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Autonomous #18

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430e21f
added auton stuff temporarily. Need the integration to be done to finish
Nummun14 Sep 19, 2025
b49b513
no more craashing
Nummun14 Sep 19, 2025
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58 changes: 48 additions & 10 deletions src/main/java/frc/trigon/robot/RobotContainer.java
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Expand Up @@ -6,45 +6,46 @@
package frc.trigon.robot;

import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.commands.PathPlannerAuto;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.trigon.robot.commands.CommandConstants;
import frc.trigon.robot.commands.commandfactories.AutonomousCommands;
import frc.trigon.robot.commands.commandfactories.CoralCollectionCommands;
import frc.trigon.robot.commands.commandfactories.GeneralCommands;
import frc.trigon.robot.constants.AutonomousConstants;
import frc.trigon.robot.constants.CameraConstants;
import frc.trigon.robot.constants.LEDConstants;
import frc.trigon.robot.constants.OperatorConstants;
import frc.trigon.robot.constants.PathPlannerConstants;
import frc.trigon.robot.misc.objectdetectioncamera.ObjectPoseEstimator;
import frc.trigon.robot.misc.simulatedfield.SimulatedGamePieceConstants;
import frc.trigon.robot.poseestimation.poseestimator.PoseEstimator;
import frc.trigon.robot.subsystems.MotorSubsystem;

import frc.trigon.robot.subsystems.elevator.Elevator;
import frc.trigon.robot.subsystems.elevator.ElevatorCommands;
import frc.trigon.robot.subsystems.elevator.ElevatorConstants;
import frc.trigon.robot.subsystems.arm.Arm;
import frc.trigon.robot.subsystems.arm.ArmCommands;
import frc.trigon.robot.subsystems.arm.ArmConstants;

import frc.trigon.robot.subsystems.climber.Climber;
import frc.trigon.robot.subsystems.climber.ClimberCommands;
import frc.trigon.robot.subsystems.climber.ClimberConstants;
import frc.trigon.robot.subsystems.elevator.Elevator;
import frc.trigon.robot.subsystems.elevator.ElevatorCommands;
import frc.trigon.robot.subsystems.elevator.ElevatorConstants;
import frc.trigon.robot.subsystems.intake.Intake;
import frc.trigon.robot.subsystems.intake.IntakeCommands;
import frc.trigon.robot.subsystems.intake.IntakeConstants;

import frc.trigon.robot.subsystems.swerve.Swerve;
import frc.trigon.robot.subsystems.transporter.Transporter;
import frc.trigon.robot.subsystems.transporter.TransporterCommands;
import frc.trigon.robot.subsystems.transporter.TransporterConstants;
import lib.utilities.flippable.Flippable;
import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;

import java.util.List;

public class RobotContainer {
public static final PoseEstimator ROBOT_POSE_ESTIMATOR = new PoseEstimator();
public static final ObjectPoseEstimator OBJECT_POSE_ESTIMATOR = new ObjectPoseEstimator(
public static final ObjectPoseEstimator CORAL_POSE_ESTIMATOR = new ObjectPoseEstimator(
CameraConstants.OBJECT_POSE_ESTIMATOR_DELETION_THRESHOLD_SECONDS,
ObjectPoseEstimator.DistanceCalculationMethod.ROTATION_AND_TRANSLATION,
SimulatedGamePieceConstants.GamePieceType.GAME_PIECE_TYPE,
Expand Down Expand Up @@ -94,7 +95,7 @@ private void bindDefaultCommands() {
private void initializeGeneralSystems() {
Flippable.init();
LEDConstants.init();
PathPlannerConstants.init();
AutonomousConstants.init();
}

private void bindControllerCommands() {
Expand All @@ -113,7 +114,44 @@ private void configureSysIDBindings(MotorSubsystem subsystem) {
subsystem.setDefaultCommand(Commands.idle(subsystem));
}

