diff --git a/CompBot/.vscode/settings.json b/CompBot/.vscode/settings.json index 5e6ede8..9ce64ca 100644 --- a/CompBot/.vscode/settings.json +++ b/CompBot/.vscode/settings.json @@ -57,5 +57,6 @@ "edu.wpi.first.math.**.proto.*", "edu.wpi.first.math.**.struct.*", ], - "java.dependency.enableDependencyCheckup": false + "java.dependency.enableDependencyCheckup": false, + "java.debug.settings.onBuildFailureProceed": true } diff --git a/CompBot/build.gradle b/CompBot/build.gradle index a316393..0c60587 100644 --- a/CompBot/build.gradle +++ b/CompBot/build.gradle @@ -31,6 +31,13 @@ deploy { // getTargetTypeClass is a shortcut to get the class type using a string frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + // Enable VisualVM connection + jvmArgs.add("-Dcom.sun.management.jmxremote=true") + jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198") + jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false") + jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false") + jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false") + jvmArgs.add("-Djava.rmi.server.hostname=10.34.14.2") } // Static files artifact @@ -54,9 +61,9 @@ wpi.java.debugJni = false // Set this to true to enable desktop support. def includeDesktopSupport = true -configurations { - mockitoAgent -} +// configurations { +// mockitoAgent +// } // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. @@ -65,6 +72,10 @@ dependencies { implementation wpi.java.deps.wpilib() implementation wpi.java.vendor.java() + // adding logging support, latest for slf4j and logback (they work together) + implementation "org.slf4j:slf4j-api:2.0.1" + implementation "ch.qos.logback:logback-classic:1.4.14" + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) @@ -81,22 +92,18 @@ dependencies { testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' - testImplementation 'org.mockito:mockito-core:5.+' + // testImplementation 'org.mockito:mockito-core:5.+' - mockitoAgent('org.mockito:mockito-core:5.+') { - transitive = false - } - - // adding logging support, latest for slf4j and logback (they work together) - implementation "org.slf4j:slf4j-api:2.0.1" - implementation "ch.qos.logback:logback-classic:1.4.14" + // mockitoAgent('org.mockito:mockito-core:5.+') { + // transitive = false + // } } test { useJUnitPlatform() systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' - jvmArgs += "-javaagent:${configurations.mockitoAgent.asPath}" + // jvmArgs += "-javaagent:${configurations.mockitoAgent.asPath}" } // Simulation configuration (e.g. environment variables). diff --git a/CompBot/simgui-ds.json b/CompBot/simgui-ds.json index 0829e9a..7deb35c 100644 --- a/CompBot/simgui-ds.json +++ b/CompBot/simgui-ds.json @@ -1,31 +1,52 @@ { + "Keyboard 0 Settings": { + "window": { + "visible": true + } + }, + "System Joysticks": { + "window": { + "enabled": false + } + }, "keyboardJoysticks": [ { "axisConfig": [ { - "decKey": 87, - "incKey": 83 + "decKey": 83, + "incKey": 87 }, { - "decKey": 65, - "incKey": 68 - }, - { - "decayRate": 0.0, - "keyRate": 0.009999999776482582 + "decKey": 68, + "incKey": 65 }, { "decKey": 93, "incKey": 91 + }, + { + "decayRate": 0.8999999761581421, + "keyRate": 0.10000000149011612 } ], "axisCount": 4, - "buttonCount": 4, + "buttonCount": 15, "buttonKeys": [ + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 48, 90, 88, 67, - 86 + 86, + 66 ], "povConfig": [ { @@ -39,7 +60,7 @@ "key90": 326 } ], - "povCount": 1 + "povCount": 0 }, { "axisConfig": [ @@ -94,6 +115,9 @@ "robotJoysticks": [ { "guid": "Keyboard0" + }, + { + "guid": "030000004c050000e60c000000000000" } ], "useEnableDisableHotkeys": true diff --git a/CompBot/src/main/deploy/depot.autogen b/CompBot/src/main/deploy/depot.autogen new file mode 100644 index 0000000..ee4912b --- /dev/null +++ b/CompBot/src/main/deploy/depot.autogen @@ -0,0 +1,8 @@ +Seed Left +(Cross Left + Surf Left) * Intake + +Aim * (Return Left + (Depot ? Intake) + 5) +((Return Left + Cross Left + Surf Left) * Intake ) + +#Climb Ready + Tower +#Climb diff --git a/CompBot/src/main/deploy/depotNeutral.autogen b/CompBot/src/main/deploy/depotNeutral.autogen new file mode 100644 index 0000000..f58c164 --- /dev/null +++ b/CompBot/src/main/deploy/depotNeutral.autogen @@ -0,0 +1,5 @@ +Seed Left +Aim * (Depot * Intake ) +Aim & 5 +(Cross Left + Surf Left) * Intake +Aim * (Return Left + 5) \ No newline at end of file diff --git a/CompBot/src/main/deploy/example.txt b/CompBot/src/main/deploy/example.txt deleted file mode 100644 index bb82515..0000000 --- a/CompBot/src/main/deploy/example.txt +++ /dev/null @@ -1,3 +0,0 @@ -Files placed in this directory will be deployed to the RoboRIO into the -'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function -to get a proper path relative to the deploy directory. \ No newline at end of file diff --git a/CompBot/src/main/deploy/feedLeft.autogen b/CompBot/src/main/deploy/feedLeft.autogen new file mode 100644 index 0000000..f088f52 --- /dev/null +++ b/CompBot/src/main/deploy/feedLeft.autogen @@ -0,0 +1,6 @@ +Seed Left +(Cross Left + Surf Left) * Intake +Shoot * 10 +Aim * (Return Left + 5 ) +#(Climb Ready + Tower) +#Climb \ No newline at end of file diff --git a/CompBot/src/main/deploy/feedRight.autogen b/CompBot/src/main/deploy/feedRight.autogen new file mode 100644 index 0000000..04e3766 --- /dev/null +++ b/CompBot/src/main/deploy/feedRight.autogen @@ -0,0 +1,6 @@ +Seed Right +(Cross Right + Surf Right) * Intake +Shoot * 10 +Aim * (Return Right + 5) +#( Climb Ready + Tower) +#Climb \ No newline at end of file diff --git a/CompBot/src/main/deploy/hyperLeft.autogen b/CompBot/src/main/deploy/hyperLeft.autogen new file mode 100644 index 0000000..7cc96a7 --- /dev/null +++ b/CompBot/src/main/deploy/hyperLeft.autogen @@ -0,0 +1,8 @@ +Seed Left +(Cross Left + Surf Left) * Intake +Aim * (Return Left + 5) +(Cross Left Closer + Surf Left Close + Surf Left Second + Surf Up Left) * Intake +Aim * (Return Left Angle + 5) + +#(Climb Ready + Tower) +#Climb \ No newline at end of file diff --git a/CompBot/src/main/deploy/hyperRight.autogen b/CompBot/src/main/deploy/hyperRight.autogen new file mode 100644 index 0000000..f94bc58 --- /dev/null +++ b/CompBot/src/main/deploy/hyperRight.autogen @@ -0,0 +1,7 @@ +Seed Right +(Cross Right + Surf Right) * Intake +Aim * (Return Right + 5) +(Cross Right Closer + Surf Right Close + Surf Right Second + Surf Up Right) * Intake +Aim * (Return Right Angle + 5) +#(Climb Ready + Tower) +#Climb \ No newline at end of file diff --git a/CompBot/src/main/deploy/left.autogen b/CompBot/src/main/deploy/left.autogen new file mode 100644 index 0000000..71b9b87 --- /dev/null +++ b/CompBot/src/main/deploy/left.autogen @@ -0,0 +1,2 @@ +(Cross Left + Surf Left * Intake) +Return Left & Aim \ No newline at end of file diff --git a/CompBot/src/main/deploy/outpost.autogen b/CompBot/src/main/deploy/outpost.autogen new file mode 100644 index 0000000..578881a --- /dev/null +++ b/CompBot/src/main/deploy/outpost.autogen @@ -0,0 +1,4 @@ +Seed Right +Outpost +Aim * (5) +#(Climb Ready + Climb + Tower) diff --git a/CompBot/src/main/deploy/pathplanner/autos/Double Left (T 0.5).auto b/CompBot/src/main/deploy/pathplanner/autos/Double Left (T 0.5).auto new file mode 100644 index 0000000..7a35a24 --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Double Left (T 0.5).auto @@ -0,0 +1,50 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim" + } + }, + { + "type": "wait", + "data": { + "waitTime": 10.0 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Left Cleanup" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Double Right (T 0.5).auto b/CompBot/src/main/deploy/pathplanner/autos/Double Right (T 0.5).auto new file mode 100644 index 0000000..8714de4 --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Double Right (T 0.5).auto @@ -0,0 +1,50 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Right" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim" + } + }, + { + "type": "wait", + "data": { + "waitTime": 10.0 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Right Cleanup" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Far Double Left.auto b/CompBot/src/main/deploy/pathplanner/autos/Far Double Left.auto new file mode 100644 index 0000000..b116e08 --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Far Double Left.auto @@ -0,0 +1,50 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Far Left" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim" + } + }, + { + "type": "wait", + "data": { + "waitTime": 6.0 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Left Cleanup" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Far Double Right.auto b/CompBot/src/main/deploy/pathplanner/autos/Far Double Right.auto new file mode 100644 index 0000000..a44d56d --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Far Double Right.auto @@ -0,0 +1,50 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Far Right" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim" + } + }, + { + "type": "wait", + "data": { + "waitTime": 5.0 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Right Cleanup" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Far Left Depot.auto b/CompBot/src/main/deploy/pathplanner/autos/Far Left Depot.auto new file mode 100644 index 0000000..ceabaad --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Far Left Depot.auto @@ -0,0 +1,31 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Far Left" + } + }, + { + "type": "path", + "data": { + "pathName": "Depot" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Far Right Outpost.auto b/CompBot/src/main/deploy/pathplanner/autos/Far Right Outpost.auto new file mode 100644 index 0000000..bddcf6d --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Far Right Outpost.auto @@ -0,0 +1,31 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Far Right" + } + }, + { + "type": "path", + "data": { + "pathName": "Outpost" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Preload Double Left.auto b/CompBot/src/main/deploy/pathplanner/autos/Preload Double Left.auto new file mode 100644 index 0000000..fe3bc9f --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Preload Double Left.auto @@ -0,0 +1,69 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Left" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim" + } + }, + { + "type": "wait", + "data": { + "waitTime": 5.0 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Left Cleanup" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Preload Double Right.auto b/CompBot/src/main/deploy/pathplanner/autos/Preload Double Right.auto new file mode 100644 index 0000000..380f01f --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Preload Double Right.auto @@ -0,0 +1,69 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Right" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim" + } + }, + { + "type": "wait", + "data": { + "waitTime": 5.0 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Right Cleanup" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Preload Simple Left.auto b/CompBot/src/main/deploy/pathplanner/autos/Preload Simple Left.auto new file mode 100644 index 0000000..f53947e --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Preload Simple Left.auto @@ -0,0 +1,44 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Left" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Preload Simple Right.auto b/CompBot/src/main/deploy/pathplanner/autos/Preload Simple Right.auto new file mode 100644 index 0000000..4e19eb7 --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Preload Simple Right.auto @@ -0,0 +1,44 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Aim" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Far Right" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Simple Far Left.auto b/CompBot/src/main/deploy/pathplanner/autos/Simple Far Left.auto new file mode 100644 index 0000000..d89fb75 --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Simple Far Left.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Far Left" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Simple Far Right.auto b/CompBot/src/main/deploy/pathplanner/autos/Simple Far Right.auto new file mode 100644 index 0000000..232c64a --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Simple Far Right.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Far Right" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Simple Left.auto b/CompBot/src/main/deploy/pathplanner/autos/Simple Left.auto new file mode 100644 index 0000000..55a91a3 --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Simple Left.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Simple Middle Depot.auto b/CompBot/src/main/deploy/pathplanner/autos/Simple Middle Depot.auto new file mode 100644 index 0000000..58d938d --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Simple Middle Depot.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Middle Depot" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Simple Middle Outpost .auto b/CompBot/src/main/deploy/pathplanner/autos/Simple Middle Outpost .auto new file mode 100644 index 0000000..0f18fa1 --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Simple Middle Outpost .auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Middle Outpost" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/autos/Simple Right.auto b/CompBot/src/main/deploy/pathplanner/autos/Simple Right.auto new file mode 100644 index 0000000..feb216f --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/autos/Simple Right.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Right" + } + }, + { + "type": "named", + "data": { + "name": "Aim" + } + } + ] + } + }, + "resetOdom": false, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/navgrid.json b/CompBot/src/main/deploy/pathplanner/navgrid.json new file mode 100644 index 0000000..7ddb29e --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/navgrid.json @@ -0,0 +1 @@ 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+} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/paths/Left.path b/CompBot/src/main/deploy/pathplanner/paths/Left.path new file mode 100644 index 0000000..971b074 --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/paths/Left.path @@ -0,0 +1,133 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.430941512125534, + "y": 5.1168433734939756 + }, + "prevControl": null, + "nextControl": { + "x": 6.062602409638554, + "y": 5.094987951807229 + }, + "isLocked": false, + "linkedName": "Left Start" + }, + { + "anchor": { + "x": 7.832368507922535, + "y": 5.555732009242958 + }, + "prevControl": { + "x": 7.999469892594966, + "y": 9.552240125991947 + }, + "nextControl": { + "x": 7.819217162650183, + "y": 5.241195668145872 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.204662650602408, + "y": 5.1168433734939756 + }, + "prevControl": { + "x": 7.712686746987952, + "y": 3.9803614457831324 + }, + "nextControl": { + 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Depot.path b/CompBot/src/main/deploy/pathplanner/paths/Middle Depot.path new file mode 100644 index 0000000..f31e06a --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/paths/Middle Depot.path @@ -0,0 +1,81 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.5710843373493972, + "y": 4.035 + }, + "prevControl": null, + "nextControl": { + "x": 2.3501668856400078, + "y": 5.679054761971318 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.6643132530120479, + "y": 5.892710843373494 + }, + "prevControl": { + "x": 2.4564578313253, + "y": 5.914566265060241 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 0.6421836228287817, + "maxWaypointRelativePos": 0.9995037220843671, + "constraints": { + "maxVelocity": 1.0, + "maxAcceleration": 5.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + 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--git a/CompBot/src/main/deploy/pathplanner/paths/Right Cleanup.path b/CompBot/src/main/deploy/pathplanner/paths/Right Cleanup.path new file mode 100644 index 0000000..db2495e --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/paths/Right Cleanup.path @@ -0,0 +1,170 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.7187228915662653, + "y": 2.4168295454545454 + }, + "prevControl": null, + "nextControl": { + "x": 3.718722891566267, + "y": 2.4168295454545454 + }, + "isLocked": false, + "linkedName": "Right 2 Start" + }, + { + "anchor": { + "x": 5.949542597381162, + "y": 2.6035907240316907 + }, + "prevControl": { + "x": 5.382667597381163, + "y": 2.067636178577145 + }, + "nextControl": { + "x": 6.706566495887583, + "y": 3.3193224098923078 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.281156626506024, + "y": 4.395614457831325 + }, + "prevControl": { + "x": 5.446304353778752, + "y": 4.457455366922235 + }, + "nextControl": { + "x": 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"rotationDegrees": 92.35265678732371 + }, + { + "waypointRelativePos": 2.034277198211624, + "rotationDegrees": -141.73750857193497 + }, + { + "waypointRelativePos": 2.187633262260129, + "rotationDegrees": -35.84339182244795 + } + ], + "constraintZones": [ + { + "name": "slowdown intake", + "minWaypointRelativePos": 1.2714640198511127, + "maxWaypointRelativePos": 2.1230769230769058, + "constraints": { + "maxVelocity": 1.0, + "maxAcceleration": 5.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + }, + { + "name": "BUMP", + "minWaypointRelativePos": 0.06253101736972864, + "maxWaypointRelativePos": 0.6342431761786589, + "constraints": { + "maxVelocity": 3.0, + "maxAcceleration": 5.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + }, + { + "name": "MORE BUMPING", + "minWaypointRelativePos": 2.158808933002488, + "maxWaypointRelativePos": 2.7841191066997464, + "constraints": { + "maxVelocity": 2.0, + "maxAcceleration": 5.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "Intake", + "waypointRelativePos": 0.6739864864864873, + "endWaypointRelativePos": 2.2652027027027057, + "command": null + } + ], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 5.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -41.30950981274551 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 40.23685706767951 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/pathplanner/settings.json b/CompBot/src/main/deploy/pathplanner/settings.json new file mode 100644 index 0000000..aef42ee --- /dev/null +++ b/CompBot/src/main/deploy/pathplanner/settings.json @@ -0,0 +1,32 @@ +{ + "robotWidth": 0.86, + "robotLength": 0.86, + "holonomicMode": true, + "pathFolders": [], + "autoFolders": [], + "defaultMaxVel": 4.0, + "defaultMaxAccel": 5.0, + "defaultMaxAngVel": 540.0, + "defaultMaxAngAccel": 720.0, + "defaultNominalVoltage": 12.0, + "robotMass": 61.23, + "robotMOI": 6.883, + "robotTrackwidth": 0.546, + "driveWheelRadius": 0.051, + "driveGearing": 7.03, + "maxDriveSpeed": 5.12, + "driveMotorType": "krakenX60", + "driveCurrentLimit": 60.0, + "wheelCOF": 1.2, + "flModuleX": 0.273, + "flModuleY": 0.273, + "frModuleX": 0.273, + "frModuleY": -0.273, + "blModuleX": -0.273, + "blModuleY": 0.273, + "brModuleX": -0.273, + "brModuleY": -0.273, + "bumperOffsetX": 0.0, + "bumperOffsetY": 0.0, + "robotFeatures": [] +} \ No newline at end of file diff --git a/CompBot/src/main/deploy/right.autogen b/CompBot/src/main/deploy/right.autogen new file mode 100644 index 0000000..fd7900b --- /dev/null +++ b/CompBot/src/main/deploy/right.autogen @@ -0,0 +1,2 @@ +(Cross Right + Surf Right * Intake) +Return Right & Aim \ No newline at end of file diff --git a/CompBot/src/main/deploy/rightNeutral.autogen b/CompBot/src/main/deploy/rightNeutral.autogen new file mode 100644 index 0000000..ef6438b --- /dev/null +++ b/CompBot/src/main/deploy/rightNeutral.autogen @@ -0,0 +1,6 @@ +Seed Right +Aim * (Outpost * Intake + 5) +(Return Right + Cross Right + Surf Right) * Intake +Aim * (Return Right + 5 + Outpost) +#(Climb Ready + Tower) +#Climb diff --git a/CompBot/src/main/deploy/simple.autogen b/CompBot/src/main/deploy/simple.autogen new file mode 100644 index 0000000..207edac --- /dev/null +++ b/CompBot/src/main/deploy/simple.autogen @@ -0,0 +1,2 @@ +Aim * 5 +# Tower \ No newline at end of file diff --git a/CompBot/src/main/java/frc/autogen/Autogen.java b/CompBot/src/main/java/frc/autogen/Autogen.java new file mode 100644 index 0000000..7deb8d5 --- /dev/null +++ b/CompBot/src/main/java/frc/autogen/Autogen.java @@ -0,0 +1,127 @@ +package frc.autogen; + +import java.io.File; +import java.io.FileNotFoundException; +import java.io.IOException; +import java.nio.file.Files; +import java.nio.file.Path; +import java.nio.file.Paths; +import java.util.ArrayList; +import java.util.HashMap; +import java.util.List; +import java.util.Map; +import java.util.Map.Entry; +import java.util.Optional; +import java.util.Scanner; +import java.util.stream.Collectors; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.FunctionalCommand; +import edu.wpi.first.wpilibj2.command.Subsystem; +import frc.autogen.ErrorHandler.ErrorInfo; +import frc.autogen.Production.ProductionKind.CompositionKind; + +public class Autogen { + protected final static Map registered = new HashMap<>(); + protected final static Map starting = new HashMap<>(); + + public static final ErrorHandler errorHandler = new ErrorHandler.MultiErrorHandler( + new ErrorHandler.AlertErrorHandler(), + new ErrorHandler.SimpleErrorHandler()); + + public static void registerCommand(String name, Command command) { + registered.put(name, command); + } + + public static void registerStartingPose(String auto, Pose2d startingPose) { + starting.put(auto, startingPose); + } + + public static Optional loadFromFile(String path) { + errorHandler.reset(); + File file = new File(path); + try (Scanner rdr = new Scanner(file)) { + List productions = new ArrayList<>(); + int line = 1; + while (rdr.hasNextLine()) { + String input = rdr.nextLine(); + List tokens = new Tokenizer(input).tokenize(); + line++; + if (tokens.isEmpty()) { + continue; + } + Parser parser = new Parser(tokens, line, errorHandler); + Optional expr = parser.expression(); + if (expr.isEmpty()) { + errorHandler.error(new ErrorInfo("Could not compile command from " + path, -1)); + return Optional.empty(); + } + productions.add(expr.get().produce()); + } + Production production = new Production.Composition(CompositionKind.Sequential, productions); + Command command = production.build(); + if (!errorHandler.succeeded()) { + return Optional.empty(); + } + return Optional.of(command.withName(trimExtension(file.getName()))); + } catch (FileNotFoundException e) { + errorHandler.error(new ErrorInfo("Could not find file at " + path, -1)); + } + return Optional.empty(); + } + + private static Map loadCommands() { + Path deployDirectory = Paths.get(Filesystem.getDeployDirectory().getPath()); + List files; + try { + files = Files.list(deployDirectory).filter(path -> path.toString().endsWith(".autogen")) + .collect(Collectors.toList()); + } catch (IOException e) { + errorHandler.error(new ErrorInfo("Could not read deploy directory", -1)); + return Map.of(); + } + Map autons = new HashMap<>(); + for (Path path : files) { + loadFromFile(path.toString()).ifPresent( + command -> { + String name = path.getFileName().toString(); + autons.put(trimExtension(name), command); + }); + } + return autons; + } + + private static String trimExtension(String path) { + int index = path.lastIndexOf(".autogen"); + return path.substring(0, index); + } + + public static SendableChooser autoChooser() { + SendableChooser chooser = new SendableChooser<>(); + chooser.setDefaultOption("None", Commands.none()); + for (Entry entry : loadCommands().entrySet()) { + chooser.addOption(entry.getKey(), entry.getValue()); + } + return chooser; + } + + // Thanks mjansen4857 + protected static Command wrap(Command command) { + return new FunctionalCommand( + command::initialize, + command::execute, + command::end, + command::isFinished, + command.getRequirements().toArray(Subsystem[]::new)); + } + + public static Optional getStartingPose(String name) { + if (starting.containsKey(name)) { + return Optional.of(starting.get(name)); + } + return Optional.empty(); + } +} diff --git a/CompBot/src/main/java/frc/autogen/ErrorHandler.java b/CompBot/src/main/java/frc/autogen/ErrorHandler.java new file mode 100644 index 0000000..83eca2a --- /dev/null +++ b/CompBot/src/main/java/frc/autogen/ErrorHandler.java @@ -0,0 +1,71 @@ +package frc.autogen; + +import java.util.List; +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj.DriverStation; + +/** + * A class which can handle errors in the autogen system. + */ +public abstract class ErrorHandler { + private boolean failed; + + public final void error(ErrorInfo info) { + failed = true; + handleError(info); + } + + public boolean succeeded() { + return !failed; + } + + protected abstract void handleError(ErrorInfo info); + + /** A class to hold error information */ + public record ErrorInfo(String message, int line) { + public String fullMessage() { + return (line > 0) ? "Error on line " + line + ": " + message : "Error: " + message; + } + } + + public static class MultiErrorHandler extends ErrorHandler { + private final List handlers; + + public MultiErrorHandler(ErrorHandler... handlers) { + this.handlers = List.of(handlers); + } + + protected void handleError(ErrorInfo info) { + handlers.forEach(handler -> handler.handleError(info)); + } + } + + /** An error handler class that logs errors using the DriverStation class. */ + public static class DSErrorHandler extends ErrorHandler { + public void handleError(ErrorInfo info) { + DriverStation.reportError(info.fullMessage(), false); + } + } + + /** An error handler that simply prints out errors to standard out */ + public static class SimpleErrorHandler extends ErrorHandler { + protected void handleError(ErrorInfo info) { + System.err.println(info.fullMessage()); + } + } + + /** An error handler which writes to a {@link Alert} */ + public static class AlertErrorHandler extends ErrorHandler { + private final Alert alert = new Alert("Autons", "", AlertType.kError); + + protected void handleError(ErrorInfo info) { + alert.setText(alert.getText() + "\n" + info.fullMessage()); + alert.set(true); + } + } + + public void reset() { + failed = false; + } +} diff --git a/CompBot/src/main/java/frc/autogen/Expr.java b/CompBot/src/main/java/frc/autogen/Expr.java new file mode 100644 index 0000000..df3786e --- /dev/null +++ b/CompBot/src/main/java/frc/autogen/Expr.java @@ -0,0 +1,66 @@ +package frc.autogen; + +import java.util.List; +import frc.autogen.Production.ProductionKind.CompositionKind; + +interface Expr { + public enum ExprKind { + Literal, Grouping, Composition; + } + + public ExprKind kind(); + + public Production produce(); + + public static class Literal implements Expr { + private final String literal; + + public Literal(String literal) { + this.literal = literal; + } + + public ExprKind kind() { + return ExprKind.Literal; + } + + public Production produce() { + return new Production.Named(literal); + } + } + + public static class Grouping implements Expr { + private final Expr expr; + + public Grouping(Expr inner) { + expr = inner; + } + + public ExprKind kind() { + return ExprKind.Grouping; + } + + public Production produce() { + return expr.produce(); + } + } + + public static class Composition implements Expr { + private final CompositionKind composition; + private final Expr left; + private final Expr right; + + public Composition(CompositionKind composition, Expr left, Expr right) { + this.composition = composition; + this.left = left; + this.right = right; + } + + public ExprKind kind() { + return ExprKind.Composition; + } + + public Production produce() { + return new Production.Composition(composition, List.of(left.produce(), right.produce())); + } + } +} diff --git a/CompBot/src/main/java/frc/autogen/Parser.java b/CompBot/src/main/java/frc/autogen/Parser.java new file mode 100644 index 0000000..a206166 --- /dev/null +++ b/CompBot/src/main/java/frc/autogen/Parser.java @@ -0,0 +1,102 @@ +package frc.autogen; + +import java.util.List; +import java.util.Optional; +import frc.autogen.ErrorHandler.ErrorInfo; +import frc.autogen.Production.ProductionKind.CompositionKind; +import frc.autogen.Token.SymbolKind; + +class Parser { + private int curr; + private List tokens; + private int line; + + public Parser(List tokens, int line, ErrorHandler errorHandler) { + this.tokens = tokens; + this.line = line; + curr = 0; + } + + public Optional expression() { + try { + return Optional.of(sequence()); + } catch (Exception e) { + return Optional.empty(); + } + } + + private Expr sequence() throws Exception { + Expr left = parallel(); + while (matches(SymbolKind.Plus)) { + Expr right = parallel(); + left = new Expr.Composition(CompositionKind.Sequential, left, right); + } + return left; + } + + private Expr parallel() throws Exception { + Expr left = deadline(); + while (matches(SymbolKind.And)) { + Expr right = deadline(); + left = new Expr.Composition(CompositionKind.Parallel, left, right); + } + return left; + } + + private Expr deadline() throws Exception { + Expr left = race(); + while (matches(SymbolKind.Question)) { + Expr right = race(); + left = new Expr.Composition(CompositionKind.Dealine, left, right); + } + return left; + } + + private Expr race() throws Exception { + Expr left = primary(); + while (matches(SymbolKind.Star)) { + Expr right = primary(); + left = new Expr.Composition(CompositionKind.Race, left, right); + } + return left; + } + + private Expr primary() throws Exception { + if (matches(SymbolKind.OpenParen)) { + Expr inner = expression().get(); + if (!matches(SymbolKind.CloseParen)) { + Autogen.errorHandler.error(new ErrorInfo("Unclosed parenthesis", line)); + } + return new Expr.Grouping(inner); + } + Optional expr = advance().expr(); + if (expr.isEmpty()) { + Autogen.errorHandler.error(new ErrorInfo("Expected expression", line)); + throw new Exception(); + } + return expr.get(); + } + + private boolean matches(SymbolKind symbol) { + if (check(symbol)) { + advance(); + return true; + } + return false; + } + + private boolean check(SymbolKind symbol) { + if (at_end()) { + return false; + } + return new Token.Symbol(symbol).equals(tokens.get(curr)); + } + + private boolean at_end() { + return curr >= tokens.size(); + } + + private Token advance() { + return tokens.get(curr++); + } +} diff --git a/CompBot/src/main/java/frc/autogen/Production.java b/CompBot/src/main/java/frc/autogen/Production.java new file mode 100644 index 0000000..09160dd --- /dev/null +++ b/CompBot/src/main/java/frc/autogen/Production.java @@ -0,0 +1,95 @@ +package frc.autogen; + +import java.util.ArrayList; +import java.util.Arrays; +import java.util.List; +import java.util.stream.Collectors; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.autogen.ErrorHandler.ErrorInfo; + +interface Production { + public enum ProductionKind { + Named, Composition; + + public enum CompositionKind { + Parallel, Sequential, Dealine, Race; + } + } + + /** Returns the kind of production this is (i.e. named command or command composition) */ + public ProductionKind kind(); + + /** + * Returns a list of "uncomposed" productions s.t. any production with the given kind is unwrapped + * and its coontents are put into the list instead + */ + public List uncompose(ProductionKind.CompositionKind kind); + + public Command build(); + + public static class Named implements Production { + private final String name; + + public Named(String name) { + this.name = name; + } + + public ProductionKind kind() { + return ProductionKind.Named; + } + + public List uncompose(ProductionKind.CompositionKind kind) { + return List.of(this); // Named commands are never a composition. + } + + public Command build() { + if (name.chars().allMatch(Character::isDigit)) { + // Wait command + return Commands.waitSeconds(Integer.parseInt(name)); + } + if (!Autogen.registered.containsKey(name)) { + Autogen.errorHandler.error(new ErrorInfo("Unregistered command: " + name, -1)); + } + return Autogen.wrap(Autogen.registered.getOrDefault(name, Commands.print("Unregistered command: " + name))); + } + } + + public static class Composition implements Production { + private final ProductionKind.CompositionKind composition; + private final List group; + + public Composition(ProductionKind.CompositionKind kind, List group) { + List finalProductions = new ArrayList<>(); + // Uncompose unnecessary compositions + for (Production production : group) { + finalProductions.addAll(production.uncompose(kind)); + } + this.group = finalProductions; + composition = kind; + } + + public ProductionKind kind() { + return ProductionKind.Composition; + } + + public List uncompose(ProductionKind.CompositionKind kind) { + if (composition.equals(kind)) { + return group; + } + return List.of(this); + } + + public Command build() { + Command cmd = Commands.none(); + Command[] inner = group.stream().map(Production::build).collect(Collectors.toList()).toArray(new Command[0]); + switch (composition) { + case Sequential -> cmd = Commands.sequence(inner); + case Parallel -> cmd = Commands.parallel(inner); + case Dealine -> cmd = Commands.deadline(inner[0], Arrays.copyOfRange(inner, 1, inner.length)); + case Race -> cmd = Commands.race(inner); + } + return cmd; + } + } +} diff --git a/CompBot/src/main/java/frc/autogen/Token.java b/CompBot/src/main/java/frc/autogen/Token.java new file mode 100644 index 0000000..bd99dc7 --- /dev/null +++ b/CompBot/src/main/java/frc/autogen/Token.java @@ -0,0 +1,77 @@ +package frc.autogen; + +import java.util.Optional; + +interface Token { + public enum TokenKind { + Literal, Symbol; + } + + public enum SymbolKind { + Plus('+'), And('&'), OpenParen('('), CloseParen(')'), Star('*'), Question('?'); + + public final char c; + + private SymbolKind(char c) { + this.c = c; + } + + public static Optional from(char c) { + for (SymbolKind s : values()) { + if (s.c == c) { + return Optional.of(s); + } + } + return Optional.empty(); + } + + } + + /** Returns the kind of token this token is */ + public TokenKind kind(); + + /** Turns this token into an expression */ + public Optional expr(); + + public static class Literal implements Token { + private final String literal; + + public Literal(String literal) { + this.literal = literal; + } + + public TokenKind kind() { + return TokenKind.Literal; + } + + public Optional expr() { + return Optional.of(new Expr.Literal(literal)); + } + } + + public static class Symbol implements Token { + public final SymbolKind symbol; + + public Symbol(SymbolKind symbol) { + this.symbol = symbol; + } + + public TokenKind kind() { + return TokenKind.Symbol; + } + + public Optional expr() { + return Optional.empty(); + } + + @Override + public int hashCode() { + return symbol.hashCode(); + } + + @Override + public boolean equals(Object other) { + return hashCode() == other.hashCode(); + } + } +} diff --git a/CompBot/src/main/java/frc/autogen/Tokenizer.java b/CompBot/src/main/java/frc/autogen/Tokenizer.java new file mode 100644 index 0000000..39697be --- /dev/null +++ b/CompBot/src/main/java/frc/autogen/Tokenizer.java @@ -0,0 +1,56 @@ +package frc.autogen; + +import java.util.ArrayList; +import java.util.List; +import java.util.Optional; +import frc.autogen.Token.SymbolKind; + +class Tokenizer { + private int start; + private int curr; + + private String source; + private List tokens; + + public Tokenizer(String source) { + start = 0; + curr = 0; + + this.source = source; + this.tokens = new ArrayList<>(); + } + + public List tokenize() { + while (start < source.length()) { + one_token(); + start = curr; + } + return tokens; + } + + private void one_token() { + char c = source.charAt(curr++); + Optional symbol = SymbolKind.from(c); + // handle symbols + if (symbol.isPresent()) { + tokens.add(new Token.Symbol(symbol.get())); + return; + } + // Comments in auto_gen start with '#': + if (c == '#') { + // skip everything + curr = source.length(); + return; + } + // Whitespace is ignored + if (c == ' ' || c == '\t') { + return; + } + // By process of elimination, the current token MUST be a literal. + while (curr < source.length() && SymbolKind.from(source.charAt(curr)).isEmpty()) { + curr ++; + } + String literal = source.substring(start, curr).trim(); + tokens.add(new Token.Literal(literal)); + } +} diff --git a/CompBot/src/main/java/frc/robot/Constants.java b/CompBot/src/main/java/frc/robot/Constants.java index 5716c79..4e19e00 100644 --- a/CompBot/src/main/java/frc/robot/Constants.java +++ b/CompBot/src/main/java/frc/robot/Constants.java @@ -1,7 +1,14 @@ package frc.robot; -import static edu.wpi.first.units.Units.Inches; import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.MetersPerSecond; +import static edu.wpi.first.units.Units.RotationsPerSecond; + +import java.util.List; + +import