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Merge branch 'automation-tuning' into automations
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103 changes: 103 additions & 0 deletions
103
src/main/java/frc/robot/commands/FeedForwardCharacterization.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,103 @@ | ||
| package frc.robot.commands; | ||
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|
||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.Subsystem; | ||
| import frc.robot.util.PolynomialRegression; | ||
| import java.util.LinkedList; | ||
| import java.util.List; | ||
| import java.util.function.Consumer; | ||
| import java.util.function.Supplier; | ||
| import org.littletonrobotics.junction.Logger; | ||
|
|
||
| public class FeedForwardCharacterization extends Command { | ||
| private static final double START_DELAY_SECS = 2.0; | ||
|
|
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| private FeedForwardCharacterizationData data; | ||
| private final String logKey; | ||
| private final Consumer<Double> voltageConsumer; | ||
| private final Supplier<Double> velocitySupplier; | ||
| private final double rampRateVoltsPerSecond; | ||
| private final double timeout; | ||
|
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| private final Timer timer = new Timer(); | ||
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| public FeedForwardCharacterization( | ||
| Subsystem subsystem, | ||
| String mechanismName, | ||
| Consumer<Double> voltageConsumer, | ||
| Supplier<Double> velocitySupplier, | ||
| double rampRateVoltsPerSecond, | ||
| double timeout) { | ||
| addRequirements(subsystem); | ||
| this.logKey = subsystem.getName() + "/" + mechanismName; | ||
| this.voltageConsumer = voltageConsumer; | ||
| this.velocitySupplier = velocitySupplier; | ||
| this.rampRateVoltsPerSecond = rampRateVoltsPerSecond; | ||
| this.timeout = timeout; | ||
| } | ||
|
|
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| @Override | ||
| public void initialize() { | ||
| data = new FeedForwardCharacterizationData(logKey); | ||
| timer.restart(); | ||
| } | ||
|
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| @Override | ||
| public void execute() { | ||
| if (timer.get() < START_DELAY_SECS) { | ||
| voltageConsumer.accept(0.0); | ||
| } else { | ||
| double voltage = (timer.get() - START_DELAY_SECS) * rampRateVoltsPerSecond; | ||
| voltageConsumer.accept(voltage); | ||
| data.add(velocitySupplier.get(), voltage); | ||
| } | ||
| } | ||
|
|
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| @Override | ||
| public void end(boolean interrupted) { | ||
| voltageConsumer.accept(0.0); | ||
| timer.stop(); | ||
| data.calculateAndLogResults(); | ||
| } | ||
|
|
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| @Override | ||
| public boolean isFinished() { | ||
| return timer.get() >= timeout + START_DELAY_SECS; | ||
| } | ||
|
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| public static class FeedForwardCharacterizationData { | ||
| private static final String LOG_KEY_BASE = "FeedForwardCharacterizationResults"; | ||
| private final String logKey; | ||
| private final List<Double> velocityData = new LinkedList<>(); | ||
| private final List<Double> voltageData = new LinkedList<>(); | ||
|
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| public FeedForwardCharacterizationData(String logKey) { | ||
| this.logKey = LOG_KEY_BASE + "/" + logKey; | ||
| } | ||
|
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| public void add(double velocity, double voltage) { | ||
| if (Math.abs(velocity) > 1E-4) { | ||
| velocityData.add(Math.abs(velocity)); | ||
| voltageData.add(Math.abs(voltage)); | ||
| } | ||
| } | ||
|
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| public void calculateAndLogResults() { | ||
| if (velocityData.isEmpty() || voltageData.isEmpty()) { | ||
| return; | ||
| } | ||
|
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| PolynomialRegression regression = | ||
| new PolynomialRegression( | ||
| velocityData.stream().mapToDouble(Double::doubleValue).toArray(), | ||
| voltageData.stream().mapToDouble(Double::doubleValue).toArray(), | ||
| 1); | ||
|
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| Logger.recordOutput(logKey + "/SampleCount", velocityData.size()); | ||
| Logger.recordOutput(logKey + "/R^2", regression.R2()); | ||
| Logger.recordOutput(logKey + "/kS", regression.beta(0)); | ||
| Logger.recordOutput(logKey + "/kV", regression.beta(1)); | ||
| } | ||
| } | ||
| } |
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