@SuppressWarnings("All")
private void buildAutoChooser() {
autoChooser = new LoggedDashboardChooser<>("AutoChooser", AutoBuilder.buildAutoChooser());
autoChooser = new LoggedDashboardChooser<>("AutoChooser");

final List<String> autoNames = AutoBuilder.getAllAutoNames();
boolean hasDefault = false;

for (String autoName : autoNames) {
final PathPlannerAuto autoNonMirrored = new PathPlannerAuto(autoName);
final PathPlannerAuto autoMirrored = new PathPlannerAuto(autoName, true);

if (!AutonomousConstants.DEFAULT_AUTO_NAME.isEmpty() && AutonomousConstants.DEFAULT_AUTO_NAME.equals(autoName)) {
hasDefault = true;
autoChooser.addDefaultOption(autoNonMirrored.getName(), autoNonMirrored);
autoChooser.addOption(autoMirrored.getName() + "Mirrored", autoMirrored);
} else if (!AutonomousConstants.DEFAULT_AUTO_NAME.isEmpty() && AutonomousConstants.DEFAULT_AUTO_NAME.equals(autoName + "Mirrored")) {
hasDefault = true;
autoChooser.addDefaultOption(autoMirrored.getName() + "Mirrored", autoMirrored);
autoChooser.addOption(autoNonMirrored.getName(), autoNonMirrored);
} else {
autoChooser.addOption(autoNonMirrored.getName(), autoNonMirrored);
autoChooser.addOption(autoMirrored.getName() + "Mirrored", autoMirrored);
}
}

if (!hasDefault)
autoChooser.addDefaultOption("None", Commands.none());
else
autoChooser.addOption("None", Commands.none());

addCommandsToChooser(
AutonomousCommands.getFloorAutonomousCommand(true),
AutonomousCommands.getFloorAutonomousCommand(false)
);
}

private void addCommandsToChooser(Command... commands) {
for (Command command : commands)
autoChooser.addOption(command.getName(), command);
}
}
4 changes: 2 additions & 2 deletions src/main/java/frc/trigon/robot/commands/CommandConstants.java
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Expand Up @@ -7,8 +7,8 @@
import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.trigon.robot.RobotContainer;
import frc.trigon.robot.commands.commandfactories.GeneralCommands;
import frc.trigon.robot.constants.AutonomousConstants;
import frc.trigon.robot.constants.OperatorConstants;
import frc.trigon.robot.constants.PathPlannerConstants;
import frc.trigon.robot.subsystems.swerve.SwerveCommands;
import lib.commands.CameraPositionCalculationCommand;
import lib.commands.WheelRadiusCharacterizationCommand;
Expand Down Expand Up @@ -45,7 +45,7 @@ public class CommandConstants {
() -> calculateRotationStickAxisValue(DRIVER_CONTROLLER.getRightX())
),
WHEEL_RADIUS_CHARACTERIZATION_COMMAND = new WheelRadiusCharacterizationCommand(
PathPlannerConstants.ROBOT_CONFIG.moduleLocations,
AutonomousConstants.ROBOT_CONFIG.moduleLocations,
RobotContainer.SWERVE::getDriveWheelPositionsRadians,
() -> RobotContainer.SWERVE.getHeading().getRadians(),
(omegaRadiansPerSecond) -> RobotContainer.SWERVE.selfRelativeDriveWithoutSetpointGeneration(new ChassisSpeeds(0, 0, omegaRadiansPerSecond), null),
Expand Down
27 changes: 12 additions & 15 deletions src/main/java/frc/trigon/robot/commands/commandclasses/GamePieceAutoDriveCommand.java
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Expand Up @@ -6,28 +6,25 @@
import edu.wpi.first.wpilibj2.command.*;
import frc.trigon.robot.RobotContainer;
import frc.trigon.robot.commands.commandfactories.GeneralCommands;
import frc.trigon.robot.constants.PathPlannerConstants;
import frc.trigon.robot.constants.AutonomousConstants;
import frc.trigon.robot.misc.objectdetectioncamera.ObjectPoseEstimator;
import frc.trigon.robot.misc.simulatedfield.SimulatedGamePieceConstants;
import frc.trigon.robot.subsystems.swerve.SwerveCommands;
import org.littletonrobotics.junction.Logger;
import lib.utilities.flippable.FlippableRotation2d;
import org.littletonrobotics.junction.Logger;

import java.util.function.Supplier;

public class GamePieceAutoDriveCommand extends ParallelCommandGroup {
private static final ObjectPoseEstimator OBJECT_POSE_ESTIMATOR = RobotContainer.OBJECT_POSE_ESTIMATOR;
private final SimulatedGamePieceConstants.GamePieceType targetGamePieceType;
private static final ObjectPoseEstimator CORAL_POSE_ESTIMATOR = RobotContainer.CORAL_POSE_ESTIMATOR;
private Translation2d distanceFromTrackedGamePiece;

