAprilTag --- src/main/java/frc/robot/subsystems/SwerveSubsystem.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java index 2ca3ead..6ce69c2 100644 --- a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java @@ -228,7 +228,7 @@ public Pose2d getEstimatedPosition(){ return odometry.getEstimatedPosition(); } - public AprilTag getApirlTag(AprilTagPosition tagPosition, AprilTagType tagType) + public AprilTag getAprilTag(AprilTagPosition tagPosition, AprilTagType tagType) { // if there is an alliance it gets the alliance (blue or red) Optional alliance = DriverStation.getAlliance(); From 270af03e03f587edb604dd277f52a2ffab6a89f8 Mon Sep 17 00:00:00 2001 From: Technological-Guru Date: Sun, 11 Feb 2024 09:19:38 -0600 Subject: [PATCH 29/33] Added getTagPose2dInField, getTagPose2dInFieldWithPreset and getTagPose2dInFieldForGivenPreset functions --- src/main/java/frc/robot/AprilTag.java | 14 ++++++-- src/main/java/frc/robot/Constants.java | 32 +++++++++---------- src/main/java/frc/robot/RobotContainer.java | 6 ++-- ...GoToAprilTagCommandUsingPoseEstimator.java | 17 ++++++---- .../frc/robot/subsystems/SwerveSubsystem.java | 4 --- 5 files changed, 40 insertions(+), 33 deletions(-) diff --git a/src/main/java/frc/robot/AprilTag.java b/src/main/java/frc/robot/AprilTag.java index eb84cac..468c752 100644 --- a/src/main/java/frc/robot/AprilTag.java +++ b/src/main/java/frc/robot/AprilTag.java @@ -52,11 +52,19 @@ public Alliance GetAlliance(){ return _alliance; } - public Pose2d getPose2d(){ - //return new Pose2d(new Translation2d(_x-_presetX, _y-_presetY), new Rotation2d(Units.degreesToRadians(_rotation))); - return new Pose2d(new Translation2d(_x, _y), new Rotation2d(Units.degreesToRadians(_rotation))); + public Pose2d getTagPose2dInField(){ + return new Pose2d(new Translation2d(Units.inchesToMeters(_x), Units.inchesToMeters(_y)), new Rotation2d(Units.degreesToRadians(_rotation))); } + public Pose2d getTagPose2dInFieldWithPreset(){ + return new Pose2d(new Translation2d(Units.inchesToMeters(_x - _presetX), Units.inchesToMeters(_y - _presetY)), new Rotation2d(Units.degreesToRadians(_rotation - _presetRotation))); + } + + public Pose2d getTagPose2dInFieldForGivenPreset(double presetX, double presetY, double presetRotation){ + return new Pose2d(new Translation2d(Units.inchesToMeters(_x - presetX), Units.inchesToMeters(_y - presetY)), new Rotation2d(Units.degreesToRadians(_rotation - presetRotation))); + } + + public double getPresetX(){ return(_presetX); } diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 58d510b..14154e8 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -162,21 +162,21 @@ public static enum AprilTagType { public static Dictionary AllAprilTags = new Hashtable() {{ //Blue Alliance April tags 1, 2, 6, 7, 8, 14, 15, 16 //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 - put("1.0", new AprilTag("1.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Blue, Units.inchesToMeters(593.68), Units.inchesToMeters(9.68), Units.inchesToMeters(53.38), 120.00, 25.0, 0, 0)); - put("2.0", new AprilTag("2.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Blue, Units.inchesToMeters(637.21), Units.inchesToMeters(34.79), Units.inchesToMeters(53.38), 120.00, 25.0, 0, 0)); - put("3.0", new AprilTag("3.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Red, Units.inchesToMeters(652.73),Units.inchesToMeters(196.17), Units.inchesToMeters(57.13), 180.00, 55.0, 0, 30)); - put("4.0", new AprilTag("4.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Red, Units.inchesToMeters(652.73), Units.inchesToMeters(218.42), Units.inchesToMeters(57.13), 180.00, 55.0, 0, 0)); - put("5.0", new AprilTag("5.