From bad85c083e175ed4587fa5424507cbf98954e9d9 Mon Sep 17 00:00:00 2001 From: Daniel Chen Date: Sat, 19 Oct 2024 20:02:08 -0400 Subject: [PATCH] Pre-THOR --- simgui-ds.json | 3 +- simgui.json | 15 +- src/main/ChoreoAutos.chor | 2294 +++++++++++++++++ src/main/deploy/choreo/AmpAutoFar.1.traj | 1160 +++++++++ src/main/deploy/choreo/AmpAutoFar.2.traj | 971 +++++++ src/main/deploy/choreo/AmpAutoFar.traj | 2105 +++++++++++++++ src/main/deploy/choreo/New Path.1.traj | 1307 ---------- src/main/deploy/choreo/New Path.2.traj | 1076 -------- src/main/deploy/choreo/New Path.3.traj | 1139 -------- src/main/deploy/choreo/New Path.4.traj | 614 ----- .../deploy/pathplanner/paths/RandomStuff.path | 10 +- .../deploy/pathplanner/paths/Trolling2.path | 116 - .../controls/motionprofiling/MotionProfile.kt | 4 +- .../exponential/AngularExponentialProfile.kt | 1 - .../exponential/LinearExponentialProfile.kt | 9 +- .../trapezoidal/AngularTrapezoidProfile.kt | 1 - .../trapezoidal/LinearTrapezoidProfile.kt | 1 - .../frc/chargers/framework/ChargerRobot.kt | 11 +- .../kotlin/frc/chargers/framework/Tunable.kt | 9 +- .../subsystems/swervedrive/SwerveConstants.kt | 2 +- .../frc/chargers/utils/EpsilonEquals.kt | 4 +- .../frc/robot/rigatoni/CompetitionRobot.kt | 49 +- .../frc/robot/rigatoni/subsystems/Climber.kt | 19 +- .../robot/rigatoni/subsystems/Drivetrain.kt | 2 +- .../frc/robot/rigatoni/subsystems/Pivot.kt | 48 +- 25 files changed, 6637 insertions(+), 4333 deletions(-) create mode 100644 src/main/deploy/choreo/AmpAutoFar.1.traj create mode 100644 src/main/deploy/choreo/AmpAutoFar.2.traj create mode 100644 src/main/deploy/choreo/AmpAutoFar.traj delete mode 100644 src/main/deploy/choreo/New Path.1.traj delete mode 100644 src/main/deploy/choreo/New Path.2.traj delete mode 100644 src/main/deploy/choreo/New Path.3.traj delete mode 100644 src/main/deploy/choreo/New Path.4.traj delete mode 100644 src/main/deploy/pathplanner/paths/Trolling2.path diff --git a/simgui-ds.json b/simgui-ds.json index 40fd3ac..b2e7a51 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -108,8 +108,7 @@ "guid": "Keyboard0" }, { - "guid": "78696e70757401000000000000000000", - "useGamepad": true + "guid": "Keyboard1" }, { "guid": "Keyboard2" diff --git a/simgui.json b/simgui.json index 45a969d..2dbb289 100644 --- a/simgui.json +++ b/simgui.json @@ -280,10 +280,12 @@ }, "Voltage": { "open": true - }, - "open": true + } }, "Pivot": { + "Control": { + "open": true + }, "open": true }, "Shooter": { @@ -311,6 +313,12 @@ "AutoOptions": { "open": true }, + "Climber": { + "open": true + }, + "DriverController": { + "open": true + }, "NoteVisualizer": { "open": true }, @@ -320,9 +328,6 @@ "SimVisionTuning": { "open": true }, - "SwerveDrive": { - "open": true - }, "TunableValues": { "open": true }, diff --git a/src/main/ChoreoAutos.chor b/src/main/ChoreoAutos.chor index 0df7ae0..d9a5638 100644 --- a/src/main/ChoreoAutos.chor +++ b/src/main/ChoreoAutos.chor @@ -15193,6 +15193,2300 @@ "circleObstacles": [], 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"moduleForcesX": [ - 148.71971060701065, - 150.04526612376125, - 151.22013876532048, - 152.09988762872854 - ], - "moduleForcesY": [ - 41.328359369659, - 36.24407028036988, - 30.937803653920014, - 26.307743424690894 - ], - "timestamp": 2.3020377121205993 - }, - { - "x": 3.1865625381469727, - "y": 1.2049133777618408, - "heading": -0.22679878774842788, - "angularVelocity": -7.628124671508192e-21, - "velocityX": 1.611232686669601e-20, - "velocityY": 9.94524977704135e-21, - "moduleForcesX": [ - 148.6458068257517, - 150.03000006069115, - 151.24967403436125, - 152.1538764579451 - ], - "moduleForcesY": [ - 41.6192240556535, - 36.33566178055198, - 30.8286522591811, - 26.034152140066016 - ], - "timestamp": 2.387298368125066 - } - ], - "eventMarkers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RandomStuff.path b/src/main/deploy/pathplanner/paths/RandomStuff.path index acae065..324bcab 100644 --- a/src/main/deploy/pathplanner/paths/RandomStuff.path +++ b/src/main/deploy/pathplanner/paths/RandomStuff.