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ion":0.0,"angularVelocity":0.0,"holonomicAngularVelocity":0.0}] \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a37711e..308050c 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -4,6 +4,8 @@ package frc.robot; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -14,10 +16,13 @@ import edu.wpi.first.wpilibj2.command.WaitCommand; import frc.robot.subsystems.Lights; import frc.robot.commands.PlaySong; +import frc.robot.commands.drive.AutoBalance; import frc.robot.commands.drive.AutoBalanceSimple; +import frc.robot.commands.drive.FollowHolonomicTrajectory; import frc.robot.commands.drive.Localize; import frc.robot.subsystems.SwerveDrive; import frc.robot.util.Aiming; +import frc.robot.util.TrajectoryHelper; import frc.robot.util.controllers.DriverController; import frc.robot.util.controllers.FrskyDriverController; import frc.robot.commands.Autonomous; @@ -145,6 +150,8 @@ public Command getAutonomousCommand() { ///////////////////////////////////////////////////////////////////////////// private void configureControllers() { + m_driverController.getPivotButton().whileTrue(m_drive.pivotOnCommandFactory()).whileFalse(m_drive.pivotOffCommandFactory()); + m_buttonBox.outgestButton.whileTrue(m_intake.outgestFactory()); m_buttonBox.intakeButton.whileTrue(m_intake.intakeFactory()) .and(m_buttonBox.gamepieceSwitch.negate()).onFalse(m_intake.downFactory().withTimeout(0.4)); @@ -249,6 +256,7 @@ private void configureSmartDashboardButtons() { SmartDashboard.putData("Reset Yaw", m_drive.resetYawCommandFactory()); SmartDashboard.putData("Field Drive", m_drive.fieldOrientedDriveCommandFactory(m_drive, m_driverController)); SmartDashboard.putData("Grant Drive", m_drive.grantDriveCommandFactory(m_drive, m_driverController)); + SmartDashboard.putData("Auto Balance", new AutoBalance(m_drive, true)); // CANdle SmartDashboard.putData("Want Cone", m_candleSubsystem.wantConeFactory()); @@ -297,6 +305,10 @@ private void configureSmartDashboardButtons() { SmartDashboard.putData("AutoROS Over", Autonomous.upAndOver(m_drive, m_intake, m_arm, m_grabber, m_candleSubsystem, m_coprocessor)); SmartDashboard.putData("AutoLL Over", Autonomous.upAndOver(m_drive, m_intake, m_arm, m_grabber, m_candleSubsystem, m_limelight_back)); SmartDashboard.putData("Auto Balance Simple", new AutoBalanceSimple(m_drive)); + SmartDashboard.putData("Auto Wall 2", Autonomous.wall2(m_drive, m_intake, m_arm, m_grabber, m_candleSubsystem, m_coprocessor)); + + SmartDashboard.putData("Auto Holonomic", new FollowHolonomicTrajectory(m_drive, TrajectoryHelper.loadJSONTrajectory("HolonomicTest.wpilib.json"), new Rotation2d(), new Rotation2d(), true)); + SmartDashboard.putData("Auto Holonomic2", new FollowHolonomicTrajectory(m_drive, TrajectoryHelper.loadJSONTrajectory("HolonomicTest2.wpilib.json"), new Rotation2d(), Rotation2d.fromDegrees(35), true)); // Misc SmartDashboard.putData("Play Song", new PlaySong("somethingcomfortingrobot.chrp", m_intake, m_drive, m_arm)); diff --git a/src/main/java/frc/robot/commands/Autonomous.java b/src/main/java/frc/robot/commands/Autonomous.java index c7d3470..3ccb182 100644 --- a/src/main/java/frc/robot/commands/Autonomous.java +++ b/src/main/java/frc/robot/commands/Autonomous.java @@ -37,6 +37,13 @@ public static ConditionalCommand center2(SwerveDrive drive, Intake intake, Arm a () -> {return DriverStation.getAlliance() == Alliance.Red;}); } + public static ConditionalCommand wall2(SwerveDrive drive, Intake intake, Arm arm, Grabber grabber, Lights candle, BotPoseProvider source) { + return new ConditionalCommand(wall2("Red", drive, intake, arm, grabber, candle, source), + wall2("Blue", drive, intake, arm, grabber, candle, source), + () -> {return