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Red, Units.inchesToMeters(578.77), Units.inchesToMeters(323.00), Units.inchesToMeters(53.38), 270.00, 20.0, 0, 0)); - put("6.0", new AprilTag("6.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Blue, Units.inchesToMeters(72.5), Units.inchesToMeters(323.00), Units.inchesToMeters(53.38), 270.00, 20, 0, 0)); - put("7.0", new AprilTag("7.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Blue, Units.inchesToMeters(-1.50), Units.inchesToMeters(218.42), Units.inchesToMeters(57.13), 0.00, 55, 0, 45)); - put("8.0", new AprilTag("8.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Blue, Units.inchesToMeters(-1.50), Units.inchesToMeters(196.17), Units.inchesToMeters(57.13), 0.00, 55, 0, 0)); - put("9.0", new AprilTag("9.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Red, Units.inchesToMeters(14.02), Units.inchesToMeters(34.79), Units.inchesToMeters(53.38), 60.00, 25, 0, 0)); - put("10.0", new AprilTag("10.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Red, Units.inchesToMeters(57.54), Units.inchesToMeters(9.68), Units.inchesToMeters(53.38), 60.00, 20, 0, 0)); - put("11.0", new AprilTag("11.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, Units.inchesToMeters(468.69), Units.inchesToMeters(146.19), Units.inchesToMeters(52.00), 300.00, 16, 0, 0)); - put("12.0", new AprilTag("12.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, Units.inchesToMeters(468.69), Units.inchesToMeters(177.10), Units.inchesToMeters(52.00), 60.00, 16, 0, 0)); - put("13.0", new AprilTag("13.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, Units.inchesToMeters(441.74), Units.inchesToMeters(161.62), Units.inchesToMeters(52.00), 180.00, 16, 0, 0)); - put("14.0", new AprilTag("14.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, Units.inchesToMeters(209.48), Units.inchesToMeters(161.62), Units.inchesToMeters(52.00), 0.00, 16, 0, 0)); - put("15.0", new AprilTag("15.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, Units.inchesToMeters(182.73), Units.inchesToMeters(177.10), Units.inchesToMeters(52.00), 120.00, 16, 0, 0)); - put("16.0", new AprilTag("16.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, Units.inchesToMeters(182.73), Units.inchesToMeters(146.19), Units.inchesToMeters(52.00), 240.00, 16, 0, 0)); + put("1.0", new AprilTag("1.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Blue, 593.68, 9.68, 53.38, 120.00, 25.0, 0, 0)); + put("2.0", new AprilTag("2.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Blue, 637.21, 34.79, 53.38, 120.00, 25.0, 0, 0)); + put("3.0", new AprilTag("3.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Red, 652.73,196.17, 57.13, 180.00, 55.0, 0, 30)); + put("4.0", new AprilTag("4.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Red, 652.73, 218.42, 57.13, 180.00, 55.0, 0, 0)); + put("5.0", new AprilTag("5.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Red, 578.77, 323.00, 53.38, 270.00, 20.0, 0, 0)); + put("6.0", new AprilTag("6.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Blue, 72.5, 323.00, 53.38, 270.00, 20, 0, 0)); + put("7.0", new AprilTag("7.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Blue, -1.50, 218.42, 57.13, 0.00, 55, 0, 45)); + put("8.0", new AprilTag("8.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Blue, -1.50, 196.17, 57.13, 0.00, 55, 0, 0)); + put("9.0", new AprilTag("9.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Red, 14.02, 34.79, 53.38, 60.00, 25, 0, 0)); + put("10.0", new AprilTag("10.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Red, 57.54, 9.68, 53.38, 60.00, 20, 0, 0)); + put("11.0", new AprilTag("11.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 146.19, 52.00, 300.00, 16, 0, 0)); + put("12.0", new AprilTag("12.