com.therekrab.autopilot.APTarget; + +import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; @@ -9,6 +16,8 @@ import frc.robot.aiming.AimConstraints; import frc.robot.aiming.AimStrategy; import frc.robot.aiming.PhysicsAim; +import frc.robot.aiming.ToFAim; +import frc.robot.subsystems.shooter.ShooterConstants; public class Constants { // Checked the FIRST Game Manual and fixed the field dimensions. @@ -18,19 +27,95 @@ public static class FieldConstants { /** The shorter side, corresponds to Y values */ public static final Distance kFieldWidth = Meters.of(8.069); /** The length of the alliance zone, corresponds to X axis */ - public static final Distance kAllianceZoneLength = Inches.of(182.11); + public static final Distance kAllianceZoneLength = Meters.of(3.8); public static final Pose3d kBlueHub = new Pose3d(4.632516, 4.011139, 1.83, Rotation3d.kZero); - public static final Pose3d kFeedTarget = new Pose3d(4.5, 2, 1.0, Rotation3d.kZero); + public static final List kFeedTargets = List.of( + new Pose2d(2.5, 2, Rotation2d.kZero), + new Pose2d(2.5, 6.0, Rotation2d.kZero)); } + @SuppressWarnings("unused") public static class AimConstants { - public static final AimStrategy kAim = new PhysicsAim( + private static final AimStrategy kPhysicsAim = new PhysicsAim( new AimConstraints( Rotation2d.fromDegrees(49.5), // Min pitch Rotation2d.fromDegrees(72.0), // Max pitch - 18), // Max output (speed) + ShooterConstants.kMaxLinearSpeed.in(MetersPerSecond)), // Max output (speed) 2, 10); + + private static final AimStrategy kTofAim = new ToFAim( + ShooterConstants.measurements, + new AimConstraints( + Rotation2d.fromDegrees(49.5), // Min pitch + Rotation2d.fromDegrees(72.0), // Max pitch + ShooterConstants.kMaxRotationalSpeed.in(RotationsPerSecond))); // Max output (speed)); + + private static final AimStrategy kSimulationAim = kTofAim; + private static final AimStrategy kRealAim = kTofAim; + + public static final AimStrategy kAim = Robot.isReal() ? kRealAim : kSimulationAim; + } + + public static class AutonConstants { + public static final Pose2d kLeftStart = new Pose2d(3.3, 5.7, Rotation2d.fromDegrees(-45)); + public static final Pose2d kRightStart = new Pose2d(3.3, 2.3, Rotation2d.fromDegrees(45)); + + public static final APTarget kCrossLeft = new APTarget(new Pose2d(7.5, 6.7, Rotation2d.fromDegrees(-45))) + .withVelocity(2); + public static final APTarget kCrossRight = new APTarget(new Pose2d(7.5, 1.3, Rotation2d.fromDegrees(45))) + .withVelocity(2); + + public static final APTarget kCrossRightCloser = new APTarget(new Pose2d(5.825,2.3,Rotation2d.fromDegrees(45))) + .withVelocity(0.5); + public static final APTarget kCrossRightAngle = new APTarget(new Pose2d(5.825, 3.7, Rotation2d.fromDegrees(45))) + .withEntryAngle(Rotation2d.k180deg) + .withVelocity(0.5); + + public static final APTarget kCrossLeftCloser = new APTarget(new Pose2d(5.67,5.6,Rotation2d.fromDegrees(-45))) + .withVelocity(0.5); + public static final APTarget kCrossLeftAngle = new APTarget(new Pose2d(5.825, 3.7, Rotation2d.fromDegrees(-45))) + .withEntryAngle(Rotation2d.k180deg) + .withVelocity(0.5); + + + + public static final APTarget kReturnLeft = new APTarget(new Pose2d(2.5, 5.7, Rotation2d.fromDegrees(-45))).withEntryAngle(Rotation2d.k180deg) + .withVelocity(2); + public static final APTarget kReturnRight = new APTarget(new Pose2d(2.5, 2.3, Rotation2d.fromDegrees(45))).withEntryAngle(Rotation2d.k180deg) + .withVelocity(2); + + public static final APTarget kReturnRightAngle = new APTarget(new Pose2d(3.6, 2.3, Rotation2d.kCW_90deg)) + .withEntryAngle(Rotation2d.k180deg) + .withVelocity(2); + public static final APTarget kReturnLeftAngle = new APTarget(new Pose2d(3.6, 5.7, Rotation2d.kCCW_90deg)) + .withEntryAngle(Rotation2d.k180deg) + .withVelocity(2); + + + public static final APTarget kSurfLeft = new APTarget(new Pose2d(7.5, 4.0, Rotation2d.kCW_90deg)) + .withVelocity(0.5); + public static final APTarget kSurfRight = new APTarget(new Pose2d(7.5, 4.0, Rotation2d.kCCW_90deg)) + .withVelocity(0.5); + public static final APTarget kSurfUpRight = new APTarget(new Pose2d(7.7,4.3,Rotation2d.kCW_90deg)) + .withVelocity(0.5); + public static final APTarget kSurfUpLeft = new APTarget(new Pose2d(7.7,3.3,Rotation2d.kCCW_90deg)) + .withVelocity(0.5); + + + public static final APTarget kSurfLeftSecond = new APTarget(new Pose2d(7.7, 2.9, Rotation2d.fromDegrees(45))) + .withVelocity(0.75); + public static final APTarget kSurfRightSecond = new APTarget(new Pose2d(7.5, 2.5, Rotation2d.fromDegrees(-45))) + .withVelocity(0.75); + + public static final APTarget kSurfRightClose = new APTarget(new Pose2d(5.8,5.4,Rotation2d.kCCW_90deg)) + .withVelocity(0.75); + public static final APTarget kSurfLeftClose = new APTarget(new Pose2d(5.8,2.5,Rotation2d.kCW_90deg)) + .withVelocity(0.75); + + public static final APTarget kTower = new APTarget(new Pose2d(1.3,3.8,Rotation2d.k180deg)).withEntryAngle(Rotation2d.k180deg); + public static final APTarget kDepot = new APTarget(new Pose2d(0.55, 5.9, Rotation2d.k180deg)).withEntryAngle(Rotation2d.k180deg); + public static final APTarget kOutpost = new APTarget(new Pose2d(0.42,0.68,Rotation2d.k180deg)); } } diff --git a/CompBot/src/main/java/frc/robot/Main.java b/CompBot/src/main/java/frc/robot/Main.java index fe215d7..e5928ee 100644 --- a/CompBot/src/main/java/frc/robot/Main.java +++ b/CompBot/src/main/java/frc/robot/Main.java @@ -10,6 +10,7 @@ public final class Main { private Main() {} public static void main(String... args) { + // This makes sure that we know who we are RobotBase.startRobot(Robot::new); } } diff --git a/CompBot/src/main/java/frc/robot/Robot.java b/CompBot/src/main/java/frc/robot/Robot.java index 612b71a..080effb 100644 --- a/CompBot/src/main/java/frc/robot/Robot.java +++ b/CompBot/src/main/java/frc/robot/Robot.java @@ -5,14 +5,19 @@ package frc.robot; import static edu.wpi.first.units.Units.Volts; -import com.ctre.phoenix6.HootAutoReplay; + import edu.wpi.first.wpilibj.DataLogManager; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.util.ActivityCalculator; +import frc.robot.util.ActivityCalculator.HubStatus; import frc.robot.util.OnboardLogger; +import frc.robot.util.RobotIdentifier; +import frc.robot.util.RobotIdentifier.RobotId; import frc.robot.util.StatusSignalUtil; public class Robot extends TimedRobot { @@ -22,13 +27,6 @@ public class Robot extends TimedRobot { private final RobotContainer robotContainer; - private final OnboardLogger oLogger; - - /* log and replay timestamp and joystick data */ - private final HootAutoReplay timeAndJoystickReplay = new HootAutoReplay() - .withTimestampReplay() - .withJoystickReplay(); - public Robot() { robotContainer = new RobotContainer(); @@ -39,8 +37,15 @@ public Robot() { DataLogManager.start(); DriverStation.startDataLog(DataLogManager.getLog()); - oLogger = new OnboardLogger("Robot"); - oLogger.registerMeasurement("Battery Voltage", RobotController::getMeasureBatteryVoltage, Volts); + OnboardLogger logger = new OnboardLogger("Robot"); + logger.registerMeasurement("Battery Voltage", RobotController::getMeasureBatteryVoltage, Volts); + logger.registerString("Game Data", DriverStation::getGameSpecificMessage); + + ActivityCalculator.readGameData(); + ActivityCalculator.startTimer(); + ActivityCalculator.startLogging(); + + RobotIdentifier.processRobotId(); } @Override @@ -49,31 +54,42 @@ public void robotPeriodic() { robotContainer.superstructure.periodic(); StatusSignalUtil.refreshAll(); + ActivityCalculator.update(); CommandScheduler.getInstance().run(); FieldManager.getInstance().drawFuel(); OnboardLogger.logAll(); - timeAndJoystickReplay.update(); + + SmartDashboard.putNumber("DS/Match Time", DriverStation.getMatchTime()); + HubStatus hubStatus = ActivityCalculator.status(); + SmartDashboard.putString("Hub/Active (Color)", hubStatus.color(ActivityCalculator.us())); + SmartDashboard.putBoolean("Hub/Active (Boolean)", ActivityCalculator.is(ActivityCalculator.us())); + SmartDashboard.putString("Hub/Hub Time", hubStatus.timeText()); + SmartDashboard.putString("Hub/Current", hubStatus.active().toString()); } @Override public void disabledInit() { if (!hasStartedVision) { - robotContainer.aprilTagVisionHandler.startThread(); + if (RobotIdentifier.id() != RobotId.TestBot) { + robotContainer.aprilTagVisionHandler.startThread(); + } hasStartedVision = true; } } @Override - public void disabledPeriodic() {} + public void disabledPeriodic() { + } @Override - public void disabledExit() {} + public void disabledExit() { + } @Override public void autonomousInit() { - m_autonomousCommand = robotContainer.getAutonomousCommand(); + m_autonomousCommand = robotContainer.superstructure.getAutonomousCommand(); if (m_autonomousCommand != null) { CommandScheduler.getInstance().schedule(m_autonomousCommand); @@ -81,23 +97,33 @@ public void autonomousInit() { } @Override - public void autonomousPeriodic() {} + public void autonomousPeriodic() { + } @Override - public void autonomousExit() {} + public void autonomousExit() { + } @Override public void teleopInit() { + ActivityCalculator.startTimer(); + ActivityCalculator.readGameData(); + if (m_autonomousCommand != null) { CommandScheduler.getInstance().cancel(m_autonomousCommand); } } @Override - public void teleopPeriodic() {} + public void teleopPeriodic() { + if (!ActivityCalculator.ok()) { + ActivityCalculator.readGameData(); + } + } @Override - public void teleopExit() {} + public void teleopExit() { + } @Override public void testInit() { @@ -105,11 +131,20 @@ public void testInit() { } @Override - public void testPeriodic() {} + public void testPeriodic() { + } + + @Override + public void testExit() { + } @Override - public void testExit() {} + public void simulationInit() { + SmartDashboard.putData("Command Scheduler", CommandScheduler.getInstance()); + } @Override - public void simulationPeriodic() {} + public void simulationPeriodic() { + SmartDashboard.putBoolean("Shoot Ready", robotContainer.superstructure.state.shootReady.getAsBoolean()); + } } diff --git a/CompBot/src/main/java/frc/robot/RobotContainer.java b/CompBot/src/main/java/frc/robot/RobotContainer.java index 63763fc..9eafc02 100644 --- a/CompBot/src/main/java/frc/robot/RobotContainer.java +++ b/CompBot/src/main/java/frc/robot/RobotContainer.java @@ -1,36 +1,37 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - package frc.robot; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.CommandScheduler; -import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.binding.AutogenBindings; import frc.robot.binding.Binder; -import frc.robot.binding.DriverBindings; +import frc.robot.binding.DriverXboxBindings; +import frc.robot.binding.KeyboardBindings; +import frc.robot.binding.MultiBindings; +import frc.robot.binding.NamedCommandBindings; +import frc.robot.binding.OperatorPS5Bindings; import frc.robot.binding.RobotBindings; import frc.robot.superstructure.Superstructure; import frc.robot.vision.localization.AprilTagVisionHandler; public class RobotContainer { + public final Superstructure superstructure; public final AprilTagVisionHandler aprilTagVisionHandler; - public final Binder driverBinder = new DriverBindings(); + public final Binder hidBinder = (Robot.isReal()) ? new MultiBindings( + new DriverXboxBindings(), + new OperatorPS5Bindings() + ) : new KeyboardBindings(); + public final Binder robotBinder = new RobotBindings(); + public final Binder autogenBinder = new AutogenBindings(); + public final Binder namedCommandsBinder = new NamedCommandBindings(); public RobotContainer() { superstructure = new Superstructure(); - driverBinder.bind(superstructure); robotBinder.bind(superstructure); + namedCommandsBinder.bind(superstructure); + hidBinder.bind(superstructure); + autogenBinder.bind(superstructure); aprilTagVisionHandler = superstructure.createAprilTagVisionHandler(); - - SmartDashboard.putData("Command Scheduler", CommandScheduler.getInstance()); - } - - public Command getAutonomousCommand() { - return Commands.none(); + superstructure.createAutonChooser(); } } diff --git a/CompBot/src/main/java/frc/robot/Telemetry.java b/CompBot/src/main/java/frc/robot/Telemetry.java index f9da948..261417d 100644 --- a/CompBot/src/main/java/frc/robot/Telemetry.java +++ b/CompBot/src/main/java/frc/robot/Telemetry.java @@ -16,10 +16,11 @@ import edu.wpi.first.networktables.StructPublisher; import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj.util.Color8Bit; +// We don't use this class right now, we don't really need it tbh. + public class Telemetry { private final double MaxSpeed; @@ -34,7 +35,7 @@ public Telemetry(double maxSpeed) { /* Set up the module state Mechanism2d telemetry */ for (int i = 0; i < 4; ++i) { - SmartDashboard.putData("Module " + i, m_moduleMechanisms[i]); + // SmartDashboard.putData("Module " + i, m_moduleMechanisms[i]); } } diff --git a/CompBot/src/main/java/frc/robot/aiming/AimParams.java b/CompBot/src/main/java/frc/robot/aiming/AimParams.java index 527a846..06d3e76 100644 --- a/CompBot/src/main/java/frc/robot/aiming/AimParams.java +++ b/CompBot/src/main/java/frc/robot/aiming/AimParams.java @@ -1,6 +1,11 @@ package frc.robot.aiming; +import static edu.wpi.first.units.Units.Degrees; + +import java.util.function.Supplier; + import edu.wpi.first.math.geometry.Rotation2d; +import frc.robot.util.OnboardLogger; /** * The parameters of a shooter at a particlar moment in time. This is the type that is returned when @@ -27,9 +32,9 @@ public class AimParams { /** the tolerated error in the shot's pitch */ public Rotation2d deltaPitch = Rotation2d.fromDegrees(4); /** the tolerated error in the shot's yaw */ - public Rotation2d deltaYaw = Rotation2d.fromDegrees(2); + public Rotation2d deltaYaw = Rotation2d.fromDegrees(4); /** the tolerated error in the shot's velocity */ - public double deltaOutput = 0.35; + public double deltaOutput = 1.5; public AimParams() {} @@ -71,4 +76,15 @@ public enum SpeedControl { */ MechanismControl; } + + public static void setupLogging(OnboardLogger log, Supplier params) { + log.registerString("Status", () -> params.get().status.toString()); + log.registerMeasurement("Pitch", () -> params.get().pitch.getMeasure(), Degrees); + log.registerMeasurement("Yaw", () -> params.get().yaw.getMeasure(), Degrees); + log.registerDouble("Velocity", () -> params.get().output); + log.registerMeasurement("Error/Pitch", () -> params.get().deltaPitch.getMeasure(), + Degrees); + log.registerMeasurement("Error/Yaw", () -> params.get().deltaYaw.getMeasure(), Degrees); + log.registerDouble("Error/Velocity", () -> params.get().deltaOutput); + } } diff --git a/CompBot/src/main/java/frc/robot/aiming/PhysicsAim.java b/CompBot/src/main/java/frc/robot/aiming/PhysicsAim.java index 00b2b54..2ac39ef 100644 --- a/CompBot/src/main/java/frc/robot/aiming/PhysicsAim.java +++ b/CompBot/src/main/java/frc/robot/aiming/PhysicsAim.java @@ -25,6 +25,7 @@ public PhysicsAim(AimConstraints constraints, double minDescentVelocity, public AimParams update(Pose3d target, Pose3d shooter, Translation2d shooterVelocity) { Translation3d offset = target.getTranslation().minus(shooter.getTranslation()); + // SmartDashboard.putNumber("Distance", offset.toTranslation2d().getNorm()); // Calculate the pitch values for the minimum and maximum possible v_zf values: AimParams minParams = quicksolve(offset, shooterVelocity, minDescentVelocity); diff --git a/CompBot/src/main/java/frc/robot/aiming/ToFAim.java b/CompBot/src/main/java/frc/robot/aiming/ToFAim.java index d995ee6..a2dade0 100644 --- a/CompBot/src/main/java/frc/robot/aiming/ToFAim.java +++ b/CompBot/src/main/java/frc/robot/aiming/ToFAim.java @@ -2,11 +2,14 @@ import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.Seconds; + import java.util.List; + import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.aiming.AimParams.AimStatus; import frc.robot.aiming.AimParams.SpeedControl; @@ -16,7 +19,7 @@ */ public class ToFAim implements AimStrategy { static final double EPSILON = 1e-3; - static final int ITERATIONS = 5; + static final int ITERATIONS = 15; private final AimConstraints constraints; @@ -49,7 +52,8 @@ public AimParams update(Pose3d aimTarget, Pose3d shooterPose, Translation2d shoo AimStatus status = AimStatus.Impossible; - double distance = 0.0; // This will be overriden immediately + double distance = start.minus(target).getNorm(); // This will be overriden immediately + // SmartDashboard.putNumber("Distance", distance); double tof; for (int i = 0; i < ITERATIONS; i++) { diff --git a/CompBot/src/main/java/frc/robot/aiming/TuneAim.java b/CompBot/src/main/java/frc/robot/aiming/TuneAim.java new file mode 100644 index 0000000..d7825b3 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/aiming/TuneAim.java @@ -0,0 +1,26 @@ +package frc.robot.aiming; + +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.aiming.AimParams.AimStatus; +import frc.robot.aiming.AimParams.SpeedControl; + +public class TuneAim implements AimStrategy { + public AimParams update(Pose3d target, Pose3d shooter, Translation2d velocity) { + AimParams params = new AimParams(AimStatus.Possible); + + double pitch = SmartDashboard.getNumber("Aim Tuning/Pitch", 60.0); + double output = SmartDashboard.getNumber("Aim Tuning/Output", 0); + + // SmartDashboard.putNumber("Aim Tuning/Pitch", pitch); + // SmartDashboard.putNumber("Aim Tuning/Output", output); + + params.pitch = Rotation2d.fromDegrees(pitch); + params.output = output; + params.control = SpeedControl.MechanismControl; + + return params; + } +} diff --git a/CompBot/src/main/java/frc/robot/binding/AutogenBindings.java b/CompBot/src/main/java/frc/robot/binding/AutogenBindings.java new file mode 100644 index 0000000..1dc360b --- /dev/null +++ b/CompBot/src/main/java/frc/robot/binding/AutogenBindings.java @@ -0,0 +1,75 @@ +package frc.robot.binding; + +import com.therekrab.autopilot.APTarget; +import com.therekrab.autopilot.Autopilot; + +import edu.wpi.first.wpilibj2.command.Commands; +import frc.autogen.Autogen; +import frc.robot.Constants.AutonConstants; +import frc.robot.commands.AimPrep; +import frc.robot.commands.DriveToPoint; +import frc.robot.commands.RunClimb; +import frc.robot.commands.RunIntake; +import frc.robot.commands.ShootWhenReady; +import frc.robot.subsystems.climber.ClimberConstants.ClimbPosition; +import frc.robot.subsystems.drivetrain.AutopilotConstants; +import frc.robot.superstructure.Superstructure; +import frc.robot.util.FieldUtils; + +public class AutogenBindings implements Binder { + public void bind(Superstructure superstructure) { + // Test some autogen stuff + Autogen.registerCommand("Intake", superstructure.build(new RunIntake())); + Autogen.registerCommand("Aim", superstructure.build(new AimPrep())); + Autogen.registerCommand("Climb Ready", superstructure.build(new RunClimb(ClimbPosition.Ready))); + Autogen.registerCommand("Climb", superstructure.build(new RunClimb(ClimbPosition.Climbed))); + Autogen.registerCommand("Shoot", superstructure.build(new ShootWhenReady())); + + Autogen.registerStartingPose("left", AutonConstants.kLeftStart); + Autogen.registerStartingPose("right", AutonConstants.kRightStart); + Autogen.registerStartingPose("depot", AutonConstants.kLeftStart); + + Autogen.registerCommand("Seed Left", Commands.none()); + Autogen.registerCommand("Seed Right", Commands.none()); + + registerAPTargetLoose("Cross Right", AutonConstants.kCrossRight, superstructure); + registerAPTargetLoose("Cross Right Closer", AutonConstants.kCrossRightCloser, superstructure); + registerAPTargetLoose("Cross Right Angle", AutonConstants.kCrossRightAngle, superstructure); + + registerAPTargetLoose("Cross Left", AutonConstants.kCrossLeft, superstructure); + registerAPTargetLoose("Cross Left Closer", AutonConstants.kCrossLeftCloser, superstructure); + registerAPTargetLoose("Cross Left Angle", AutonConstants.kCrossLeftAngle, superstructure); + + registerAPTargetLoose("Surf Left", AutonConstants.kSurfLeft, superstructure); + registerAPTargetLoose("Surf Left Second", AutonConstants.kSurfLeftSecond, superstructure); + registerAPTargetLoose("Surf Left Close",AutonConstants.kSurfLeftClose, superstructure); + + registerAPTargetLoose("Surf Right", AutonConstants.kSurfRight, superstructure); + registerAPTargetLoose("Surf Right Second", AutonConstants.kSurfRightSecond, superstructure); + registerAPTargetLoose("Surf Right Close",AutonConstants.kSurfRightClose, superstructure); + + registerAPTargetLoose("Surf Up Right", AutonConstants.kSurfUpRight, superstructure); + registerAPTargetLoose("Surf Up Left", AutonConstants.kSurfUpLeft, superstructure); + + registerAPTargetLoose("Return Left", AutonConstants.kReturnLeft, superstructure); + registerAPTargetLoose("Return Left Angle", AutonConstants.kReturnLeftAngle, superstructure); + registerAPTargetLoose("Return Right", AutonConstants.kReturnRight, superstructure); + registerAPTargetLoose("Return Right Angle", AutonConstants.kReturnRightAngle, superstructure); + + registerAPTarget("Depot", AutonConstants.kDepot, superstructure); + registerAPTarget("Tower", AutonConstants.kTower, superstructure); + registerAPTarget("Outpost", AutonConstants.kOutpost, superstructure); + } + + private void registerAPTarget(String name, APTarget target, Superstructure superstructure, Autopilot autopilot) { + Autogen.registerCommand(name, superstructure.build(new DriveToPoint(() -> FieldUtils.targetFlip(target), autopilot))); + } + + private void registerAPTarget(String name, APTarget target, Superstructure superstructure) { + registerAPTarget(name, target, superstructure, AutopilotConstants.kDefaultAutopilot); + } + + private void registerAPTargetLoose(String name, APTarget target, Superstructure superstructure) { + registerAPTarget(name, target, superstructure, AutopilotConstants.kLooseAutopilot); + } +} diff --git a/CompBot/src/main/java/frc/robot/binding/BindingConstants.java b/CompBot/src/main/java/frc/robot/binding/BindingConstants.java index 6f2a039..64115d8 100644 --- a/CompBot/src/main/java/frc/robot/binding/BindingConstants.java +++ b/CompBot/src/main/java/frc/robot/binding/BindingConstants.java @@ -2,16 +2,39 @@ public class BindingConstants { public static class Driver { + /* + * Button ID | PS5 Button + * + * 1 - Square + * 2 - Cross + * 3 - Circle + * 4 - Triangle + * 5 - L1 + * 6 - R1 + * 7 - L2 + * 8 - R2 + * 9 - Three weird lines (I think it's "Create") + * 10 - Menu + * 11 - Left joystick push + * 12 - Right joystick push + * 13 - PS button + * 14 - Touchpad + * 15 - Weird little bar button + */ + public static final int kDriveControllerPort = 0; - /* These values may not be correct. Test with chosen controller. */ + /** + * PLEASE NOTE: + * X axis refers to robot/field X, not controller X. Same for Y. + */ public static final int kXAxis = 1; public static final int kYAxis = 0; - public static final int kRotAxis = 3; + public static final int kRotAxis = 4; - public static final boolean kFlipX = false; + public static final boolean kFlipX = true; public static final boolean kFlipY = true; - public static final boolean kFlipRot = false; + public static final boolean kFlipRot = true; } public static class Operator { diff --git a/CompBot/src/main/java/frc/robot/binding/DriverBindings.java b/CompBot/src/main/java/frc/robot/binding/DriverBindings.java deleted file mode 100644 index c3ba11d..0000000 --- a/CompBot/src/main/java/frc/robot/binding/DriverBindings.java +++ /dev/null @@ -1,35 +0,0 @@ -package frc.robot.binding; - -import java.util.function.DoubleSupplier; - -import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller; -import frc.robot.binding.BindingConstants.Driver; -import frc.robot.commands.AimPrep; -import frc.robot.commands.RunClimb; -import frc.robot.commands.RunIntake; -import frc.robot.subsystems.climber.ClimberConstants.ClimbPosition; -import frc.robot.superstructure.Superstructure; - -public class DriverBindings implements Binder { - private final CommandPS5Controller controller; - - private final DoubleSupplier vx, vy, vrot; - - public DriverBindings() { - controller = new CommandPS5Controller(Driver.kDriveControllerPort); - vx = () -> controller.getRawAxis(Driver.kXAxis) * ((Driver.kFlipX) ? -1.0 : 1.0); - vy = () -> controller.getRawAxis(Driver.kYAxis) * ((Driver.kFlipY) ? -1.0 : 1.0); - vrot = () -> controller.getRawAxis(Driver.kRotAxis) * ((Driver.kFlipRot) ? -1.0 : 1.0); - } - - public void bind(Superstructure superstructure) { - superstructure.bindDrive(vx, vy, vrot); - - controller.R1().toggleOnTrue(superstructure.build(new AimPrep())); - controller.R2().whileTrue(superstructure.build(new RunIntake())); - - controller.cross().onTrue(superstructure.build(new RunClimb(ClimbPosition.Home))); - controller.triangle().onTrue(superstructure.build(new RunClimb(ClimbPosition.Ready))); - controller.circle().onTrue(superstructure.build(new RunClimb(ClimbPosition.Climbed))); - } -} diff --git a/CompBot/src/main/java/frc/robot/binding/DriverXboxBindings.java b/CompBot/src/main/java/frc/robot/binding/DriverXboxBindings.java new file mode 100644 index 0000000..d05e63b --- /dev/null +++ b/CompBot/src/main/java/frc/robot/binding/DriverXboxBindings.java @@ -0,0 +1,53 @@ +package frc.robot.binding; + +import java.util.function.DoubleSupplier; + +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.binding.BindingConstants.Driver; +import frc.robot.commands.AimPrep; +import frc.robot.commands.ResetForwards; +import frc.robot.commands.RetractIntake; +import frc.robot.commands.RunIntake; +import frc.robot.subsystems.drivetrain.Drivetrain.TeleopDriveMode; +import frc.robot.superstructure.Superstructure; +import frc.robot.util.ActivityCalculator; +import frc.robot.util.ActivityCalculator.HubActivity; +import frc.robot.util.RumbleUtil; +import frc.robot.util.RumbleUtil.RumbleStrength; + +public class DriverXboxBindings implements Binder { + private final CommandXboxController controller; + + private final DoubleSupplier vx, vy, vrot; + + private final Trigger shoot, intake, resetPerspective, robotRelativeDrive, retract; + + public DriverXboxBindings() { + controller = new CommandXboxController(Driver.kDriveControllerPort); + + vx = () -> controller.getRawAxis(Driver.kXAxis) * ((Driver.kFlipX) ? -1.0 : 1.0); + vy = () -> controller.getRawAxis(Driver.kYAxis) * ((Driver.kFlipY) ? -1.0 : 1.0); + vrot = () -> controller.getRawAxis(Driver.kRotAxis) * ((Driver.kFlipRot) ? -1.0 : 1.0); + + shoot = controller.rightBumper(); + intake = controller.rightTrigger(); + resetPerspective = controller.leftBumper(); + robotRelativeDrive = controller.leftTrigger(); + retract = controller.x(); + } + + public void bind(Superstructure superstructure) { + superstructure.bindDrive(vx, vy, vrot, () -> robotRelativeDrive.getAsBoolean() ? TeleopDriveMode.RobotRelative : TeleopDriveMode.FieldRelativeSpin); + + shoot.toggleOnTrue(superstructure.build(new AimPrep())); + intake.toggleOnTrue(superstructure.build(new RunIntake())); + resetPerspective.onTrue(superstructure.build(new ResetForwards())); + retract.onTrue(superstructure.build(new RetractIntake())); + + superstructure.state.intaking().whileTrue(RumbleUtil.rumble(controller, RumbleStrength.High)); + + // Rumble on shift change: //RobotModeTriggers.teleop().and(ActivityCalculator.when(HubActivity.Both, 3.0)).whileTrue(RumbleUtil.alert(controller, RumbleStrength.High).withTimeout(3.0)); + } +} diff --git a/CompBot/src/main/java/frc/robot/binding/KeyboardBindings.java b/CompBot/src/main/java/frc/robot/binding/KeyboardBindings.java new file mode 100644 index 0000000..10c9da2 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/binding/KeyboardBindings.java @@ -0,0 +1,48 @@ +package frc.robot.binding; + +import java.util.function.DoubleSupplier; + +import edu.wpi.first.wpilibj2.command.button.CommandGenericHID; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.commands.AimPrep; +import frc.robot.commands.ResetForwards; +import frc.robot.commands.RetractIntake; +import frc.robot.commands.RunIndex; +import frc.robot.commands.RunIntake; +import frc.robot.subsystems.drivetrain.Drivetrain.TeleopDriveMode; +import frc.robot.superstructure.Superstructure; + +public class KeyboardBindings implements Binder { + private final CommandGenericHID controller; + + private final Trigger shoot, intake, robotCentricDrive, resetForwards, index, retractIntake; + + private final DoubleSupplier vx, vy, vrot; + + public KeyboardBindings() { + controller = new CommandGenericHID(0); + + shoot = controller.button(1); + intake = controller.button(2); + robotCentricDrive = controller.button(3); + resetForwards = controller.button(4); + index = controller.button(5); + retractIntake = controller.button(6); + + vx = () -> controller.getRawAxis(0); + vy = () -> controller.getRawAxis(1); + vrot = () -> controller.getRawAxis(2); + } + + public void bind(Superstructure superstructure) { + superstructure.bindDrive(vx, vy, vrot, () -> robotCentricDrive.getAsBoolean() ? TeleopDriveMode.RobotRelative : TeleopDriveMode.FieldRelativeSpin); + + shoot.toggleOnTrue(superstructure.build(new AimPrep())); + intake.whileTrue(superstructure.build(new RunIntake())); + resetForwards.onTrue(superstructure.build(new ResetForwards())); + index.whileTrue(superstructure.build(new RunIndex())); + retractIntake.onTrue(superstructure.build(new RetractIntake())); + + } + +} diff --git a/CompBot/src/main/java/frc/robot/binding/MultiBindings.java b/CompBot/src/main/java/frc/robot/binding/MultiBindings.java new file mode 100644 index 0000000..7fe65d7 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/binding/MultiBindings.java @@ -0,0 +1,17 @@ +package frc.robot.binding; + +import frc.robot.superstructure.Superstructure; + +public class MultiBindings implements Binder { + private final Binder[] binders; + + public MultiBindings(Binder... binders) { + this.binders = binders; + } + + public void bind(Superstructure superstructure) { + for (Binder binder : binders) { + binder.bind(superstructure); + } + } +} diff --git a/CompBot/src/main/java/frc/robot/binding/NamedCommandBindings.java b/CompBot/src/main/java/frc/robot/binding/NamedCommandBindings.java new file mode 100644 index 0000000..2a00f78 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/binding/NamedCommandBindings.java @@ -0,0 +1,18 @@ +package frc.robot.binding; + +import com.pathplanner.lib.auto.NamedCommands; +import com.pathplanner.lib.events.EventTrigger; + +import frc.robot.commands.AimPrep; +import frc.robot.commands.RunIntake; +import frc.robot.superstructure.Superstructure; + +public class NamedCommandBindings implements Binder { + public void bind(Superstructure superstructure) { + NamedCommands.registerCommand("Aim", superstructure.build(new AimPrep())); + NamedCommands.registerCommand("Intake", superstructure.build(new RunIntake())); + + new EventTrigger("Aim").whileTrue(superstructure.build(new AimPrep())); + new EventTrigger("Intake").whileTrue(superstructure.build(new RunIntake())); + } +} diff --git a/CompBot/src/main/java/frc/robot/binding/OperatorPS5Bindings.java b/CompBot/src/main/java/frc/robot/binding/OperatorPS5Bindings.java new file mode 100644 index 0000000..9332bf7 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/binding/OperatorPS5Bindings.java @@ -0,0 +1,35 @@ +package frc.robot.binding; + +import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.binding.BindingConstants.Operator; +import frc.robot.commands.AgitateIntake; +import frc.robot.commands.DumpFuel; +import frc.robot.commands.EmptyHopper; +import frc.robot.commands.RetractIntake; +import frc.robot.commands.RunIndex; +import frc.robot.superstructure.Superstructure; + +public class OperatorPS5Bindings implements Binder { + private final CommandPS5Controller controller; + + private final Trigger index, eject, agitate, retract, shootTillEmpty; + + public OperatorPS5Bindings() { + controller = new CommandPS5Controller(Operator.kOperatorControllerPort); + + index = controller.R1(); + eject = controller.cross(); + agitate = controller.square(); + retract = controller.triangle(); + shootTillEmpty = controller.L2(); + } + + public void bind(Superstructure superstructure) { + index.whileTrue(superstructure.build(new RunIndex())); + eject.whileTrue(superstructure.build(new DumpFuel())); + agitate.whileTrue(superstructure.build(new AgitateIntake())); + retract.onTrue(superstructure.build(new RetractIntake())); + shootTillEmpty.onTrue(superstructure.build(new EmptyHopper())); + } +} diff --git a/CompBot/src/main/java/frc/robot/binding/RobotBindings.java b/CompBot/src/main/java/frc/robot/binding/RobotBindings.java index 6f7c64f..9da9903 100644 --- a/CompBot/src/main/java/frc/robot/binding/RobotBindings.java +++ b/CompBot/src/main/java/frc/robot/binding/RobotBindings.java @@ -1,23 +1,21 @@ package frc.robot.binding; -import edu.wpi.first.math.filter.Debouncer.DebounceType; import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; import frc.robot.Robot; +import frc.robot.commands.AgitateIntake; import frc.robot.commands.CommandBuilder; -import frc.robot.commands.FuelShot; -import frc.robot.commands.FuelShotSim; import frc.robot.commands.RunClimb; +import frc.robot.commands.RunIndex; import frc.robot.subsystems.climber.ClimberConstants.ClimbPosition; import frc.robot.superstructure.Superstructure; public class RobotBindings implements Binder { public void bind(Superstructure superstructure) { - CommandBuilder shoot = (Robot.isReal()) ? new FuelShot() : new FuelShotSim(); - superstructure.state.shootReady().debounce(0.25, DebounceType.kFalling).whileTrue( - superstructure.build(shoot).repeatedly() - ); + CommandBuilder shoot = (Robot.isReal()) ? new RunIndex() : new RunIndex(); + superstructure.state.shootReady.whileTrue(superstructure.build(shoot).repeatedly()); + superstructure.state.shootReady.and(superstructure.state.intaking().negate()).whileTrue(superstructure.build(new AgitateIntake())); RobotModeTriggers.teleop().onTrue( - superstructure.build(new RunClimb(ClimbPosition.Ready)).onlyIf(superstructure.state.climbed()) + superstructure.build(new RunClimb(ClimbPosition.Ready)).onlyIf(superstructure.state.climbing()) ); } } diff --git a/CompBot/src/main/java/frc/robot/commands/AgitateIntake.java b/CompBot/src/main/java/frc/robot/commands/AgitateIntake.java new file mode 100644 index 0000000..c7d83e3 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/commands/AgitateIntake.java @@ -0,0 +1,10 @@ +package frc.robot.commands; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.StateManager; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class AgitateIntake implements CommandBuilder { + public Command build(Subsystems subsystems, StateManager state) { + return subsystems.intake().agitate(); + } +} diff --git a/CompBot/src/main/java/frc/robot/commands/AimPrep.java b/CompBot/src/main/java/frc/robot/commands/AimPrep.java index 7bcd2c2..57ff070 100644 --- a/CompBot/src/main/java/frc/robot/commands/AimPrep.java +++ b/CompBot/src/main/java/frc/robot/commands/AimPrep.java @@ -1,5 +1,6 @@ package frc.robot.commands; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.superstructure.StateManager; @@ -8,7 +9,9 @@ public class AimPrep implements CommandBuilder { public Command build(Subsystems subsystems, StateManager state) { return Commands.parallel( + Commands.runOnce(() -> SmartDashboard.putBoolean("Robot/Aiming", true)), subsystems.turret().track(state), - subsystems.shooter().shoot(state::predictedAimParams)); + subsystems.shooter().shoot(state::predictedAimParams)) + .finallyDo(() -> SmartDashboard.putBoolean("Robot/Aiming", false)); } } diff --git a/CompBot/src/main/java/frc/robot/commands/DriveToPoint.java b/CompBot/src/main/java/frc/robot/commands/DriveToPoint.java new file mode 100644 index 0000000..34ff192 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/commands/DriveToPoint.java @@ -0,0 +1,33 @@ +package frc.robot.commands; + +import java.util.function.Supplier; + +import com.therekrab.autopilot.APTarget; +import com.therekrab.autopilot.Autopilot; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.drivetrain.AutopilotConstants; +import frc.robot.superstructure.StateManager; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class DriveToPoint implements CommandBuilder { + private final Supplier target; + private final Autopilot autopilot; + + public DriveToPoint(Supplier target, Autopilot autopilot) { + this.target = target; + this.autopilot = autopilot; + } + + public DriveToPoint(APTarget target) { + this(() -> target); + } + + public DriveToPoint(Supplier target) { + this(target, AutopilotConstants.kDefaultAutopilot); + } + + public Command build(Subsystems subsystems, StateManager state) { + return subsystems.drivetrain().driveTo(target, autopilot); + } +} diff --git a/CompBot/src/main/java/frc/robot/commands/DrivetrainAim.java b/CompBot/src/main/java/frc/robot/commands/DrivetrainAim.java new file mode 100644 index 0000000..ad280a6 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/commands/DrivetrainAim.java @@ -0,0 +1,14 @@ +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.superstructure.StateManager; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class DrivetrainAim implements CommandBuilder { + public Command build(Subsystems subsystems, StateManager state) { + return Commands.parallel( + subsystems.drivetrain().track(state::aimParams), + subsystems.shooter().shoot(state::aimParams)); + } +} diff --git a/CompBot/src/main/java/frc/robot/commands/DrivetrainTrack.java b/CompBot/src/main/java/frc/robot/commands/DrivetrainTrack.java new file mode 100644 index 0000000..4bce5ab --- /dev/null +++ b/CompBot/src/main/java/frc/robot/commands/DrivetrainTrack.java @@ -0,0 +1,11 @@ +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.StateManager; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class DrivetrainTrack implements CommandBuilder { + public Command build(Subsystems subsystems, StateManager state) { + return subsystems.drivetrain().track(state::predictedAimParams); + } +} diff --git a/CompBot/src/main/java/frc/robot/commands/DumpFuel.java b/CompBot/src/main/java/frc/robot/commands/DumpFuel.java new file mode 100644 index 0000000..94cc2f7 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/commands/DumpFuel.java @@ -0,0 +1,11 @@ +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.StateManager; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class DumpFuel implements CommandBuilder { + public Command build(Subsystems subsystems, StateManager state) { + return subsystems.intake().reverse(); + } +} diff --git a/CompBot/src/main/java/frc/robot/commands/EmptyHopper.java b/CompBot/src/main/java/frc/robot/commands/EmptyHopper.java new file mode 100644 index 0000000..3595035 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/commands/EmptyHopper.java @@ -0,0 +1,15 @@ +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.superstructure.StateManager; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class EmptyHopper implements CommandBuilder { + public Command build(Subsystems subsystems, StateManager state) { + return Commands.parallel( + new AimPrep().build(subsystems, state), + new ShootWhenReady().build(subsystems, state).until(subsystems.shooter().seenBall(2)) + ); + } +} diff --git a/CompBot/src/main/java/frc/robot/commands/FuelShotSim.java b/CompBot/src/main/java/frc/robot/commands/FuelShotSim.java index 683b05e..33232ef 100644 --- a/CompBot/src/main/java/frc/robot/commands/FuelShotSim.java +++ b/CompBot/src/main/java/frc/robot/commands/FuelShotSim.java @@ -18,8 +18,9 @@ public Command singleBuild(Subsystems subsystems, StateManager state) { return Commands.sequence( Commands.runOnce(() -> sim.launch(state)), Commands.run(sim::tick)) - .until(sim::atHub) - .withName("Fuel Shot (sim)"); + .withTimeout(2.0) // just a guess, I don't really care. + .withName("Fuel Shot (sim)") + .ignoringDisable(true); } public Command build(Subsystems subsystems, StateManager state) { @@ -33,7 +34,6 @@ public class FuelSim { private Translation3d position; private Translation3d velocity; - private Translation3d target; private Translation3d gravity = new Translation3d(0, 0, -9.81); @@ -55,7 +55,6 @@ public void launch(StateManager state) { + Math.random() * error, params.pitch.getSin() * params.output + Math.random() * error); velocity = veloR.plus(new Translation3d(state.robotVelocity().getTranslation())); - target = state.aimTarget().getTranslation(); } public void tick() { @@ -69,10 +68,5 @@ public void tick() { } FieldManager.getInstance().addFuel(new Pose3d(position, Rotation3d.kZero)); } - - public boolean atHub() { - return position.getZ() < target.getZ() && velocity.getZ() < 0; - } - } } diff --git a/CompBot/src/main/java/frc/robot/commands/FuelShot.java b/CompBot/src/main/java/frc/robot/commands/ResetForwards.java similarity index 57% rename from CompBot/src/main/java/frc/robot/commands/FuelShot.java rename to CompBot/src/main/java/frc/robot/commands/ResetForwards.java index e88fbfb..a87070f 100644 --- a/CompBot/src/main/java/frc/robot/commands/FuelShot.java +++ b/CompBot/src/main/java/frc/robot/commands/ResetForwards.java @@ -5,12 +5,9 @@ import frc.robot.superstructure.StateManager; import frc.robot.superstructure.Superstructure.Subsystems; -public class FuelShot implements CommandBuilder { +public class ResetForwards implements CommandBuilder { public Command build(Subsystems subsystems, StateManager state) { - CommandBuilder aimPrep = new AimPrep(); - return Commands.parallel( - aimPrep.build(subsystems, state), - subsystems.indexer().index() - ); + return Commands.runOnce(() -> subsystems.drivetrain().setOperatorPerspectiveForward(state.robotPose().getRotation())).ignoringDisable(true); } + } diff --git a/CompBot/src/main/java/frc/robot/commands/ResetOdometry.java b/CompBot/src/main/java/frc/robot/commands/ResetOdometry.java new file mode 100644 index 0000000..0e08b7f --- /dev/null +++ b/CompBot/src/main/java/frc/robot/commands/ResetOdometry.java @@ -0,0 +1,20 @@ +package frc.robot.commands; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.StateManager; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class ResetOdometry implements CommandBuilder { + private final Pose2d pose; + private final boolean flip; + + public ResetOdometry(Pose2d pose, boolean flip) { + this.pose = pose; + this.flip = flip; + } + + public Command build(Subsystems subsystems, StateManager state) { + return subsystems.drivetrain().resetOdometry(pose, flip); + } +} diff --git a/CompBot/src/main/java/frc/robot/commands/RetractIntake.java b/CompBot/src/main/java/frc/robot/commands/RetractIntake.java new file mode 100644 index 0000000..b7e521e --- /dev/null +++ b/CompBot/src/main/java/frc/robot/commands/RetractIntake.java @@ -0,0 +1,12 @@ +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.subsystems.intake.IntakeConstants.DeployConstants.DeployPosition; +import frc.robot.superstructure.StateManager; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class RetractIntake implements CommandBuilder { + public Command build(Subsystems subsystems, StateManager state) { + return subsystems.intake().go(DeployPosition.Stow); + } +} diff --git a/CompBot/src/main/java/frc/robot/commands/RunIndex.java b/CompBot/src/main/java/frc/robot/commands/RunIndex.java new file mode 100644 index 0000000..a1cf3ea --- /dev/null +++ b/CompBot/src/main/java/frc/robot/commands/RunIndex.java @@ -0,0 +1,11 @@ +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.superstructure.StateManager; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class RunIndex implements CommandBuilder { + public Command build(Subsystems subsystems, StateManager state) { + return subsystems.indexer().index(); + } +} diff --git a/CompBot/src/main/java/frc/robot/commands/RunIntake.java b/CompBot/src/main/java/frc/robot/commands/RunIntake.java index 500b386..96d1503 100644 --- a/CompBot/src/main/java/frc/robot/commands/RunIntake.java +++ b/CompBot/src/main/java/frc/robot/commands/RunIntake.java @@ -8,9 +8,9 @@ public class RunIntake implements CommandBuilder { public Command build(Subsystems subsystems, StateManager state) { - return Commands.parallel( - subsystems.intake().go(DeployPosition.Deployed), - subsystems.intake().intake() - ); + return Commands.sequence( + Commands.runOnce(() -> subsystems.intake().setIntaking(true)), + subsystems.intake().intakeAt(DeployPosition.Deployed) + ).finallyDo(() -> subsystems.intake().setIntaking(false)); } } diff --git a/CompBot/src/main/java/frc/robot/commands/ShootWhenReady.java b/CompBot/src/main/java/frc/robot/commands/ShootWhenReady.java new file mode 100644 index 0000000..0a00e99 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/commands/ShootWhenReady.java @@ -0,0 +1,19 @@ +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import frc.robot.Robot; +import frc.robot.superstructure.StateManager; +import frc.robot.superstructure.Superstructure.Subsystems; + +public class ShootWhenReady implements CommandBuilder { + public Command build(Subsystems subsystems, StateManager state) { + Command composition = Commands.sequence( + Commands.waitUntil(state.shootReady), + subsystems.indexer().index()); + if (Robot.isReal()) { + return composition; + } + return composition.alongWith(new FuelShotSim().build(subsystems, state).repeatedly()); + } +} diff --git a/CompBot/src/main/java/frc/robot/generated/CompBotTunerConstants.java b/CompBot/src/main/java/frc/robot/generated/CompBotTunerConstants.java new file mode 100644 index 0000000..3ca70f9 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/generated/CompBotTunerConstants.java @@ -0,0 +1,290 @@ +package frc.robot.generated; + +import static edu.wpi.first.units.Units.*; + +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.configs.*; +import com.ctre.phoenix6.hardware.*; +import com.ctre.phoenix6.signals.*; +import com.ctre.phoenix6.swerve.*; +import com.ctre.phoenix6.swerve.SwerveModuleConstants.*; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.units.measure.*; +import frc.robot.subsystems.drivetrain.Drivetrain; + +/* REAL BOT */ + +// Generated by the 2026 Tuner X Swerve Project Generator +// https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html +public class CompBotTunerConstants { + // Both sets of gains need to be tuned to your individual robot. + + // The steer motor uses any SwerveModule.SteerRequestType control request with the + // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput + private static final Slot0Configs steerGains = new Slot0Configs() + .withKP(60.0).withKI(0).withKD(0) + .withKS(0.254577).withKV(2.5426).withKA(0.107) + .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); + // When using closed-loop control, the drive motor uses the control + // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput + private static final Slot0Configs driveGains = new Slot0Configs() + .withKP(0.108626).withKI(0).withKD(0) + .withKS(0.11302).withKV(0.12136).withKA(0.0019); + + // The closed-loop output type to use for the steer motors; + // This affects the PID/FF gains for the steer motors + private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage; + // The closed-loop output type to use for the drive motors; + // This affects the PID/FF gains for the drive motors + private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage; + + // The type of motor used for the drive motor + private static final DriveMotorArrangement kDriveMotorType = DriveMotorArrangement.TalonFX_Integrated; + // The type of motor used for the drive motor + private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated; + + // The remote sensor feedback type to use for the steer motors; + // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote* + private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder; + + // The stator current at which the wheels start to slip; + // This needs to be tuned to your individual robot + private static final Current kSlipCurrent = Amps.of(120); + + // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null. + // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation. + private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration() + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withSupplyCurrentLimit(70)); + private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration() + .withCurrentLimits( + new CurrentLimitsConfigs() + // Swerve azimuth does not require much torque output, so we can set a relatively low + // stator current limit to help avoid brownouts without impacting performance. + .withStatorCurrentLimit(Amps.of(60)) + .withStatorCurrentLimitEnable(true) + ); + private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration(); + // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs + private static final Pigeon2Configuration pigeonConfigs = null; + + // CAN bus that the devices are located on; + // All swerve devices must share the same CAN bus + public static final CANBus kCANBus = new CANBus("CANivore", "./logs/example.hoot"); + + // Theoretical free speed (m/s) at 12 V applied output; + // This needs to be tuned to your individual robot + public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(5.12); + + // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns; + // This may need to be tuned to your individual robot + private static final double kCoupleRatio = 3.857142857142857; + + private static final double kDriveGearRatio = 7.03; + private static final double kSteerGearRatio = 26.09090909090909; + private static final Distance kWheelRadius = Inches.of(2); + + private static final boolean kInvertLeftSide = false; + private static final boolean kInvertRightSide = true; + + private static final int kPigeonId = 50; + + // These are only used for simulation + private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01); + private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01); + // Simulated voltage necessary to overcome friction + private static final Voltage kSteerFrictionVoltage = Volts.of(0.2); + private static final Voltage kDriveFrictionVoltage = Volts.of(0.2); + + public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants() + .withCANBusName(kCANBus.getName()) + .withPigeon2Id(kPigeonId) + .withPigeon2Configs(pigeonConfigs); + + private static final SwerveModuleConstantsFactory ConstantCreator = + new SwerveModuleConstantsFactory() + .withDriveMotorGearRatio(kDriveGearRatio) + .withSteerMotorGearRatio(kSteerGearRatio) + .withCouplingGearRatio(kCoupleRatio) + .withWheelRadius(kWheelRadius) + .withSteerMotorGains(steerGains) + .withDriveMotorGains(driveGains) + .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput) + .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput) + .withSlipCurrent(kSlipCurrent) + .withSpeedAt12Volts(kSpeedAt12Volts) + .withDriveMotorType(kDriveMotorType) + .withSteerMotorType(kSteerMotorType) + .withFeedbackSource(kSteerFeedbackType) + .withDriveMotorInitialConfigs(driveInitialConfigs) + .withSteerMotorInitialConfigs(steerInitialConfigs) + .withEncoderInitialConfigs(encoderInitialConfigs) + .withSteerInertia(kSteerInertia) + .withDriveInertia(kDriveInertia) + .withSteerFrictionVoltage(kSteerFrictionVoltage) + .withDriveFrictionVoltage(kDriveFrictionVoltage); + + + // Front Left + private static final int kFrontLeftDriveMotorId = 11; + private static final int kFrontLeftSteerMotorId = 12; + private static final int kFrontLeftEncoderId = 13; + private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.10546875); + private static final boolean kFrontLeftSteerMotorInverted = false; + private static final boolean kFrontLeftEncoderInverted = false; + + private static final Distance kFrontLeftXPos = Inches.of(11); + private static final Distance kFrontLeftYPos = Inches.of(11); + + // Front Right + private static final int kFrontRightDriveMotorId = 21; + private static final int kFrontRightSteerMotorId = 22; + private static final int kFrontRightEncoderId = 23; + private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.23095703125); + private static final boolean kFrontRightSteerMotorInverted = false; + private static final boolean kFrontRightEncoderInverted = false; + + private static final Distance kFrontRightXPos = Inches.of(11); + private static final Distance kFrontRightYPos = Inches.of(-11); + + // Back Left + private static final int kBackLeftDriveMotorId = 31; + private static final int kBackLeftSteerMotorId = 32; + private static final int kBackLeftEncoderId = 33; + private static final Angle kBackLeftEncoderOffset = Rotations.of(0.063232421875); + private static final boolean kBackLeftSteerMotorInverted = false; + private static final boolean kBackLeftEncoderInverted = false; + + private static final Distance kBackLeftXPos = Inches.of(-11); + private static final Distance kBackLeftYPos = Inches.of(11); + + // Back Right + private static final int kBackRightDriveMotorId = 41; + private static final int kBackRightSteerMotorId = 42; + private static final int kBackRightEncoderId = 43; + private static final Angle kBackRightEncoderOffset = Rotations.of(-0.28076171875); + private static final boolean kBackRightSteerMotorInverted = false; + private static final boolean kBackRightEncoderInverted = false; + + private static final Distance kBackRightXPos = Inches.of(-11); + private static final Distance kBackRightYPos = Inches.of(-11); + + + public static final SwerveModuleConstants FrontLeft = + ConstantCreator.createModuleConstants( + kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, kFrontLeftEncoderOffset, + kFrontLeftXPos, kFrontLeftYPos, kInvertLeftSide, kFrontLeftSteerMotorInverted, kFrontLeftEncoderInverted + ); + public static final SwerveModuleConstants FrontRight = + ConstantCreator.createModuleConstants( + kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset, + kFrontRightXPos, kFrontRightYPos, kInvertRightSide, kFrontRightSteerMotorInverted, kFrontRightEncoderInverted + ); + public static final SwerveModuleConstants BackLeft = + ConstantCreator.createModuleConstants( + kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset, + kBackLeftXPos, kBackLeftYPos, kInvertLeftSide, kBackLeftSteerMotorInverted, kBackLeftEncoderInverted + ); + public static final SwerveModuleConstants BackRight = + ConstantCreator.createModuleConstants( + kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, kBackRightEncoderOffset, + kBackRightXPos, kBackRightYPos, kInvertRightSide, kBackRightSteerMotorInverted, kBackRightEncoderInverted + ); + + /** + * Creates a CommandSwerveDrivetrain instance. + * This should only be called once in your robot program,. + */ + public static Drivetrain createDrivetrain() { + return new Drivetrain( + DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight + ); + } + + + /** + * Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types. + */ + public static class TunerSwerveDrivetrain extends SwerveDrivetrain { + /** + * Constructs a CTRE SwerveDrivetrain using the specified constants. + *

+ * This constructs the underlying hardware devices, so users should not construct + * the devices themselves. If they need the devices, they can access them through + * getters in the classes. + * + * @param drivetrainConstants Drivetrain-wide constants for the swerve drive + * @param modules Constants for each specific module + */ + public TunerSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, + SwerveModuleConstants... modules + ) { + super( + TalonFX::new, TalonFX::new, CANcoder::new, + drivetrainConstants, modules + ); + } + + /** + * Constructs a CTRE SwerveDrivetrain using the specified constants. + *

+ * This constructs the underlying hardware devices, so users should not construct + * the devices themselves. If they need the devices, they can access them through + * getters in the classes. + * + * @param drivetrainConstants Drivetrain-wide constants for the swerve drive + * @param odometryUpdateFrequency The frequency to run the odometry loop. If + * unspecified or set to 0 Hz, this is 250 Hz on + * CAN FD, and 100 Hz on CAN 2.0. + * @param modules Constants for each specific module + */ + public TunerSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, + double odometryUpdateFrequency, + SwerveModuleConstants... modules + ) { + super( + TalonFX::new, TalonFX::new, CANcoder::new, + drivetrainConstants, odometryUpdateFrequency, modules + ); + } + + /** + * Constructs a CTRE SwerveDrivetrain using the specified constants. + *

+ * This constructs the underlying hardware devices, so users should not construct + * the devices themselves. If they need the devices, they can access them through + * getters in the classes. + * + * @param drivetrainConstants Drivetrain-wide constants for the swerve drive + * @param odometryUpdateFrequency The frequency to run the odometry loop. If + * unspecified or set to 0 Hz, this is 250 Hz on + * CAN FD, and 100 Hz on CAN 2.0. + * @param odometryStandardDeviation The standard deviation for odometry calculation + * in the form [x, y, theta]áµ€, with units in meters + * and radians + * @param visionStandardDeviation The standard deviation for vision calculation + * in the form [x, y, theta]áµ€, with units in meters + * and radians + * @param modules Constants for each specific module + */ + public TunerSwerveDrivetrain( + SwerveDrivetrainConstants drivetrainConstants, + double odometryUpdateFrequency, + Matrix odometryStandardDeviation, + Matrix visionStandardDeviation, + SwerveModuleConstants... modules + ) { + super( + TalonFX::new, TalonFX::new, CANcoder::new, + drivetrainConstants, odometryUpdateFrequency, + odometryStandardDeviation, visionStandardDeviation, modules + ); + } + } +} diff --git a/CompBot/src/main/java/frc/robot/generated/TestBotTunerConstants.java b/CompBot/src/main/java/frc/robot/generated/TestBotTunerConstants.java index 40dd5e6..f4a22bf 100644 --- a/CompBot/src/main/java/frc/robot/generated/TestBotTunerConstants.java +++ b/CompBot/src/main/java/frc/robot/generated/TestBotTunerConstants.java @@ -6,6 +6,7 @@ import static edu.wpi.first.units.Units.MetersPerSecond; import static edu.wpi.first.units.Units.Rotations; import static edu.wpi.first.units.Units.Volts; + import com.ctre.phoenix6.CANBus; import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; @@ -14,7 +15,6 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.StaticFeedforwardSignValue; import com.ctre.phoenix6.swerve.SwerveDrivetrain; import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants; import com.ctre.phoenix6.swerve.SwerveModuleConstants; @@ -23,6 +23,7 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType; import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement; import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory; + import edu.wpi.first.math.Matrix; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; @@ -34,7 +35,7 @@ import edu.wpi.first.units.measure.Voltage; import frc.robot.subsystems.drivetrain.Drivetrain; -// Generated by the 2026 Tuner X Swerve Project Generator +// Generated by the Tuner X Swerve Project Generator // https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html public class TestBotTunerConstants { // Both sets of gains need to be tuned to your individual robot. @@ -42,14 +43,17 @@ public class TestBotTunerConstants { // The steer motor uses any SwerveModule.SteerRequestType control request with the // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput private static final Slot0Configs steerGains = new Slot0Configs() - .withKP(100).withKI(0).withKD(0.5) - .withKS(0.1).withKV(3.10).withKA(0) - .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); + .withKP(40.0); + // .withKP(0.7473825).withKI(0).withKD(0) + // .withKS(0.05913566667).withKV(3.039475).withKA(0.09555725) + // .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign); // When using closed-loop control, the drive motor uses the control // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput private static final Slot0Configs driveGains = new Slot0Configs() - .withKP(0.1).withKI(0).withKD(0) - .withKS(0).withKV(0.124); + .withKP(0.182115).withKI(0).withKD(0) + .withKS(0.16669).withKV(0.123925).withKA(0.0075743); + // .withKP(0.0154954).withKI(0).withKD(0) + // .withKS(0.21003).withKV(0.11971); // The closed-loop output type to use for the steer motors; // This affects the PID/FF gains for the steer motors @@ -69,7 +73,7 @@ public class TestBotTunerConstants { // The stator current at which the wheels start to slip; // This needs to be tuned to your individual robot - private static final Current kSlipCurrent = Amps.of(120); + private static final Current kSlipCurrent = Amps.of(120.0); // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null. // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation. @@ -88,11 +92,11 @@ public class TestBotTunerConstants { // CAN bus that the devices are located on; // All swerve devices must share the same CAN bus - public static final CANBus kCANBus = new CANBus("", "./logs/example.hoot"); + public static final CANBus kCANBus = new CANBus("CANivore", "./logs/example.hoot"); // Theoretical free speed (m/s) at 12 V applied output; // This needs to be tuned to your individual robot - public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.37); + public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.51); // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns; // This may need to be tuned to your individual robot @@ -147,7 +151,7 @@ public class TestBotTunerConstants { private static final int kFrontLeftDriveMotorId = 11; private static final int kFrontLeftSteerMotorId = 12; private static final int kFrontLeftEncoderId = 13; - private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.310546875); + private static final Angle kFrontLeftEncoderOffset = Rotations.of(0.3115234375); private static final boolean kFrontLeftSteerMotorInverted = false; private static final boolean kFrontLeftEncoderInverted = false; @@ -158,7 +162,7 @@ public class TestBotTunerConstants { private static final int kFrontRightDriveMotorId = 21; private static final int kFrontRightSteerMotorId = 22; private static final int kFrontRightEncoderId = 23; - private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.43994140625); + private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.43798828125); private static final boolean kFrontRightSteerMotorInverted = false; private static final boolean kFrontRightEncoderInverted = false; @@ -169,7 +173,7 @@ public class TestBotTunerConstants { private static final int kBackLeftDriveMotorId = 31; private static final int kBackLeftSteerMotorId = 32; private static final int kBackLeftEncoderId = 33; - private static final Angle kBackLeftEncoderOffset = Rotations.of(0.072998046875); + private static final Angle kBackLeftEncoderOffset = Rotations.of(0.065185546875); private static final boolean kBackLeftSteerMotorInverted = false; private static final boolean kBackLeftEncoderInverted = false; @@ -180,7 +184,7 @@ public class TestBotTunerConstants { private static final int kBackRightDriveMotorId = 41; private static final int kBackRightSteerMotorId = 42; private static final int kBackRightEncoderId = 43; - private static final Angle kBackRightEncoderOffset = Rotations.of(-0.1494140625); + private static final Angle kBackRightEncoderOffset = Rotations.of(-0.141845703125); private static final boolean kBackRightSteerMotorInverted = false; private static final boolean kBackRightEncoderInverted = false; @@ -280,10 +284,10 @@ public TunerSwerveDrivetrain( * unspecified or set to 0 Hz, this is 250 Hz on * CAN FD, and 100 Hz on CAN 2.0. * @param odometryStandardDeviation The standard deviation for odometry calculation - * in the form [x, y, theta]^T, with units in meters + * in the form [x, y, theta]ᵀ, with units in meters * and radians * @param visionStandardDeviation The standard deviation for vision calculation - * in the form [x, y, theta]^T, with units in meters + * in the form [x, y, theta]ᵀ, with units in meters * and radians * @param modules Constants for each specific module */ diff --git a/CompBot/src/main/java/frc/robot/subsystems/climber/Climber.java b/CompBot/src/main/java/frc/robot/subsystems/climber/Climber.java index 5df6380..91a9da1 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/climber/Climber.java +++ b/CompBot/src/main/java/frc/robot/subsystems/climber/Climber.java @@ -1,42 +1,50 @@ package frc.robot.subsystems.climber; -import static edu.wpi.first.units.Units.Degrees; import static edu.wpi.first.units.Units.Radians; -//import edu.wpi.first.util.sendable.Sendable; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.subsystems.climber.ClimberConstants.ClimbPosition; import frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs; +import frc.robot.util.OnboardLogger; public class Climber extends SubsystemBase { private final ClimberIO io; private final ClimberIOInputs inputs = new ClimberIOInputs(); + private ClimbPosition reference = ClimbPosition.Home; + public Climber(ClimberIO io) { this.io = io; - SmartDashboard.putData("Climber/Home", go(ClimbPosition.Home)); - SmartDashboard.putData("Climber/Ready", go(ClimbPosition.Ready)); - SmartDashboard.putData("Climber/Climb", go(ClimbPosition.Climbed)); + OnboardLogger log = new OnboardLogger("Climber"); + log.registerString("State", () -> reference.toString()); + // SmartDashboard.putData("Climber/Home", go(ClimbPosition.Home)); + // SmartDashboard.putData("Climber/Ready", go(ClimbPosition.Ready)); + // SmartDashboard.putData("Climber/Climb", go(ClimbPosition.Climbed)); } @Override public void periodic() { io.updateInputs(inputs); - SmartDashboard.putNumber("Climber/ClimbLevel", inputs.position.in(Degrees)); + // SmartDashboard.putNumber("Climber/ClimbLevel", inputs.position.in(Degrees)); } public Command go(ClimbPosition climbLevel) { return Commands.sequence( - this.runOnce(() -> io.setPosition(climbLevel.position)), + this.runOnce(() -> { + io.setPosition(climbLevel.position); + reference = climbLevel; + }), Commands.waitUntil(at(climbLevel))); } - public Trigger at(ClimbPosition climbLevel) { + public Trigger wants(ClimbPosition climbLevel) { + return new Trigger(() -> climbLevel == reference); + } + public Trigger at(ClimbPosition climbLevel) { return new Trigger(() -> { return ClimberConstants.kTolerance.in(Radians) >= Math .abs(inputs.position.in(Radians) - climbLevel.position.in(Radians)); diff --git a/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java b/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java index 817c37c..fe34627 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java +++ b/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberConstants.java @@ -16,8 +16,7 @@ import edu.wpi.first.units.measure.AngularVelocity; public final class ClimberConstants { - - protected static final int kMotorID = 64; + protected static final int kMotorId = 1; public static enum ClimbPosition { Home(Rotations.zero()), diff --git a/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIO.java b/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIO.java index 935267f..4589968 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIO.java +++ b/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIO.java @@ -12,6 +12,7 @@ import static edu.wpi.first.units.Units.Amps; import static edu.wpi.first.units.Units.Celsius; import static edu.wpi.first.units.Units.Radians; +import static edu.wpi.first.units.Units.Rotations; import static edu.wpi.first.units.Units.RotationsPerSecond; @@ -37,10 +38,10 @@ public ClimberIOInputs() { log.registerMeasurement("Voltage", () -> voltage, Volts); log.registerMeasurement("Temperature", () -> temperature, Celsius); log.registerMeasurement("Velocity", () -> velocity, RotationsPerSecond); + log.registerMeasurement("Position", () -> position, Rotations); } } - void setVoltage(Voltage voltage); void setPosition(Angle climbLevel); } diff --git a/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java b/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java index d6e5a60..afa5ff0 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java +++ b/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIOHardware.java @@ -2,15 +2,12 @@ import static edu.wpi.first.units.Units.RotationsPerSecond; import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond; -import static edu.wpi.first.units.Units.Volts; import com.ctre.phoenix6.BaseStatusSignal; import com.ctre.phoenix6.controls.DynamicMotionMagicTorqueCurrentFOC; -import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.units.measure.Angle; -import edu.wpi.first.units.measure.Voltage; import frc.robot.util.StatusSignalUtil; public class ClimberIOHardware implements ClimberIO { @@ -18,10 +15,8 @@ public class ClimberIOHardware implements ClimberIO { private final DynamicMotionMagicTorqueCurrentFOC control = new DynamicMotionMagicTorqueCurrentFOC(0, ClimberConstants.kVelocity.in(RotationsPerSecond), ClimberConstants.kAcceleration.in(RotationsPerSecondPerSecond)); - private Voltage lastVoltage = Volts.zero(); - public ClimberIOHardware() { - motor = new TalonFX(ClimberConstants.kMotorID); + motor = new TalonFX(ClimberConstants.kMotorId); motor.getConfigurator().apply(ClimberConstants.kMotorConfig); StatusSignalUtil.registerRioSignals( @@ -52,13 +47,6 @@ public void updateInputs(ClimberIOInputs inputs) { inputs.velocity = motor.getVelocity(false).getValue(); } - public void setVoltage(Voltage voltage) { - if (!voltage.equals(lastVoltage)) { - motor.setControl(new VoltageOut(voltage)); - lastVoltage = voltage; - } - } - public void setPosition(Angle position) { motor.setControl(control.withPosition(position)); } diff --git a/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java b/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java index e4bf356..1b314b7 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java +++ b/CompBot/src/main/java/frc/robot/subsystems/climber/ClimberIOSim.java @@ -3,11 +3,9 @@ import static edu.wpi.first.units.Units.Amps; import static edu.wpi.first.units.Units.Radians; import static edu.wpi.first.units.Units.Volts; - import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.math.system.plant.LinearSystemId; import edu.wpi.first.units.measure.Angle; -import edu.wpi.first.units.measure.Voltage; import edu.wpi.first.wpilibj.simulation.DCMotorSim; import frc.robot.Robot; @@ -32,10 +30,6 @@ public void updateInputs(ClimberIOInputs inputs) { inputs.velocity = motor.getAngularVelocity(); } - public void setVoltage(Voltage voltage) { - motor.setInputVoltage(voltage.baseUnitMagnitude()); - } - public void setPosition(Angle position) { this.position = position; } diff --git a/CompBot/src/main/java/frc/robot/subsystems/drivetrain/AutopilotConstants.java b/CompBot/src/main/java/frc/robot/subsystems/drivetrain/AutopilotConstants.java new file mode 100644 index 0000000..7a4d385 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/drivetrain/AutopilotConstants.java @@ -0,0 +1,36 @@ +package frc.robot.subsystems.drivetrain; + +import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Inches; +import static edu.wpi.first.units.Units.Meters; + +import com.therekrab.autopilot.APConstraints; +import com.therekrab.autopilot.APProfile; +import com.therekrab.autopilot.Autopilot; + +public class AutopilotConstants { + private static final APConstraints kConstraints = new APConstraints() + .withVelocity(2.0) + .withAcceleration(10.0) + .withJerk(8.0); + + private static final APProfile kProfile = new APProfile(kConstraints) + .withBeelineRadius(Inches.of(5)) + .withErrorTheta(Degrees.of(3)) + .withErrorXY(Inches.of(2)); + + public static final Autopilot kDefaultAutopilot = new Autopilot(kProfile); + + private static final APProfile kLooseProfile = new APProfile(kConstraints) + .withBeelineRadius(Meters.of(0.25)) + .withErrorTheta(Degrees.of(30)) + .withErrorXY(Inches.of(12)); + + public static final Autopilot kLooseAutopilot = new Autopilot(kLooseProfile); + + public static final class HeadingGains { + protected static final double kP = 4.0; + protected static final double kI = 0.0; + protected static final double kD = 0.0; + } +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/CompBot/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java index 7779804..6dc0e42 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java +++ b/CompBot/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java @@ -1,14 +1,13 @@ package frc.robot.subsystems.drivetrain; - import static edu.wpi.first.units.Units.MetersPerSecond; -import static edu.wpi.first.units.Units.RadiansPerSecond; -import static edu.wpi.first.units.Units.RotationsPerSecond; import static edu.wpi.first.units.Units.Second; import static edu.wpi.first.units.Units.Volts; + import java.util.Optional; import java.util.function.DoubleSupplier; import java.util.function.Supplier; + import com.ctre.phoenix6.SignalLogger; import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants; @@ -16,6 +15,14 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstants; import com.ctre.phoenix6.swerve.SwerveRequest; import com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue; +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.config.PIDConstants; +import com.pathplanner.lib.config.RobotConfig; +import com.pathplanner.lib.controllers.PPHolonomicDriveController; +import com.therekrab.autopilot.APTarget; +import com.therekrab.autopilot.Autopilot; +import com.therekrab.autopilot.Autopilot.APResult; + import edu.wpi.first.math.Matrix; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; @@ -25,12 +32,11 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; -import edu.wpi.first.util.datalog.StructLogEntry; -import edu.wpi.first.wpilibj.DataLogManager; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.Notifier; import