public GamePieceAutoDriveCommand(SimulatedGamePieceConstants.GamePieceType targetGamePieceType) {
this.targetGamePieceType = targetGamePieceType;
public GamePieceAutoDriveCommand() {
addCommands(
getTrackGamePieceCommand(),
GeneralCommands.getContinuousConditionalCommand(
getDriveToGamePieceCommand(() -> distanceFromTrackedGamePiece),
GeneralCommands.getFieldRelativeDriveCommand(),
() -> OBJECT_POSE_ESTIMATOR.getClosestObjectToRobot() != null && shouldMoveTowardsGamePiece(distanceFromTrackedGamePiece)
() -> CORAL_POSE_ESTIMATOR.getClosestObjectToRobot() != null && shouldMoveTowardsGamePiece(distanceFromTrackedGamePiece)
)
);
}
Expand All @@ -40,36 +37,36 @@ private Command getTrackGamePieceCommand() {

public static Translation2d calculateDistanceFromTrackedGamePiece() {
final Pose2d robotPose = RobotContainer.ROBOT_POSE_ESTIMATOR.getEstimatedRobotPose();
final Translation2d trackedObjectPositionOnField = OBJECT_POSE_ESTIMATOR.getClosestObjectToRobot();
final Translation2d trackedObjectPositionOnField = CORAL_POSE_ESTIMATOR.getClosestObjectToRobot();
if (trackedObjectPositionOnField == null)
return null;

final Translation2d robotToGamePiece = robotPose.getTranslation().minus(trackedObjectPositionOnField);
var distanceFromTrackedGamePiece = robotToGamePiece.rotateBy(robotPose.getRotation().unaryMinus());
Logger.recordOutput("GamePieceAutoDrive/DistanceFromTrackedGamePiece", distanceFromTrackedGamePiece);
Logger.recordOutput("GamePieceAutoDrive/XDistanceFromTrackedGamePiece", PathPlannerConstants.GAME_PIECE_AUTO_DRIVE_X_PID_CONTROLLER.getSetpoint().position);
Logger.recordOutput("GamePieceAutoDrive/XDistanceFromTrackedGamePiece", AutonomousConstants.GAME_PIECE_AUTO_DRIVE_X_PID_CONTROLLER.getSetpoint().position);
return distanceFromTrackedGamePiece;
}

public static Command getDriveToGamePieceCommand(Supplier<Translation2d> distanceFromTrackedGamePiece) {
return new SequentialCommandGroup(
new InstantCommand(() -> PathPlannerConstants.GAME_PIECE_AUTO_DRIVE_X_PID_CONTROLLER.reset(distanceFromTrackedGamePiece.get().getX(), RobotContainer.SWERVE.getSelfRelativeVelocity().vxMetersPerSecond)),
new InstantCommand(() -> AutonomousConstants.GAME_PIECE_AUTO_DRIVE_X_PID_CONTROLLER.reset(distanceFromTrackedGamePiece.get().getX(), RobotContainer.SWERVE.getSelfRelativeVelocity().vxMetersPerSecond)),
SwerveCommands.getClosedLoopSelfRelativeDriveCommand(
() -> PathPlannerConstants.GAME_PIECE_AUTO_DRIVE_X_PID_CONTROLLER.calculate(distanceFromTrackedGamePiece.get().getX()),
() -> PathPlannerConstants.GAME_PIECE_AUTO_DRIVE_Y_PID_CONTROLLER.calculate(distanceFromTrackedGamePiece.get().getY()),
() -> AutonomousConstants.GAME_PIECE_AUTO_DRIVE_X_PID_CONTROLLER.calculate(distanceFromTrackedGamePiece.get().getX()),
() -> AutonomousConstants.GAME_PIECE_AUTO_DRIVE_Y_PID_CONTROLLER.calculate(distanceFromTrackedGamePiece.get().getY()),
GamePieceAutoDriveCommand::calculateTargetAngle
)
);
}

public static boolean shouldMoveTowardsGamePiece(Translation2d distanceFromTrackedGamePiece) {
return distanceFromTrackedGamePiece != null &&
(distanceFromTrackedGamePiece.getNorm() > PathPlannerConstants.AUTO_COLLECTION_INTAKE_OPEN_CHECK_DISTANCE_METERS);//TODO: If intake is open
(distanceFromTrackedGamePiece.getNorm() > AutonomousConstants.AUTO_COLLECTION_INTAKE_OPEN_CHECK_DISTANCE_METERS);//TODO: If intake is open
}

public static FlippableRotation2d calculateTargetAngle() {
final Pose2d robotPose = RobotContainer.ROBOT_POSE_ESTIMATOR.getEstimatedRobotPose();
final Translation2d trackedObjectFieldRelativePosition = OBJECT_POSE_ESTIMATOR.getClosestObjectToRobot();
final Translation2d trackedObjectFieldRelativePosition = CORAL_POSE_ESTIMATOR.getClosestObjectToRobot();
if (trackedObjectFieldRelativePosition == null)
return null;