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 177.10, 52.00, 60.00, 16, 0, 0)); + put("13.0", new AprilTag("13.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 441.74, 161.62, 52.00, 180.00, 16, 0, 0)); + put("14.0", new AprilTag("14.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 209.48, 161.62, 52.00, 0.00, 16, 0, 0)); + put("15.0", new AprilTag("15.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 177.10, 52.00, 120.00, 16, 0, 0)); + put("16.0", new AprilTag("16.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 146.19, 52.00, 240.00, 16, 0, 0)); }}; } \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index e85cbb5..5677101 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -73,9 +73,9 @@ private void configureBindings() { // // Search and got to AMP April Tag // driverXbox.povUp().whileTrue(new GoToAprilTagCommand(swerveDriveSubsystem, limeLightSubsystem, null, AprilTagType.STAGE)); - //driverXbox.y().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.LEFT, AprilTagType.SPEAKER)); - //driverXbox.a().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.CENTER, AprilTagType.AMP)); - //driverXbox.b().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getEstimatedPosition, AprilTagPosition.CENTER, AprilTagType.STAGE)); + //driverXbox.y().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.LEFT, AprilTagType.SPEAKER)); + //driverXbox.a().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.CENTER, AprilTagType.AMP)); + //driverXbox.b().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.CENTER, AprilTagType.STAGE)); } /** diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java index 0717f23..a28f233 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java @@ -29,6 +29,9 @@ import java.util.function.Supplier; public class GoToAprilTagCommandUsingPoseEstimator extends Command { + + private static final double TRANSLATION_TOLERANCE = 0.02; + private static final double THETA_TOLERANCE = Units.degreesToRadians(2.0); private final SwerveSubsystem swerveSubsystem; public final Supplier robotPoseSupplier; @@ -61,7 +64,7 @@ public void initialize() { super.initialize(); if(tag != null) { - Pose2d goalPose = tag.getPose2d(); + Pose2d goalPose = tag.getTagPose2dInField(); if(goalPose != null){ if(CommonConstants.LOG_INTO_FILE_ENABLED){ SmartDashboard.putNumber("GoalPoseX", goalPose.getX()); @@ -70,14 +73,14 @@ public void initialize() { } resetPIDControllers(); - pidControllerX.setGoal(Units.inchesToMeters(goalPose.getX())); // Move forward/backwork to keep 36 inches from the target - pidControllerX.setTolerance(Units.inchesToMeters(2.5)); + pidControllerX.setGoal(goalPose.getX()); // Move forward/backwork to keep 36 inches from the target + pidControllerX.setTolerance(TRANSLATION_TOLERANCE); pidControllerY.setGoal(goalPose.getY()); // Move side to side to keep target centered - pidControllerY.setTolerance(Units.inchesToMeters(2.5)); + pidControllerY.setTolerance(TRANSLATION_TOLERANCE); - pidControllerOmega.setGoal(Units.degreesToRadians(goalPose.getRotation().getRadians())); // Rotate the keep perpendicular with the target - pidControllerOmega.setTolerance(Units.degreesToRadians(1)); + pidControllerOmega.setGoal(goalPose.getRotation().getRadians()); // Rotate the keep perpendicular with the target + pidControllerOmega.setTolerance(THETA_TOLERANCE); if(CommonConstants.LOG_INTO_FILE_ENABLED){ /// Starts recording to data log @@ -120,7 +123,7 @@ public void execute() { } // Handle rotation using target Yaw/Z rotation - var omegaSpeed = 0;//pidControllerOmega.calculate(robotPose.getRotation().getDegrees()); + var omegaSpeed = 0;//pidControllerOmega.calculate(robotPose.getRotation().getRadians()); if (pidControllerOmega.atSetpoint()) { omegaSpeed = 0; } diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java index 6ce69c2..238bace 100644 --- a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java @@ -224,10 +224,6 @@ public void simulationPeriodic() { navxSim += 0.02 * lastChassisSpeeds.omegaRadiansPerSecond; } - public Pose2d getEstimatedPosition(){ - return odometry.getEstimatedPosition(); - } - public AprilTag getAprilTag(AprilTagPosition tagPosition, AprilTagType tagType) { // if there is an alliance it gets the alliance (blue or red) From e6614bb9d6be11f9e62768003bc9a6cac2bf8dc5 Mon Sep 17 00:00:00 2001 From: Technological-Guru Date: Thu, 15 Feb 2024 06:52:48 -0600 Subject: [PATCH 30/33] Fixed the AddVisionMeasurement updating the odometry to 0 issue, when it is not seeing tag. Removed the datalog manager from GoToAprilTagCommandUsingPoseEstimator.java for now. Since it is causing issue. Will add this back after week 0 and do more testing --- ...GoToAprilTagCommandUsingPoseEstimator.java | 33 +++---------------- .../frc/robot/subsystems/SwerveSubsystem.java | 17 ++++++---- 2 files changed, 15 insertions(+), 35 deletions(-) diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java index a28f233..bbc02e9 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java @@ -4,15 +4,11 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveModuleState; import edu.wpi.first.math.util.Units; -import edu.wpi.first.util.datalog.StringLogEntry; import edu.wpi.first.wpilibj.DataLogManager; -import edu.wpi.first.wpilibj.DriverStation; -import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.Constants.VisionContsants; import frc.robot.AprilTag; -import frc.robot.Constants; import frc.robot.Constants.AprilTagPosition; import frc.robot.Constants.AprilTagType; import frc.robot.Constants.CommonConstants; @@ -24,8 +20,6 @@ import java.nio.file.Files; import java.nio.file.Path; import java.nio.file.Paths; -import java.util.Enumeration; -import java.util.Optional; import java.util.function.Supplier; public class GoToAprilTagCommandUsingPoseEstimator extends Command { @@ -43,7 +37,6 @@ public class GoToAprilTagCommandUsingPoseEstimator extends Command { private final ProfiledPIDController pidControllerY = new ProfiledPIDController(VisionContsants.Y_kP, VisionContsants.Y_kI, VisionContsants.Y_kD, LimelightConstants.pidYConstraints); private final ProfiledPIDController pidControllerOmega = new ProfiledPIDController(VisionContsants.THETA_kP, VisionContsants.THETA_kI, VisionContsants.THETA_kD, LimelightConstants.pidOmegaConstraints); - StringLogEntry log; public GoToAprilTagCommandUsingPoseEstimator( SwerveSubsystem swerveSubsystem, @@ -91,9 +84,6 @@ public void initialize() { } catch (IOException e) { SmartDashboard.putString("AprilTag Log error", e.getMessage()); } - // Record both DS control and joystick data - DriverStation.startDataLog(DataLogManager.getLog()); - log = new StringLogEntry(DataLogManager.getLog(), "GoToAprilTagCommand"); } } } @@ -106,7 +96,10 @@ public void execute() { Pose2d robotPose = robotPoseSupplier.get(); if(robotPose != null){ if(CommonConstants.LOG_INTO_FILE_ENABLED){ + if(tag != null){ SmartDashboard.putString("Current tagID", tag.GetTagId()); + } + SmartDashboard.putNumber("Current pose X", robotPose.getX()); SmartDashboard.putNumber("Current pose Y", robotPose.getY()); SmartDashboard.putNumber("Current pose Rotation", robotPose.getRotation().getRadians()); @@ -126,24 +119,7 @@ public void execute() { var omegaSpeed = 0;//pidControllerOmega.calculate(robotPose.getRotation().getRadians()); if (pidControllerOmega.atSetpoint()) { omegaSpeed = 0; - } - - if(CommonConstants.LOG_INTO_FILE_ENABLED){ - String logMessage = "target X: " + robotPose.getX() + ": "; - logMessage += "target X(inches): " + Units.metersToInches(robotPose.getX()) + ": "; - logMessage += "X speed : " + xSpeed + ": "; - logMessage += "X SetPoint : " + pidControllerX.getSetpoint() + ": "; - logMessage += "X is at SetPoint : " + pidControllerX.atSetpoint() + ": "; - logMessage += "target Y: " + robotPose.getY() + ": "; - logMessage += "Y speed : " + ySpeed + ": "; - logMessage += "Y SetPoint : " + pidControllerY.getSetpoint() + ": "; - logMessage += "Y is at SetPoint : " + pidControllerY.atSetpoint() + ": "; - logMessage += "target rotation: " + robotPose.getRotation().getRadians() + ": "; - logMessage += "rotation speed : " + omegaSpeed + ": "; - logMessage += "rotation SetPoint : " + pidControllerOmega.getSetpoint() + ": "; - logMessage += "rotation is at SetPoint : " + pidControllerOmega.atSetpoint() + ": "; - log.append(logMessage); - } + } speeds = ChassisSpeeds.fromFieldRelativeSpeeds(ySpeed, -xSpeed, omegaSpeed, robotPose.getRotation()); SwerveModuleState[] calculatedModuleStates = DriveConstants.KINEMATICS.toSwerveModuleStates(speeds); @@ -176,3 +152,4 @@ private void resetPIDControllers() { pidControllerY.reset(robotPose.getY()); } } + diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java index 238bace..16898d8 100644 --- a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java @@ -71,7 +71,7 @@ public SwerveSubsystem() { @Override public void periodic() { odometry.update(getRotation2d(), getModulePositions()); - + try{ var poseEntry = LimelightHelpers.getLimelightNTTableEntry("limelight", "botpose_wpiblue"); var poseArray = poseEntry.getDoubleArray(new double[0]); @@ -79,11 +79,14 @@ public void periodic() { { SmartDashboard.putNumber("I am here", poseArray.length); double timestamp = poseEntry.getLastChange() / 1e6 - poseArray[6] / 1e3; - Pose2d pose = new Pose2d( - new Translation2d(poseArray[0], poseArray[1]), - new Rotation2d(Units.degreesToRadians(poseArray[5]))); - - odometry.addVisionMeasurement(pose, timestamp); + if(!(poseArray[0] == 0.0 && poseArray[1] == 0.0 && poseArray[5] == 0.0)){ + Pose2d pose = new Pose2d( + new Translation2d(poseArray[0], poseArray[1]), + new Rotation2d(Units.degreesToRadians(poseArray[5]))); + + odometry.addVisionMeasurement(pose, timestamp); + } + } } catch(Exception e){ @@ -248,4 +251,4 @@ public AprilTag getAprilTag(AprilTagPosition tagPosition, AprilTagType tagType) public AprilTag getAprilTagByID (String tagId){ return Constants.AllAprilTags.get(tagId); } -} +} \ No newline at end of file From 44e081f2514445b9b41d1855c198d97e3b27b0a6 Mon Sep 17 00:00:00 2001 From: turtlehedgehog Date: Thu, 15 Feb 2024 19:06:21 -0600 Subject: [PATCH 31/33] New controller binds, adjusted stage constants --- src/main/java/frc/robot/Constants.java | 14 +++++++------- src/main/java/frc/robot/RobotContainer.java | 20 ++++++++++++++++++++ 2 files changed, 27 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 14154e8..858b6f1 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -164,19 +164,19 @@ public static enum AprilTagType { //Red Alliance April tags 3, 4, 5, 9, 10, 11, 12, 13 put("1.0", new AprilTag("1.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Blue, 593.68, 9.68, 53.38, 120.00, 25.0, 0, 0)); put("2.0", new AprilTag("2.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Blue, 637.21, 34.79, 53.38, 120.00, 25.0, 0, 0)); - put("3.0", new AprilTag("3.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Red, 652.73,196.17, 57.13, 180.00, 55.0, 0, 30)); + put("3.0", new AprilTag("3.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Red, 652.73,196.17, 57.13, 180.00, 55.0, 0, -40)); put("4.0", new AprilTag("4.