edu.wpi.first.wpilibj.RobotController; +import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Subsystem; @@ -39,47 +45,80 @@ import frc.robot.FieldManager; import frc.robot.Robot; import frc.robot.aiming.AimParams; -import frc.robot.generated.TestBotTunerConstants; -import frc.robot.generated.TestBotTunerConstants.TunerSwerveDrivetrain; +import frc.robot.generated.CompBotTunerConstants; +import frc.robot.generated.CompBotTunerConstants.TunerSwerveDrivetrain; +import frc.robot.subsystems.drivetrain.AutopilotConstants.HeadingGains; +import frc.robot.subsystems.turret.TurretConstants; +import frc.robot.util.FieldUtils; import frc.robot.util.OnboardLogger; +import frc.robot.vision.localization.LocalizationConstants; import frc.robot.vision.localization.TimestampedPoseEstimate; public class Drivetrain extends TunerSwerveDrivetrain implements Subsystem { private static final double kSimLoopPeriod = 0.004; // 4 ms - private Notifier m_simNotifier = null; - private double m_lastSimTime; + private Notifier simNotifier = null; + private double lastSimTime; + + private final double LOOKAHEAD = 2 * Robot.kDefaultPeriod; private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero; private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg; /* Keep track if we've ever applied the operator perspective before or not */ - private boolean m_hasAppliedOperatorPerspective = false; + private boolean hasAppliedOperatorPerspective = false; + + private double maxSpeed = CompBotTunerConstants.kSpeedAt12Volts.in(MetersPerSecond); + private double maxRotationalSpeed = 2.0 * Math.PI; // radians per second + + private Pose2d memorySpot = Pose2d.kZero; - private double maxSpeed = 1.0 * TestBotTunerConstants.kSpeedAt12Volts.in(MetersPerSecond); - private double maxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); + public enum TeleopDriveMode { + /** + * Drive the robot with a field-relative control for translation and spin + * control (i.e. control over how fast we rotate) + */ + FieldRelativeSpin, + /** Drive the robot slower than FieldRelativeSpin */ + SlowFieldRelativeSpin, + /** Drive robot relative. */ + RobotRelative, + } private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric() .withForwardPerspective(ForwardPerspectiveValue.BlueAlliance) .withDriveRequestType(DriveRequestType.Velocity); + private final SwerveRequest.RobotCentric robotCentricDrive = new SwerveRequest.RobotCentric() + .withDriveRequestType(DriveRequestType.Velocity); + + private final SwerveRequest.ApplyRobotSpeeds robotSpeeds = new SwerveRequest.ApplyRobotSpeeds() + .withDriveRequestType(DriveRequestType.Velocity); + + private final SwerveRequest.FieldCentricFacingAngle autopilotControl = new SwerveRequest.FieldCentricFacingAngle() + .withForwardPerspective(ForwardPerspectiveValue.BlueAlliance) + .withDriveRequestType(DriveRequestType.Velocity) + .withHeadingPID(HeadingGains.kP, HeadingGains.kI, HeadingGains.kD); + + private final SwerveRequest.FieldCentricFacingAngle drivetrainAim = new SwerveRequest.FieldCentricFacingAngle() + .withForwardPerspective(ForwardPerspectiveValue.BlueAlliance) + .withDriveRequestType(DriveRequestType.Velocity) + .withHeadingPID(HeadingGains.kP, HeadingGains.kI, HeadingGains.kD) + .withCenterOfRotation(TurretConstants.kOffset.getTranslation().toTranslation2d()); + private SwerveDriveState state; - private final StructLogEntry poseLogEntry; - private boolean hasReceivedVisionUpdate; + private double lastOkayVisionUpdateTime; /* Swerve requests to apply during SysId characterization */ - private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = - new SwerveRequest.SysIdSwerveTranslation(); - private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = - new SwerveRequest.SysIdSwerveSteerGains(); - private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = - new SwerveRequest.SysIdSwerveRotation(); + private final SwerveRequest.SysIdSwerveTranslation translationCharacterization = new SwerveRequest.SysIdSwerveTranslation(); + private final SwerveRequest.SysIdSwerveSteerGains steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains(); + private final SwerveRequest.SysIdSwerveRotation rotationCharacterization = new SwerveRequest.SysIdSwerveRotation(); /* - * SysId routine for characterizing translation. This is used to find PID gains for the drive - * motors. + * SysId routine for characterizing translation. This is used to find PID gains + * for the drive motors. */ - private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine( + private final SysIdRoutine sysIdRoutineTranslation = new SysIdRoutine( new SysIdRoutine.Config( null, // Use default ramp rate (1 V/s) Volts.of(4), // Reduce dynamic step voltage to 4 V to prevent brownout @@ -87,15 +126,15 @@ public class Drivetrain extends TunerSwerveDrivetrain implements Subsystem { // Log state with SignalLogger class state -> SignalLogger.writeString("SysIdTranslation_State", state.toString())), new SysIdRoutine.Mechanism( - output -> setControl(m_translationCharacterization.withVolts(output)), + output -> setControl(translationCharacterization.withVolts(output)), null, this)); /* - * SysId routine for characterizing steer. This is used to find PID gains for the steer motors. + * SysId routine for characterizing steer. This is used to find PID gains for + * the steer motors. */ - @SuppressWarnings("unused") - private final SysIdRoutine m_sysIdRoutineSteer = new SysIdRoutine( + private final SysIdRoutine sysIdRoutineSteer = new SysIdRoutine( new SysIdRoutine.Config( null, // Use default ramp rate (1 V/s) Volts.of(7), // Use dynamic voltage of 7 V @@ -103,19 +142,22 @@ public class Drivetrain extends TunerSwerveDrivetrain implements Subsystem { // Log state with SignalLogger class state -> SignalLogger.writeString("SysIdSteer_State", state.toString())), new SysIdRoutine.Mechanism( - volts -> setControl(m_steerCharacterization.withVolts(volts)), + volts -> setControl(steerCharacterization.withVolts(volts)), null, this)); /* - * SysId routine for characterizing rotation. This is used to find PID gains for the + * SysId routine for characterizing rotation. This is used to find PID gains for + * the * FieldCentricFacingAngle HeadingController. See the documentation of * SwerveRequest.SysIdSwerveRotation for info on importing the log to SysId. */ @SuppressWarnings("unused") - private final SysIdRoutine m_sysIdRoutineRotation = new SysIdRoutine( + private final SysIdRoutine sysIdRoutineRotation = new SysIdRoutine( new SysIdRoutine.Config( - /* This is in radians per second^2, but SysId only supports "volts per second" */ + /* + * This is in radians per second^2, but SysId only supports "volts per second" + */ Volts.of(Math.PI / 6).per(Second), /* This is in radians per second, but SysId only supports "volts" */ Volts.of(Math.PI), @@ -125,24 +167,28 @@ public class Drivetrain extends TunerSwerveDrivetrain implements Subsystem { new SysIdRoutine.Mechanism( output -> { /* output is actually radians per second, but SysId only supports "volts" */ - setControl(m_rotationCharacterization.withRotationalRate(output.in(Volts))); + setControl(rotationCharacterization.withRotationalRate(output.in(Volts))); /* also log the requested output for SysId */ SignalLogger.writeDouble("Rotational_Rate", output.in(Volts)); }, null, this)); + private Optional override = Optional.empty(); + /* The SysId routine to test */ - private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineTranslation; + private SysIdRoutine sysIdRoutineToApply = sysIdRoutineTranslation; /** * Constructs a CTRE SwerveDrivetrain using the specified constants. *

- * This constructs the underlying hardware devices, so users should not construct the devices - * themselves. If they need the devices, they can access them through getters in the classes. + * This constructs the underlying hardware devices, so users should not + * construct the devices + * themselves. If they need the devices, they can access them through getters in + * the classes. * * @param drivetrainConstants Drivetrain-wide constants for the swerve drive - * @param modules Constants for each specific module + * @param modules Constants for each specific module */ public Drivetrain( SwerveDrivetrainConstants drivetrainConstants, @@ -151,14 +197,22 @@ public Drivetrain( if (Utils.isSimulation()) { startSimThread(); } - poseLogEntry = StructLogEntry.create(DataLogManager.getLog(), "Robot Pose", Pose2d.struct); state = getState(); OnboardLogger ologger = new OnboardLogger("Drivetrain"); - ologger.registerBoolean("Received vision update", () -> hasReceivedVisionUpdate); + ologger.registerBoolean("Valid Odometry", validOdemetry()); + ologger.registerPose("Robot Pose", this::robotPose); + ologger.registerDouble("Time since last estimate", () -> Timer.getTimestamp() - lastOkayVisionUpdateTime); + sysIDCommands(); + // SmartDashboard.putData("Drivetrain/Reset Pose (Our Hub)", resetOdometry(new + // Pose2d(4, 4, Rotation2d.kZero), true)); + // SmartDashboard.putData("Drivetrain/Set Home", setMemorySpot()); + // SmartDashboard.putData("Drivetrain/Go Home", goHome()); + configurePathplanner(); } /** - * Returns a command that applies the specified control request to this swerve drivetrain. + * Returns a command that applies the specified control request to this swerve + * drivetrain. * * @param request Function returning the request to apply * @return Command to run @@ -168,74 +222,88 @@ private Command applyRequest(Supplier request) { } /** - * Runs the SysId Quasistatic test in the given direction for the routine specified by - * {@link #m_sysIdRoutineToApply}. + * Runs the SysId Quasistatic test in the given direction for the routine + * specified by + * {@link #sysIdRoutineToApply}. * * @param direction Direction of the SysId Quasistatic test * @return Command to run */ public Command sysIdQuasistatic(SysIdRoutine.Direction direction) { - return m_sysIdRoutineToApply.quasistatic(direction); + return sysIdRoutineToApply.quasistatic(direction); } /** - * Runs the SysId Dynamic test in the given direction for the routine specified by - * {@link #m_sysIdRoutineToApply}. + * Runs the SysId Dynamic test in the given direction for the routine specified + * by + * {@link #sysIdRoutineToApply}. * * @param direction Direction of the SysId Dynamic test * @return Command to run */ public Command sysIdDynamic(SysIdRoutine.Direction direction) { - return m_sysIdRoutineToApply.dynamic(direction); + return sysIdRoutineToApply.dynamic(direction); + } + + public Command sysIdQuasistaticSteer(SysIdRoutine.Direction direction) { + return sysIdRoutineSteer.quasistatic(direction); + } + + public Command sysIdDynamicSteer(SysIdRoutine.Direction direction) { + return sysIdRoutineSteer.dynamic(direction); } @Override public void periodic() { /* - * Periodically try to apply the operator perspective. If we haven't applied the operator - * perspective before, then we should apply it regardless of DS state. This allows us to correct - * the perspective in case the robot code restarts mid-match. Otherwise, only check and apply - * the operator perspective if the DS is disabled. This ensures driving behavior doesn't change + * Periodically try to apply the operator perspective. If we haven't applied the + * operator + * perspective before, then we should apply it regardless of DS state. This + * allows us to correct + * the perspective in case the robot code restarts mid-match. Otherwise, only + * check and apply + * the operator perspective if the DS is disabled. This ensures driving behavior + * doesn't change * until an explicit disable event occurs during testing. */ - if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) { + if (!hasAppliedOperatorPerspective || DriverStation.isDisabled()) { DriverStation.getAlliance().ifPresent(allianceColor -> { setOperatorPerspectiveForward( allianceColor == Alliance.Red ? kRedAlliancePerspectiveRotation : kBlueAlliancePerspectiveRotation); - m_hasAppliedOperatorPerspective = true; + hasAppliedOperatorPerspective = true; }); } state = getState(); - poseLogEntry.update(robotPose()); FieldManager.getInstance().getField().setRobotPose(robotPose()); - hasReceivedVisionUpdate = false; } private void startSimThread() { - m_lastSimTime = Utils.getCurrentTimeSeconds(); - + lastSimTime = Utils.getCurrentTimeSeconds(); /* Run simulation at a faster rate so PID gains behave more reasonably */ - m_simNotifier = new Notifier(() -> { + simNotifier = new Notifier(() -> { final double currentTime = Utils.getCurrentTimeSeconds(); - double deltaTime = currentTime - m_lastSimTime; - m_lastSimTime = currentTime; + double deltaTime = currentTime - lastSimTime; + lastSimTime = currentTime; /* use the measured time delta, get battery voltage from WPILib */ updateSimState(deltaTime, RobotController.getBatteryVoltage()); }); - m_simNotifier.startPeriodic(kSimLoopPeriod); + simNotifier.startPeriodic(kSimLoopPeriod); } /** - * Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate + * Adds a vision measurement to the Kalman Filter. This will correct the + * odometry pose estimate * while still accounting for measurement noise. * - * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera. - * @param timestampSeconds The timestamp of the vision measurement in seconds. + * @param visionRobotPoseMeters The pose of the robot as measured by the vision + * camera. + * @param timestampSeconds The timestamp of the vision measurement in + * seconds. */ @Override public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) { @@ -243,17 +311,23 @@ public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampS } /** - * Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate + * Adds a vision measurement to the Kalman Filter. This will correct the + * odometry pose estimate * while still accounting for measurement noise. *

- * Note that the vision measurement standard deviations passed into this method will continue to + * Note that the vision measurement standard deviations passed into this method + * will continue to * apply to future measurements until a subsequent call to * {@link #setVisionMeasurementStdDevs(Matrix)} or this method. * - * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera. - * @param timestampSeconds The timestamp of the vision measurement in seconds. - * @param visionMeasurementStdDevs Standard deviations of the vision pose measurement in the form - * [x, y, theta]^T, with units in meters and radians. + * @param visionRobotPoseMeters The pose of the robot as measured by the + * vision camera. + * @param timestampSeconds The timestamp of the vision measurement in + * seconds. + * @param visionMeasurementStdDevs Standard deviations of the vision pose + * measurement in the form + * [x, y, theta]^T, with units in meters and + * radians. */ @Override public void addVisionMeasurement( @@ -268,27 +342,54 @@ public void addVisionMeasurement( * Return the pose at a given timestamp, if the buffer is not empty. * * @param timestampSeconds The timestamp of the pose in seconds. - * @return The pose at the given timestamp (or Optional.empty() if the buffer is empty). + * @return The pose at the given timestamp (or Optional.empty() if the buffer is + * empty). */ @Override public Optional samplePoseAt(double timestampSeconds) { return super.samplePoseAt(Utils.fpgaToCurrentTime(timestampSeconds)); } - public Command teleopDrive(DoubleSupplier vx, DoubleSupplier vy, DoubleSupplier vrot) { + public Command teleopDrive(DoubleSupplier vx, DoubleSupplier vy, DoubleSupplier vrot, + Supplier modeSupplier) { return this.applyRequest(() -> { + TeleopDriveMode mode = modeSupplier.get(); // Recalculate the *real* vx and vy to be operator-dependent - Translation2d operatorRelative = - new Translation2d(vx.getAsDouble() * maxSpeed, vy.getAsDouble() * maxSpeed); + Translation2d operatorRelative = new Translation2d(vx.getAsDouble() * maxSpeed, vy.getAsDouble() * maxSpeed); + Translation2d fieldRelative = operatorRelative.rotateBy(getOperatorForwardDirection()); + double spin = vrot.getAsDouble() * maxRotationalSpeed; + + if (mode == TeleopDriveMode.RobotRelative) { + return robotCentricDrive + .withVelocityX(operatorRelative.getX()) + .withVelocityY(operatorRelative.getY()) + .withRotationalRate(spin); + } + + if (mode == TeleopDriveMode.SlowFieldRelativeSpin) { + fieldRelative = fieldRelative.times(0.3); + spin *= 0.5; + } + + if (override.isPresent()) { + return drivetrainAim.withVelocityX(fieldRelative.getX()) + .withVelocityY(fieldRelative.getY()) + .withTargetDirection(override.get().yaw); + } + return drive .withVelocityX(fieldRelative.getX()) .withVelocityY(fieldRelative.getY()) - .withRotationalRate(vrot.getAsDouble() * maxAngularRate); + .withRotationalRate(spin); }) .withName("Teleop Drive"); } + public Command teleopDrive(DoubleSupplier vx, DoubleSupplier vy, DoubleSupplier vrot) { + return teleopDrive(vx, vy, vrot, () -> TeleopDriveMode.FieldRelativeSpin); + } + /** * Returns the drivetrain's estimated pose on the field. */ @@ -300,20 +401,25 @@ public Pose2d robotPose() { * Returns the drivetrain's field-relative velocity. */ public Transform2d robotVelocity() { - ChassisSpeeds fieldRelative = - ChassisSpeeds.fromRobotRelativeSpeeds(state.Speeds, robotPose().getRotation()); + ChassisSpeeds fieldRelative = ChassisSpeeds.fromRobotRelativeSpeeds(state.Speeds, robotPose().getRotation()); return new Transform2d( fieldRelative.vxMetersPerSecond, fieldRelative.vyMetersPerSecond, Rotation2d.fromRadians(fieldRelative.omegaRadiansPerSecond)); } + public Trigger validOdemetry() { + return new Trigger( + () -> Timer.getTimestamp() - lastOkayVisionUpdateTime <= LocalizationConstants.kValidOdometryCutoff); + } + public void addPoseEstimate(TimestampedPoseEstimate estimate) { - hasReceivedVisionUpdate = true; + lastOkayVisionUpdateTime = Timer.getTimestamp(); // This should NOT run in simulation! if (Robot.isSimulation()) { return; } + // SmartDashboard.putNumber("stddevs", estimate.stdDevs().get(0,0)); addVisionMeasurement( estimate.pose(), estimate.timestamp(), @@ -324,12 +430,58 @@ public Command rotate() { return this.applyRequest( () -> new SwerveRequest.RobotCentric().withRotationalRate(0.5 * Math.PI)); } - + + private void sysIDCommands() { + // SmartDashboard.putData("sysID/dynamic forward steer", + // sysIdDynamicSteer(Direction.kForward)); + // SmartDashboard.putData("sysID/dynamic reverse steer", + // sysIdDynamicSteer(Direction.kReverse)); + // SmartDashboard.putData("sysID/dynamic forward drive", + // sysIdDynamic(Direction.kForward)); + // SmartDashboard.putData("sysID/dynamic reverse drive", + // sysIdDynamic(Direction.kReverse)); + // SmartDashboard.putData("sysID/quasistatic forward drive", + // sysIdQuasistatic(Direction.kForward)); + // SmartDashboard.putData("sysID/quasistatic reverse drive", + // sysIdQuasistatic(Direction.kReverse)); + // SmartDashboard.putData("sysID/quasistatic reverse steer", + // sysIdQuasistaticSteer(Direction.kReverse)); + // SmartDashboard.putData("sysID/ quasistatic forward steer", + // sysIdQuasistaticSteer(Direction.kForward)); + } + + private void stop() { + setControl(new SwerveRequest.SwerveDriveBrake()); + } + + public Command driveTo(Supplier target, Autopilot autopilot) { + return this.run(() -> { + APResult result = autopilot.calculate(robotPose(), state.Speeds, target.get()); + setControl(autopilotControl + .withVelocityX(result.vx()) + .withVelocityY(result.vy()) + .withTargetDirection(override.isPresent() ? override.get().yaw : result.targetAngle())); + }) + .until(() -> autopilot.atTarget(robotPose(), target.get())) + .finallyDo(() -> { + // Only stop if we are supposed to. + if (target.get().getVelocity() == 0) { + stop(); + } + }); + } + + public Command resetOdometry(Pose2d pose, boolean flip) { + return this.runOnce(() -> { + resetPose(flip ? FieldUtils.allianceRelativeFlip(pose) : pose); + }).ignoringDisable(true); + } + private Twist2d predictedTwist() { return new Twist2d( - state.Speeds.vxMetersPerSecond * Robot.kDefaultPeriod, - state.Speeds.vyMetersPerSecond * Robot.kDefaultPeriod, - state.Speeds.omegaRadiansPerSecond * Robot.kDefaultPeriod); + state.Speeds.vxMetersPerSecond * LOOKAHEAD, + state.Speeds.vyMetersPerSecond * LOOKAHEAD, + state.Speeds.omegaRadiansPerSecond * LOOKAHEAD); } public Pose2d predictedRobotPose() { @@ -338,6 +490,63 @@ public Pose2d predictedRobotPose() { public Translation2d predictedRobotVelocity() { return robotVelocity().getTranslation().rotateBy( - Rotation2d.fromRadians(state.Speeds.omegaRadiansPerSecond * Robot.kDefaultPeriod)); + Rotation2d.fromRadians(state.Speeds.omegaRadiansPerSecond * LOOKAHEAD)); + } + + public Command track(Supplier params) { + return Commands.run(() -> override = Optional.of(params.get())) + .finallyDo(() -> override = Optional.empty()); + } + + public Command setMemorySpot() { + return Commands.runOnce(() -> memorySpot = robotPose()); + } + + public Command goHome() { + return driveTo(() -> new APTarget(memorySpot), AutopilotConstants.kDefaultAutopilot); + } + + private void driveRobotRelative(ChassisSpeeds speeds) { + setControl(robotSpeeds.withSpeeds(speeds)); + } + + private void configurePathplanner() { + RobotConfig config; + try { + config = RobotConfig.fromGUISettings(); + } catch (Exception e) { + // Handle exception as needed + e.printStackTrace(); + return; + } + + // Configure AutoBuilder last + AutoBuilder.configure( + this::robotPose, // Robot pose supplier + this::resetPose, // Method to reset odometry (will be called if your auto has a starting pose) + () -> state.Speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE + (speeds, feedforwards) -> driveRobotRelative(speeds), // Method that will drive the robot given ROBOT RELATIVE + // ChassisSpeeds. Also optionally outputs individual + // module feedforwards + new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for holonomic + // drive trains + new PIDConstants(1.7, 0.0, 0.0), // Translation PID constants + new PIDConstants(3.0, 0.0, 0.0) // Rotation PID constants + ), + config, // The robot configuration + () -> { + // Boolean supplier that controls when the path will be mirrored for the red + // alliance + // This will flip the path being followed to the red side of the field. + // THE ORIGIN WILL REMAIN ON THE BLUE SIDE + + var alliance = DriverStation.getAlliance(); + if (alliance.isPresent()) { + return alliance.get() == DriverStation.Alliance.Red; + } + return false; + }, + this // Reference to this subsystem to set requirements + ); } } diff --git a/CompBot/src/main/java/frc/robot/subsystems/indexer/Indexer.java b/CompBot/src/main/java/frc/robot/subsystems/indexer/Indexer.java index 08c072c..2099b43 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/indexer/Indexer.java +++ b/CompBot/src/main/java/frc/robot/subsystems/indexer/Indexer.java @@ -1,8 +1,12 @@ package frc.robot.subsystems.indexer; +import static edu.wpi.first.units.Units.Volts; + import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.subsystems.indexer.IndexerConstants.FeederConstants; +import frc.robot.subsystems.indexer.IndexerConstants.SpindexerConstants; import frc.robot.subsystems.indexer.IndexerIO.IndexerIOInputs; public class Indexer extends SubsystemBase { @@ -11,6 +15,9 @@ public class Indexer extends SubsystemBase { public Indexer(IndexerIO io) { this.io = io; + + // SmartDashboard.putData("Indexer/Index", this.index()); + // SmartDashboard.putData("Indexer/Eject", this.eject()); } @Override @@ -18,16 +25,34 @@ public void periodic() { io.updateInputs(inputs); } + /** + * Returns a command that runs the indexer system to move fuel from the hopper into the shooter. + */ public Command index() { - return this.run(() -> io.setVoltage(IndexerConstants.kIndexVoltage)).finallyDo (() -> io.stop()); + return this.startEnd( + () -> { + io.setFeedVoltage(FeederConstants.kIndexVoltage); + io.setSpindexerVoltage(SpindexerConstants.kSpinVoltage); + }, + this::stop); } + /** + * Returns a command that runs the feeder in reverse and stops the spindexer. This can be used to + * unjam the shooter/feeder system. + */ public Command eject() { - return this.run(() -> io.setVoltage(IndexerConstants.kEjectVoltage)).finallyDo (() -> io.stop()); + return this.startEnd( + () -> { + // The spindexer can't really run in reverse, so we just tell it to temporarily stop. + io.setSpindexerVoltage(Volts.zero()); + io.setFeedVoltage(FeederConstants.kEjectVoltage); + }, + this::stop); } - public Command stop() { - return this.run(() -> io.stop()).finallyDo (() -> io.stop()); + private void stop() { + io.setFeedVoltage(Volts.zero()); + io.setSpindexerVoltage(Volts.zero()); } - } diff --git a/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerConstants.java b/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerConstants.java index 2c8f476..b0a89a4 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerConstants.java +++ b/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerConstants.java @@ -12,22 +12,39 @@ public final class IndexerConstants { - protected static final int kMotorID = 63; + public static final class SpindexerConstants { + protected static final int kMotorId = 7; - protected static final double kSupplyCurrentLimit = 40.0; - protected static final double kStatorCurrentLimit = 125.0; + protected static final Voltage kSpinVoltage = Volts.of(12.0); - protected static final Voltage kIndexVoltage = Volts.of(0.2); - protected static final Voltage kEjectVoltage = Volts.of(-0.2); + protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Coast) + .withInverted(InvertedValue.CounterClockwise_Positive)) - protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Brake) - .withInverted(InvertedValue.Clockwise_Positive)) + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withStatorCurrentLimitEnable(true) + .withSupplyCurrentLimit(40.0) + .withStatorCurrentLimit(125.0)); + } + + public static final class FeederConstants { + protected static final int kMotorId = 2; + + protected static final Voltage kIndexVoltage = Volts.of(12.0); + protected static final Voltage kEjectVoltage = Volts.of(-8.0); + + protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Coast) + .withInverted(InvertedValue.CounterClockwise_Positive)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withStatorCurrentLimitEnable(true) + .withSupplyCurrentLimit(40.0) + .withStatorCurrentLimit(125.0)); + } - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withStatorCurrentLimitEnable(true) - .withSupplyCurrentLimit(kSupplyCurrentLimit) - .withStatorCurrentLimit(kStatorCurrentLimit)); } diff --git a/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIO.java b/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIO.java index 7bcd7f0..00d6c72 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIO.java +++ b/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIO.java @@ -15,27 +15,43 @@ public interface IndexerIO { public void updateInputs(IndexerIOInputs inputs); class IndexerIOInputs { - public boolean motorConnected = false; - public Current supplyCurrent = Amps.zero(); - public Current torqueCurrent = Amps.zero(); - public Current statorCurrent = Amps.zero(); - public Voltage voltage = Volts.zero(); - public Temperature temperature = Celsius.zero(); - public AngularVelocity velocity = RotationsPerSecond.zero(); + public boolean feedMotorConnected = false; + public Current feedSupplyCurrent = Amps.zero(); + public Current feedTorqueCurrent = Amps.zero(); + public Current feedStatorCurrent = Amps.zero(); + public Voltage feedVoltage = Volts.zero(); + public Temperature feedTemperature = Celsius.zero(); + public AngularVelocity feedVelocity = RotationsPerSecond.zero(); + + public boolean spindexerMotorConnected = false; + public Current spindexerSupplyCurrent = Amps.zero(); + public Current spindexerTorqueCurrent = Amps.zero(); + public Current spindexerStatorCurrent = Amps.zero(); + public Voltage spindexerVoltage = Volts.zero(); + public Temperature spindexerTemperature = Celsius.zero(); + public AngularVelocity spindexerVelocity = RotationsPerSecond.zero(); public IndexerIOInputs() { OnboardLogger log = new OnboardLogger("Indexer"); - log.registerBoolean("Motor Connected", () -> motorConnected); - log.registerMeasurement("Supply Current", () -> supplyCurrent, Amps); - log.registerMeasurement("Torque Current", () -> torqueCurrent, Amps); - log.registerMeasurement("Stator Current", () -> statorCurrent, Amps); - log.registerMeasurement("Voltage", () -> voltage, Volts); - log.registerMeasurement("Temperature", () -> temperature, Celsius); - log.registerMeasurement("Velocity", () -> velocity, RotationsPerSecond); + log.registerBoolean("Feeder Motor Connected", () -> feedMotorConnected); + log.registerMeasurement("Feeder Supply Current", () -> feedSupplyCurrent, Amps); + log.registerMeasurement("Feeder Torque Current", () -> feedTorqueCurrent, Amps); + log.registerMeasurement("Feeder Stator Current", () -> feedStatorCurrent, Amps); + log.registerMeasurement("Feeder Voltage", () -> feedVoltage, Volts); + log.registerMeasurement("Feeder Temperature", () -> feedTemperature, Celsius); + log.registerMeasurement("Feeder Velocity", () -> feedVelocity, RotationsPerSecond); + + log.registerBoolean("Spindexer Motor Connected", () -> spindexerMotorConnected); + log.registerMeasurement("Spindexer Supply Current", () -> spindexerSupplyCurrent, Amps); + log.registerMeasurement("Spindexer Torque Current", () -> spindexerTorqueCurrent, Amps); + log.registerMeasurement("Spindexer Stator Current", () -> spindexerStatorCurrent, Amps); + log.registerMeasurement("Spindexer Voltage", () -> spindexerVoltage, Volts); + log.registerMeasurement("Spindexer Temperature", () -> spindexerTemperature, Celsius); + log.registerMeasurement("Spindexer Velocity", () -> spindexerVelocity, RotationsPerSecond); } } - public void setVoltage(Voltage voltage); + public void setFeedVoltage(Voltage voltage); - public void stop(); + public void setSpindexerVoltage(Voltage voltage); } diff --git a/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIOHardware.java b/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIOHardware.java index 3fe0589..9143e1f 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIOHardware.java +++ b/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIOHardware.java @@ -1,58 +1,87 @@ package frc.robot.subsystems.indexer; -import static edu.wpi.first.units.Units.Volts; - import com.ctre.phoenix6.BaseStatusSignal; import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; - import edu.wpi.first.units.measure.Voltage; +import frc.robot.subsystems.indexer.IndexerConstants.FeederConstants; +import frc.robot.subsystems.indexer.IndexerConstants.SpindexerConstants; import frc.robot.util.StatusSignalUtil; public class IndexerIOHardware implements IndexerIO { - private final TalonFX motor; - - private Voltage lastVoltage = Volts.zero(); - - public IndexerIOHardware() { - motor = new TalonFX(IndexerConstants.kMotorID); - motor.getConfigurator().apply(IndexerConstants.kMotorConfig); - - StatusSignalUtil.registerRioSignals( - motor.getSupplyCurrent(false), - motor.getTorqueCurrent(false), - motor.getStatorCurrent(false), - motor.getMotorVoltage(false), - motor.getDeviceTemp(false), - motor.getVelocity(false) - ); - } + private final TalonFX feeder; + private final TalonFX spindexer; - public void updateInputs(IndexerIOInputs inputs) { - inputs.motorConnected = BaseStatusSignal.isAllGood( - motor.getSupplyCurrent(false), - motor.getTorqueCurrent(false), - motor.getStatorCurrent(false), - motor.getMotorVoltage(false), - motor.getDeviceTemp(false), - motor.getVelocity(false) - ); - inputs.supplyCurrent = motor.getSupplyCurrent(false).getValue(); - inputs.torqueCurrent = motor.getTorqueCurrent(false).getValue(); - inputs.statorCurrent = motor.getStatorCurrent(false).getValue(); - inputs.voltage = motor.getMotorVoltage(false).getValue(); - inputs.temperature = motor.getDeviceTemp(false).getValue(); - inputs.velocity = motor.getVelocity(false).getValue(); - } + private final VoltageOut feederControl = new VoltageOut(0.0); + private final VoltageOut spindexerControl = new VoltageOut(0.0).withEnableFOC(false); + + public IndexerIOHardware() { + feeder = new TalonFX(FeederConstants.kMotorId); + feeder.getConfigurator().apply(FeederConstants.kMotorConfig); + + spindexer = new TalonFX(SpindexerConstants.kMotorId); + spindexer.getConfigurator().apply(SpindexerConstants.kMotorConfig); - public void setVoltage(Voltage voltage) { - if (!voltage.equals(lastVoltage)) { - motor.setControl(new VoltageOut(voltage)); - lastVoltage = voltage; - } + StatusSignalUtil.registerRioSignals( + feeder.getSupplyCurrent(false), + feeder.getTorqueCurrent(false), + feeder.getStatorCurrent(false), + feeder.getMotorVoltage(false), + feeder.getDeviceTemp(false), + feeder.getVelocity(false), + + spindexer.getSupplyCurrent(false), + spindexer.getTorqueCurrent(false), + spindexer.getStatorCurrent(false), + spindexer.getMotorVoltage(false), + spindexer.getDeviceTemp(false), + spindexer.getVelocity(false)); + } + + public void updateInputs(IndexerIOInputs inputs) { + inputs.feedMotorConnected = BaseStatusSignal.isAllGood( + feeder.getSupplyCurrent(false), + feeder.getTorqueCurrent(false), + feeder.getStatorCurrent(false), + feeder.getMotorVoltage(false), + feeder.getDeviceTemp(false), + feeder.getVelocity(false)); + inputs.feedSupplyCurrent = feeder.getSupplyCurrent(false).getValue(); + inputs.feedTorqueCurrent = feeder.getTorqueCurrent(false).getValue(); + inputs.feedStatorCurrent = feeder.getStatorCurrent(false).getValue(); + inputs.feedVoltage = feeder.getMotorVoltage(false).getValue(); + inputs.feedTemperature = feeder.getDeviceTemp(false).getValue(); + inputs.feedVelocity = feeder.getVelocity(false).getValue(); + + inputs.spindexerMotorConnected = BaseStatusSignal.isAllGood( + spindexer.getSupplyCurrent(false), + spindexer.getTorqueCurrent(false), + spindexer.getStatorCurrent(false), + spindexer.getMotorVoltage(false), + spindexer.getDeviceTemp(false), + spindexer.getVelocity(false)); + inputs.spindexerSupplyCurrent = spindexer.getSupplyCurrent(false).getValue(); + inputs.spindexerTorqueCurrent = spindexer.getTorqueCurrent(false).getValue(); + inputs.spindexerStatorCurrent = spindexer.getStatorCurrent(false).getValue(); + inputs.spindexerVoltage = spindexer.getMotorVoltage(false).getValue(); + inputs.spindexerTemperature = spindexer.getDeviceTemp(false).getValue(); + inputs.spindexerVelocity = spindexer.getVelocity(false).getValue(); + } + + public void setFeedVoltage(Voltage voltage) { + if (!voltage.equals(feederControl.getOutputMeasure())) { + feeder.setControl(feederControl.withOutput(voltage)); } + } - public void stop() { - motor.stopMotor(); + public void setSpindexerVoltage(Voltage voltage) { + if (!voltage.equals(spindexerControl.getOutputMeasure())) { + spindexer.setControl(spindexerControl.withOutput(voltage)); } + } + + public void stop() { + feeder.stopMotor(); + spindexer.stopMotor(); + } } diff --git a/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIOSim.java b/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIOSim.java index 77b35b7..ef0ab18 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIOSim.java +++ b/CompBot/src/main/java/frc/robot/subsystems/indexer/IndexerIOSim.java @@ -10,29 +10,39 @@ import frc.robot.Robot; public class IndexerIOSim implements IndexerIO { - private final DCMotorSim motor; - - public IndexerIOSim() { - motor = new DCMotorSim( - LinearSystemId.createDCMotorSystem(DCMotor.getKrakenX60Foc(1), 2, 10), - DCMotor.getKrakenX60Foc(1), - 0.01, - 0.02); - } - - public void updateInputs(IndexerIOInputs inputs) { - motor.update(Robot.kDefaultPeriod); - inputs.motorConnected = true; - inputs.supplyCurrent = Amps.of(motor.getCurrentDrawAmps()); - inputs.voltage = Volts.of(motor.getInputVoltage()); - inputs.velocity = motor.getAngularVelocity(); - } - - public void setVoltage(Voltage voltage) { - motor.setInputVoltage(voltage.baseUnitMagnitude()); - } - - public void stop() { - motor.setInputVoltage(Volts.of(0).baseUnitMagnitude()); - } + private final DCMotorSim feeder; + private final DCMotorSim spindexer; + + public IndexerIOSim() { + feeder = new DCMotorSim( + LinearSystemId.createDCMotorSystem(DCMotor.getKrakenX60Foc(1), 2, 10), + DCMotor.getKrakenX60Foc(1), + 0.01, + 0.02); + spindexer = new DCMotorSim( + LinearSystemId.createDCMotorSystem(DCMotor.getKrakenX60Foc(1), 2, 10), + DCMotor.getKrakenX60Foc(1), + 0.01, + 0.02); + } + + public void updateInputs(IndexerIOInputs inputs) { + feeder.update(Robot.kDefaultPeriod); + spindexer.update(Robot.kDefaultPeriod); + + inputs.feedMotorConnected = true; + inputs.feedSupplyCurrent = Amps.of(feeder.getCurrentDrawAmps()); + inputs.feedVoltage = Volts.of(feeder.getInputVoltage()); + inputs.feedVelocity = feeder.getAngularVelocity(); + inputs.spindexerMotorConnected = true; + inputs.spindexerVoltage = Volts.of(spindexer.getInputVoltage()); + } + + public void setFeedVoltage(Voltage voltage) { + feeder.setInputVoltage(voltage.baseUnitMagnitude()); + } + + public void setSpindexerVoltage(Voltage voltage) { + spindexer.setInputVoltage(voltage.baseUnitMagnitude()); + } } diff --git a/CompBot/src/main/java/frc/robot/subsystems/intake/Intake.java b/CompBot/src/main/java/frc/robot/subsystems/intake/Intake.java index 66e264b..f387df9 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/CompBot/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -1,7 +1,6 @@ package frc.robot.subsystems.intake; -import static edu.wpi.first.units.Units.Amps; import static edu.wpi.first.units.Units.Volts; import edu.wpi.first.wpilibj2.command.Command; @@ -16,6 +15,8 @@ public class Intake extends SubsystemBase { private final IntakeIO io; private final IntakeIOInputs inputs; + private boolean intaking = false; + private DeployPosition reference = DeployPosition.Stow; public Intake(IntakeIO io) { @@ -29,13 +30,6 @@ public void periodic() { io.updateInputs(inputs); } - public Command intake() { - return startEnd( - () -> io.setIntakeVoltage(IntakeConstants.kIntakeVoltage), - () -> io.setIntakeVoltage(Volts.zero()) - ); - } - /** * Returns a command, which, while running, will run the intake in reverse. */ @@ -45,31 +39,44 @@ public Command reverse() { () -> io.setIntakeVoltage(Volts.zero())); } + public Command intakeAt(DeployPosition state) { + return Commands.sequence( + runOnce(() -> { + reference = state; + io.setDeployPosition(state.position); + io.setIntakeVoltage(IntakeConstants.kIntakeVoltage); + }), + this.idle()) + .finallyDo(() -> { + io.setIntakeVoltage(Volts.zero()); + }); + } + + public void setIntaking(boolean v) { + intaking = v; + } + public Command go(DeployPosition state) { return Commands.sequence( runOnce(() -> { reference = state; io.setDeployPosition(state.position); }), - Commands.waitUntil(this::deployAtPosition) - ); + Commands.waitUntil(this::deployAtPosition)); } private boolean deployAtPosition() { - return Math.abs(inputs.deployPosition.minus(reference.position).baseUnitMagnitude()) <= DeployConstants.kTolerance.baseUnitMagnitude(); + return Math.abs(inputs.deployPosition.minus(reference.position).baseUnitMagnitude()) <= DeployConstants.kTolerance + .baseUnitMagnitude(); } - /** - * Returns whether a jam may be hypothetically occuring. This requies three things to both be - * true: Firstly, the intake motor must be drawing a lot of current. Secondly, there must be a - * gamepiece detected in the intake system. Thirdly, the intake motors must not be moving very - * quickly. If all these conditions are true, then a jam is possible. - */ - public Trigger detectJam() { - return new Trigger( - () -> (inputs.intakeStatorCurrent.in(Amps) > IntakeConstants.kJamStatorThreshold.in(Amps)) - && inputs.canrangeDetected - && inputs.intakeVelocity.baseUnitMagnitude() < IntakeConstants.kJamVelocityThreshold - .baseUnitMagnitude()); + public Command agitate() { + return Commands.repeatingSequence( + intakeAt(DeployPosition.Deployed).withTimeout(0.5), + intakeAt(DeployPosition.Agitate).withTimeout(0.5)); + } + + public Trigger intaking() { + return new Trigger(() -> intaking); } } diff --git a/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java index feb22b6..f527205 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java +++ b/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java @@ -6,17 +6,19 @@ import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond; import static edu.wpi.first.units.Units.Volts; -import com.ctre.phoenix6.configs.CANrangeConfiguration; +import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; -import com.ctre.phoenix6.configs.FovParamsConfigs; +import com.ctre.phoenix6.configs.FeedbackConfigs; +import com.ctre.phoenix6.configs.MagnetSensorConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs; -import com.ctre.phoenix6.configs.ProximityParamsConfigs; import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.configs.ToFParamsConfigs; +import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; -import com.ctre.phoenix6.signals.UpdateModeValue; +import com.ctre.phoenix6.signals.SensorDirectionValue; + import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularAcceleration; import edu.wpi.first.units.measure.AngularVelocity; @@ -25,10 +27,9 @@ public class IntakeConstants { protected static final int kIntakeMotorId = 5; - protected static final int kcanrangeID = 25; // Do we really have a CANrange? - protected static final Voltage kIntakeVoltage = Volts.of(5.0); - protected static final Voltage kEjectVoltage = Volts.of(-5); + protected static final Voltage kIntakeVoltage = Volts.of(12.0); + protected static final Voltage kEjectVoltage = Volts.of(-8); protected static final TalonFXConfiguration kIntakeMotorConfig = new TalonFXConfiguration() .withMotorOutput(new MotorOutputConfigs() @@ -44,20 +45,15 @@ public class IntakeConstants { protected static final Current kJamStatorThreshold = Amps.of(70); protected static final AngularVelocity kJamVelocityThreshold = RotationsPerSecond.of(0.3); - protected static final CANrangeConfiguration kCANrangeConfig = new CANrangeConfiguration() - .withFovParams(new FovParamsConfigs() - .withFOVRangeX(6.5) - .withFOVRangeY(6.5)) - .withProximityParams(new ProximityParamsConfigs() - .withMinSignalStrengthForValidMeasurement(15015) - .withProximityThreshold(0.1)) - .withToFParams(new ToFParamsConfigs() - .withUpdateMode(UpdateModeValue.ShortRange100Hz)); - public static final class DeployConstants { protected static final int kDeployMotorId = 6; + protected static final int kCANcoderId = 29; protected static final TalonFXConfiguration kDeployMotorConfig = new TalonFXConfiguration() + .withFeedback(new FeedbackConfigs() + .withFeedbackSensorSource(FeedbackSensorSourceValue.RemoteCANcoder) + .withFeedbackRemoteSensorID(kCANcoderId)) + .withMotorOutput(new MotorOutputConfigs() .withNeutralMode(NeutralModeValue.Brake) .withInverted(InvertedValue.Clockwise_Positive)) @@ -65,30 +61,45 @@ public static final class DeployConstants { .withCurrentLimits(new CurrentLimitsConfigs() .withSupplyCurrentLimitEnable(true) .withStatorCurrentLimitEnable(true) - .withSupplyCurrentLimit(80) - .withStatorCurrentLimit(120)) + .withSupplyCurrentLimit(40) + .withStatorCurrentLimit(40)) + + .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitEnable(true) + .withForwardSoftLimitThreshold(0.225) + .withReverseSoftLimitEnable(true) + .withReverseSoftLimitEnable(true)) .withSlot0(new Slot0Configs() .withKA(0) .withKV(0) .withKS(0) - .withKP(0) + .withKP(50) .withKI(0) - .withKD(0)); + .withKD(1) + .withKG(-0.5)); + + protected static final CANcoderConfiguration kCANcoderConfig = new CANcoderConfiguration() + .withMagnetSensor(new MagnetSensorConfigs() + .withSensorDirection(SensorDirectionValue.CounterClockwise_Positive) + .withAbsoluteSensorDiscontinuityPoint(0.5) + .withMagnetOffset(-0.025390625)); protected static final AngularVelocity kMaxVelocity = RotationsPerSecond.of(0.4); protected static final AngularAcceleration kMaxAcceleration = RotationsPerSecondPerSecond.of(4); public static enum DeployPosition { Stow(Rotations.zero()), - Deployed(Rotations.of(1.0)); + Agitate(Rotations.of(0.15)), + Deployed(Rotations.of(0.224)); protected final Angle position; + private DeployPosition(Angle position) { this.position = position; } } - protected static final Angle kTolerance = Rotations.of(0.02); + protected static final Angle kTolerance = Rotations.of(0.5); } } diff --git a/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIO.java index d4164bb..dd40e03 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIO.java +++ b/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIO.java @@ -2,16 +2,13 @@ import static edu.wpi.first.units.Units.Amps; import static edu.wpi.first.units.Units.Celsius; -import static edu.wpi.first.units.Units.Centimeters; -import static edu.wpi.first.units.Units.Degrees; -import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.RadiansPerSecond; import static edu.wpi.first.units.Units.Rotations; +import static edu.wpi.first.units.Units.RotationsPerSecond; import static edu.wpi.first.units.Units.Volts; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularVelocity; import edu.wpi.first.units.measure.Current; -import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.Temperature; import edu.wpi.first.units.measure.Voltage; import frc.robot.util.OnboardLogger; @@ -37,9 +34,9 @@ class IntakeIOInputs { public Temperature deployTemperature = Celsius.zero(); public Angle deployPosition = Rotations.zero(); - public boolean canrangeConnected = false; - public Distance canrangeDistance = Meters.zero(); - public boolean canrangeDetected = false; + public boolean deployCANcoderConnected = false; + public Angle deployCANcoderPosition = Rotations.zero(); + public AngularVelocity deployCANcoderVelocity = RadiansPerSecond.of(0); public IntakeIOInputs() { OnboardLogger log = new OnboardLogger("Intake"); @@ -49,6 +46,7 @@ public IntakeIOInputs() { log.registerMeasurement("Intake Motor/Stator Current", () -> intakeStatorCurrent, Amps); log.registerMeasurement("Intake Motor/Voltage", () -> intakeVoltage, Volts); log.registerMeasurement("Intake Motor/Temperature", () -> intakeTemperature, Celsius); + log.registerMeasurement("Intake Motor/Velocity", () -> intakeVelocity, RotationsPerSecond); log.registerBoolean("Deploy Motor/Connected", () -> deployMotorConnected); log.registerMeasurement("Deploy Motor/Supply Current", () -> deploySupplyCurrent, Amps); @@ -56,11 +54,11 @@ public IntakeIOInputs() { log.registerMeasurement("Deploy Motor/Stator Current", () -> deployStatorCurrent, Amps); log.registerMeasurement("Deploy Motor/Voltage", () -> deployVoltage, Volts); log.registerMeasurement("Deploy Motor/Temperature", () -> deployTemperature, Celsius); - log.registerMeasurement("Deploy Motor/Position", () -> deployPosition, Degrees); + log.registerMeasurement("Deploy Motor/Position", () -> deployPosition, Rotations); - log.registerBoolean("CANrange Connected", () -> canrangeConnected); - log.registerMeasurement("CANrange Distance", () -> canrangeDistance, Centimeters); - log.registerBoolean("CANrange Detected", () -> canrangeDetected); + log.registerBoolean("CANcoder/Connected", () -> deployCANcoderConnected); + log.registerMeasurement("CANcoder/Position", () -> deployCANcoderPosition, Rotations); + log.registerMeasurement("CANcoder/Velocity", () -> deployCANcoderVelocity, RotationsPerSecond); } } diff --git a/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIOHardware.java b/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIOHardware.java index d12b057..52efd41 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIOHardware.java +++ b/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIOHardware.java @@ -1,13 +1,13 @@ package frc.robot.subsystems.intake; -import static edu.wpi.first.units.Units.Rotations; import static edu.wpi.first.units.Units.Volts; import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.controls.DynamicMotionMagicTorqueCurrentFOC; +import com.ctre.phoenix6.controls.PositionVoltage; import com.ctre.phoenix6.controls.VoltageOut; -import com.ctre.phoenix6.hardware.CANrange; +import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.TalonFX; + import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Voltage; import frc.robot.subsystems.intake.IntakeConstants.DeployConstants; @@ -17,25 +17,23 @@ public class IntakeIOHardware implements IntakeIO { private final TalonFX intakeMotor; private final TalonFX deployMotor; - private final CANrange canrange; + private final CANcoder deployCANcoder; - private final VoltageOut intakeControl = new VoltageOut(0).withEnableFOC(true); - private final DynamicMotionMagicTorqueCurrentFOC deployControl = - new DynamicMotionMagicTorqueCurrentFOC( - Rotations.zero(), - DeployConstants.kMaxVelocity, - DeployConstants.kMaxAcceleration); + private final VoltageOut intakeControl = new VoltageOut(0).withEnableFOC(false); + private final PositionVoltage deployControl = new PositionVoltage(0); private Voltage lastVoltage = Volts.zero(); public IntakeIOHardware() { intakeMotor = new TalonFX(IntakeConstants.kIntakeMotorId); intakeMotor.getConfigurator().apply(IntakeConstants.kIntakeMotorConfig); - deployMotor = new TalonFX(DeployConstants.kDeployMotorId); + + deployCANcoder = new CANcoder(DeployConstants.kCANcoderId, StatusSignalUtil.canivore); + deployCANcoder.getConfigurator().apply(DeployConstants.kCANcoderConfig); + + deployMotor = new TalonFX(DeployConstants.kDeployMotorId, StatusSignalUtil.canivore); deployMotor.getConfigurator().apply(DeployConstants.kDeployMotorConfig); - canrange = new CANrange(IntakeConstants.kcanrangeID); - canrange.getConfigurator().apply(IntakeConstants.kCANrangeConfig); StatusSignalUtil.registerRioSignals( intakeMotor.getSupplyCurrent(false), @@ -43,8 +41,9 @@ public IntakeIOHardware() { intakeMotor.getStatorCurrent(false), intakeMotor.getMotorVoltage(false), intakeMotor.getDeviceTemp(false), - intakeMotor.getVelocity(false), + intakeMotor.getVelocity(false)); + StatusSignalUtil.registerCANivoreSignals( deployMotor.getSupplyCurrent(false), deployMotor.getTorqueCurrent(false), deployMotor.getStatorCurrent(false), @@ -52,9 +51,13 @@ public IntakeIOHardware() { deployMotor.getDeviceTemp(false), deployMotor.getVelocity(false), deployMotor.getPosition(false), + + deployCANcoder.getPosition(false), + deployCANcoder.getVelocity(false)); - canrange.getDistance(false), - canrange.getIsDetected(false)); + deployMotor.setPosition(0.0); + // SmartDashboard.putData("Intake/Set Zero", Commands.runOnce(() -> deployMotor.setPosition(0)).ignoringDisable(true)); + // SmartDashboard.putData("Intake/Set Deployed", Commands.runOnce(() -> deployMotor.setPosition(DeployPosition.Deployed.position)).ignoringDisable(true)); } public void updateInputs(IntakeIOInputs inputs) { @@ -90,12 +93,12 @@ public void updateInputs(IntakeIOInputs inputs) { inputs.deployVelocity = deployMotor.getVelocity(false).getValue(); inputs.deployPosition = deployMotor.getPosition(false).getValue(); - inputs.canrangeConnected = BaseStatusSignal.isAllGood( - canrange.getDistance(false), - canrange.getIsDetected(false)); - - inputs.canrangeDistance = canrange.getDistance(false).getValue(); - inputs.canrangeDetected = canrange.getIsDetected(false).getValue(); + inputs.deployCANcoderConnected = BaseStatusSignal.isAllGood( + deployCANcoder.getPosition(false), + deployCANcoder.getVelocity(false) + ); + inputs.deployCANcoderPosition = deployCANcoder.getPosition(false).getValue(); + inputs.deployCANcoderVelocity = deployCANcoder.getVelocity(false).getValue(); } public void setIntakeVoltage(Voltage voltage) { diff --git a/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java b/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java index 7bb0162..6dbc5c9 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java +++ b/CompBot/src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java @@ -11,6 +11,8 @@ public class IntakeIOSim implements IntakeIO { private Angle position = Rotations.zero(); public void updateInputs(IntakeIOInputs inputs) { + inputs.intakeMotorConnected = true; + inputs.deployMotorConnected = true; inputs.intakeVoltage = voltage; inputs.deployPosition = position; } diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/Led.java b/CompBot/src/main/java/frc/robot/subsystems/led/Led.java new file mode 100644 index 0000000..35be0a6 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/Led.java @@ -0,0 +1,59 @@ +package frc.robot.subsystems.led; + +import java.util.List; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Robot; +import frc.robot.subsystems.led.ledStates.*; +import frc.robot.superstructure.StateManager; + +public class Led extends SubsystemBase { + private LedState appliedState = new Default(); + private LedIO io; + + public Led(LedIO io) { + super(); + this.io = io; + if (DriverStation.isTest() || Robot.isSimulation()) { + for (LedState state : hierarchy) { + SmartDashboard.putBoolean("Led/Enable " + state.getClass().getSimpleName(), false); + } + } + } + + private List hierarchy = List.of( + new BadController(), + new TestRslEnabled(), + new TestRsl(), + // new Climbed(), + new EndGameAlert(), + new EndGameWarning(), + // new ShootReady(), + new OurShiftIsEnding(), + new TheirShiftIsEnding(), + new HubActive(), + new Default() + ); + + public void update(StateManager stateManager) { + for (LedState state : hierarchy) { + boolean check = state.check(stateManager); + if (Robot.isSimulation()) { + String name = state.getClass().getSimpleName(); + check = SmartDashboard.getBoolean("Led/Enable " + name, false); + SmartDashboard.putBoolean("Led/Enable " + name, check); + } + if (!check) { + continue; + } + if (appliedState.equals(state)) { + break; + } + io.applyAnimation(state.apply(io)); + appliedState = state; + return; + } + } +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/LedConstants.java b/CompBot/src/main/java/frc/robot/subsystems/led/LedConstants.java new file mode 100644 index 0000000..246f180 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/LedConstants.java @@ -0,0 +1,36 @@ +package frc.robot.subsystems.led; + +import com.ctre.phoenix6.CANBus; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.CANdleConfiguration; +import com.ctre.phoenix6.configs.LEDConfigs; +import com.ctre.phoenix6.signals.StripTypeValue; + +import frc.robot.util.RobotIdentifier; +import frc.robot.util.StatusSignalUtil; +import frc.robot.util.RobotIdentifier.RobotId; + +public class LedConstants { + // Offsets & numLEds & IDS + + public static final int kCANdleId = 5; + public static final CANBus kCanbus = RobotIdentifier.id() == RobotId.TestBot ? StatusSignalUtil.canivore : StatusSignalUtil.rio; + public static final CANdleConfiguration kLedConfig = new CANdleConfiguration() + .withLED(new LEDConfigs() + .withStripType(RobotIdentifier.id() == RobotId.TestBot ? StripTypeValue.GRB : StripTypeValue.RGB)); + + public static final int startIndex = 0; + public static final int endIndex = 53; + + public static final int endgameWarning = 30; + public static final int endgameAlert = 15; + + + public static final String driverName = "controller"; + public static final String operatorName= "dual"; + + // Animation Attributes + + public static final double kStrobeRate = 4; + public static final double kFlashRate = 2.0; +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/LedIO.java b/CompBot/src/main/java/frc/robot/subsystems/led/LedIO.java new file mode 100644 index 0000000..a55bec1 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/LedIO.java @@ -0,0 +1,56 @@ +package frc.robot.subsystems.led; + +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.controls.ColorFlowAnimation; +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.controls.EmptyAnimation; +import com.ctre.phoenix6.controls.LarsonAnimation; +import com.ctre.phoenix6.controls.RainbowAnimation; +import com.ctre.phoenix6.controls.SingleFadeAnimation; +import com.ctre.phoenix6.controls.SolidColor; +import com.ctre.phoenix6.controls.StrobeAnimation; +import com.ctre.phoenix6.controls.TwinkleAnimation; +import com.ctre.phoenix6.hardware.CANdle; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.util.StatusSignalUtil; + +public class LedIO extends SubsystemBase { + + public static enum AnimationType { + Twinkle, Strobe, Larson, Flash, Solid, Clear, Rainbow, Fade, Flow, Epilepsy; + } + + CANdle ledController = new CANdle(LedConstants.kCANdleId, LedConstants.kCanbus); + int slot = 0; + + public LedIO() { + super(); + ledController.getConfigurator().apply(LedConstants.kLedConfig); + } + + public void applyAnimation(ControlRequest animation) { + clearAnimation(); + ledController.setControl(animation); + } + + public void clearAnimation() { + ledController.setControl(new EmptyAnimation(slot)); + } + + public ControlRequest createAnimation(RGBWColor color, AnimationType type) { + return switch (type) { + case Twinkle -> new TwinkleAnimation(LedConstants.startIndex, LedConstants.endIndex).withColor(color).withSlot(slot); + case Strobe -> new StrobeAnimation(LedConstants.startIndex, LedConstants.endIndex).withColor(color).withSlot(slot).withFrameRate(LedConstants.kStrobeRate); + case Fade -> new SingleFadeAnimation(LedConstants.startIndex, LedConstants.endIndex).withColor(color).withSlot(slot); + case Rainbow -> new RainbowAnimation(LedConstants.startIndex, LedConstants.endIndex).withSlot(slot); + case Larson -> new LarsonAnimation(LedConstants.startIndex, LedConstants.endIndex).withColor(color).withSlot(slot); + case Flow -> new ColorFlowAnimation(LedConstants.startIndex, LedConstants.endIndex).withColor(color).withSlot(slot); + case Solid -> new SolidColor(LedConstants.startIndex, LedConstants.endIndex).withColor(color); + case Flash -> new StrobeAnimation(LedConstants.startIndex, LedConstants.endIndex).withColor(color).withSlot(slot).withFrameRate(LedConstants.kFlashRate); + case Clear -> new EmptyAnimation(slot); + case Epilepsy -> new StrobeAnimation(LedConstants.startIndex, LedConstants.endIndex).withSlot(slot).withColor(color).withFrameRate(10); + }; + } +} \ No newline at end of file diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/LedState.java b/CompBot/src/main/java/frc/robot/subsystems/led/LedState.java new file mode 100644 index 0000000..b2f21b5 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/LedState.java @@ -0,0 +1,10 @@ +package frc.robot.subsystems.led; + +import com.ctre.phoenix6.controls.ControlRequest; + +import frc.robot.superstructure.StateManager; + +public interface LedState { + public ControlRequest apply(LedIO io); + public boolean check(StateManager manager); +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/BadController.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/BadController.java new file mode 100644 index 0000000..5237f0f --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/BadController.java @@ -0,0 +1,42 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.util.Color; +import frc.robot.binding.BindingConstants; +import frc.robot.subsystems.led.LedConstants; +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedState; +import frc.robot.superstructure.StateManager; + +public class BadController implements LedState { + + public boolean check(StateManager manager) { + return badController(); + } + + public ControlRequest apply(LedIO io) { + return io.createAnimation(new RGBWColor(Color.kRed), LedIO.AnimationType.Strobe); + } + + private boolean badController() { + boolean driverConnected = DriverStation.isJoystickConnected(BindingConstants.Driver.kDriveControllerPort); + boolean operatorConnected = DriverStation.isJoystickConnected(BindingConstants.Operator.kOperatorControllerPort); + + if (!driverConnected || !operatorConnected) { + return true; + } + + String driverName = DriverStation.getJoystickName(BindingConstants.Driver.kDriveControllerPort).toLowerCase(); + String operatorName = DriverStation.getJoystickName(BindingConstants.Operator.kOperatorControllerPort) + .toLowerCase(); + + boolean driverOk = driverName.contains(LedConstants.driverName); + + boolean operatorOk = operatorName.contains(LedConstants.operatorName); + + return !(driverOk && operatorOk); + } +} \ No newline at end of file diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/Climbed.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/Climbed.java new file mode 100644 index 0000000..15ad27c --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/Climbed.java @@ -0,0 +1,19 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedState; +import frc.robot.superstructure.StateManager; + +public class Climbed implements LedState { + + public boolean check(StateManager manager) { + return manager.climbed().getAsBoolean(); + } + + public ControlRequest apply(LedIO io) { + return io.createAnimation(new RGBWColor(), LedIO.AnimationType.Rainbow); + } +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/Default.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/Default.java new file mode 100644 index 0000000..67aff4d --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/Default.java @@ -0,0 +1,20 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj.util.Color; +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedState; +import frc.robot.superstructure.StateManager; + +public class Default implements LedState{ + public boolean check(StateManager manager){ + return true; + } + public ControlRequest apply(LedIO io){ + return io.createAnimation(new RGBWColor(Color.kPurple), LedIO.AnimationType.Flow); + } + + +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/EndGameAlert.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/EndGameAlert.java new file mode 100644 index 0000000..79fd513 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/EndGameAlert.java @@ -0,0 +1,23 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.MatchType; +import edu.wpi.first.wpilibj.util.Color; +import frc.robot.subsystems.led.LedConstants; +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedState; +import frc.robot.superstructure.StateManager; + +public class EndGameAlert implements LedState { + public boolean check(StateManager manager){ + return DriverStation.getMatchTime() < LedConstants.endgameAlert && DriverStation.isTeleopEnabled() && DriverStation.getMatchType() != MatchType.None; + } + + public ControlRequest apply(LedIO io){ + return io.createAnimation(new RGBWColor(Color.kOrange), LedIO.AnimationType.Strobe); + } + +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/EndGameWarning.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/EndGameWarning.java new file mode 100644 index 0000000..93549b5 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/EndGameWarning.java @@ -0,0 +1,24 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.MatchType; +import edu.wpi.first.wpilibj.util.Color; +import frc.robot.subsystems.led.LedConstants; +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedState; +import frc.robot.superstructure.StateManager; + +public class EndGameWarning implements LedState { + + public boolean check(StateManager manager) { + return DriverStation.getMatchTime() < LedConstants.endgameWarning && DriverStation.isTeleopEnabled() && DriverStation.getMatchType() != MatchType.None; + } + + public ControlRequest apply(LedIO io) { + return io.createAnimation(new RGBWColor(Color.kOrange), LedIO.AnimationType.Flash); + } + +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/FuelOnBoard.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/FuelOnBoard.java new file mode 100644 index 0000000..9b18a02 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/FuelOnBoard.java @@ -0,0 +1,20 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj.util.Color; +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedState; +import frc.robot.superstructure.StateManager; + +public class FuelOnBoard implements LedState{ + public boolean check(StateManager manager){ + return false; + } + + public ControlRequest apply(LedIO io){ + return io.createAnimation(new RGBWColor(Color.kYellow), LedIO.AnimationType.Strobe); + } + // Have to implement check +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/HubActive.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/HubActive.java new file mode 100644 index 0000000..3218238 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/HubActive.java @@ -0,0 +1,28 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.util.Color; +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedState; +import frc.robot.superstructure.StateManager; +import frc.robot.util.ActivityCalculator; +import frc.robot.util.ActivityCalculator.HubActivity; + +public class HubActive implements LedState { + + public boolean check(StateManager manager) { + return ActivityCalculator.is(ActivityCalculator.us()) && DriverStation.isEnabled(); + } + + public ControlRequest apply(LedIO io) { + + if (ActivityCalculator.us() == HubActivity.Red) { + return io.createAnimation(new RGBWColor(Color.kRed), LedIO.AnimationType.Solid); + } + return io.createAnimation(new RGBWColor(Color.kBlue), LedIO.AnimationType.Solid); + } + +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/OurShiftIsEnding.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/OurShiftIsEnding.java new file mode 100644 index 0000000..70c1e97 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/OurShiftIsEnding.java @@ -0,0 +1,22 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.util.Color; +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedState; +import frc.robot.subsystems.led.LedIO.AnimationType; +import frc.robot.superstructure.StateManager; +import frc.robot.util.ActivityCalculator; + +public class OurShiftIsEnding implements LedState { + public boolean check(StateManager state) { + return DriverStation.isEnabled() && ActivityCalculator.is(ActivityCalculator.us(), 3); + } + + public ControlRequest apply(LedIO io) { + return io.createAnimation(new RGBWColor(Color.kWhite), AnimationType.Epilepsy); + } +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/ShootReady.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/ShootReady.java new file mode 100644 index 0000000..e30952e --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/ShootReady.java @@ -0,0 +1,20 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj.util.Color; +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedState; +import frc.robot.superstructure.StateManager; + +public class ShootReady implements LedState{ + + public boolean check(StateManager manager) { + return manager.shootReady.getAsBoolean(); + } + + public ControlRequest apply(LedIO io) { + return io.createAnimation(new RGBWColor(Color.kBlue), LedIO.AnimationType.Strobe); + } +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/TestRsl.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/TestRsl.java new file mode 100644 index 0000000..3b0fc49 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/TestRsl.java @@ -0,0 +1,21 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.util.Color; +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedState; +import frc.robot.subsystems.led.LedIO.AnimationType; +import frc.robot.superstructure.StateManager; + +public class TestRsl implements LedState { + public boolean check(StateManager state) { + return DriverStation.isTest(); + } + + public ControlRequest apply(LedIO io) { + return io.createAnimation(new RGBWColor(Color.kOrange), AnimationType.Solid); + } +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/TestRslEnabled.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/TestRslEnabled.java new file mode 100644 index 0000000..0647fad --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/TestRslEnabled.java @@ -0,0 +1,21 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.util.Color; +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedState; +import frc.robot.subsystems.led.LedIO.AnimationType; +import frc.robot.superstructure.StateManager; + +public class TestRslEnabled implements LedState { + public boolean check(StateManager state) { + return DriverStation.isTestEnabled(); + } + + public ControlRequest apply(LedIO io) { + return io.createAnimation(new RGBWColor(Color.kOrange), AnimationType.Strobe); + } +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/TheirShiftIsEnding.java b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/TheirShiftIsEnding.java new file mode 100644 index 0000000..35c6c81 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/led/ledStates/TheirShiftIsEnding.java @@ -0,0 +1,22 @@ +package frc.robot.subsystems.led.ledStates; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.signals.RGBWColor; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.util.Color; +import frc.robot.subsystems.led.LedIO; +import frc.robot.subsystems.led.LedIO.AnimationType; +import frc.robot.subsystems.led.LedState; +import frc.robot.superstructure.StateManager; +import frc.robot.util.ActivityCalculator; + +public class TheirShiftIsEnding implements LedState { + public boolean check(StateManager state) { + return ActivityCalculator.is(ActivityCalculator.other(), 3) && DriverStation.isEnabled(); + } + + public ControlRequest apply(LedIO io) { + return io.createAnimation(new RGBWColor(Color.kWhite), AnimationType.Solid); + } +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/CompBot/src/main/java/frc/robot/subsystems/shooter/Shooter.java index dfadaf3..b3a1e24 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/CompBot/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -5,15 +5,19 @@ import static edu.wpi.first.units.Units.RadiansPerSecond; import static edu.wpi.first.units.Units.Rotations; import static edu.wpi.first.units.Units.RotationsPerSecond; + import java.util.function.Supplier; + import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.aiming.AimParams; +import frc.robot.aiming.AimParams.SpeedControl; import frc.robot.subsystems.shooter.ShooterConstants.HoodConstants; import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs; import frc.robot.util.OnboardLogger; @@ -26,6 +30,10 @@ public class Shooter extends SubsystemBase { private Angle hoodReference = Rotations.zero(); private AngularVelocity shooterReference = RotationsPerSecond.zero(); + private boolean active = false; + + private double lastSignificantDrop = 0; + public Shooter(ShooterIO io) { this.io = io; @@ -37,35 +45,57 @@ public Shooter(ShooterIO io) { OnboardLogger log = new OnboardLogger("Shooter"); log.registerMeasurement("Hood Reference", () -> hoodReference, Rotations); log.registerMeasurement("Velocity Reference", () -> shooterReference, RotationsPerSecond); + log.registerBoolean("Enable Recovery Mode", () -> shouldEnableRecovery(shooterReference)); } @Override public void periodic() { io.updateInputs(inputs); + + double error = shooterReference.baseUnitMagnitude() - inputs.shooter1Velocity.baseUnitMagnitude(); + if (error > ShooterConstants.kShootingErrorDetectionThreshold.baseUnitMagnitude()) { + lastSignificantDrop = Timer.getTimestamp(); + } } - private AngularVelocity projectileToShooterVelocity(double projectileVelocity) { - // Assume linear relationship between shooter rotational speed and projectile linear speed. - return ShooterConstants.kMaxRotationalSpeed - .times(projectileVelocity / ShooterConstants.kMaxLinearSpeed.in(MetersPerSecond)); + private AngularVelocity projectileToShooterVelocity(double output, SpeedControl control) { + switch (control) { + case ProjectileVelocity: + // Assume linear relationship between shooter rotational speed and projectile linear speed. + return ShooterConstants.kMaxRotationalSpeed + .times(output / ShooterConstants.kMaxLinearSpeed.in(MetersPerSecond)); + case MechanismControl: + return RotationsPerSecond.of(output); + } + // This will never really happen. + return RotationsPerSecond.zero(); } private Angle pitchToHoodAngle(Rotation2d pitch) { // The hood's angle is normal to the angle of the ball, i.e. the hood angle is 90 degrees // minus the pitch. Then we subtract the offset to get the mechanism position. - return Rotation2d.kCCW_90deg.minus(pitch).getMeasure().minus(HoodConstants.kOffset); + Angle mechanismAngle = Rotation2d.kCCW_90deg.minus(pitch).getMeasure().minus(HoodConstants.kOffset); + return mechanismAngle; } /** * This command tells the shooter to begin to track the desired target. When this command ends, it * does NOT turn off the shooter; we don't want to have to get all the way back up to speed. */ - public Command shoot(Supplier params) { + public Command shoot(Supplier paramsSupplier) { return this.run(() -> { - shooterReference = projectileToShooterVelocity(params.get().output); - hoodReference = pitchToHoodAngle(params.get().pitch); - io.setVelocity(shooterReference); + active = true; + AimParams params = paramsSupplier.get(); + // This runs each tick (no exceptions are possible), so we get to vary slot parameter here. + shooterReference = projectileToShooterVelocity(params.output, params.control); + hoodReference = pitchToHoodAngle(params.pitch); + io.setVelocity(shooterReference, shouldEnableRecovery(shooterReference)); io.setAngle(hoodReference); + }) + .finallyDo(() -> { + active = false; + shooterReference = RotationsPerSecond.zero(); + io.setVelocity(shooterReference); }); } @@ -76,18 +106,45 @@ public Command reverse() { () -> io.setVelocity(RadiansPerSecond.zero())); } - public Trigger tracked(Supplier params) { - return new Trigger(() -> { - double velocityError = inputs.shooter1Velocity - .minus(projectileToShooterVelocity(params.get().output)).baseUnitMagnitude(); + private boolean shooterAtSpeed(AimParams params) { + double velocityError = inputs.shooter1Velocity + .minus(projectileToShooterVelocity(params.output, params.control)).baseUnitMagnitude(); boolean