DriverStation.getAlliance() == Alliance.Red;}); + } + + public static ConditionalCommand center2Balance(SwerveDrive drive, Intake intake, Arm arm, Grabber grabber, Lights candle, BotPoseProvider source) { return new ConditionalCommand(center2Balance("Red", drive, intake, arm, grabber, candle, source), center2Balance("Blue", drive, intake, arm, grabber, candle, source), @@ -169,8 +176,17 @@ public static SequentialCommandGroup center2Balance(String alliance, SwerveDrive public static SequentialCommandGroup center2(String alliance, SwerveDrive drive, Intake intake, Arm arm, Grabber grabber, Lights candle, BotPoseProvider source) { return centerBaseTo1High(alliance, drive, intake, arm, grabber, candle, source); + } + + public static SequentialCommandGroup wall2(String alliance, SwerveDrive drive, Intake intake, Arm arm, Grabber grabber, Lights candle, BotPoseProvider source) { + return wallBaseTo9Mid(alliance, drive, intake, arm, grabber, candle, source); } + public static SequentialCommandGroup charge1balance(String alliance, SwerveDrive drive, Intake intake, Arm arm, Grabber grabber, Lights candle, BotPoseProvider source) { + return chargeBaseToPiece3(alliance, drive, intake, arm, grabber, candle, source); + } + + private static SequentialCommandGroup centerBaseTo1High(String alliance, SwerveDrive drive, Intake intake, Arm arm, Grabber grabber, Lights candle, BotPoseProvider source) { return new SequentialCommandGroup( initialScoreCubeHigh(drive, arm, grabber, source) @@ -213,6 +229,45 @@ private static SequentialCommandGroup centerBaseTo1Mid(String alliance, SwerveDr ); } + private static SequentialCommandGroup wallBaseTo9Mid(String alliance, SwerveDrive drive, Intake intake, Arm arm, Grabber grabber, Lights candle, BotPoseProvider source) { + return new SequentialCommandGroup( + initialScoreCubeMid(drive, arm, grabber, source) + .deadlineWith(intake.setConeFactory(), candle.wantConeFactory()), + new FollowTrajectory(drive, TrajectoryHelper.loadJSONTrajectory(alliance + "WallGrid8ToPiece4.wpilib.json"), false) + .deadlineWith(intake.intakeFactory(), arm.holdTargetState(), grabber.holdConeFactory(), + grabber.setPivotForwardsFactory().andThen(grabber.forcePivot())), + new ParallelCommandGroup( + new FollowTrajectory(drive, TrajectoryHelper.loadJSONTrajectory(alliance + "WallPiece4ToGrid9.wpilib.json"), false), + new SequentialCommandGroup( + intake.stowFactory().alongWith(arm.holdTargetState(), grabber.holdConeFactory()).until(intake::isArmUp).withTimeout(0.5), + new Handoff(intake, arm, grabber, true, true), + arm.sendArmToStateAndEnd(ArmStates.scoreConeMiddle) + .deadlineWith(intake.downFactory(), grabber.grabConeFactory().andThen(grabber.holdConeFactory()), + grabber.forcePivotBackwardsFactory().andThen(grabber.forcePivot())) + ) + ), + arm.stowFrom(ArmStates.scoreConeHigh).alongWith(grabber.dropConeFactory()).withTimeout(0.75) + ); + } + + private static SequentialCommandGroup chargeBaseToPiece3(String alliance, SwerveDrive drive, Intake intake, Arm arm, Grabber grabber, Lights candle, BotPoseProvider source) { + return new SequentialCommandGroup( + initialScoreCubeMid(drive, arm, grabber, source) + .deadlineWith(intake.setConeFactory(), candle.wantConeFactory()), + new FollowTrajectory(drive, TrajectoryHelper.loadJSONTrajectory(alliance + "ChargeGrid5ToPiece3.wpilib.json"), false) + .deadlineWith(intake.intakeFactory(), arm.holdTargetState(), grabber.holdConeFactory(), + grabber.setPivotForwardsFactory().andThen(grabber.forcePivot())), + new ParallelCommandGroup( + new FollowTrajectory(drive, TrajectoryHelper.loadJSONTrajectory(alliance + "ChargePiece3ToBalance.wpilib.json"), false), + new SequentialCommandGroup( + intake.stowFactory().alongWith(arm.holdTargetState(), grabber.holdConeFactory()).until(intake::isArmUp).withTimeout(0.5), + new