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Red, 652.73, 218.42, 57.13, 180.00, 55.0, 0, 0)); put("5.0", new AprilTag("5.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Red, 578.77, 323.00, 53.38, 270.00, 20.0, 0, 0)); put("6.0", new AprilTag("6.0", AprilTagType.AMP, AprilTagPosition.CENTER, Alliance.Blue, 72.5, 323.00, 53.38, 270.00, 20, 0, 0)); - put("7.0", new AprilTag("7.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Blue, -1.50, 218.42, 57.13, 0.00, 55, 0, 45)); + put("7.0", new AprilTag("7.0", AprilTagType.SPEAKER, AprilTagPosition.RIGHT, Alliance.Blue, -1.50, 218.42, 57.13, 0.00, 55, 0, 40)); put("8.0", new AprilTag("8.0", AprilTagType.SPEAKER, AprilTagPosition.LEFT, Alliance.Blue, -1.50, 196.17, 57.13, 0.00, 55, 0, 0)); put("9.0", new AprilTag("9.0", AprilTagType.SOURCE, AprilTagPosition.RIGHT, Alliance.Red, 14.02, 34.79, 53.38, 60.00, 25, 0, 0)); put("10.0", new AprilTag("10.0", AprilTagType.SOURCE, AprilTagPosition.LEFT, Alliance.Red, 57.54, 9.68, 53.38, 60.00, 20, 0, 0)); - put("11.0", new AprilTag("11.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 146.19, 52.00, 300.00, 16, 0, 0)); - put("12.0", new AprilTag("12.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 468.69, 177.10, 52.00, 60.00, 16, 0, 0)); + put("11.0", new AprilTag("11.0", AprilTagType.STAGE, AprilTagPosition.LEFT, Alliance.Red, 468.69, 146.19, 52.00, 300.00, 16, 0, 0)); + put("12.0", new AprilTag("12.0", AprilTagType.STAGE, AprilTagPosition.RIGHT, Alliance.Red, 468.69, 177.10, 52.00, 60.00, 16, 0, 0)); put("13.0", new AprilTag("13.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Red, 441.74, 161.62, 52.00, 180.00, 16, 0, 0)); put("14.0", new AprilTag("14.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 209.48, 161.62, 52.00, 0.00, 16, 0, 0)); - put("15.0", new AprilTag("15.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 177.10, 52.00, 120.00, 16, 0, 0)); - put("16.0", new AprilTag("16.0", AprilTagType.STAGE, AprilTagPosition.CENTER, Alliance.Blue, 182.73, 146.19, 52.00, 240.00, 16, 0, 0)); + put("15.0", new AprilTag("15.0", AprilTagType.STAGE, AprilTagPosition.LEFT, Alliance.Blue, 182.73, 177.10, 52.00, 120.00, 16, 0, 0)); + put("16.0", new AprilTag("16.0", AprilTagType.STAGE, AprilTagPosition.RIGHT, Alliance.Blue, 182.73, 146.19, 52.00, 240.00, 16, 0, 0)); }}; -} \ No newline at end of file +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5677101..6e29275 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -76,6 +76,26 @@ private void configureBindings() { //driverXbox.y().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.LEFT, AprilTagType.SPEAKER)); //driverXbox.a().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.CENTER, AprilTagType.AMP)); //driverXbox.b().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.CENTER, AprilTagType.STAGE)); + + + + + + + + + + + + + /* + driverXbox.y().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.LEFT, AprilTagType.SPEAKER)); + driverXbox.a().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.RIGHT, AprilTagType.SOURCE)); + driverXbox.b().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.CENTER, AprilTagType.AMP)); + driverXbox.povRight().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.RIGHT, AprilTagType.STAGE)); + driverXbox.povUp().