velocityOk = - Math.abs(velocityError) <= params.get().deltaOutput; + Math.abs(velocityError) <= params.deltaOutput; + return velocityOk; + } + + private boolean shouldEnableRecovery(AngularVelocity reference) { + AngularVelocity error = reference.minus(inputs.shooter1Velocity); + return error.baseUnitMagnitude() > ShooterConstants.kRecoveryErrorThreshold.baseUnitMagnitude(); + } - double hoodError = - inputs.hoodPosition.minus(pitchToHoodAngle(params.get().pitch)).baseUnitMagnitude(); + private boolean hoodAtPosition(AimParams params) { + double hoodError = + inputs.hoodPosition.minus(pitchToHoodAngle(params.pitch)).baseUnitMagnitude(); boolean hoodOk = - Math.abs(hoodError) <= params.get().deltaPitch.getMeasure().baseUnitMagnitude(); - return velocityOk && hoodOk; + Math.abs(hoodError) <= params.deltaPitch.getMeasure().baseUnitMagnitude(); + return hoodOk; + } + + public Trigger tracked(Supplier params) { + return new Trigger(() -> { + if (!active) { + return false; + } + + AimParams realParams = params.get(); + + return shooterAtSpeed(realParams) && hoodAtPosition(realParams); + }); + } + + public Trigger shooting = new Trigger(() -> active); + + public Trigger seenBall(double seconds) { + return new Trigger(() -> { + double timeSinceLastShot = Timer.getTimestamp() - lastSignificantDrop; + return timeSinceLastShot > seconds; }); } } diff --git a/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java index b484226..f6e9f8d 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java +++ b/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java @@ -2,8 +2,13 @@ import static edu.wpi.first.units.Units.Degrees; import static edu.wpi.first.units.Units.Inches; +import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.MetersPerSecond; import static edu.wpi.first.units.Units.RotationsPerSecond; +import static edu.wpi.first.units.Units.Seconds; + +import java.util.List; + import com.ctre.phoenix6.configs.CANcoderConfiguration; import com.ctre.phoenix6.configs.CurrentLimitsConfigs; import com.ctre.phoenix6.configs.FeedbackConfigs; @@ -11,100 +16,138 @@ import com.ctre.phoenix6.configs.MotionMagicConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.Slot1Configs; +import com.ctre.phoenix6.configs.SlotConfigs; import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.configs.TorqueCurrentConfigs; import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.MotorAlignmentValue; import com.ctre.phoenix6.signals.NeutralModeValue; +import com.ctre.phoenix6.signals.SensorDirectionValue; + +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.AngularVelocity; import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.LinearVelocity; +import frc.robot.aiming.AimMeasurement; public final class ShooterConstants { - protected static final int kMotor1Id = 53; - protected static final int kMotor2Id = 54; + protected static final int kMotor1Id = 53; + protected static final int kMotor2Id = 54; + + private static final SlotConfigs regularControl = new SlotConfigs() + .withKA(0) + .withKS(4) + .withKV(0.07) + + .withKP(9.0) + .withKI(0) + .withKD(0); + + private static final SlotConfigs recoveryControl = regularControl.clone() + .withKP(50); + + protected static final AngularVelocity kRecoveryErrorThreshold = RotationsPerSecond.of(2); + protected static final AngularVelocity kShootingErrorDetectionThreshold = RotationsPerSecond.of(4); + + protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() + .withSlot0(Slot0Configs.from(regularControl)) + + .withSlot1(Slot1Configs.from(recoveryControl)) + + .withMotionMagic(new MotionMagicConfigs() + .withMotionMagicAcceleration(10.0)) + + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Coast) + .withInverted(InvertedValue.Clockwise_Positive)) + + .withTorqueCurrent(new TorqueCurrentConfigs() + .withPeakReverseTorqueCurrent(0.0)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withStatorCurrentLimitEnable(true) + .withSupplyCurrentLimit(80) + .withStatorCurrentLimit(100)); + + public static final Distance kRadius = Inches.of(2); + public static final AngularVelocity kReverseVelocity = RotationsPerSecond.of(30.0); + + public static final MotorAlignmentValue kMotor2Alignment = MotorAlignmentValue.Aligned; + + public static final LinearVelocity kMaxLinearSpeed = MetersPerSecond.of(15.5); + public static final AngularVelocity kMaxRotationalSpeed = RotationsPerSecond.of(85.0); + + public static final class HoodConstants { + protected static final int kMotorID = 56; + protected static final int kCANcoderId = 57; + + protected static final double kRatio = 0.0028888888888; protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() - .withSlot0(new Slot0Configs() - .withKA(0.6) - .withKS(0) - .withKV(0) - - .withKP(8.0) - .withKI(0) - .withKD(0)) - - .withMotionMagic(new MotionMagicConfigs() - .withMotionMagicAcceleration(30.0)) - - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Coast) - .withInverted(InvertedValue.Clockwise_Positive)) - - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withStatorCurrentLimitEnable(true) - .withSupplyCurrentLimit(40) - .withStatorCurrentLimit(125)); - - public static final Distance kRadius = Inches.of(2); - public static final AngularVelocity kReverseVelocity = RotationsPerSecond.of(30.0); - - public static final MotorAlignmentValue kMotor2Alignment = MotorAlignmentValue.Aligned; - - protected static final LinearVelocity kMaxLinearSpeed = MetersPerSecond.of(9.0); - protected static final AngularVelocity kMaxRotationalSpeed = RotationsPerSecond.of(100.0); - - public static final class HoodConstants { - protected static final int kMotorID = 56; - protected static final int kCANcoderId = 57; - - protected static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration() - .withFeedback(new FeedbackConfigs() - .withFeedbackSensorSource(FeedbackSensorSourceValue.RemoteCANcoder) - .withFeedbackRemoteSensorID(kCANcoderId) - .withSensorToMechanismRatio(155.0/15.0)) - - .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() - .withForwardSoftLimitEnable(true) - .withReverseSoftLimitEnable(true) - .withForwardSoftLimitThreshold(0.065) - .withReverseSoftLimitThreshold(0.0)) - - .withSlot0(new Slot0Configs() - .withKA(0.2) - .withKS(0) - .withKV(10) - - .withKP(40.0) - .withKI(0) - .withKD(0)) - - .withMotionMagic(new MotionMagicConfigs() - .withMotionMagicCruiseVelocity(3.0) - .withMotionMagicAcceleration(4)) - - .withMotorOutput(new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Brake) - .withInverted(InvertedValue.CounterClockwise_Positive)) - - .withCurrentLimits(new CurrentLimitsConfigs() - .withSupplyCurrentLimitEnable(true) - .withStatorCurrentLimitEnable(true) - .withSupplyCurrentLimit(40) - .withStatorCurrentLimit(125)); - - protected static final CANcoderConfiguration kCANcoderConfig = new CANcoderConfiguration() - .withMagnetSensor(new MagnetSensorConfigs() - .withAbsoluteSensorDiscontinuityPoint(0.7) // We'll never get to this point - .withMagnetOffset(0.24755859375)); - - - protected static final int kSlot = 0; - - /** The position of the hood when its sensor reads zero */ - protected static final Angle kOffset = Degrees.of(18.0); - } + .withFeedback(new FeedbackConfigs() + .withFeedbackSensorSource(FeedbackSensorSourceValue.RemoteCANcoder) + .withFeedbackRemoteSensorID(kCANcoderId) + .withSensorToMechanismRatio(155.0 / 15.0)) + + .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitEnable(true) + .withReverseSoftLimitEnable(true) + .withForwardSoftLimitThreshold(0.065) + .withReverseSoftLimitThreshold(0.0)) + + .withSlot0(new Slot0Configs() + .withKA(0.1) + .withKS(0.3) + .withKV(7) + + .withKP(60.0) + .withKI(0) + .withKD(0)) + + .withMotionMagic(new MotionMagicConfigs() + .withMotionMagicCruiseVelocity(3.0) + .withMotionMagicAcceleration(4)) + + .withMotorOutput(new MotorOutputConfigs() + .withNeutralMode(NeutralModeValue.Brake) + .withInverted(InvertedValue.CounterClockwise_Positive)) + + .withCurrentLimits(new CurrentLimitsConfigs() + .withSupplyCurrentLimitEnable(true) + .withStatorCurrentLimitEnable(true) + .withSupplyCurrentLimit(40) + .withStatorCurrentLimit(125)); + + protected static final CANcoderConfiguration kCANcoderConfig = new CANcoderConfiguration() + .withMagnetSensor(new MagnetSensorConfigs() + .withSensorDirection(SensorDirectionValue.Clockwise_Positive) + .withAbsoluteSensorDiscontinuityPoint(0.8) // We'll never get to this point + .withMagnetOffset(-0.150146484375)); + + protected static final int kSlot = 0; + + /** The position of the hood when its sensor reads zero */ + protected static final Angle kOffset = Degrees.of(18.0); + } + + public static final List measurements = List.of( + new AimMeasurement(Meters.of(1.70), Rotation2d.fromDegrees(72), 32, Seconds.of(0.95)), + new AimMeasurement(Meters.of(2.34), Rotation2d.fromDegrees(70), 34, Seconds.of(1.11)), + new AimMeasurement(Meters.of(2.73), Rotation2d.fromDegrees(65), 36, Seconds.of(1.10)), + new AimMeasurement(Meters.of(3.212), Rotation2d.fromDegrees(65), 37.5, Seconds.of(1.12)), + new AimMeasurement(Meters.of(3.79), Rotation2d.fromDegrees(60), 38, Seconds.of(1.07)), + new AimMeasurement(Meters.of(4.26), Rotation2d.fromDegrees(60), 41, Seconds.of(1.20)), + new AimMeasurement(Meters.of(4.78), Rotation2d.fromDegrees(58), 42, Seconds.of(1.18)), + new AimMeasurement(Meters.of(5.23), Rotation2d.fromDegrees(54), 45, Seconds.of(1.20)), + new AimMeasurement(Meters.of(5.73), Rotation2d.fromDegrees(54), 47, Seconds.of(1.21)), + new AimMeasurement(Meters.of(6.252), Rotation2d.fromDegrees(54), 46, Seconds.of(1.21)), + new AimMeasurement(Meters.of(6.696), Rotation2d.fromDegrees(54), 50, Seconds.of(1.25)), + new AimMeasurement(Meters.of(7.185), Rotation2d.fromDegrees(52), 51, Seconds.of(1.31)), + new AimMeasurement(Meters.of(10.0), Rotation2d.fromDegrees(50), 80, Seconds.of(1.71)) + ); } diff --git a/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java index bebdcaa..3927287 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java +++ b/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java @@ -77,7 +77,11 @@ public ShooterIOInputs() { } } - // void setVoltage(double voltage); - public void setVelocity(AngularVelocity velocity); + public void setVelocity(AngularVelocity velocity, boolean useRecovery); + + public default void setVelocity(AngularVelocity velocity) { + setVelocity(velocity, false); + } + public void setAngle(Angle angle); } diff --git a/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIOHardware.java b/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIOHardware.java index 332d3fc..a60e322 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIOHardware.java +++ b/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIOHardware.java @@ -5,7 +5,7 @@ import com.ctre.phoenix6.BaseStatusSignal; import com.ctre.phoenix6.controls.DynamicMotionMagicVoltage; import com.ctre.phoenix6.controls.Follower; -import com.ctre.phoenix6.controls.MotionMagicVelocityTorqueCurrentFOC; +import com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.units.measure.Angle; @@ -21,10 +21,10 @@ public class ShooterIOHardware implements ShooterIO { private final CANcoder hoodCANcoder; private AngularVelocity lastVelocity = RotationsPerSecond.zero(); + private boolean lastRecoveryEnabled = false; private Angle lastAngle = Rotations.zero(); - private final MotionMagicVelocityTorqueCurrentFOC shooterControl = - new MotionMagicVelocityTorqueCurrentFOC(0); + private final VelocityTorqueCurrentFOC shooterControl = new VelocityTorqueCurrentFOC(0); // Using zero for the acceleration and jerk tell the control request to just use the // device-configured MotionMagic configs found in the motor configuration. Position doesn't really @@ -126,10 +126,11 @@ public void updateInputs(ShooterIOInputs inputs) { inputs.hoodCANcoderPosition = hoodCANcoder.getPosition(false).getValue(); } - public void setVelocity(AngularVelocity velocity) { - if (!velocity.equals(lastVelocity)) { - shooter1Motor.setControl(shooterControl.withVelocity(velocity)); + public void setVelocity(AngularVelocity velocity, boolean useRecovery) { + if (!velocity.equals(lastVelocity) || useRecovery != lastRecoveryEnabled) { + shooter1Motor.setControl(shooterControl.withVelocity(velocity).withSlot(useRecovery ? 1 : 0)); lastVelocity = velocity; + lastRecoveryEnabled = useRecovery; } } diff --git a/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java index d46c9ab..324d87e 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java +++ b/CompBot/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java @@ -14,13 +14,15 @@ public ShooterIOSim() {} public void updateInputs(ShooterIOInputs inputs) { inputs.shooter1MotorConnected = true; + inputs.shooter2MotorConnected = true; inputs.shooter1Velocity = shooterVelocity; + inputs.shooter2Velocity = shooterVelocity; inputs.hoodMotorConnected = true; inputs.hoodPosition = hoodAngle; } - public void setVelocity(AngularVelocity velocity) { + public void setVelocity(AngularVelocity velocity, boolean useRecovery) { shooterVelocity = velocity; } diff --git a/CompBot/src/main/java/frc/robot/subsystems/turret/Turret.java b/CompBot/src/main/java/frc/robot/subsystems/turret/Turret.java index 14d5649..22666dd 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/CompBot/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -1,27 +1,29 @@ package frc.robot.subsystems.turret; -import static edu.wpi.first.units.Units.Revolutions; import static edu.wpi.first.units.Units.Rotations; + import java.util.function.Supplier; + import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Transform2d; -import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Alert.AlertType; -import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; import edu.wpi.first.wpilibj2.command.button.Trigger; -import frc.robot.FieldManager; import frc.robot.aiming.AimParams; import frc.robot.subsystems.turret.TurretIO.TurretIOInputs; import frc.robot.superstructure.StateManager; import frc.robot.util.OnboardLogger; +import frc.robot.vision.localization.LocalizationConstants; public class Turret extends SubsystemBase { @@ -33,23 +35,27 @@ public class Turret extends SubsystemBase { private boolean tracking; + private Angle reference = TurretConstants.kHomePosition; + public Turret(TurretIO io) { super(); this.io = io; inputs = new TurretIOInputs(); io.calibrate(); SmartDashboard.putData("Turret/Home", home()); - SmartDashboard.putData("Turret/Calibrate", runOnce(io::calibrate).ignoringDisable(true)); + Command calibrate = runOnce(io::calibrate).ignoringDisable(true); + SmartDashboard.putData("Turret/Calibrate", calibrate); + RobotModeTriggers.disabled().onTrue(calibrate); OnboardLogger log = new OnboardLogger("Turret"); log.registerBoolean("Ready", ready()); log.registerBoolean("Tracking", () -> tracking); + log.registerMeasurement("Reference", () -> reference, Rotations); } @Override public void periodic() { io.updateInputs(inputs); - SmartDashboard.putNumber("Position", inputs.position.in(Revolutions)); calibrationAlert.set(!inputs.calibrated); } @@ -62,14 +68,12 @@ public Command track(StateManager state) { this.run(() -> { tracking = true; Rotation2d robot = state.robotPose().getRotation(); - Rotation2d relative = state.predictedAimParams().yaw.minus(robot); - // We're only in "tracking" mode if we're just trying to get to a happy spot. If everybody - // else is ready, we don't want to hold up shooting, so we allow the turret access to its - // full range. We don't generally want to do this, because it would mean that while - // shooting, we would be more likely to hit the turret's physical max and *force* - // ourselves to rotate the turret all the way around... nonideal. - setPosition(relative.getMeasure().plus(TurretConstants.kForwards), - !state.shootReady().getAsBoolean()); + AimParams params = state.predictedAimParams(); + if (!params.isOk()) { + return; + } + Angle mechanismAngle = params.yaw.minus(robot).getMeasure().plus(TurretConstants.kForwards); + setPosition(mechanismAngle, !state.shootReady.getAsBoolean()); })) .finallyDo(() -> tracking = false); } @@ -108,60 +112,49 @@ public Trigger tracked(Supplier params) { }); } - public void telemetrize(StateManager state) { - Pose2d turretPosition = state.robotPose().transformBy(TurretConstants.kTurretPosition.plus( - new Transform2d(Translation2d.kZero, - new Rotation2d(inputs.position.minus(TurretConstants.kForwards))))); - Pose2d turretReference = state.robotPose().transformBy(TurretConstants.kTurretPosition.plus( - new Transform2d(Translation2d.kZero, - new Rotation2d(inputs.reference.minus(TurretConstants.kForwards))))); - FieldManager.getInstance().getField().getObject("turret").setPose(turretPosition); - FieldManager.getInstance().getField().getObject("turret-target").setPose(turretReference); - } - public Pose3d turretPose(Pose2d robotPose) { return new Pose3d(robotPose).transformBy(TurretConstants.kOffset); - } +} /** * This algorithm calculates the "ideal" position for the turret to rotate through. */ private void setPosition(Angle position, boolean tracking) { - Angle min = (tracking) ? TurretConstants.kMinTrackingAngle : TurretConstants.kMinAngle; - Angle max = (tracking) ? TurretConstants.kMaxTrackingAngle : TurretConstants.kMaxAngle; - io.setPosition(Rotations.of(findCC( + Angle min = TurretConstants.kMinAngle; + Angle max = TurretConstants.kMaxAngle; + reference = Rotations.of(findCC( inputs.position.in(Rotations), position.in(Rotations), min.in(Rotations), - max.in(Rotations)))); + max.in(Rotations))); + io.setPosition(reference); } /** * Returns the Closest Conguent value in the range [min,max], modulo 1 * - * WARNING: this only works if you're SURE that max - min >= 1 - * * @param position the current, non-wrapped position * @param reference the goal position, in the range [0,1] * @param min the minimum position * @param max the maximum position */ protected static double findCC(double position, double reference, double min, double max) { - if (max - min < 1.0) { - DriverStation.reportError( - "Invalid range passed to Turret.findCC: " + min + " to " + max, - true); - return position; - } // Ensure reference is already a valid reference while (reference > max) { reference -= 1.0; } + while (reference < min) { reference += 1.0; } + + if (reference > max) { + // We've reached a reference that CANNOT be valid, ever. Bummer, just stay put i guess? + return max; + } + double error = Math.abs(reference - position); - if (Math.abs(error) < 0.5) { + if (error < 0.5) { return reference; } double offset = (reference > position) ? -1 : 1; @@ -171,9 +164,6 @@ protected static double findCC(double position, double reference, double min, do break; } double newError = Math.abs(newReference - position); - if (newError > error) { - break; - } if (Math.abs(newError) < 0.5) { // This is the closest we'll get return newReference; @@ -182,4 +172,12 @@ protected static double findCC(double position, double reference, double min, do } return reference; } + + public Transform3d turretCameraOffset() { + // Get turret-relative position + Transform3d turretRelative = + new Transform3d(Translation3d.kZero, new Rotation3d(new Rotation2d(inputs.position.minus(TurretConstants.kForwards)))) + .plus(LocalizationConstants.kTurretAoRToTurretCameraOffset); + return TurretConstants.kOffset.plus(turretRelative); + } } diff --git a/CompBot/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/CompBot/src/main/java/frc/robot/subsystems/turret/TurretConstants.java index d92a3c1..2255449 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/turret/TurretConstants.java +++ b/CompBot/src/main/java/frc/robot/subsystems/turret/TurretConstants.java @@ -1,7 +1,6 @@ package frc.robot.subsystems.turret; import static edu.wpi.first.units.Units.Degrees; -import static edu.wpi.first.units.Units.Inches; import static edu.wpi.first.units.Units.Revolutions; import static edu.wpi.first.units.Units.Rotations; import com.ctre.phoenix6.configs.CANcoderConfiguration; @@ -11,47 +10,47 @@ import com.ctre.phoenix6.configs.MotionMagicConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.signals.FeedbackSensorSourceValue; import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.NeutralModeValue; import com.ctre.phoenix6.signals.SensorDirectionValue; import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.units.measure.Angle; public class TurretConstants { - protected static final Transform2d kTurretPosition = Transform2d.kZero; - protected static final int kMotorId = 48; protected static final int kEncoder1Id = 49; protected static final int kEncoder2Id = 50; protected static final double kSupplyCurrentLimit = 100; - protected static final Angle kHomePosition = Revolutions.of(0.5); + protected static final Angle kHomePosition = Revolutions.of(0); /** * The position measurement of the turret such that the turret points directly forward on the * robot. For example, if this value was 30 degrees, then setting the turret's position to 30 * degrees would result in the turret pointing forwards on the robot. */ - protected static final Angle kForwards = Revolutions.of(0.25); + protected static final Angle kForwards = Revolutions.of(0); // MotionMagic configuration - protected static final double kGearRatio = 38.46; - protected static final double kMaxSpeed = 32; - protected static final double kMaxAcceleration = 48; - protected static final double kMaxJerk = 480; + protected static final double kGearRatio = 30.0; + protected static final double kMaxSpeed = 3.0; + protected static final double kMaxAcceleration = 10; protected static final Angle kTolerance = Degrees.of(1); // CRT-focused constants - protected static final double kEncoder1Offset = -0.352051; - protected static final double kEncoder2Offset = -0.531006; - protected static final double kEncoder1GearRatio = 100.0 / 12.0; - protected static final double kEncoder2GearRatio = (100 * 28.0) / (12.0 * 26.0); + protected static final double kEncoder1Offset = -0.10400390625; + protected static final double kEncoder2Offset = -0.50634765625; + protected static final double kEncoder1GearRatio = 72.0 / 12.0; + protected static final double kEncoder2GearRatio = (72.0 * 25.0) / (12.0 * 27.0); + // These parameters define the range of valid angles for the turret + protected static final Angle kMinAngle = Rotations.of(-0.5); + protected static final Angle kMaxAngle = Rotations.of(0.5); // CANcoder configurations protected static final CANcoderConfiguration kEncoder1Config = new CANcoderConfiguration() @@ -80,28 +79,27 @@ public class TurretConstants { .withSupplyCurrentLimit(kSupplyCurrentLimit)) .withSlot0(new Slot0Configs() - .withKP(50) + .withKP(35) .withKI(0) - .withKD(0) - .withKS(0.125) - .withKV(0) + .withKD(0.1) + .withKS(0.6) + .withKV(2.5) .withKA(0)) + .withSoftwareLimitSwitch(new SoftwareLimitSwitchConfigs() + .withForwardSoftLimitEnable(true) + .withForwardSoftLimitThreshold(kMaxAngle) + .withReverseSoftLimitEnable(true) + .withReverseSoftLimitThreshold(kMinAngle)) + .withMotionMagic(new MotionMagicConfigs() .withMotionMagicCruiseVelocity(kMaxSpeed) - .withMotionMagicAcceleration(kMaxAcceleration) - .withMotionMagicJerk(kMaxJerk)); + .withMotionMagicAcceleration(kMaxAcceleration)); /** The turret's relative position on the robot */ - protected static final Transform3d kOffset = new Transform3d( - Inches.of(-4.4), - Inches.of(4.4), - Inches.of(22.5), + public static final Transform3d kOffset = new Transform3d( + -0.11, + 0.11, + 0.512, Rotation3d.kZero); - - // These parameters define the range of valid angles for the turret - protected static final Angle kMinAngle = Rotations.of(-0.75); - protected static final Angle kMinTrackingAngle = Rotations.of(-0.5); - protected static final Angle kMaxAngle = Rotations.of(0.75); - protected static final Angle kMaxTrackingAngle = Rotations.of(0.5); } diff --git a/CompBot/src/main/java/frc/robot/subsystems/turret/TurretIODisabled.java b/CompBot/src/main/java/frc/robot/subsystems/turret/TurretIODisabled.java new file mode 100644 index 0000000..004e519 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/subsystems/turret/TurretIODisabled.java @@ -0,0 +1,11 @@ +package frc.robot.subsystems.turret; + +import edu.wpi.first.units.measure.Angle; + +public class TurretIODisabled implements TurretIO { + public void calibrate() {} + + public void setPosition(Angle angle) {} + + public void updateInputs(TurretIOInputs inputs) {} +} diff --git a/CompBot/src/main/java/frc/robot/subsystems/turret/TurretIOHardware.java b/CompBot/src/main/java/frc/robot/subsystems/turret/TurretIOHardware.java index a213cc1..55717cc 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/turret/TurretIOHardware.java +++ b/CompBot/src/main/java/frc/robot/subsystems/turret/TurretIOHardware.java @@ -1,9 +1,10 @@ package frc.robot.subsystems.turret; import static edu.wpi.first.units.Units.Radians; +import static edu.wpi.first.units.Units.Rotations; import java.util.Optional; import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.controls.DynamicMotionMagicTorqueCurrentFOC; +import com.ctre.phoenix6.controls.DynamicMotionMagicVoltage; import com.ctre.phoenix6.hardware.CANcoder; import com.ctre.phoenix6.hardware.TalonFX; import edu.wpi.first.units.measure.Angle; @@ -19,7 +20,7 @@ public class TurretIOHardware implements TurretIO { private final CANcoder gear1CANcoder; private final CANcoder gear2CANcoder; - private final DynamicMotionMagicTorqueCurrentFOC control; + private final DynamicMotionMagicVoltage control; private Angle reference = Radians.zero(); @@ -38,10 +39,10 @@ public TurretIOHardware() { gear1CANcoder.getConfigurator().apply(TurretConstants.kEncoder1Config); gear2CANcoder.getConfigurator().apply(TurretConstants.kEncoder2Config); - control = new DynamicMotionMagicTorqueCurrentFOC( + control = new DynamicMotionMagicVoltage( + 0, TurretConstants.kMaxSpeed, - TurretConstants.kMaxAcceleration, - TurretConstants.kMaxJerk); + TurretConstants.kMaxAcceleration).withEnableFOC(true); StatusSignalUtil.registerRioSignals( motor.getMotorVoltage(false), @@ -56,7 +57,9 @@ public TurretIOHardware() { // Note: we explicitly choose to refresh these signals on calibration. gear1CANcoder.getAbsolutePosition()::getValue, gear2CANcoder.getAbsolutePosition()::getValue) - .withEncoderRatios(TurretConstants.kEncoder1GearRatio, TurretConstants.kEncoder2GearRatio); + .withEncoderRatios(TurretConstants.kEncoder1GearRatio, TurretConstants.kEncoder2GearRatio) + .withMechanismRange(Rotations.of(-1), Rotations.of(1)) + .withMatchTolerance(Rotations.of(0.02)); crt = new EasyCRT(crtConfig); } @@ -91,8 +94,8 @@ public void calibrate() { boolean isOk = totalPosition.isPresent(); totalPosition.ifPresent(position -> motor.setPosition(position)); if (!isOk) { - DriverStation.reportError("Received not-good turret CRT solve: " + crt.getLastStatus(), false); + DriverStation.reportError("Received not-good turret CRT solve: " + crt.getLastStatus() + ": error was " + crt.getLastErrorRotations(), false); } - calibrated |= isOk; + calibrated = isOk; } } diff --git a/CompBot/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java b/CompBot/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java index ff02a30..026e7bd 100644 --- a/CompBot/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java +++ b/CompBot/src/main/java/frc/robot/subsystems/turret/TurretIOSim.java @@ -15,8 +15,8 @@ public void updateInputs(TurretIOInputs inputs) { position = position.times(0.8).plus(reference.times(0.2)); inputs.position = position; inputs.reference = reference; - inputs.calibrated = SmartDashboard.getBoolean(calibrationLabel, false); - SmartDashboard.putBoolean(calibrationLabel, inputs.calibrated); + inputs.calibrated = SmartDashboard.getBoolean(calibrationLabel, true); + // SmartDashboard.putBoolean(calibrationLabel, inputs.calibrated); } public void setPosition(Angle position) { diff --git a/CompBot/src/main/java/frc/robot/superstructure/StateManager.java b/CompBot/src/main/java/frc/robot/superstructure/StateManager.java index cb10156..c851da0 100644 --- a/CompBot/src/main/java/frc/robot/superstructure/StateManager.java +++ b/CompBot/src/main/java/frc/robot/superstructure/StateManager.java @@ -1,19 +1,18 @@ package frc.robot.superstructure; -import static edu.wpi.first.units.Units.Degrees; +import edu.wpi.first.math.filter.Debouncer.DebounceType; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.AimConstants; -import frc.robot.aiming.AimConstraints; import frc.robot.aiming.AimParams; -import frc.robot.aiming.AimStrategy; -import frc.robot.aiming.PhysicsAim; -import frc.robot.subsystems.climber.ClimberConstants.ClimbPosition; import frc.robot.aiming.AimParams.AimStatus; +import frc.robot.subsystems.climber.ClimberConstants.ClimbPosition; import frc.robot.superstructure.Superstructure.Subsystems; +import frc.robot.util.ActivityCalculator; import frc.robot.util.FieldUtils; import frc.robot.util.OnboardLogger; @@ -23,42 +22,59 @@ public class StateManager { private final Subsystems subsystems; + public enum ShootMode { + Scoring, + Feeding, + Donut; // "donut" shoot sounds like "do not" shoot... + } + + private ShootMode wantedShootMode = ShootMode.Donut; + private AimParams params = new AimParams(AimStatus.Unchecked); private AimParams predictedParams = new AimParams(AimStatus.Unchecked); + public final Trigger shootReady; + public StateManager(Subsystems subsystems) { this.subsystems = subsystems; + shootReady = initShootReady(); OnboardLogger log = new OnboardLogger("Robot"); log.registerPose("Robot Pose", this::robotPose); log.registerTransform2d("Robot Velocity", this::robotVelocity); - log.registerPose3d("Aim Target", this::aimTarget); log.registerPose3d("Turret Position", this::turretPose); - log.registerBoolean("Shoot Ready", shootReady()); + log.registerBoolean("Shoot Ready", shootReady); log.registerBoolean("Turret Tracked", subsystems.turret().tracked(this::aimParams)); log.registerBoolean("Shooter Tracked", subsystems.shooter().tracked(this::aimParams)); + log.registerBoolean("In Alliance Zone", () -> FieldUtils.inAllianceZone(robotPose())); - String aimPrefix = "Aim Params/"; - log.registerString(aimPrefix + "Status", () -> params.status.toString()); - log.registerMeasurement(aimPrefix + "Pitch", () -> params.pitch.getMeasure(), Degrees); - log.registerMeasurement(aimPrefix + "Yaw", () -> params.yaw.getMeasure(), Degrees); - log.registerDouble(aimPrefix + "Velocity", () -> params.output); - log.registerMeasurement(aimPrefix + "Error/Pitch", () -> params.deltaPitch.getMeasure(), - Degrees); - log.registerMeasurement(aimPrefix + "Error/Yaw", () -> params.deltaYaw.getMeasure(), Degrees); - log.registerDouble(aimPrefix + "Error/Velocity", () -> params.deltaOutput); - - aimPrefix = "Aim Params (Predicted)/"; - log.registerString(aimPrefix + "Status", () -> predictedParams.status.toString()); - log.registerMeasurement(aimPrefix + "Pitch", () -> predictedParams.pitch.getMeasure(), Degrees); - log.registerMeasurement(aimPrefix + "Yaw", () -> predictedParams.yaw.getMeasure(), Degrees); - log.registerDouble(aimPrefix + "Velocity", () -> predictedParams.output); - log.registerMeasurement(aimPrefix + "Error/Pitch", - () -> predictedParams.deltaPitch.getMeasure(), Degrees); - log.registerMeasurement(aimPrefix + "Error/Yaw", () -> predictedParams.deltaYaw.getMeasure(), - Degrees); - log.registerDouble(aimPrefix + "Error/Velocity", () -> predictedParams.deltaOutput); + OnboardLogger aimParamsLogger = new OnboardLogger("Robot/Aim Params"); + AimParams.setupLogging(aimParamsLogger, () -> params); + OnboardLogger predictedAimParamsLogger = new OnboardLogger("Robot/Aim Params (Predicted)"); + AimParams.setupLogging(predictedAimParamsLogger, () -> predictedParams); } + private ShootMode calculateWantedShootMode() { + boolean inAllianceZone = FieldUtils.inAllianceZone(robotPose()); + boolean auto = DriverStation.isAutonomous(); + + // Don't automatically feed in auto. Yet. + if (auto) { + return inAllianceZone ? ShootMode.Scoring : ShootMode.Donut; + } + + // If we're feeding, then all requirements have been met. We want to feed. + if (!inAllianceZone) { + return ShootMode.Feeding; + } + + double SHOT_TIME = 2.0; + boolean willBeActive = ActivityCalculator.is(ActivityCalculator.us()) + || ActivityCalculator.is(ActivityCalculator.other(), SHOT_TIME); + + return willBeActive ? ShootMode.Scoring : ShootMode.Donut; + } + + /** * Returns the robot's position on the field. */ @@ -73,41 +89,85 @@ public Transform2d robotVelocity() { return subsystems.drivetrain().robotVelocity(); } - public Pose3d aimTarget() { - if (FieldUtils.inAllianceZone(robotPose())) { - return FieldUtils.hub(); - } else { - return FieldUtils.feedTarget(); - } + public Trigger shooting() { + return subsystems.shooter().shooting; + } + + public Trigger shooting(ShootMode mode) { + return shooting().and(() -> wantedShootMode == mode); + } + + private Trigger initShootReady() { + final double SHOOTER_DEBOUNCE = 1.5; + final double TURRET_DEBOUNCE = 0.1; + final boolean FORCE_ODOMETRY = false; + + Trigger aimOk = new Trigger(() -> aimParams().isOk() && predictedAimParams().isOk()); + Trigger turretReady = subsystems.turret().tracked(this::aimParams).debounce(TURRET_DEBOUNCE, DebounceType.kFalling); + Trigger shooterReady = subsystems.shooter().tracked(this::aimParams).debounce(SHOOTER_DEBOUNCE, + DebounceType.kFalling); + Trigger validOdometry = subsystems.drivetrain().validOdemetry(); + return aimOk + .and(turretReady) + .and(shooterReady) + .and(validOdometry.or(() -> !FORCE_ODOMETRY)); } - public Trigger shootReady() { - return subsystems.turret().tracked(this::aimParams) - .and(subsystems.shooter().tracked(this::aimParams)) - .and(() -> params.isOk()); + public Trigger shouldAgitate() { + return shootReady; } public AimParams aimParams() { + if (wantedShootMode == ShootMode.Donut) { + params = AimParams.impossible(); + } + if (params.status == AimStatus.Unchecked) { - params = - AimConstants.kAim.update(aimTarget(), turretPose(), robotVelocity().getTranslation()); + Translation2d velocity = robotVelocity().getTranslation(); + Pose3d turret = turretPose(); + + params = switch (wantedShootMode) { + case Donut -> AimParams.impossible(); + case Scoring -> AimConstants.kAim.update(FieldUtils.hub(), turret, velocity); + case Feeding -> AimConstants.kAim.update(FieldUtils.feedTarget(robotPose()), turret, velocity); + }; } + return params; } public AimParams predictedAimParams() { - if (predictedParams.status == AimStatus.Unchecked) { - Pose2d predictedPose = subsystems.drivetrain().predictedRobotPose(); - predictedParams = - AimConstants.kAim.update(aimTarget(), subsystems.turret().turretPose(predictedPose), - subsystems.drivetrain().predictedRobotVelocity()); - } - return predictedParams; + // if (wantedShootMode == ShootMode.Donut) { + // predictedParams = AimParams.impossible(); + // } + + // if (predictedParams.status == AimStatus.Unchecked) { + // Pose2d predictedPose = subsystems.drivetrain().predictedRobotPose(); + // Translation2d predictedVelocity = subsystems.drivetrain().predictedRobotVelocity(); + // Pose3d predictedTurret = subsystems.turret().turretPose(predictedPose); + + // if (wantedShootMode == ShootMode.Scoring) { + // predictedParams = AimConstants.kAim.update(FieldUtils.hub(), predictedTurret, predictedVelocity); + // } else { + // predictedParams = AimConstants.kAim.update(FieldUtils.feedTarget(predictedPose), predictedTurret, predictedVelocity); + // } + // } + + return aimParams(); // For now, don't use predictions. } - public void periodic() { + public void update() { params = new AimParams(AimStatus.Unchecked); predictedParams = new AimParams(AimStatus.Unchecked); + + wantedShootMode = calculateWantedShootMode(); + + params = aimParams(); + predictedParams = predictedAimParams(); + } + + public Trigger climbing() { + return subsystems.climber().wants(ClimbPosition.Climbed); } public Trigger climbed() { @@ -118,4 +178,8 @@ public Pose3d turretPose() { return subsystems.turret().turretPose(robotPose()); } + public Trigger intaking() { + return subsystems.intake().intaking(); + } + } diff --git a/CompBot/src/main/java/frc/robot/superstructure/Superstructure.java b/CompBot/src/main/java/frc/robot/superstructure/Superstructure.java index bc632ba..1723175 100644 --- a/CompBot/src/main/java/frc/robot/superstructure/Superstructure.java +++ b/CompBot/src/main/java/frc/robot/superstructure/Superstructure.java @@ -1,29 +1,51 @@ package frc.robot.superstructure; +import java.util.List; import java.util.function.DoubleSupplier; +import java.util.function.Supplier; + +import com.pathplanner.lib.auto.AutoBuilder; + +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; -import frc.robot.Robot; import frc.robot.commands.CommandBuilder; +import frc.robot.generated.CompBotTunerConstants; import