Handoff(intake, arm, grabber, true, true) + ) + ), + new AutoBalanceSimple(drive) + ); + } + private static SequentialCommandGroup centerBaseTo3(String alliance, SwerveDrive drive, Intake intake, Arm arm, Grabber grabber, Lights candle, BotPoseProvider source) { return new SequentialCommandGroup( initialScoreCubeHigh(drive, arm, grabber, source) diff --git a/src/main/java/frc/robot/commands/drive/AutoBalance.java b/src/main/java/frc/robot/commands/drive/AutoBalance.java index 5104cdb..265fcb8 100644 --- a/src/main/java/frc/robot/commands/drive/AutoBalance.java +++ b/src/main/java/frc/robot/commands/drive/AutoBalance.java @@ -5,15 +5,14 @@ package frc.robot.commands.drive; 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.trajectory.constraint.MaxVelocityConstraint; import edu.wpi.first.wpilibj2.command.CommandBase; import frc.robot.Constants; import frc.robot.subsystems.SwerveDrive; public class AutoBalance extends CommandBase { private SwerveDrive m_drive; + private boolean onChargeStation; private static double m_pitch; private static double m_roll; private static double true_angle; @@ -22,13 +21,18 @@ public class AutoBalance extends CommandBase { private static double m_position_x; private static double m_position_y; private static double maxDistance = .5; + private static int robotOrientation = 1; + private static int m_counter = 0; + private static int robotNeededDirection = 1; + private static double driveDirection; + private static int m_counter2 = 0; private static int m_state; - private static boolean m_reverse = false; /** Creates a new AutoBalance. */ - public AutoBalance(SwerveDrive drive) { + public AutoBalance(SwerveDrive drive, Boolean startChargeStation) { // Use addRequirements() here to declare subsystem dependencies. m_drive = drive; + onChargeStation = startChargeStation; addRequirements(m_drive); } @@ -38,6 +42,20 @@ public void initialize() { m_heading = m_drive.getGyroscopeRotation(); m_degrees = m_heading.getDegrees(); m_drive.resetOdometry(new Pose2d(0,0,m_heading), m_heading); + m_pitch = m_drive.getNavX().getPitch(); + m_roll = m_drive.getNavX().getRoll(); + if ((m_degrees > 95) || (m_degrees < -95)) { + robotOrientation = -1; + } + if (m_degrees < 0) { + robotNeededDirection = -1; + } + if (onChargeStation) { + m_state = 2; + } else { + m_state = 0; + } + } /* Tomorrow when the farm boys find this freak of nature, @@ -50,31 +68,72 @@ public void initialize() { * - Two-Headed Calf, by Laura Gilpin */ + + // Called every time the scheduler runs while the command is scheduled. @Override public void execute() { - m_degrees = m_drive.getGyroscopeRotation().getDegrees(); - m_pitch = m_drive.getNavX().getPitch(); - m_roll = m_drive.getNavX().getRoll(); - true_angle = (m_pitch*-Math.cos(Math.toRadians(m_degrees)))+(m_roll*Math.sin(Math.toRadians(m_degrees))); + switch (m_state) { + case 0: + m_drive.drive(Constants.MAX_TRAJ_VELOCITY/32, 0, 0); + if (Math.abs(m_drive.getNavX().getPitch()) > (Math.abs(m_pitch)+.01)) { + m_state = m_state + 1; + } + + case 1: + m_drive.drive(Constants.MAX_TRAJ_VELOCITY/32, 0, 0); + if ((Math.abs(m_drive.getNavX().getPitch()) + Math.abs(m_drive.getNavX().getRoll())) < ((Math.abs(m_pitch) + Math.abs(m_roll))+.005)) { + m_state = m_state + 1; + } + m_pitch = m_drive.getNavX().getPitch(); + m_roll = m_drive.getNavX().getRoll(); + + //robot begins to automatically adjust its angle to + case 2: + m_counter = 0; + m_counter2 = 0; + true_angle = (Math.abs(m_pitch*(Math.pow(Math.sin(Math.toRadians(m_degrees)), 2)))) + (Math.abs(m_roll* Math.pow(Math.cos(Math.toRadians(m_degrees)), 2))); + m_position_y = m_drive.getOdometryPose().getY(); + m_position_x = m_drive.getOdometryPose().getX(); + + //if the