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.CENTER, AprilTagType.STAGE)); + driverXbox.povLeft().whileTrue(new GoToAprilTagCommandUsingPoseEstimator(swerveDriveSubsystem, swerveDriveSubsystem::getPose, AprilTagPosition.LEFT, AprilTagType.STAGE)); + */ } /** From 0f043552176573455859f6b00bba5e213dee715b Mon Sep 17 00:00:00 2001 From: Yunju607 Date: Thu, 15 Feb 2024 19:06:50 -0600 Subject: [PATCH 32/33] Fixed x and y directions --- src/main/java/frc/robot/AprilTag.java | 4 ++-- .../commands/GoToAprilTagCommandUsingPoseEstimator.java | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/AprilTag.java b/src/main/java/frc/robot/AprilTag.java index 468c752..1f859ee 100644 --- a/src/main/java/frc/robot/AprilTag.java +++ b/src/main/java/frc/robot/AprilTag.java @@ -57,11 +57,11 @@ public Pose2d getTagPose2dInField(){ } public Pose2d getTagPose2dInFieldWithPreset(){ - return new Pose2d(new Translation2d(Units.inchesToMeters(_x - _presetX), Units.inchesToMeters(_y - _presetY)), new Rotation2d(Units.degreesToRadians(_rotation - _presetRotation))); + return new Pose2d(new Translation2d(Units.inchesToMeters(_x - _presetX), Units.inchesToMeters(_y - _presetY)), new Rotation2d(Units.degreesToRadians(0))); } public Pose2d getTagPose2dInFieldForGivenPreset(double presetX, double presetY, double presetRotation){ - return new Pose2d(new Translation2d(Units.inchesToMeters(_x - presetX), Units.inchesToMeters(_y - presetY)), new Rotation2d(Units.degreesToRadians(_rotation - presetRotation))); + return new Pose2d(new Translation2d(Units.inchesToMeters(_x - presetX), Units.inchesToMeters(_y - presetY)), new Rotation2d(Units.degreesToRadians(0))); } diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java index bbc02e9..797afae 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommandUsingPoseEstimator.java @@ -57,7 +57,7 @@ public void initialize() { super.initialize(); if(tag != null) { - Pose2d goalPose = tag.getTagPose2dInField(); + Pose2d goalPose = tag.getTagPose2dInFieldWithPreset(); if(goalPose != null){ if(CommonConstants.LOG_INTO_FILE_ENABLED){ SmartDashboard.putNumber("GoalPoseX", goalPose.getX()); @@ -110,17 +110,17 @@ public void execute() { } // Handle alignment side-to-side - var ySpeed = 0;//pidControllerY.calculate(robotPose.getY()); + var ySpeed = pidControllerY.calculate(robotPose.getY()); if (pidControllerY.atSetpoint()) { ySpeed = 0; } // Handle rotation using target Yaw/Z rotation - var omegaSpeed = 0;//pidControllerOmega.calculate(robotPose.getRotation().getRadians()); + var omegaSpeed = pidControllerOmega.calculate(robotPose.getRotation().getRadians()); if (pidControllerOmega.atSetpoint()) { omegaSpeed = 0; } - speeds = ChassisSpeeds.fromFieldRelativeSpeeds(ySpeed, -xSpeed, omegaSpeed, robotPose.getRotation()); + speeds = ChassisSpeeds.fromFieldRelativeSpeeds(-ySpeed, -xSpeed, omegaSpeed, robotPose.getRotation()); SwerveModuleState[] calculatedModuleStates = DriveConstants.KINEMATICS.toSwerveModuleStates(speeds); swerveSubsystem.setModules(calculatedModuleStates); From bf348a4a17fa0a04d6cd69af6978b773369479ae Mon Sep 17 00:00:00 2001 From: Sunghwan1234 Date: Mon, 19 Feb 2024 20:18:10 -0600 Subject: [PATCH 33/33] fixed "CurrentApril Tag" to "Current April Tag" --- src/main/java/frc/robot/commands/GoToAprilTagCommand.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java index a0a342a..f7aac9b 100644 --- a/src/main/java/frc/robot/commands/GoToAprilTagCommand.java +++ b/src/main/java/frc/robot/commands/GoToAprilTagCommand.java @@ -106,7 +106,7 @@ public void execute() { if(CommonConstants.LOG_INTO_FILE_ENABLED){ SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetAprilTag().GetTagId() + " X", pose3d.getZ()); SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetAprilTag().GetTagId() + " Y", pose3d.getX()); - SmartDashboard.putNumber("CurrentApril Tag "+ aprilTag.GetAprilTag().GetTagId() +" Rotation", pose3d.getRotation().getY()); + SmartDashboard.putNumber("Current April Tag "+ aprilTag.GetAprilTag().GetTagId() +" Rotation", pose3d.getRotation().getY()); } var xspeed = pidControllerX.calculate(pose3d.getZ()); if (pidControllerX.atSetpoint()) {