frc.robot.generated.TestBotTunerConstants; import frc.robot.subsystems.climber.Climber; import frc.robot.subsystems.climber.ClimberIOHardware; import frc.robot.subsystems.climber.ClimberIOSim; import frc.robot.subsystems.drivetrain.Drivetrain; +import frc.robot.subsystems.drivetrain.Drivetrain.TeleopDriveMode; import frc.robot.subsystems.indexer.Indexer; import frc.robot.subsystems.indexer.IndexerIOHardware; import frc.robot.subsystems.indexer.IndexerIOSim; import frc.robot.subsystems.intake.Intake; import frc.robot.subsystems.intake.IntakeIOHardware; import frc.robot.subsystems.intake.IntakeIOSim; +import frc.robot.subsystems.led.Led; +import frc.robot.subsystems.led.LedIO; import frc.robot.subsystems.shooter.Shooter; import frc.robot.subsystems.shooter.ShooterIOHardware; import frc.robot.subsystems.shooter.ShooterIOSim; import frc.robot.subsystems.turret.Turret; import frc.robot.subsystems.turret.TurretIOHardware; import frc.robot.subsystems.turret.TurretIOSim; +import frc.robot.superstructure.StateManager.ShootMode; +import frc.robot.util.RobotIdentifier; +import frc.robot.vision.CameraConfig; import frc.robot.vision.localization.AprilTagVisionHandler; +import frc.robot.vision.localization.LocalizationConstants; import frc.robot.vision.localization.TimestampedPoseEstimate; +/** + * This class is important + */ public class Superstructure { public record Subsystems( Drivetrain drivetrain, @@ -31,25 +53,67 @@ public record Subsystems( Shooter shooter, Indexer indexer, Intake intake, - Climber climber) { + Climber climber, + Led led) { } private final Subsystems subsystems; public final StateManager state; + private SendableChooser autoChooser = new SendableChooser<>(); + + @SuppressWarnings("unused") + private final Alert autonAlert = + new Alert("Robot not in configured starting pose for auton", AlertType.kWarning); + public Superstructure() { - Drivetrain drivetrain = TestBotTunerConstants.createDrivetrain(); - Turret turret = new Turret(Robot.isReal() ? new TurretIOHardware() : new TurretIOSim()); - Shooter shooter = new Shooter(Robot.isReal() ? new ShooterIOHardware() : new ShooterIOSim()); - Indexer indexer = new Indexer(Robot.isReal() ? new IndexerIOHardware() : new IndexerIOSim()); - Intake intake = new Intake(Robot.isReal() ? new IntakeIOHardware() : new IntakeIOSim()); - Climber climber = new Climber(Robot.isReal() ? new ClimberIOHardware() : new ClimberIOSim()); - subsystems = new Subsystems(drivetrain, turret, shooter, indexer, intake, climber); + subsystems = switch(RobotIdentifier.id()) { + case CompBot -> createCompBotSubsystems(); + case SimBot -> createSimBotSubsystems(); + case TestBot -> createTestBotSubsystems(); + }; state = new StateManager(subsystems); } - public void bindDrive(DoubleSupplier vx, DoubleSupplier vy, DoubleSupplier vrot) { - subsystems.drivetrain.setDefaultCommand(subsystems.drivetrain.teleopDrive(vx, vy, vrot)); + /** Creates subsystems initialized for real comp robot. */ + private Subsystems createCompBotSubsystems() { + Drivetrain drivetrain = CompBotTunerConstants.createDrivetrain(); + Turret turret = new Turret(new TurretIOHardware()); + Shooter shooter = new Shooter(new ShooterIOHardware()); + Indexer indexer = new Indexer(new IndexerIOHardware()); + Intake intake = new Intake(new IntakeIOHardware()); + Climber climber = new Climber(new ClimberIOSim()); + Led led = new Led(new LedIO()); + return new Subsystems(drivetrain, turret, shooter, indexer, intake, climber, led); + } + + /** Creates subsystems initialized for simulation robot */ + private Subsystems createSimBotSubsystems() { + Drivetrain drivetrain = CompBotTunerConstants.createDrivetrain(); + Turret turret = new Turret(new TurretIOSim()); + Shooter shooter = new Shooter(new ShooterIOSim()); + Indexer indexer = new Indexer(new IndexerIOSim()); + Intake intake = new Intake(new IntakeIOSim()); + Climber climber = new Climber(new ClimberIOSim()); + Led led = new Led(new LedIO()); + return new Subsystems(drivetrain, turret, shooter, indexer, intake, climber, led); + } + + /** Creates subsystems initialized for test bot */ + private Subsystems createTestBotSubsystems() { + Drivetrain drivetrain = TestBotTunerConstants.createDrivetrain(); + // Sim everything besides drivetrain and LEDs. + Turret turret = new Turret(new TurretIOSim()); + Shooter shooter = new Shooter(new ShooterIOSim()); + Indexer indexer = new Indexer(new IndexerIOSim()); + Intake intake = new Intake(new IntakeIOSim()); + Climber climber = new Climber(new ClimberIOSim()); + Led led = new Led(new LedIO()); + return new Subsystems(drivetrain, turret, shooter, indexer, intake, climber, led); + } + + public void bindDrive(DoubleSupplier vx, DoubleSupplier vy, DoubleSupplier vrot, Supplier mode) { + subsystems.drivetrain.setDefaultCommand(subsystems.drivetrain.teleopDrive(vx, vy, vrot, () -> state.shooting(ShootMode.Scoring).getAsBoolean() ? TeleopDriveMode.SlowFieldRelativeSpin : mode.get())); } /** @@ -71,7 +135,27 @@ public Command buildWithoutProxy(CommandBuilder builder) { } public AprilTagVisionHandler createAprilTagVisionHandler() { - return new AprilTagVisionHandler(this); + // These configs could be somewhere else. + List configs = List.of( + LocalizationConstants.kRegularBaseCameraConfig.cameraCopy( + "cam1", + () -> new Transform3d(-0.207, -0.318, 0.473, + new Rotation3d(Units.degreesToRadians(0.7), Units.degreesToRadians(-28.578), Units.degreesToRadians(-67.63)))), + LocalizationConstants.kRegularBaseCameraConfig.cameraCopy( + "cam2", + () -> new Transform3d(0.221, -0.262, 0.724, + new Rotation3d(0, Units.degreesToRadians(-30), Units.degreesToRadians(26.3)))), + LocalizationConstants.kRegularBaseCameraConfig.cameraCopy( + "cam3", + () -> new Transform3d(0.121, 0.271, 0.709, + new Rotation3d(0, Units.degreesToRadians(-5.1), Units.degreesToRadians(141.7)))), + LocalizationConstants.kRegularBaseCameraConfig.cameraCopy( + "cam4", + () -> new Transform3d(-0.315, 0.138, 0.438, + new Rotation3d(Units.degreesToRadians(-6.5), Units.degreesToRadians(-29.9), Units.degreesToRadians(-169)))) + ); + + return new AprilTagVisionHandler(this, configs); } public void addPoseEstimate(TimestampedPoseEstimate estimate) { @@ -79,7 +163,17 @@ public void addPoseEstimate(TimestampedPoseEstimate estimate) { } public void periodic() { - state.periodic(); - subsystems.turret.telemetrize(state); + state.update(); + subsystems.led().update(state); + // autonAlert.set(!AutonWarn.checkPose(getAutonomousCommand().getName(), state.robotPose())); + } + + public void createAutonChooser() { + autoChooser = AutoBuilder.buildAutoChooser(); // or use Autogen.autoChooser() for autogen. + SmartDashboard.putData("Auto Chooser", autoChooser); + } + + public Command getAutonomousCommand() { + return autoChooser.getSelected(); } } diff --git a/CompBot/src/main/java/frc/robot/util/ActivityCalculator.java b/CompBot/src/main/java/frc/robot/util/ActivityCalculator.java new file mode 100644 index 0000000..c3df508 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/util/ActivityCalculator.java @@ -0,0 +1,203 @@ +package frc.robot.util; + +import java.text.DecimalFormat; + +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj2.command.button.Trigger; + +public class ActivityCalculator { + + private static final DecimalFormat df = new DecimalFormat("#.00"); + + // We have to set default values + private static HubActivity winner = HubActivity.Blue; + private static HubActivity loser = HubActivity.Red; + + private static boolean failed = true; + + private static HubActivity teamHub; + + private static double end = Double.POSITIVE_INFINITY; + + private static final Alert noData = new Alert("FMS has not communicated the winner of auto", AlertType.kWarning); + + public enum HubActivity { + Red, Blue, Both; + } + + public record HubStatus(HubActivity active, double timeRemaining) { + + /** Returns a color-coded version of the current alliance hub */ + public String color(HubActivity only) { + if (only != active() && active() != HubActivity.Both) { + return "#322E47"; + } + String base = switch (active()) { + case Both -> "#73D966"; + case Blue -> "#5672C7"; + case Red -> "#D6365E"; + }; + String low = switch (active) { + case Both -> "#86A689"; + case Blue -> "#787E94"; + case Red -> "#823434"; + }; + return timeRemaining() <= 5 ? low : base; + } + + public String timeText() { + return df.format(timeRemaining()); + } + } + + private static HubStatus status = new HubStatus(HubActivity.Both, Double.POSITIVE_INFINITY); + + public static void readGameData() { + if (DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red) { + teamHub = HubActivity.Red; + } else { + teamHub = HubActivity.Blue; + } + + failed = false; + + String gameData = DriverStation.getGameSpecificMessage(); + if (gameData.length() == 0) { + DriverStation.reportError("No game data received", false); + // We have to give these variables values so that we don't get null pointer + // exception later. + winner = HubActivity.Blue; + loser = HubActivity.Red; + failed = true; + return; + } + + switch (gameData.toLowerCase().charAt(0)) { + case 'b': + winner = HubActivity.Blue; + loser = HubActivity.Red; + return; + case 'r': + winner = HubActivity.Red; + loser = HubActivity.Blue; + return; + default: + winner = HubActivity.Red; + loser = HubActivity.Blue; + failed = true; + DriverStation.reportError("Invalid data from the Driver Station: '" + gameData + "'", + false); + } + } + + public static boolean ok() { + return !failed; + } + + public static void startTimer() { + end = Timer.getTimestamp() + 140.0; // 140s in teleop + } + + public static void update() { + if (DriverStation.isAutonomous()) { + setStatus(HubActivity.Both, DriverStation.getMatchTime()); + return; + } + + noData.set(failed); + + if (failed || !DriverStation.isTeleopEnabled()) { + setStatus(HubActivity.Both, Double.POSITIVE_INFINITY); + return; + } + + // double matchTime = end - Timer.getTimestamp(); + double matchTime = DriverStation.getMatchTime(); + + boolean winnerActive = false; + double timeRemaining; + + if (matchTime > 130) { + // Transition shift + setStatus(HubActivity.Both, matchTime - 130.0); + return; + } else if (matchTime > 105) { + // First alliance shift + winnerActive = false; + timeRemaining = matchTime - 105; + } else if (matchTime > 80) { + // Second alliance shift + winnerActive = true; + timeRemaining = matchTime - 80; + } else if (matchTime > 55) { + // Third alliance shift + winnerActive = false; + timeRemaining = matchTime - 55; + } else if (matchTime > 30) { + // Fourth alliance shift + winnerActive = true; + timeRemaining = matchTime - 30; + } else { + // Endgame, match time IS time remaining. + setStatus(HubActivity.Both, matchTime); + return; + } + + HubActivity currentAlliance = (winnerActive) ? winner : loser; + setStatus(currentAlliance, timeRemaining); + } + + private static void setStatus(HubActivity active, double timeRemaining) { + status = new HubStatus(active, timeRemaining); + } + + public static boolean is(HubActivity active, double timeCutoff) { + return (status.active == active || status.active == HubActivity.Both || active == HubActivity.Both) + && status.timeRemaining <= timeCutoff; + } + + public static boolean is(HubActivity active) { + return is(active, Double.POSITIVE_INFINITY); + } + + /** + * Returns a trigger that is true when the given hub status is active AND the + * time remaining for + * that status is less than the provided time remaining. + * + * @param active The active hub + * @param timeCutoff The time until the status changes + */ + public static Trigger when(HubActivity active, double timeCutoff) { + return new Trigger(() -> is(active, timeCutoff)); + } + + public static Trigger when(HubActivity active) { + return when(active, Double.POSITIVE_INFINITY); + } + + public static HubActivity us() { + return teamHub; + } + + public static HubActivity other() { + return teamHub == HubActivity.Blue ? HubActivity.Red : HubActivity.Blue; + } + + /** Returns the last cached hub status. Only calls to {@code update()} will actually change this value. */ + public static HubStatus status() { + return status; + } + + public static void startLogging() { + OnboardLogger logger = new OnboardLogger("Hub"); + logger.registerString("Status", () -> status.active().toString()); + logger.registerBoolean("Enabled", () -> is(us())); + logger.registerDouble("Time Remaining", () -> status.timeRemaining()); + logger.registerBoolean("Valid DS Data", () -> !failed); + } +} diff --git a/CompBot/src/main/java/frc/robot/util/AutonWarn.java b/CompBot/src/main/java/frc/robot/util/AutonWarn.java new file mode 100644 index 0000000..0a359cf --- /dev/null +++ b/CompBot/src/main/java/frc/robot/util/AutonWarn.java @@ -0,0 +1,22 @@ +package frc.robot.util; + +import java.util.Optional; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Transform2d; +import frc.autogen.Autogen; + +public class AutonWarn { + public static final double TRANSLATION_ERROR = 0.5; // meters + public static final double ROTATION_ERROR = 0.1; // rotations + + public static boolean checkPose(String autoName, Pose2d robotPose) { + Optional start = Autogen.getStartingPose(autoName); + if (start.isEmpty()) { + return false; + } + Transform2d offset = FieldUtils.allianceRelativeFlip(robotPose).minus(start.get()); + double xyError = offset.getTranslation().getNorm(); + double rotError = Math.abs(offset.getRotation().getRotations()); + return (xyError <= TRANSLATION_ERROR) && (rotError <= ROTATION_ERROR); + } +} diff --git a/CompBot/src/main/java/frc/robot/util/FieldUtils.java b/CompBot/src/main/java/frc/robot/util/FieldUtils.java index 719e850..8d00202 100644 --- a/CompBot/src/main/java/frc/robot/util/FieldUtils.java +++ b/CompBot/src/main/java/frc/robot/util/FieldUtils.java @@ -1,6 +1,9 @@ package frc.robot.util; import static edu.wpi.first.units.Units.Meters; + +import com.therekrab.autopilot.APTarget; + import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; @@ -14,8 +17,11 @@ * something on the field */ public class FieldUtils { - private static Pose3d allianceRelativeFlip(Pose3d pose) { - if (DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Red)) { + private static boolean shouldFlip() { + return DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Red); + } + public static Pose3d allianceRelativeFlip(Pose3d pose) { + if (shouldFlip()) { return new Pose3d( FieldConstants.kFieldLength.minus(pose.getMeasureX()), FieldConstants.kFieldWidth.minus(pose.getMeasureY()), @@ -26,10 +32,17 @@ private static Pose3d allianceRelativeFlip(Pose3d pose) { } } - private static Pose2d allianceRelativeFlip(Pose2d pose) { + public static Pose2d allianceRelativeFlip(Pose2d pose) { return allianceRelativeFlip(new Pose3d(pose)).toPose2d(); } + public static Rotation2d allianceRelativeFlip(Rotation2d rotation) { + if (shouldFlip()) { + return Rotation2d.k180deg.plus(rotation); + } + return rotation; + } + /** Returns the position of the hub corresponding to the currently selected alliance */ public static Pose3d hub() { return allianceRelativeFlip(FieldConstants.kBlueHub); @@ -40,7 +53,17 @@ public static boolean inAllianceZone(Pose2d robot) { return local.getX() <= FieldConstants.kAllianceZoneLength.in(Meters); } - public static Pose3d feedTarget() { - return allianceRelativeFlip(FieldConstants.kFeedTarget); + public static Pose3d feedTarget(Pose2d robotPose) { + return new Pose3d(allianceRelativeFlip(allianceRelativeFlip(robotPose).nearest(FieldConstants.kFeedTargets))); + } + + public static APTarget targetFlip(APTarget original) { + APTarget adjusted = original.withReference(allianceRelativeFlip(original.getReference())); + if (original.getEntryAngle().isEmpty()) { + return adjusted; + } + adjusted = adjusted.withEntryAngle(allianceRelativeFlip(original.getEntryAngle().get())); + System.out.println(adjusted.getEntryAngle().get().toString()); + return adjusted; } } diff --git a/CompBot/src/main/java/frc/robot/util/RobotIdentifier.java b/CompBot/src/main/java/frc/robot/util/RobotIdentifier.java new file mode 100644 index 0000000..7932f2e --- /dev/null +++ b/CompBot/src/main/java/frc/robot/util/RobotIdentifier.java @@ -0,0 +1,54 @@ +package frc.robot.util; + +import java.io.File; +import java.util.Optional; + +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.Alert.AlertType; +import frc.robot.Robot; + +/** A class to identify the robot on which the current code is running. */ +public class RobotIdentifier { + + /** The robot that this code is currently running on. */ + public enum RobotId { + /** Competition robot (default) */ + CompBot, + /** Test robot */ + TestBot, + /** Simulation robot */ + SimBot; + } + + private static final Alert MODE_ALERT = new Alert("You are running a robot without known hardware", AlertType.kError); + + private static Optional robotId = Optional.empty(); + + public static RobotId id() { + if (robotId.isEmpty()) { + robotId = Optional.of(calculateRobotId()); + } + return robotId.get(); + } + + private static final String TESTBOT_BREADCRUMB_PATH = "/etc/testbot"; + + + private static final RobotId calculateRobotId() { + if (Robot.isSimulation()) { + return RobotId.SimBot; + } + + File breadcrumb = new File(TESTBOT_BREADCRUMB_PATH); + return breadcrumb.exists() ? RobotId.TestBot : RobotId.CompBot; + } + + public static void processRobotId() { + if (id() == RobotId.TestBot) { + MODE_ALERT.setText("Running TESTBOT code! If you are running this on a competition robot, please delete the file at " + TESTBOT_BREADCRUMB_PATH); + } else { + MODE_ALERT.setText("Running: " + id().toString()); + } + MODE_ALERT.set(true); + } +} diff --git a/CompBot/src/main/java/frc/robot/util/RumbleUtil.java b/CompBot/src/main/java/frc/robot/util/RumbleUtil.java new file mode 100644 index 0000000..2b14b93 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/util/RumbleUtil.java @@ -0,0 +1,48 @@ +package frc.robot.util; + +import edu.wpi.first.wpilibj.GenericHID.RumbleType; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandGenericHID; + +public class RumbleUtil { + + private static final RumbleType BOTH = RumbleType.kBothRumble; + + private static final double ALERT_ON = 0.15; + private static final double ALERT_OFF = 0.25; + + /** + * Constant, labelled strengths for the controller. This is better than passing + * around raw doubles everywhere because this ensure the data makes sense and + * reads declaratively. + */ + public enum RumbleStrength { + Low(0.15), + Medium(0.6), + High(1.0); + + protected final double output; + + private RumbleStrength(double output) { + this.output = output; + } + } + + public static Command rumble(CommandGenericHID controller, RumbleStrength strength) { + return Commands.sequence( + Commands.runOnce(() -> controller.setRumble(BOTH, strength.output)), + Commands.idle()) + + .finallyDo(() -> controller.setRumble(BOTH, 0)) + .ignoringDisable(true); + } + + public static Command alert(CommandGenericHID controller, RumbleStrength strength) { + return Commands.repeatingSequence( + rumble(controller, strength).withTimeout(ALERT_ON), + Commands.waitSeconds(ALERT_OFF) + ) + .ignoringDisable(true); + } +} diff --git a/CompBot/src/main/java/frc/robot/util/StatusSignalUtil.java b/CompBot/src/main/java/frc/robot/util/StatusSignalUtil.java index 895eb2e..37455dd 100644 --- a/CompBot/src/main/java/frc/robot/util/StatusSignalUtil.java +++ b/CompBot/src/main/java/frc/robot/util/StatusSignalUtil.java @@ -3,6 +3,7 @@ import java.util.ArrayList; import java.util.List; import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.CANBus; import com.ctre.phoenix6.StatusSignal; /** @@ -14,6 +15,9 @@ public class StatusSignalUtil { private static List rioSignals = new ArrayList<>(); private static List canivoreSignals = new ArrayList<>(); + public static final CANBus canivore = new CANBus("CANivore"); + public static final CANBus rio = CANBus.roboRIO(); + public static void registerRioSignals(StatusSignal... signals) { for (StatusSignal signal : signals) { rioSignals.add(signal); @@ -27,8 +31,12 @@ public static void registerCANivoreSignals(StatusSignal... signals) { } public static void refreshAll() { - if (!rioSignals.isEmpty()) BaseStatusSignal.refreshAll(rioSignals); - if (!canivoreSignals.isEmpty()) BaseStatusSignal.refreshAll(canivoreSignals); + if (!rioSignals.isEmpty()) { + BaseStatusSignal.refreshAll(rioSignals); + } + if (!canivoreSignals.isEmpty()) { + BaseStatusSignal.refreshAll(canivoreSignals); + } } } diff --git a/CompBot/src/main/java/frc/robot/vision/CameraConfig.java b/CompBot/src/main/java/frc/robot/vision/CameraConfig.java new file mode 100644 index 0000000..d102639 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/vision/CameraConfig.java @@ -0,0 +1,51 @@ +package frc.robot.vision; + +import java.util.function.Supplier; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.units.measure.Angle; + +/** + * A class representing the physical and software configuration of the camera. + * + * @param cameraName The name of the camera. + * @param resolutionHeight The vertical resolution of the camera, in pixels + * @param resolutionWidth The horizontal resolution of the camera, in pixels + * @param fov The diagonal field of view of the camera + * @param fovHorizontal The horizontal field of view of the camera + * @param robotToCamera A supplier which returns the robot-relative position of the camera, in NWU + * coordinates Please also note that pitch is negative. + * @param trust The trust parameters for this camera + */ +public record CameraConfig( + String cameraName, + int resolutionHeight, + int resolutionWidth, + Angle fov, + Angle fovHorizontal, + Supplier robotToCamera, + CameraTrustConfig trust) { + + /** Returns a deep copy of this camera config */ + public CameraConfig copy() { + return new CameraConfig( + cameraName, + resolutionHeight, + resolutionWidth, + fov, + fovHorizontal, + robotToCamera, + trust.copy()); + } + + /** Returns a modified deep copy of this camera config */ + public CameraConfig cameraCopy(String cameraName, Supplier robotToCamera) { + return new CameraConfig( + cameraName, + resolutionHeight, + resolutionWidth, + fov, + fovHorizontal, + robotToCamera, + trust.copy()); + } +} diff --git a/CompBot/src/main/java/frc/robot/vision/CameraIO.java b/CompBot/src/main/java/frc/robot/vision/CameraIO.java index 4348df6..76dbd99 100644 --- a/CompBot/src/main/java/frc/robot/vision/CameraIO.java +++ b/CompBot/src/main/java/frc/robot/vision/CameraIO.java @@ -11,4 +11,4 @@ public class CameraIOInputs { public boolean connected = true; public List unreadResults = new ArrayList<>(); } -} \ No newline at end of file +} diff --git a/CompBot/src/main/java/frc/robot/vision/CameraIOHardware.java b/CompBot/src/main/java/frc/robot/vision/CameraIOHardware.java index ac31a47..7ecd9ce 100644 --- a/CompBot/src/main/java/frc/robot/vision/CameraIOHardware.java +++ b/CompBot/src/main/java/frc/robot/vision/CameraIOHardware.java @@ -4,19 +4,13 @@ public class CameraIOHardware implements CameraIO { private final PhotonCamera camera; - private final String name; - public CameraIOHardware(String name) { - camera = new PhotonCamera(name); - this.name = name; + public CameraIOHardware(CameraConfig config) { + camera = new PhotonCamera(config.cameraName()); } public void updateInputs(CameraIOInputs inputs) { inputs.connected = camera.isConnected(); inputs.unreadResults = camera.getAllUnreadResults(); } - - public String getName() { - return name; - } -} \ No newline at end of file +} diff --git a/CompBot/src/main/java/frc/robot/vision/CameraTrustConfig.java b/CompBot/src/main/java/frc/robot/vision/CameraTrustConfig.java new file mode 100644 index 0000000..da7fe26 --- /dev/null +++ b/CompBot/src/main/java/frc/robot/vision/CameraTrustConfig.java @@ -0,0 +1,68 @@ +package frc.robot.vision; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; + +/** + * A class reprenting the trustworthi-ness of a camera + * + * @param baseStdDevs The base standard deviation matrix for this camera's pose estimates. This is + * basically the "baseline" for how much we trust the camera. + * @param latencyThreshold The minimum latency that we'll accept from this camera, in seconds + * @param latencyMultiplier The additional standard deviations per ms of latency. + * @param fieldXYMargin The maximum horrizontal distance to the edge of the field for which a pose + * estimate can be to be considered "valid". + * @param fieldZMargin The maximum vertical distance above the field that a pose estimate can be to + * be considered "valid". + * @param noisyDistance The average tag distance after which we begin to add extra standard devs. + * @param distanceMultiplier The additional standard deviations per meter of average distance to the + * tags above the noisy distance. + * @param distanceMax The maximum average target distance we'll even consider. + * @param ambiguityThreshold The maximum ambiguity acceptable. + * @param ambiguityMultiplier The additional standard deviations per unit of ambiguity the camera + * reads. + * @param ambiguityShifter This value is added to the measured ambiguity after multiplying it by the + * ambiguity multiplier. + * @param targetDivisor The per-tag divisor for standard deviations. More tags => lower std devs => + * more trust. + * @param differenceThreshold The minimum difference between a new estimated pose and the most + * recently reported pose. + * @param differenceMultiplier The additional standard deviations per meter of distance between the + * new pose estimate and the most recently accepted robot pose. + */ +public record CameraTrustConfig( + Matrix baseStdDevs, + double latencyThreshold, + double latencyMultiplier, + double fieldXYMargin, + double fieldZMargin, + double noisyDistance, + double distanceMultiplier, + double distanceMax, + double ambiguityThreshold, + double ambiguityMultiplier, + double ambiguityShifter, + double targetDivisor, + double differenceThreshold, + double differenceMultiplier) { + + /** Returns a deep copy of this camera trust config */ + public CameraTrustConfig copy() { + return new CameraTrustConfig( + baseStdDevs.copy(), + latencyThreshold, + latencyMultiplier, + fieldXYMargin, + fieldZMargin, + noisyDistance, + distanceMultiplier, + distanceMax, + ambiguityThreshold, + ambiguityMultiplier, + ambiguityShifter, + targetDivisor, + differenceThreshold, + differenceMultiplier); + } +} diff --git a/CompBot/src/main/java/frc/robot/vision/localization/AprilTagVisionHandler.java b/CompBot/src/main/java/frc/robot/vision/localization/AprilTagVisionHandler.java index 291d5fa..3b8cdbc 100644 --- a/CompBot/src/main/java/frc/robot/vision/localization/AprilTagVisionHandler.java +++ b/CompBot/src/main/java/frc/robot/vision/localization/AprilTagVisionHandler.java @@ -2,16 +2,13 @@ import java.util.ArrayList; import java.util.List; -import java.util.Map; - import org.slf4j.Logger; import org.slf4j.LoggerFactory; - -import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Notifier; import frc.robot.Robot; import frc.robot.superstructure.Superstructure; +import frc.robot.vision.CameraConfig; import frc.robot.vision.CameraIO; import frc.robot.vision.CameraIOHardware; @@ -25,29 +22,26 @@ public class AprilTagVisionHandler implements AutoCloseable { private final Superstructure superstructure; - public AprilTagVisionHandler(Superstructure superstructure) { + public AprilTagVisionHandler(Superstructure superstructure, List configs) { this.superstructure = superstructure; m_filter = new MultiInputFilter(); - setupCameras(); + setupCameras(configs); m_notifier = new Notifier(this::updateEstimators); } - private void setupCameras() { - for (Map.Entry entry : LocalizationConstants.kCameras.entrySet()) { - String cameraName = entry.getKey(); - Transform3d robotToCamera = entry.getValue(); + private void setupCameras(List configs ) { + for (CameraConfig config: configs) { CameraIO io; if (Robot.isSimulation()) { - io = new CameraIOAprilTagSim(cameraName, robotToCamera, superstructure.state::robotPose); + io = new CameraIOAprilTagSim(config, superstructure.state::robotPose); } else { - io = new CameraIOHardware(cameraName); + io = new CameraIOHardware(config); } SingleInputPoseEstimator estimator = new SingleInputPoseEstimator( superstructure, m_filter, io, - cameraName, - robotToCamera, + config, this::addEstimate); m_estimators.add(estimator); } diff --git a/CompBot/src/main/java/frc/robot/vision/localization/CameraIOAprilTagSim.java b/CompBot/src/main/java/frc/robot/vision/localization/CameraIOAprilTagSim.java index bf1dd46..eeb8f75 100644 --- a/CompBot/src/main/java/frc/robot/vision/localization/CameraIOAprilTagSim.java +++ b/CompBot/src/main/java/frc/robot/vision/localization/CameraIOAprilTagSim.java @@ -1,73 +1,61 @@ package frc.robot.vision.localization; import static edu.wpi.first.units.Units.Milliseconds; - import java.util.function.Supplier; - import org.photonvision.PhotonCamera; import org.photonvision.simulation.PhotonCameraSim; import org.photonvision.simulation.SimCameraProperties; import org.photonvision.simulation.VisionSystemSim; - import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.smartdashboard.Field2d; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.FieldManager; +import frc.robot.vision.CameraConfig; import frc.robot.vision.CameraIO; public class CameraIOAprilTagSim implements CameraIO { - private static boolean setupComplete; - private static final VisionSystemSim simSystem = new VisionSystemSim("localization"); private static final SimCameraProperties simProps = new SimCameraProperties(); private static final Field2d simField = simSystem.getDebugField(); - private final PhotonCamera m_camera; - private final PhotonCameraSim m_cameraSim; - private final Transform3d m_robotToCamera; + private final PhotonCamera camera; + private final PhotonCameraSim cameraSim; - private final Supplier m_poseSupplier; + private final Supplier poseSupplier; - private final String m_name; + private final CameraConfig config; - public CameraIOAprilTagSim(String name, Transform3d robotToCamera, Supplier poseSupplier) { + public CameraIOAprilTagSim(CameraConfig config, Supplier poseSupplier) { + FieldManager.getInstance().setField(simField); + this.config = config; setupSimProps(); - m_name = name; - m_poseSupplier = poseSupplier; - m_camera = new PhotonCamera(name); - m_robotToCamera = robotToCamera; - m_cameraSim = new PhotonCameraSim(m_camera, simProps); - // m_cameraSim.enableDrawWireframe(true); - simSystem.addCamera(m_cameraSim, m_robotToCamera); - SmartDashboard.putBoolean("Vision/" + m_name + " connected", true); + this.poseSupplier = poseSupplier; + camera = new PhotonCamera(config.cameraName()); + cameraSim = new PhotonCameraSim(camera, simProps); + cameraSim.enableDrawWireframe(true); + simSystem.addCamera(cameraSim, config.robotToCamera().get()); + // SmartDashboard.putBoolean("Vision/" + config.cameraName() + " connected", true); } public void updateInputs(CameraIOInputs inputs) { - inputs.connected = SmartDashboard.getBoolean("Vision/" + m_name + " connected", true); - simSystem.update(m_poseSupplier.get()); - inputs.unreadResults = m_camera.getAllUnreadResults(); - } - - public String getName() { - return m_camera.getName(); + simSystem.adjustCamera(cameraSim, config.robotToCamera().get()); + inputs.connected = + SmartDashboard.getBoolean("Vision/" + config.cameraName() + " connected", true); + simSystem.update(poseSupplier.get()); + inputs.unreadResults = camera.getAllUnreadResults(); } - private static void setupSimProps() { - if (setupComplete) { - return; - } - setupComplete = true; + private void setupSimProps() { simSystem.addAprilTags(LocalizationConstants.kTagLayout); simProps.setCalibration( - LocalizationConstants.kResWidth, - LocalizationConstants.kResHeight, - LocalizationConstants.kFOV); + config.resolutionWidth(), + config.resolutionHeight(), + new Rotation2d(config.fov())); simProps.setAvgLatencyMs(LocalizationConstants.kAvgLatency.in(Milliseconds)); simProps.setLatencyStdDevMs(LocalizationConstants.kLatencyStdDev.in(Milliseconds)); simProps.setCalibError(LocalizationConstants.kAvgErr, LocalizationConstants.kErrStdDevs); - FieldManager.getInstance().setField(simField); } } diff --git a/CompBot/src/main/java/frc/robot/vision/localization/LocalizationConstants.java b/CompBot/src/main/java/frc/robot/vision/localization/LocalizationConstants.java index 3f67ac1..ec61914 100644 --- a/CompBot/src/main/java/frc/robot/vision/localization/LocalizationConstants.java +++ b/CompBot/src/main/java/frc/robot/vision/localization/LocalizationConstants.java @@ -1,29 +1,43 @@ package frc.robot.vision.localization; +import static edu.wpi.first.units.Units.Degrees; import static edu.wpi.first.units.Units.Meters; import static edu.wpi.first.units.Units.Milliseconds; - -import java.util.Map; import java.util.Set; - import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.apriltag.AprilTagFields; import edu.wpi.first.math.VecBuilder; -import edu.wpi.first.math.Vector; -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.numbers.N3; import edu.wpi.first.math.util.Units; import edu.wpi.first.units.measure.Distance; import edu.wpi.first.units.measure.Time; +import frc.robot.vision.CameraConfig; +import frc.robot.vision.CameraTrustConfig; public class LocalizationConstants { - protected static final double kRotationCoefficient = Math.PI * 0.5; - protected static final double kTranslationCoefficient = 0.06; - - protected static final Vector kBaseStdDevs = - VecBuilder.fill(kTranslationCoefficient, kTranslationCoefficient, kRotationCoefficient); + public static final CameraConfig kRegularBaseCameraConfig = new CameraConfig( + "", // Name + 480, // Resolution height + 640, // Resolution width + Degrees.of(92), // Diagonal FOV + Degrees.of(77.4), // Horizontal FOV + () -> Transform3d.kZero, // Pose supplier + new CameraTrustConfig( + VecBuilder.fill(0.3, 0.3, 0.3), // Base std devs + 0.75, // Latency threshold + 1.3, // Latency multiplier + 2.5, // Field XY margin + 1.5, // Field Z margin + 0.8, // Noisy distance + 70.0, // Distance multiplier + 6.5, // Distance max + 0.2, // Ambiguity threshold + 5, // Ambiguity multiplier + 0.2, // Ambiguity shifter + 80, // Target divisor + 0.1, // Difference threshold + 20)); // Difference multiplier protected static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded); @@ -31,37 +45,6 @@ public class LocalizationConstants { protected static final String kEstimationName = "estimation"; protected static final String kRejectName = "rejected"; - private static final double kCameraHeight = 0.190; - private static final double kHorizontalOffset = 0.25; // meters - private static final double kLowPitch = Units.degreesToRadians(-15); - private static final double kHighPitch = Units.degreesToRadians(-35); - - private static final double yawOffset = 45; - - public static Map kCameras = Map.ofEntries( - Map.entry("cam1", new Transform3d(kHorizontalOffset, kHorizontalOffset, kCameraHeight, new Rotation3d(0, kLowPitch, Units.degreesToRadians(-90 + yawOffset)))), - Map.entry("cam2", new Transform3d(kHorizontalOffset, kHorizontalOffset, kCameraHeight, new Rotation3d(0, kHighPitch, Units.degreesToRadians(180-yawOffset)))), - Map.entry("cam3", new Transform3d(-kHorizontalOffset, kHorizontalOffset, kCameraHeight, new Rotation3d(0, kLowPitch, Units.degreesToRadians(yawOffset)))), - Map.entry("cam4", new Transform3d(-kHorizontalOffset, kHorizontalOffset, kCameraHeight, new Rotation3d(0, kHighPitch, Units.degreesToRadians(-180+yawOffset)))), - Map.entry("cam5", new Transform3d(-kHorizontalOffset, -kHorizontalOffset, kCameraHeight, new Rotation3d(0, kLowPitch, Units.degreesToRadians(180-yawOffset)))), - Map.entry("cam6", new Transform3d(-kHorizontalOffset, -kHorizontalOffset, kCameraHeight, new Rotation3d(0, kHighPitch, Units.degreesToRadians(-90+yawOffset)))), - Map.entry("cam7", new Transform3d(kHorizontalOffset, -kHorizontalOffset, kCameraHeight, new Rotation3d(0, kLowPitch, Units.degreesToRadians(-180+yawOffset)))), - Map.entry("cam8", new Transform3d(kHorizontalOffset, -kHorizontalOffset, kCameraHeight, new Rotation3d(0, kHighPitch, Units.degreesToRadians(yawOffset)))), - Map.entry("turretCam", new Transform3d(0, 0, 0.572, new Rotation3d(0, 0, 0))), - Map.entry("turretCamUp", new Transform3d(0, 0, 0.572, new Rotation3d(0, Units.degreesToRadians(-15), 0))), - Map.entry("turretCamHighUp", new Transform3d(0, 0, 0.572, new Rotation3d(0, Units.degreesToRadians(-30), 0))), // Best one to use for turret MIN - Map.entry("turretCamVeryHighUp", new Transform3d(0, 0, 0.572, new Rotation3d(0, Units.degreesToRadians(-45), 0))) // Best one to use for turret MAX - /* Map.entry("turretCam2", new Transform3d(0, 0, 0.65, new Rotation3d(0, 0, 0))), - Map.entry("turretCamUp2", new Transform3d(0, 0, 0.65, new Rotation3d(0, Units.degreesToRadians(-15), 