robot hasn't moved more than a maxmimum allotted distance, + //the robot can move only on y-axis + if ((m_position_y < maxDistance) || (m_position_x < maxDistance)) { + if (true_angle > Constants.CHARGE_STATION_LEVEL) { + if ((Math.abs(m_degrees) > 85) && (Math.abs(m_degrees) < 95)) { + m_drive.drive(Constants.MAX_TRAJ_VELOCITY/64 * robotNeededDirection * Math.signum(m_roll), 0, 0); + driveDirection = robotNeededDirection * Math.signum(m_roll); + } else { + if (robotNeededDirection == 1) { + m_drive.drive(Constants.MAX_TRAJ_VELOCITY/64 * robotOrientation * Math.signum(m_pitch),0,0); + driveDirection = robotOrientation * Math.signum(m_pitch); + } else if (robotNeededDirection == -1) { + m_drive.drive(Constants.MAX_TRAJ_VELOCITY/64 * robotOrientation * Math.signum(m_pitch), 0, 0); + driveDirection = robotOrientation * Math.signum(m_pitch); + } + } + } else { + m_state = m_state + 1; + } + } - m_position_y = m_drive.getOdometryPose().getY(); - m_position_x = m_drive.getOdometryPose().getX(); + if (Math.signum(m_pitch) != (Math.signum(m_drive.getNavX().getPitch())) || + Math.signum(m_roll) != (Math.signum(m_drive.getNavX().getRoll()))) { + m_state = m_state + 1; + } + m_pitch = m_drive.getNavX().getPitch(); + m_roll = m_drive.getNavX().getRoll(); - //if the robot hasn't moved more than a maxmimum allotted distance, - //the robot can move only on y-axis - if ((m_position_y < maxDistance) || (m_position_x < maxDistance)) { - if (true_angle > Constants.CHARGE_STATION_LEVEL) { - if (true_angle > 0) { - m_drive.drive(-Math.cos(Math.toRadians(m_degrees))*Constants.MAX_TRAJ_VELOCITY, Math.sin(Math.toRadians(m_degrees))*Constants.MAX_TRAJ_VELOCITY, 0); - } - else if (true_angle < 0){ - m_drive.drive(Math.cos(Math.toRadians(m_degrees))*Constants.MAX_TRAJ_VELOCITY, -Math.sin(Math.toRadians(m_degrees))*Constants.MAX_TRAJ_VELOCITY, 0); + case 3: + m_counter = m_counter + 1; + m_counter2 = m_counter2 +1; + if (m_counter == 10) { + m_drive.drive(Constants.MAX_TRAJ_VELOCITY/64 * driveDirection * -1, 0, 0); + } + if (m_counter == 50) { + m_state = m_state - 1; } - } else { - m_state = 1; - } - + } } @@ -87,14 +146,6 @@ public void end(boolean interrupted) { // Returns true when the command should end. @Override public boolean isFinished() { - switch (m_state) { - case 1: - return true; - case 2: - return true; - default: - return false; - } - + return false; } } \ No newline at end of file diff --git a/src/main/java/frc/robot/commands/drive/AutoBalanceSimple.java b/src/main/java/frc/robot/commands/drive/AutoBalanceSimple.java index ead80ae..abc6cd5 100644 --- a/src/main/java/frc/robot/commands/drive/AutoBalanceSimple.java +++ b/src/main/java/frc/robot/commands/drive/AutoBalanceSimple.java @@ -21,6 +21,7 @@ public class AutoBalanceSimple extends CommandBase { private int m_lockedCounter; private int m_driveCounter; private boolean m_driving= false; + private double m_climbSpeed; private final SwerveModuleState [] LOCK_STATES = { new SwerveModuleState(0, Rotation2d.fromDegrees(90)), @@ -29,12 +30,12 @@ public class AutoBalanceSimple extends CommandBase { new SwerveModuleState(0, Rotation2d.fromDegrees(90)) }; - private final DoublePreferenceConstant m_rollOffset = new DoublePreferenceConstant("Auto/Balance/Roll Offset", 0.0); - private final DoublePreferenceConstant m_levelThreshold = new DoublePreferenceConstant("Auto/Balance/Level Theshold", 4.0); - private final DoublePreferenceConstant m_movingThreshold = new DoublePreferenceConstant("Auto/Balance/Moving Theshold", 0.2); - private final IntPreferenceConstant m_lockMin = new IntPreferenceConstant("Auto/Balance/Lock Min", 10); - private final DoublePreferenceConstant m_climbSpeed = new DoublePreferenceConstant("Auto/Balance/Climb Speed", 0.5); - private