Expand Down
20 changes: 10 additions & 10 deletions src/main/java/frc/trigon/robot/commands/commandclasses/IntakeAssistCommand.java
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Expand Up @@ -11,16 +11,16 @@
import frc.trigon.robot.commands.commandfactories.GeneralCommands;
import frc.trigon.robot.constants.OperatorConstants;
import frc.trigon.robot.subsystems.swerve.SwerveCommands;
import org.littletonrobotics.junction.Logger;
import lib.hardware.RobotHardwareStats;
import org.littletonrobotics.junction.Logger;

import java.util.function.Supplier;

/**
* A command class to assist in the intaking of a game piece.
*/
public class IntakeAssistCommand extends ParallelCommandGroup {
private static final ProfiledPIDController
static final ProfiledPIDController
X_PID_CONTROLLER = RobotHardwareStats.isSimulation() ?
new ProfiledPIDController(0.5, 0, 0, new TrapezoidProfile.Constraints(2.8, 5)) :
new ProfiledPIDController(2.4, 0, 0, new TrapezoidProfile.Constraints(2.65, 5.5)),
Expand All @@ -43,7 +43,7 @@ public IntakeAssistCommand(AssistMode assistMode) {
GeneralCommands.getContinuousConditionalCommand(
GeneralCommands.getFieldRelativeDriveCommand(),
getAssistIntakeCommand(assistMode, () -> distanceFromTrackedGamePiece),
() -> RobotContainer.OBJECT_POSE_ESTIMATOR.getClosestObjectToRobot() == null || distanceFromTrackedGamePiece == null
() -> RobotContainer.CORAL_POSE_ESTIMATOR.getClosestObjectToRobot() == null || distanceFromTrackedGamePiece == null
)
);
}
Expand All @@ -53,7 +53,7 @@ public IntakeAssistCommand(AssistMode assistMode) {
* This command is for intaking a game piece with a specific robot-relative position.
* To create an intake assist command that selects the closest game piece automatically, use {@link IntakeAssistCommand#IntakeAssistCommand(AssistMode)} instead.
*
* @param assistMode the type of assistance
* @param assistMode the type of assistance
* @param distanceFromTrackedGamePiece the position of the game piece relative to the robot
* @return the command
*/
Expand All @@ -70,21 +70,21 @@ public static Command getAssistIntakeCommand(AssistMode assistMode, Supplier<Tra

private Command getTrackGamePieceCommand() {
return new RunCommand(() -> {
if (RobotContainer.OBJECT_POSE_ESTIMATOR.getClosestObjectToRobot() != null)
if (RobotContainer.CORAL_POSE_ESTIMATOR.getClosestObjectToRobot() != null)
distanceFromTrackedGamePiece = calculateDistanceFromTrackedCGamePiece();
});
}

private static Translation2d calculateDistanceFromTrackedCGamePiece() {
public static Translation2d calculateDistanceFromTrackedCGamePiece() {
final Pose2d robotPose = RobotContainer.ROBOT_POSE_ESTIMATOR.getEstimatedRobotPose();
final Translation2d trackedObjectPositionOnField = RobotContainer.OBJECT_POSE_ESTIMATOR.getClosestObjectToRobot();
final Translation2d trackedObjectPositionOnField = RobotContainer.CORAL_POSE_ESTIMATOR.getClosestObjectToRobot();
if (trackedObjectPositionOnField == null)
return null;

final Translation2d difference = robotPose.getTranslation().minus(trackedObjectPositionOnField);
final Translation2d robotToTrackedGamepieceDistance = difference.rotateBy(robotPose.getRotation().unaryMinus());
Logger.recordOutput("IntakeAssist/TrackedGamePieceDistance", robotToTrackedGamepieceDistance);
return robotToTrackedGamepieceDistance;
final Translation2d robotToTrackedGamePieceDistance = difference.rotateBy(robotPose.getRotation().unaryMinus());
Logger.recordOutput("IntakeAssist/TrackedGamePieceDistance", robotToTrackedGamePieceDistance);
return robotToTrackedGamePieceDistance;
}

private static Translation2d calculateTranslationPower(AssistMode assistMode, Translation2d distanceFromTrackedGamepiece) {
Expand Down
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