0))), - Map.entry("turretCamHighUp2", new Transform3d(0, 0, 0.65, new Rotation3d(0, Units.degreesToRadians(-30), 0))), - Map.entry("turretCamVeryHighUp2", new Transform3d(0, 0, 0.65, new Rotation3d(0, Units.degreesToRadians(-45), 0))), - Map.entry("turretCam3", new Transform3d(0, 0, 0.762, new Rotation3d(0, 0, 0))), - Map.entry("turretCamUp3", new Transform3d(0, 0, 0.762, new Rotation3d(0, Units.degreesToRadians(-15), 0))), - Map.entry("turretCamHighUp3", new Transform3d(0, 0, 0.762, new Rotation3d(0, Units.degreesToRadians(-30), 0))), - Map.entry("turretCamVeryHighUp3", new Transform3d(0, 0, 0.762, new Rotation3d(0, Units.degreesToRadians(-45), 0))) */ - ); - - /** The tick time for each pose estimator to run */ protected static final double kPeriodic = 0.02; /** The maximum tolerated latency, in seconds. */ @@ -87,9 +70,7 @@ public class LocalizationConstants { // Stats about the camera for simulation protected static final int kResWidth = 640; - protected static final int kResHeight = 380; - protected static final Rotation2d kFOV = Rotation2d.fromDegrees(92.0); - protected static final Rotation2d kHorizontalFov = Rotation2d.fromDegrees(77.4); + protected static final int kResHeight = 480; // Simulated error: protected static final Time kAvgLatency = Milliseconds.of(18); @@ -97,11 +78,15 @@ public class LocalizationConstants { protected static final double kAvgErr = 0.08; protected static final double kErrStdDevs = 0.02; - public static final boolean kEnableTagFilter = true; + public static final boolean kEnableTagFilter = false; + + protected static final Set kApprovedTagIds = Set.of(2, 3, 4, 5, 8, 9, 10, 11); + + public static final Transform3d kTurretAoRToTurretCameraOffset = + new Transform3d(0.064, -0.02, 0.038, new Rotation3d(0, Units.degreesToRadians(-30), 0)); + + /** Maximum time since last pose estimate for odometry to be considered valid */ + public static final double kValidOdometryCutoff = 0.5; - protected static final Set kApprovedTagIds = Set.of( - 6, 7, 8, 9, 10, 11, // red reef tags - 17, 18, 19, 20, 21, 22, // blue reef tags - 3, 16 // processor tags are okay as well. - ); + public static final boolean kUsePnPDistanceTrigSolve = false; } diff --git a/CompBot/src/main/java/frc/robot/vision/localization/MultiInputFilter.java b/CompBot/src/main/java/frc/robot/vision/localization/MultiInputFilter.java index 99ef1e9..4313d8a 100644 --- a/CompBot/src/main/java/frc/robot/vision/localization/MultiInputFilter.java +++ b/CompBot/src/main/java/frc/robot/vision/localization/MultiInputFilter.java @@ -1,5 +1,6 @@ package frc.robot.vision.localization; +import static edu.wpi.first.units.Units.Radians; import java.util.HashMap; import java.util.HashSet; import java.util.Map.Entry; @@ -12,17 +13,20 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Transform3d; +import frc.robot.vision.CameraConfig; public class MultiInputFilter { + @SuppressWarnings("unused") private final Logger m_logger = LoggerFactory.getLogger(MultiInputFilter.class); - private HashMap> m_tags = new HashMap<>(); + private HashMap> m_tags = new HashMap<>(); + /** * Returns whether a camera at the source is able to "see" the tag with the specified ID, using * the known camera horizontal field of view. */ - private boolean verifyTarget(Pose2d source, int tag) { + private boolean verifyTarget(Pose2d source, int tag, double fovHorizontal) { Optional tagPose = LocalizationConstants.kTagLayout.getTagPose(tag); if (tagPose.isEmpty()) { return false; @@ -33,7 +37,7 @@ private boolean verifyTarget(Pose2d source, int tag) { Rotation2d sourceAngle = new Rotation2d(sourceRelative.getX(), sourceRelative.getY()); Rotation2d tagAngle = new Rotation2d(tagRelative.getX(), tagRelative.getY()); boolean sourceAngleOk = - Math.abs(sourceAngle.getRadians()) <= LocalizationConstants.kHorizontalFov.getRadians() / 2.0; + Math.abs(sourceAngle.getRadians()) <= fovHorizontal / 2.0; boolean tagAngleOk = Math.abs(tagAngle.getRadians()) <= Math.PI / 2.0; return sourceAngleOk && tagAngleOk; } @@ -41,20 +45,20 @@ private boolean verifyTarget(Pose2d source, int tag) { /** * Returns whether all targets provided COULD be seen with this camera */ - private boolean verifyTargets(Pose2d source, Set targets) { + private boolean verifyTargets(Pose2d source, Set targets, double fovHorizontal) { for (int target : targets) { - if (!verifyTarget(source, target)) { + if (!verifyTarget(source, target, fovHorizontal)) { return false; } } return true; } - public void addInput(String source, Set tags) { - if (!m_tags.containsKey(source)) { - m_tags.put(source, new HashSet<>()); + public void addInput(CameraConfig config, Set tags) { + if (!m_tags.containsKey(config)) { + m_tags.put(config, new HashSet<>()); } - Set visible = m_tags.get(source); + Set visible = m_tags.get(config); visible.addAll(tags); } @@ -63,20 +67,16 @@ public void clear() { } public boolean verify(Pose2d estimate) { - for (Entry> entry : m_tags.entrySet()) { - String sourceName = entry.getKey(); + for (Entry> entry : m_tags.entrySet()) { + CameraConfig sourceConfig = entry.getKey(); Set tags = entry.getValue(); - if (!LocalizationConstants.kCameras.containsKey(sourceName)) { - m_logger.warn("Detected target not on field layout, ignoring"); - continue; - } - Transform3d offset = LocalizationConstants.kCameras.get(sourceName); + Transform3d offset = sourceConfig.robotToCamera().get(); Transform2d offset2d = new Transform2d( offset.getX(), offset.getY(), offset.getRotation().toRotation2d()); Pose2d source = estimate.plus(offset2d); - if (!verifyTargets(source, tags)) { + if (!verifyTargets(source, tags, sourceConfig.fovHorizontal().in(Radians))) { return false; } } @@ -84,4 +84,4 @@ public boolean verify(Pose2d estimate) { return true; } -} \ No newline at end of file +} diff --git a/CompBot/src/main/java/frc/robot/vision/localization/SingleInputPoseEstimator.java b/CompBot/src/main/java/frc/robot/vision/localization/SingleInputPoseEstimator.java index b52b155..53bc3fc 100644 --- a/CompBot/src/main/java/frc/robot/vision/localization/SingleInputPoseEstimator.java +++ b/CompBot/src/main/java/frc/robot/vision/localization/SingleInputPoseEstimator.java @@ -15,8 +15,7 @@ import org.slf4j.Logger; import org.slf4j.LoggerFactory; -import com.ctre.phoenix6.Utils; - +import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; @@ -27,8 +26,11 @@ import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Alert.AlertType; import edu.wpi.first.wpilibj.RobotController; +import edu.wpi.first.wpilibj.Timer; +import frc.robot.FieldManager; import frc.robot.Constants.FieldConstants; import frc.robot.superstructure.Superstructure; +import frc.robot.vision.CameraConfig; import frc.robot.vision.CameraIO; import frc.robot.vision.CameraIO.CameraIOInputs; @@ -48,26 +50,23 @@ public class SingleInputPoseEstimator implements Runnable { private final Alert disconnectedAlert; - private final String name; - private final Transform3d robotToCamera; + private final CameraConfig config; public SingleInputPoseEstimator( Superstructure superstructure, MultiInputFilter filter, CameraIO io, - String name, - Transform3d robotToCamera, + CameraConfig config, Consumer updateCallback) { this.superstructure = superstructure; this.io = io; - this.name = name; + this.config = config; inputs = new CameraIOInputs(); reporter = updateCallback; - this.robotToCamera = robotToCamera; this.filter = filter; disconnectedAlert = - new Alert("Vision/Camera Status", name + " disconnected", AlertType.kError); - estimator = new PhotonPoseEstimator(LocalizationConstants.kTagLayout,robotToCamera); + new Alert("Vision/Camera Status", config.cameraName() + " disconnected", AlertType.kError); + estimator = new PhotonPoseEstimator(LocalizationConstants.kTagLayout, robotToCamera()); } public void refresh(Pose2d robotPose) { @@ -81,7 +80,7 @@ public void refresh(Pose2d robotPose) { Set tags = result.getTargets().stream() .map(target -> target.getFiducialId()) .collect(Collectors.toSet()); - filter.addInput(name, tags); + filter.addInput(config, tags); } } @@ -95,12 +94,15 @@ public void run() { estimator.addHeadingData( RobotController.getMeasureTime().in(Seconds), lastPose.getRotation()); + // Update the camear's transform + estimator.setRobotToCameraTransform(robotToCamera()); /* take many */ for (PhotonPipelineResult result : results) { combinedHandleResult(result); } } + @SuppressWarnings("unused") private void combinedHandleResult(PhotonPipelineResult result) { // some prechecks before we do anything if (!precheckValidity(result)) { @@ -110,17 +112,16 @@ private void combinedHandleResult(PhotonPipelineResult result) { List targets = result.getTargets(); // use solvePnP every time if we can Optional est = estimator.estimateCoprocMultiTagPose(result); - if (est.isEmpty()) { - est = estimator.estimatePnpDistanceTrigSolvePose(result); - } - if (est.isEmpty()) { - est = estimator.estimateLowestAmbiguityPose(result); + if (est.isEmpty() && LocalizationConstants.kUsePnPDistanceTrigSolve) { + est = estimator.estimatePnpDistanceTrigSolvePose(result); } // Now we are out of options if (est.isPresent()) { Pose3d estimatedPose = est.get().estimatedPose; process(result, estimatedPose).ifPresent(reporter); + return; } + PhotonTrackedTarget target = targets.get(0); int fidId = target.getFiducialId(); Optional targetPosition = LocalizationConstants.kTagLayout @@ -135,10 +136,10 @@ private void combinedHandleResult(PhotonPipelineResult result) { Transform3d alt3d = target.getAlternateCameraToTarget(); Pose3d best = targetPosition3d .plus(best3d.inverse()) - .plus(robotToCamera.inverse()); + .plus(robotToCamera().inverse()); Pose3d alt = targetPosition3d .plus(alt3d.inverse()) - .plus(robotToCamera.inverse()); + .plus(robotToCamera().inverse()); // final decision maker double bestHeading = best.getRotation().getZ(); double altHeading = alt.getRotation().getZ(); @@ -146,8 +147,8 @@ private void combinedHandleResult(PhotonPipelineResult result) { double heading = pose.getRotation().getRadians(); Transform2d bestDiff = best.toPose2d().minus(pose); Transform2d altDiff = alt.toPose2d().minus(pose); - double bestRotErr = Math.abs(bestHeading - heading); - double altRotErr = Math.abs(altHeading - heading); + double bestRotErr = Math.abs(MathUtil.angleModulus(bestHeading - heading)); + double altRotErr = Math.abs(MathUtil.angleModulus(altHeading - heading)); double bestXYErr = bestDiff.getTranslation().getNorm(); double altXYErr = altDiff.getTranslation().getNorm(); Pose3d estimate; @@ -161,21 +162,26 @@ private void combinedHandleResult(PhotonPipelineResult result) { process(result, estimate).ifPresent(reporter); } + @SuppressWarnings("unused") private boolean precheckValidity(PhotonPipelineResult result) { double latency = result.metadata.getLatencyMillis() * 1e-3; - if (latency > LocalizationConstants.kLatencyThreshold) { - logger.warn("({}) Refused old vision data, latency of {}", name, latency); + if (latency > config.trust().latencyThreshold()) { + logger.warn("({}) Refused old vision data, latency of {}", config.cameraName(), latency); + return false; + } + if (averageTagDistance(result) > config.trust().distanceMax()) { return false; } // Ensure we only accept reef-focused estimates return result.hasTargets() && (!LocalizationConstants.kEnableTagFilter - || LocalizationConstants.kApprovedTagIds.contains(result.getBestTarget().getFiducialId())); + || LocalizationConstants.kApprovedTagIds + .contains(result.getBestTarget().getFiducialId())); } private Optional process(PhotonPipelineResult result, Pose3d pose) { double latency = result.metadata.getLatencyMillis() / 1.0e+3; - double timestamp = Utils.getCurrentTimeSeconds() - latency; + double timestamp = Timer.getFPGATimestamp() - latency; double ambiguity = getAmbiguity(result); Pose2d flatPose = pose.toPose2d(); Matrix stdDevs = calculateStdDevs(result, flatPose); @@ -184,6 +190,9 @@ private Optional process(PhotonPipelineResult result, P if (!checkValidity(pose, ambiguity)) { return Optional.empty(); } + + // FieldManager.getInstance().getField().getObject(config.cameraName()).setPose(flatPose); + return Optional.of( new TimestampedPoseEstimate(flatPose, timestamp, stdDevs)); } @@ -191,7 +200,7 @@ private Optional process(PhotonPipelineResult result, P private boolean checkValidity( Pose3d pose, double ambiguity) { - if (ambiguity >= LocalizationConstants.kAmbiguityThreshold) { + if (ambiguity >= config.trust().ambiguityThreshold()) { return false; } return !isOutsideField(pose); @@ -201,13 +210,13 @@ private boolean isOutsideField(Pose3d pose) { double x = pose.getX(); double y = pose.getY(); double z = pose.getZ(); - double xMax = LocalizationConstants.kXYMargin.magnitude() - + FieldConstants.kFieldLength.magnitude(); - double yMax = LocalizationConstants.kXYMargin.magnitude() - + FieldConstants.kFieldWidth.magnitude(); - double xyMin = -LocalizationConstants.kXYMargin.magnitude(); - double zMax = LocalizationConstants.kZMargin.magnitude(); - double zMin = -LocalizationConstants.kZMargin.magnitude(); + double xMax = config.trust().fieldXYMargin() + + FieldConstants.kFieldLength.baseUnitMagnitude(); + double yMax = config.trust().fieldXYMargin() + + FieldConstants.kFieldWidth.baseUnitMagnitude(); + double xyMin = -config.trust().fieldXYMargin(); + double zMax = config.trust().fieldZMargin(); + double zMin = -config.trust().fieldZMargin(); return x < xyMin || x > xMax || y < xyMin @@ -219,46 +228,41 @@ private boolean isOutsideField(Pose3d pose) { private Matrix calculateStdDevs(PhotonPipelineResult result, Pose2d pose) { double latency = result.metadata.getLatencyMillis() * 1e-3; double multiplier = calculateStdDevMultiplier(result, latency, pose); - return LocalizationConstants.kBaseStdDevs.times(multiplier); + // SmartDashboard.putNumber(config.cameraName() + "std devs", multiplier); + return config.trust().baseStdDevs().times(multiplier); } private double calculateStdDevMultiplier( PhotonPipelineResult result, double latency, Pose2d pose) { - double averageTagDistance = 0; - for (PhotonTrackedTarget tag : result.getTargets()) { - averageTagDistance += tag - .getBestCameraToTarget() - .getTranslation() - .getNorm(); - } - averageTagDistance /= result.getTargets().size(); + double averageTagDistance = averageTagDistance(result); // calculate tag distance factor double distanceFactor = Math.max(1, - LocalizationConstants.kDistanceMultiplier - * (averageTagDistance - LocalizationConstants.kNoisyDistance)); + config.trust().distanceMultiplier() + * (averageTagDistance - config.trust().noisyDistance())); // calculate an (average) ambiguity real quick: double ambiguity = getAmbiguity(result); // ambiguity factor double ambiguityFactor = Math.max(1, - LocalizationConstants.kAmbiguityMultiplier * ambiguity - + LocalizationConstants.kAmbiguityShifter); + config.trust().ambiguityMultiplier() * ambiguity + + config.trust().ambiguityShifter()); // tag divisor double tags = result.getTargets().size(); - double tagDivisor = 1 + (tags - 1) * LocalizationConstants.kTargetMultiplier; + double tagDivisor = 1 + (tags - 1) * config.trust().targetDivisor(); // distance from last pose double poseDifferenceError = Math.max(0, lastPose.minus(pose).getTranslation().getNorm() - - LocalizationConstants.kDifferenceThreshold * superstructure.state.robotVelocity().getTranslation().getNorm()); + - config.trust().differenceThreshold() + * superstructure.state.robotVelocity().getTranslation().getNorm()); double diffMultiplier = Math.max(1, - poseDifferenceError * LocalizationConstants.kDifferenceMultiplier); - double timeMultiplier = Math.max(1, latency * LocalizationConstants.kLatencyMultiplier); + poseDifferenceError * config.trust().differenceMultiplier()); + double timeMultiplier = Math.max(1, latency * config.trust().latencyMultiplier()); // final calculation - double stdDevMultiplier = ambiguityFactor - * distanceFactor - * diffMultiplier - * timeMultiplier + double stdDevMultiplier = (ambiguityFactor + + distanceFactor + + diffMultiplier + + timeMultiplier) / tagDivisor; return stdDevMultiplier; } @@ -270,4 +274,20 @@ private double getAmbiguity(PhotonPipelineResult result) { public boolean isConnected() { return inputs.connected; } + + private Transform3d robotToCamera() { + return config.robotToCamera().get(); + } + + private double averageTagDistance(PhotonPipelineResult result) { + double averageTagDistance = 0.0; + for (PhotonTrackedTarget tag : result.getTargets()) { + averageTagDistance += tag + .getBestCameraToTarget() + .getTranslation() + .getNorm(); + } + averageTagDistance /= result.getTargets().size(); + return averageTagDistance; + } } diff --git a/CompBot/src/main/resources/logback.xml b/CompBot/src/main/resources/logback.xml new file mode 100644 index 0000000..2dbf997 --- /dev/null +++ b/CompBot/src/main/resources/logback.xml @@ -0,0 +1,16 @@ + + + + + %date{mm:ss.SSS} [%thread] %highlight(%-5level) %logger{20} - %message %n + + + + + + + + + + + \ No newline at end of file diff --git a/CompBot/src/test_old/java/frc/autogen/AutogenTest.java b/CompBot/src/test_old/java/frc/autogen/AutogenTest.java new file mode 100644 index 0000000..54bd7e0 --- /dev/null +++ b/CompBot/src/test_old/java/frc/autogen/AutogenTest.java @@ -0,0 +1,8 @@ +package frc.autogen; + +import org.junit.jupiter.api.Test; + +public class AutogenTest { + @Test + public void checkAll() {} +} diff --git a/CompBot/src/test/java/frc/robot/CommandBasedTest.java b/CompBot/src/test_old/java/frc/robot/CommandBasedTest.java similarity index 99% rename from CompBot/src/test/java/frc/robot/CommandBasedTest.java rename to CompBot/src/test_old/java/frc/robot/CommandBasedTest.java index 5890f0d..67b38f0 100644 --- a/CompBot/src/test/java/frc/robot/CommandBasedTest.java +++ b/CompBot/src/test_old/java/frc/robot/CommandBasedTest.java @@ -33,4 +33,3 @@ public void setDSEnabled(boolean enabled) { } } } - diff --git a/CompBot/src/test/java/frc/robot/RobotTest.java b/CompBot/src/test_old/java/frc/robot/RobotTest.java similarity index 100% rename from CompBot/src/test/java/frc/robot/RobotTest.java rename to CompBot/src/test_old/java/frc/robot/RobotTest.java diff --git a/CompBot/src/test/java/frc/robot/aiming/PhysicsAimTest.java b/CompBot/src/test_old/java/frc/robot/aiming/PhysicsAimTest.java similarity index 100% rename from CompBot/src/test/java/frc/robot/aiming/PhysicsAimTest.java rename to CompBot/src/test_old/java/frc/robot/aiming/PhysicsAimTest.java diff --git a/CompBot/src/test_old/java/frc/robot/subsystems/climber/ClimberTest.java b/CompBot/src/test_old/java/frc/robot/subsystems/climber/ClimberTest.java new file mode 100644 index 0000000..f1eaeae --- /dev/null +++ b/CompBot/src/test_old/java/frc/robot/subsystems/climber/ClimberTest.java @@ -0,0 +1,45 @@ +package frc.robot.subsystems.climber; + +import static org.mockito.Mockito.doAnswer; +import static org.mockito.Mockito.mock; +import static org.mockito.Mockito.verify; +import org.junit.jupiter.api.Test; +import org.mockito.Mockito; + +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.CommandBasedTest; +import frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs; + +public class ClimberTest extends CommandBasedTest { + + @Test + public void climbTest() { + ClimberIO mockClimbIO = mock(ClimberIO.class); + doAnswer(invocation -> { + ClimberIOInputs inputs = invocation.getArgument(0, ClimberIOInputs.class); + inputs.velocity = ClimberConstants.kVelocity; + inputs.position = ClimberConstants.ClimbPosition.Home.position; + + // It's a void method, so we're supposed to return null. + return null; + }).when(mockClimbIO).updateInputs(Mockito.any(ClimberIOInputs.class)); + + Climber climber = new Climber(mockClimbIO); + CommandScheduler.getInstance().run(); + // Ensure we update the inputs every periodic run + verify(mockClimbIO).updateInputs(Mockito.any(ClimberIOInputs.class)); + + CommandScheduler.getInstance().schedule(climber.go(ClimberConstants.ClimbPosition.Climbed)); + CommandScheduler.getInstance().run(); + + //Can't verify set voltage because DC Motor Sim just teleports (DCMotorSim has no option to set position control) + verify(mockClimbIO).setPosition(ClimberConstants.ClimbPosition.Climbed.position); + + CommandScheduler.getInstance().schedule(climber.go(ClimberConstants.ClimbPosition.Home)); + CommandScheduler.getInstance().run(); + + verify(mockClimbIO).setPosition(ClimberConstants.ClimbPosition.Home.position); + + } + +} \ No newline at end of file diff --git a/CompBot/src/test_old/java/frc/robot/subsystems/indexer/IndexerTest.java b/CompBot/src/test_old/java/frc/robot/subsystems/indexer/IndexerTest.java new file mode 100644 index 0000000..1c3efdb --- /dev/null +++ b/CompBot/src/test_old/java/frc/robot/subsystems/indexer/IndexerTest.java @@ -0,0 +1,41 @@ +package frc.robot.subsystems.indexer; + +import static edu.wpi.first.units.Units.Volts; +import static org.mockito.Mockito.mock; +import static org.mockito.Mockito.verify; +import org.junit.jupiter.api.Test; +import org.mockito.Mockito; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.CommandBasedTest; +import frc.robot.subsystems.indexer.IndexerConstants.FeederConstants; +import frc.robot.subsystems.indexer.IndexerConstants.SpindexerConstants; +import frc.robot.subsystems.indexer.IndexerIO.IndexerIOInputs; + +public class IndexerTest extends CommandBasedTest { + @Test + public void indexerTest() { + IndexerIO mockIndexerIO = mock(IndexerIO.class); + + Indexer indexer = new Indexer(mockIndexerIO); + CommandScheduler.getInstance().run(); + // Have to instantiate the Inputs + verify(mockIndexerIO).updateInputs(Mockito.any(IndexerIOInputs.class)); + + CommandScheduler.getInstance().schedule(indexer.index()); + CommandScheduler.getInstance().run(); + verify(mockIndexerIO).setFeedVoltage(FeederConstants.kIndexVoltage); + verify(mockIndexerIO).setSpindexerVoltage(SpindexerConstants.kSpinVoltage); + } + + @Test + public void ejecterTest() { + IndexerIO mockIndexerIO = mock(IndexerIO.class); + Indexer indexer = new Indexer(mockIndexerIO); + + CommandScheduler.getInstance().schedule(indexer.eject()); + CommandScheduler.getInstance().run(); + verify(mockIndexerIO).setSpindexerVoltage(Volts.zero()); + verify(mockIndexerIO).setFeedVoltage(FeederConstants.kEjectVoltage); + } + +} diff --git a/CompBot/src/test_old/java/frc/robot/subsystems/led/LedTest.java b/CompBot/src/test_old/java/frc/robot/subsystems/led/LedTest.java new file mode 100644 index 0000000..ac855dc --- /dev/null +++ b/CompBot/src/test_old/java/frc/robot/subsystems/led/LedTest.java @@ -0,0 +1,87 @@ +// package frc.robot.subsystems.led; + + +// import static edu.wpi.first.units.Units.Degrees; +// import static edu.wpi.first.units.Units.MetersPerSecond; +// import static org.junit.jupiter.api.Assertions.*; +// import static org.mockito.Mockito.doAnswer; +// import static org.mockito.Mockito.mock; +// import static org.mockito.Mockito.verify; +// import static org.mockito.Mockito.when; + +// import org.junit.jupiter.api.Test; +// import org.mockito.Mockito; + +// import com.ctre.phoenix6.controls.ControlRequest; +// import com.ctre.phoenix6.hardware.CANdle; + +// import edu.wpi.first.math.geometry.Rotation2d; +// import edu.wpi.first.wpilibj2.command.CommandScheduler; +// import edu.wpi.first.wpilibj2.command.button.Trigger; +// import frc.robot.CommandBasedTest; +// import frc.robot.aiming.AimParams; +// import frc.robot.subsystems.led.ledStates.BadController; +// import frc.robot.superstructure.StateManager; + + +// public class LedTest extends CommandBasedTest{ +// @Test +// public void ledTest() { +// LedIO mockLedIO = mock(LedIO.class); +// StateManager mockStateManager = mock(StateManager.class); + + +// Led led = new Led(mockStateManager,mockLedIO); +// CommandScheduler.getInstance().run(); + +// verify(mockLedIO.ledcontroller).setControl(Mockito.any(ControlRequest.class)); + + +// } + + + + + + + + + + + + + + + + + + + + + + + + + + + +// // LedIO mockLedIO = new LedIO(); +// // mockLedIO.ledcontroller = mock(CANdle.class); +// // StateManager mockStateManager = mock(StateManager.class); +// // Led mockLed = new Led(mockStateManager, mockLedIO); +// // mockLed.appliedState = new BadController(); + + +// // doAnswer(invocation -> { +// // System.out.print(mockLed.appliedState); +// // return null; +// // }).when(mockLedIO.ledcontroller).setControl(Mockito.any(ControlRequest.class)); + +// // CommandScheduler.getInstance().run(); + +// // BadController mockbadcontroller = mock(BadController.class); + + + +// } + diff --git a/CompBot/src/test/java/frc/robot/subsystems/shooter/ShooterTest.java b/CompBot/src/test_old/java/frc/robot/subsystems/shooter/ShooterTest.java similarity index 88% rename from CompBot/src/test/java/frc/robot/subsystems/shooter/ShooterTest.java rename to CompBot/src/test_old/java/frc/robot/subsystems/shooter/ShooterTest.java index 675a1eb..1aaf115 100644 --- a/CompBot/src/test/java/frc/robot/subsystems/shooter/ShooterTest.java +++ b/CompBot/src/test_old/java/frc/robot/subsystems/shooter/ShooterTest.java @@ -2,16 +2,19 @@ import static edu.wpi.first.units.Units.Degrees; import static edu.wpi.first.units.Units.MetersPerSecond; -import static org.junit.jupiter.api.Assertions.*; +import static org.junit.jupiter.api.Assertions.assertTrue; import static org.mockito.Mockito.doAnswer; import static org.mockito.Mockito.mock; import static org.mockito.Mockito.verify; + import org.junit.jupiter.api.Test; import org.mockito.Mockito; + import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc.robot.CommandBasedTest; import frc.robot.aiming.AimParams; +import frc.robot.aiming.AimParams.SpeedControl; import frc.robot.subsystems.shooter.ShooterConstants.HoodConstants; import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs; @@ -36,12 +39,15 @@ public void shooterTest() { AimParams params = new AimParams(); params.pitch = Rotation2d.fromDegrees(55); params.output = ShooterConstants.kMaxLinearSpeed.in(MetersPerSecond); + params.control = SpeedControl.ProjectileVelocity; CommandScheduler.getInstance().schedule(shooter.shoot(() -> params)); CommandScheduler.getInstance().run(); // These methods should have been called from the running command. - verify(mockShooterIO).setVelocity(ShooterConstants.kMaxRotationalSpeed - .times(params.output / ShooterConstants.kMaxLinearSpeed.in(MetersPerSecond))); + verify(mockShooterIO).setVelocity( + ShooterConstants.kMaxRotationalSpeed + .times(params.output / ShooterConstants.kMaxLinearSpeed.in(MetersPerSecond)), + false); verify(mockShooterIO).setAngle(Degrees.of(35).minus(HoodConstants.kOffset)); CommandScheduler.getInstance().schedule(shooter.reverse()); diff --git a/CompBot/src/test/java/frc/robot/subsystems/turret/TurretTest.java b/CompBot/src/test_old/java/frc/robot/subsystems/turret/TurretTest.java similarity index 53% rename from CompBot/src/test/java/frc/robot/subsystems/turret/TurretTest.java rename to CompBot/src/test_old/java/frc/robot/subsystems/turret/TurretTest.java index ca7cf41..ce2ef58 100644 --- a/CompBot/src/test/java/frc/robot/subsystems/turret/TurretTest.java +++ b/CompBot/src/test_old/java/frc/robot/subsystems/turret/TurretTest.java @@ -1,22 +1,15 @@ package frc.robot.subsystems.turret; -import static edu.wpi.first.units.Units.Degrees; import static org.junit.jupiter.api.Assertions.assertTrue; import static org.mockito.Mockito.mock; import static org.mockito.Mockito.verify; -import static org.mockito.Mockito.when; + import org.junit.jupiter.api.Test; import org.mockito.Mockito; -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.wpilibj2.command.CommandScheduler; -import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.CommandBasedTest; -import frc.robot.aiming.AimParams; -import frc.robot.aiming.AimParams.AimStatus; import frc.robot.subsystems.turret.TurretIO.TurretIOInputs; -import frc.robot.superstructure.StateManager; public class TurretTest extends CommandBasedTest { @Test @@ -31,20 +24,6 @@ public void turretTest() { CommandScheduler.getInstance().schedule(turret.forwards()); verify(mockIO).setPosition(TurretConstants.kForwards); - - StateManager mockState = mock(StateManager.class); - AimParams params = new AimParams(AimStatus.Possible); - params.yaw = Rotation2d.fromDegrees(34.14); - when(mockState.predictedAimParams()).thenReturn(params); - when(mockState.robotPose()).thenReturn(new Pose2d(Translation2d.kZero, Rotation2d.fromDegrees(10.0))); - when(mockState.shootReady()).thenReturn(new Trigger(() -> false)); - - CommandScheduler.getInstance().schedule(turret.track(mockState)); - CommandScheduler.getInstance().run(); - - // The turret should have adjusted to the robot's heading to make sure that the field-relative - // angle is correct. - verify(mockIO).setPosition(Degrees.of(24.14).plus(TurretConstants.kForwards)); } @Test diff --git a/CompBot/vendordeps/Autopilot.json b/CompBot/vendordeps/Autopilot.json index 9bfe5e1..7fdc5f5 100644 --- a/CompBot/vendordeps/Autopilot.json +++ b/CompBot/vendordeps/Autopilot.json @@ -2,7 +2,7 @@ "name": "Autopilot", "uuid": "4e922d47-9954-4db5-929f-c708cc62e152", "fileName": "Autopilot.json", - "version": "1.5.0", + "version": "1.6.1", "frcYear": "2026", "jsonUrl": "https://therekrab.github.io/autopilot/vendordep.json", "mavenUrls": [ @@ -12,9 +12,9 @@ { "groupId": "com.github.therekrab", "artifactId": "autopilot", - "version": "1.5.0" + "version": "1.6.1" } ], "cppDependencies": [], "jniDependencies": [] -} \ No newline at end of file +} diff --git a/CompBot/vendordeps/PathplannerLib-2026.1.2.json b/CompBot/vendordeps/PathplannerLib-2026.1.2.json new file mode 100644 index 0000000..f72fa41 --- /dev/null +++ b/CompBot/vendordeps/PathplannerLib-2026.1.2.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib-2026.1.2.json", + "name": "PathplannerLib", + "version": "2026.1.2", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2026", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2026.1.2" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2026.1.2", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/CompBot/vendordeps/Phoenix6-26.1.0.json b/CompBot/vendordeps/Phoenix6-26.1.2.json similarity index 92% rename from CompBot/vendordeps/Phoenix6-26.1.0.json rename to CompBot/vendordeps/Phoenix6-26.1.2.json index dc5dc62..dcf2db8 100644 --- a/CompBot/vendordeps/Phoenix6-26.1.0.json +++ b/CompBot/vendordeps/Phoenix6-26.1.2.json @@ -1,7 +1,7 @@ { - "fileName": "Phoenix6-26.1.0.json", + "fileName": "Phoenix6-26.1.2.json", "name": "CTRE-Phoenix (v6)", - "version": "26.1.0", + "version": "26.1.2", "frcYear": "2026", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.1.0" + "version": "26.1.2" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +208,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.0", + "version": "26.1.2", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -224,7 +224,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -240,7 +240,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -256,7 +256,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -272,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -288,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -304,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -320,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -336,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -352,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -368,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -384,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -400,7 +400,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -416,7 +416,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -432,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.0", + "version": "26.1.2", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/CompBot/vendordeps/photonlib.json b/CompBot/vendordeps/photonlib.json index a1bc5a5..62f135c 100644 --- a/CompBot/vendordeps/photonlib.json +++ b/CompBot/vendordeps/photonlib.json @@ -1,7 +1,7 @@ { "fileName": "photonlib.json", "name": "photonlib", - "version": "v2026.1.1", + "version": "v2026.3.1", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", "frcYear": "2026", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2026.1.1", + "version": "v2026.3.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -28,7 +28,7 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-cpp", - "version": "v2026.1.1", + "version": "v2026.3.1", "libName": "photonlib", "headerClassifier": "headers", "sharedLibrary": true, @@ -43,7 +43,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2026.1.1", + "version": "v2026.3.1", "libName": "photontargeting", "headerClassifier": "headers", "sharedLibrary": true, @@ -60,12 +60,12 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-java", - "version": "v2026.1.1" + "version": "v2026.3.1" }, { "groupId": "org.photonvision", "artifactId": "photontargeting-java", - "version": "v2026.1.1" + "version": "v2026.3.1" } ] } \ No newline at end of file diff --git a/CompBot/vendordeps/yams.json b/CompBot/vendordeps/yams.json index 01bfad1..592bb2e 100644 --- a/CompBot/vendordeps/yams.json +++ b/CompBot/vendordeps/yams.json @@ -1,7 +1,7 @@ { "fileName": "yams.json", "name": "Yet Another Mechanism System", - "version": "2026.1.23", + "version": "2026.3.11", "frcYear": "2026", "uuid": "a1051e86-a979-4880-a28b-a0d5362d1d96", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "yams", "artifactId": "YAMS-java", - "version": "2026.1.23" + "version": "2026.3.11" } ], "cppDependencies": [], diff --git a/README.md b/README.md index d0aab02..3849c8a 100644 --- a/README.md +++ b/README.md @@ -32,7 +32,7 @@ Repo for the 2026 game season | Intake Roller | 5 | | Intake Deploy | 6 | | Spindexer | 7 | -| Turret Spin | 51 | +| Turret Spin | 48 | | Shoot 1 | 53 | | Shoot 2 | 54 | | Hood | 56 | diff --git a/advantage_scope_custom_assets/Joystick_DragonReins/config.json b/advantage_scope_custom_assets/Joystick_DragonReins/config.json new file mode 100644 index 0000000..317c877 --- /dev/null +++ b/advantage_scope_custom_assets/Joystick_DragonReins/config.json @@ -0,0 +1,43 @@ +{ + "name": "Dragon Reins", + "components": [ + { + "type": "button", + "isYellow": true, + "isEllipse": false, + "centerPx": [1600,600], + "sizePx": [200,200], + "sourceIndex": 4 + }, + { + "type": "button", + "isYellow": true, + "isEllipse": false, + "centerPx": [2400, 600], + "sizePx": [200,200], + "sourceIndex": 3 + }, + { + "type": "joystick", + "isYellow": false, + "centerPx": [1300,1300], + "radiusPx": 200, + "xSourceIndex": 0, + "xSourceInverted": false, + "ySourceIndex": 1, + "ySourceInverted": false, + "buttonSourceIndex": 2 + }, + { + "type": "joystick", + "isYellow": false, + "centerPx": [2900,1200], + "radiusPx": 200, + "xSourceIndex": 3, + "ySourceIndex": 2, + "xSourceInverted": true, + "ySourceInverted": false, + "buttonSourceIndex": 1 + } + ] +} diff --git a/advantage_scope_custom_assets/Joystick_DragonReins/image.png b/advantage_scope_custom_assets/Joystick_DragonReins/image.png new file mode 100644 index 0000000..a2e1d53 Binary files /dev/null and b/advantage_scope_custom_assets/Joystick_DragonReins/image.png differ diff --git a/advantage_scope_custom_assets/Robot_Spotlight/config.json b/advantage_scope_custom_assets/Robot_Spotlight/config.json new file mode 100644 index 0000000..a4aae75 --- /dev/null +++ b/advantage_scope_custom_assets/Robot_Spotlight/config.json @@ -0,0 +1,16 @@ +{ + "name": "Spotlight", + "rotations": [ + { + "axis": "x", + "degrees": 90 + }, + { + "axis": "z", + "degrees": 90 + } + ], + "position": [0,0,0], + "cameras": [], + "components": [] +} \ No newline at end of file diff --git a/advantage_scope_custom_assets/Robot_Spotlight/model.glb b/advantage_scope_custom_assets/Robot_Spotlight/model.glb new file mode 100644 index 0000000..334387d Binary files /dev/null and b/advantage_scope_custom_assets/Robot_Spotlight/model.glb differ diff --git a/camera/640x480/cam1-comp.json b/camera/640x480/cam1-comp.json new file mode 100644 index 0000000..883b4df --- /dev/null +++ b/camera/640x480/cam1-comp.json @@ -0,0 +1 @@ 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"width": 384.0, + "height": 256.0, + "type": "Boolean Box", + "properties": { + "topic": "/SmartDashboard/DS/Active (Boolean)", + "period": 0.06, + "data_type": "boolean", + "true_color": 4281591866, + "false_color": 4281874488, + "true_icon": "None", + "false_icon": "None" + } + } + ] + } + } + ] +} \ No newline at end of file diff --git a/logtool.sh b/logtool.sh new file mode 100644 index 0000000..2d609b4 --- /dev/null +++ b/logtool.sh @@ -0,0 +1,15 @@ +#!/bin/bash + +# A "helpful" shell utility to extract log files from the RIO + +DOWNLOAD_PATH=~/extracted_`date +%Y-%m-%d_%H-%M` + +echo "Saving logs to $DOWNLOAD_PATH" + +mkdir -p $DOWNLOAD_PATH + +scp -r lvuser@10.34.14.2:/media/sda1/logs/*.wpilog $DOWNLOAD_PATH + +# BLOW IT UP!!!!!!! + +ssh -t admin@10.34.14.2 "sudo rm -rf /media/sda1/logs/*.wpilog"