final DoublePreferenceConstant m_climbMaxDistance = new DoublePreferenceConstant("Auto/Balance/Climb Max", 1.5); + private final DoublePreferenceConstant p_rollOffset = new DoublePreferenceConstant("Auto/Balance/Roll Offset", 0.0); + private final DoublePreferenceConstant p_levelThreshold = new DoublePreferenceConstant("Auto/Balance/Level Theshold", 4.0); + private final DoublePreferenceConstant p_movingThreshold = new DoublePreferenceConstant("Auto/Balance/Moving Theshold", 0.2); + private final IntPreferenceConstant p_lockMin = new IntPreferenceConstant("Auto/Balance/Lock Min", 10); + private final DoublePreferenceConstant p_initialClimbSpeed = new DoublePreferenceConstant("Auto/Balance/Climb Speed", 0.5); + private final DoublePreferenceConstant p_climbMaxDistance = new DoublePreferenceConstant("Auto/Balance/Climb Max", 1.5); public AutoBalanceSimple(SwerveDrive drive) { m_drive = drive; @@ -46,6 +47,7 @@ public AutoBalanceSimple(SwerveDrive drive) { public void initialize() { m_startPose = m_drive.getOdometryPose(); m_lastAngle = getChargeStationAngle(); + m_climbSpeed = p_initialClimbSpeed.getValue(); } // Called every time the scheduler runs while the command is scheduled. @@ -57,25 +59,26 @@ public void execute() { SmartDashboard.putNumber("Auto:currentAngle", currentAngle); SmartDashboard.putNumber("Auto:deltaAngle", deltaAngle); + SmartDashboard.putNumber("Auto:climbSpeed", m_climbSpeed); if (m_driving) m_driveCounter++; - if (Math.abs(currentAngle) < m_levelThreshold.getValue()) { + if (Math.abs(currentAngle) < p_levelThreshold.getValue()) { // if the angle is level, lock in place SmartDashboard.putNumber("Auto:condition", 0); m_lockedCounter = 0; lock(); - } else if (Math.abs(deltaAngle) > m_movingThreshold.getValue() && (m_driving && m_driveCounter > 15 || !m_driving)) { + } else if (Math.abs(deltaAngle) > p_movingThreshold.getValue() && (m_driving && m_driveCounter > 15 || !m_driving)) { // if the angle is moving, lock in place SmartDashboard.putNumber("Auto:condition", 1); m_lockedCounter = 0; lock(); - } else if (m_drive.getOdometryPose().getTranslation().getDistance(m_startPose.getTranslation()) > m_climbMaxDistance.getValue() ) { + } else if (m_drive.getOdometryPose().getTranslation().getDistance(m_startPose.getTranslation()) > p_climbMaxDistance.getValue() ) { // if we have driven too far from where we began, lock in place SmartDashboard.putNumber("Auto:condition", 2); m_lockedCounter = 0; lock(); - } else if (m_lockedCounter< m_lockMin.getValue()) { + } else if (m_lockedCounter< p_lockMin.getValue()) { // if we recently locked, stay locked m_lockedCounter++; lock(); @@ -85,7 +88,7 @@ public void execute() { m_driving = true; m_driveCounter = 0; } - m_drive.drive(m_climbSpeed.getValue() * Math.signum(currentAngle), 0, 0); + m_drive.drive(m_climbSpeed * Math.signum(currentAngle), 0, 0); } } @@ -106,11 +109,12 @@ private double getChargeStationAngle(){ // double roll = m_drive.getNavX().getRoll(); // return (pitch*-Math.cos(Math.toRadians(yaw)))+(roll*Math.sin(Math.toRadians(yaw))); // trying something simple first: - return m_drive.getNavX().getRoll() - m_rollOffset.getValue(); + return m_drive.getNavX().getRoll() - p_rollOffset.getValue(); } private void lock() { m_driving = false; + m_climbSpeed = m_climbSpeed / 2.0; m_drive.setModuleStates(LOCK_STATES); } } diff --git a/src/main/java/frc/robot/commands/drive/FollowHolonomicTrajectory.java b/src/main/java/frc/robot/commands/drive/FollowHolonomicTrajectory.java new file mode 100644 index 0000000..c8c46b1 --- /dev/null +++ b/src/main/java/frc/robot/commands/drive/FollowHolonomicTrajectory.java @@ -0,0 +1,118 @@ +// 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.commands.drive; + +import edu.wpi.first.math.controller.HolonomicDriveController; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.SwerveDrive; +import frc.robot.util.preferenceconstants.DoublePreferenceConstant; +import frc.robot.util.preferenceconstants.PIDPreferenceConstants; + +public class FollowHolonomicTrajectory extends CommandBase { + private final SwerveDrive m_drive; + private final Trajectory m_trajectory; + private final Rotation2d m_rotation; + private final boolean m_resetOdometry; + private final Timer m_timer = new Timer(); + + private final static PIDPreferenceConstants p_vxPID = new PIDPreferenceConstants("Auto/vxPID/"); + private final static PIDPreferenceConstants p_vyPID = new PIDPreferenceConstants("Auto/vyPID/"); + private final static PIDPreferenceConstants p_thetaPID = new PIDPreferenceConstants("Auto/theta/PID/"); + private final static DoublePreferenceConstant p_thetaMaxVelocity = new DoublePreferenceConstant("Auto/theta/Max Velocity", Math.PI);; + private final static DoublePreferenceConstant p_thetaMaxAcceleration = new DoublePreferenceConstant("Auto/theta/Max Acceleration", Math.PI); + private final static DoublePreferenceConstant p_xTolerance = new DoublePreferenceConstant("Auto/Tolerance/x", 0.1); + private final static DoublePreferenceConstant p_yTolerance = new DoublePreferenceConstant("Auto/Tolerance/y", 0.1); + private final static DoublePreferenceConstant p_thetaTolerance = new DoublePreferenceConstant("Auto/Tolerance/theta", 0.05); + + private HolonomicDriveController m_controller; + private boolean m_cancel = false; + + /** Creates a new FollowHolonomicTrajectory. */ + public FollowHolonomicTrajectory(SwerveDrive drive, Trajectory trajectory, Rotation2d startRotation, Rotation2d endRotation, boolean resetOdometry) { + m_drive = drive; + m_trajectory = trajectory; + m_rotation = endRotation.minus(startRotation); + m_resetOdometry = resetOdometry; + + addRequirements(m_drive); + } + + public FollowHolonomicTrajectory(SwerveDrive drive, Trajectory trajectory, boolean resetOdometry) { + this(drive, trajectory, new Rotation2d(), new Rotation2d(), resetOdometry); + } + + // Called when the command is initially scheduled. + @Override + public void initialize() { + m_cancel = false; + + m_controller = new HolonomicDriveController( + new PIDController(p_vxPID.getKP().getValue(), p_vxPID.getKI().getValue(), p_vxPID.getKD().getValue()), + new PIDController(p_vyPID.getKP().getValue(), p_vyPID.getKI().getValue(), p_vyPID.getKD().getValue()), + new ProfiledPIDController(p_thetaPID.getKP().getValue(), p_thetaPID.getKI().getValue(), p_thetaPID.getKD().getValue(), + new TrapezoidProfile.Constraints(p_thetaMaxVelocity.getValue(), p_thetaMaxAcceleration.getValue()))); + + m_controller.setTolerance(new Pose2d(p_xTolerance.getValue(), p_yTolerance.getValue(), Rotation2d.fromDegrees(p_thetaTolerance.getValue()))); + + if (m_resetOdometry) { + m_drive.resetTrajectoryPose(m_trajectory.getInitialPose()); + } else { + Transform2d offset = m_drive.getOdometryPose().minus(m_trajectory.getInitialPose()); + if (offset.getTranslation().getDistance(new Translation2d()) > 1.0 || offset.getRotation().getDegrees() > 45.0 ) { + m_cancel = true; + } + } + + m_controller.setEnabled(true); + m_timer.reset(); + m_timer.start(); + } + + // Called every time the scheduler runs while the command is scheduled. + @Override + public void execute() { + Pose2d currentPose = m_drive.getOdometryPose(); + Trajectory.State desiredState = m_trajectory.sample(m_timer.get()); + Rotation2d targetRotation = new Rotation2d(m_timer.get() * m_rotation.getRadians() / m_trajectory.getTotalTimeSeconds()); + + ChassisSpeeds targetSpeeds = m_controller.calculate(currentPose, desiredState, targetRotation); + + SmartDashboard.putNumber("Auto:Measured vX", m_drive.getChassisSpeeds().vxMetersPerSecond); + SmartDashboard.putNumber("Auto:Measured vY", m_drive.getChassisSpeeds().vyMetersPerSecond); + SmartDashboard.putNumber("Auto:Measured omega", m_drive.getChassisSpeeds().omegaRadiansPerSecond); + + SmartDashboard.putNumber("Auto:Desired vX", desiredState.velocityMetersPerSecond * Math.cos(desiredState.poseMeters.getRotation().getRadians())); + SmartDashboard.putNumber("Auto:Desired vY", desiredState.velocityMetersPerSecond * Math.sin(desiredState.poseMeters.getRotation().getRadians())); + SmartDashboard.putNumber("Auto:Desired omega", desiredState.curvatureRadPerMeter); + + SmartDashboard.putNumber("Auto:Commanded vX", targetSpeeds.vxMetersPerSecond); + SmartDashboard.putNumber("Auto:Commanded vY", targetSpeeds.vyMetersPerSecond); + SmartDashboard.putNumber("Auto:Commanded omega", targetSpeeds.omegaRadiansPerSecond); + + if (!m_cancel) m_drive.drive(targetSpeeds); + } + + // Called once the command ends or is interrupted. + @Override + public void end(boolean interrupted) { + } + + // Returns true when the command should end. + @Override + public boolean isFinished() { + return m_timer.get() > m_trajectory.getTotalTimeSeconds() || m_cancel; + } +} diff --git a/src/main/java/frc/robot/subsystems/SwerveDrive.java b/src/main/java/frc/robot/subsystems/SwerveDrive.java index 3da7d43..ee05d7f 100644 --- a/src/main/java/frc/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc/robot/subsystems/SwerveDrive.java @@ -115,6 +115,7 @@ public class SwerveDrive extends SubsystemBase implements ChassisInterface{ private double m_fieldOffset = 0.0; private SwerveDriveOdometry m_odometry; private Pose2d m_pose; + private boolean m_pivot = false; private boolean m_odometryReset = false; private Pose2d m_traj_pose; @@ -311,7 +312,12 @@ public void drive(double vx, double vy, double angularVelocity) { public void drive(ChassisSpeeds chassisSpeeds) { m_chassisSpeeds = chassisSpeeds; - SwerveModuleState[] states = kinematics.toSwerveModuleStates(m_chassisSpeeds); + SwerveModuleState[] states; + if (m_pivot) { + states = kinematics.toSwerveModuleStates(m_chassisSpeeds, new Translation2d(-Constants.DRIVETRAIN_WHEELBASE_METERS/2, Constants.DRIVETRAIN_WHEELBASE_METERS/2)); + } else { + states = kinematics.toSwerveModuleStates(m_chassisSpeeds); + } setModuleStates(states); } @@ -380,6 +386,14 @@ public InstantCommand resetYawCommandFactory() { return new InstantCommand(() -> {zeroGyroscope();}); } + public InstantCommand pivotOnCommandFactory() { + return new InstantCommand(() -> {m_pivot = true;}); + } + + public InstantCommand pivotOffCommandFactory() { + return new InstantCommand(() -> {m_pivot = false;}); + } + private double deadband(double value, double deadband) { if (Math.abs(value) > deadband) { if (value > 0.0) { diff --git a/src/main/java/frc/robot/util/controllers/DriverController.java b/src/main/java/frc/robot/util/controllers/DriverController.java index f1f2093..ecd0fb2 100644 --- a/src/main/java/frc/robot/util/controllers/DriverController.java +++ b/src/main/java/frc/robot/util/controllers/DriverController.java @@ -12,4 +12,5 @@ public interface DriverController { public Trigger getScoreButton(); + public Trigger getPivotButton(); } \ No newline at end of file diff --git a/src/main/java/frc/robot/util/controllers/FrskyDriverController.java b/src/main/java/frc/robot/util/controllers/FrskyDriverController.java index 1f898e1..a6aefad 100644 --- a/src/main/java/frc/robot/util/controllers/FrskyDriverController.java +++ b/src/main/java/frc/robot/util/controllers/FrskyDriverController.java @@ -28,4 +28,9 @@ public Trigger getScoreButton() { return topRightSwitch; } + @Override + public Trigger getPivotButton() { + return topLeftSwitch; + } + } \ No newline at end of file