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 0.0, - "y": 0.0 + "x": 1.4815514239943537, + "y": 7.2903315529086905 }, "prevControl": null, "nextControl": { - "x": 1.0000000000000007, - "y": 0.0 + "x": 1.4815514239943537, + "y": 6.29033155290869 }, "isLocked": false, "linkedName": null @@ -45,7 +45,7 @@ "reversed": false, "folder": null, "previewStartingState": { - "rotation": 0, + "rotation": -90.0, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/Trolling2.path b/src/main/deploy/pathplanner/paths/Trolling2.path deleted file mode 100644 index e0ac9dc..0000000 --- a/src/main/deploy/pathplanner/paths/Trolling2.path +++ /dev/null @@ -1,116 +0,0 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { - "x": 1.4291761916857175, - "y": 6.496415232016215 - }, - "prevControl": null, - "nextControl": { - "x": 2.170728412703645, - "y": 6.350193667308454 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.922725031200699, - "y": 6.2875272824337 - }, - "prevControl": { - "x": 2.014062450516759, - "y": 6.381526859745832 - }, - "nextControl": { - "x": 3.8313876118846393, - "y": 6.193527705121569 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.567819751415585, - "y": 6.882857938743868 - }, - "prevControl": { - "x": 6.016184813117208, - "y": 6.619577627283279 - }, - "nextControl": { - "x": 7.027373240497117, - "y": 7.102190285805508 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 8.259812143033956, - "y": 7.248411850513269 - }, - "prevControl": { - "x": 7.961835352750684, - "y": 7.616500826745544 - }, - "nextControl": { - "x": 8.614921657324231, - "y": 6.809747156389988 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 8.259812143033956, - "y": 5.9324177681434245 - }, - "prevControl": { - "x": 8.280700937992206, - "y": 6.277082884954575 - }, - "nextControl": { - "x": 8.231316479100327, - "y": 5.462239313238495 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 8.259812143033956, - "y": 1.1071061327873286 - }, - "prevControl": { - "x": 8.280700937992206, - "y": 3.3526515907993653 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 4.0, - "maxAcceleration": 4.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0 - }, - "goalEndState": { - "velocity": 0, - "rotation": 180.0, - "rotateFast": false - }, - "reversed": false, - "folder": "Auto Paths", - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/kotlin/frc/chargers/controls/motionprofiling/MotionProfile.kt b/src/main/kotlin/frc/chargers/controls/motionprofiling/MotionProfile.kt index be6206b..be5e9eb 100644 --- a/src/main/kotlin/frc/chargers/controls/motionprofiling/MotionProfile.kt +++ b/src/main/kotlin/frc/chargers/controls/motionprofiling/MotionProfile.kt @@ -24,7 +24,7 @@ typealias LinearMotionProfileState = MotionProfileState, Vel: Dimension<*,*,*,*>> { +interface MotionProfile { fun calculate( setpoint: MotionProfileState, goal: MotionProfileState, @@ -51,7 +51,7 @@ interface MotionProfile, Vel: Dimension<*,*,*,*>> { } -data class MotionProfileState , Vel: Dimension<*,*,*,*>>( +data class MotionProfileState ( var position: Quantity = Quantity(0.0), var velocity: Quantity = Quantity(0.0) ){ diff --git a/src/main/kotlin/frc/chargers/controls/motionprofiling/exponential/AngularExponentialProfile.kt b/src/main/kotlin/frc/chargers/controls/motionprofiling/exponential/AngularExponentialProfile.kt index 1941ee7..e767e1d 100644 --- a/src/main/kotlin/frc/chargers/controls/motionprofiling/exponential/AngularExponentialProfile.kt +++ b/src/main/kotlin/frc/chargers/controls/motionprofiling/exponential/AngularExponentialProfile.kt @@ -54,5 +54,4 @@ class AngularExponentialProfile( AngularVelocity(profileState.velocity) ) } - } \ No newline at end of file diff --git a/src/main/kotlin/frc/chargers/controls/motionprofiling/exponential/LinearExponentialProfile.kt b/src/main/kotlin/frc/chargers/controls/motionprofiling/exponential/LinearExponentialProfile.kt index ed2a442..d458f51 100644 --- a/src/main/kotlin/frc/chargers/controls/motionprofiling/exponential/LinearExponentialProfile.kt +++ b/src/main/kotlin/frc/chargers/controls/motionprofiling/exponential/LinearExponentialProfile.kt @@ -19,9 +19,7 @@ class LinearExponentialProfile( maxInput: Voltage, a: Double, b: Double - ) = LinearExponentialProfile( - ExponentialProfile.Constraints.fromStateSpace(maxInput.siValue, a, b) - ) + ) = LinearExponentialProfile(ExponentialProfile.Constraints.fromStateSpace(maxInput.siValue, a, b)) /** * @see ExponentialProfile.Constraints.fromCharacteristics @@ -30,9 +28,7 @@ class LinearExponentialProfile( maxInput: Voltage, kV: Double, kA: Double - ) = LinearExponentialProfile( - ExponentialProfile.Constraints.fromCharacteristics(maxInput.siValue, kV, kA) - ) + ) = LinearExponentialProfile(ExponentialProfile.Constraints.fromCharacteristics(maxInput.siValue, kV, kA)) } private val profile = ExponentialProfile(constraints) @@ -53,5 +49,4 @@ class LinearExponentialProfile( Velocity(profileState.velocity) ) } - } \ No newline at end of file diff --git a/src/main/kotlin/frc/chargers/controls/motionprofiling/trapezoidal/AngularTrapezoidProfile.kt b/src/main/kotlin/frc/chargers/controls/motionprofiling/trapezoidal/AngularTrapezoidProfile.kt index d73a556..bf9a3a4 100644 --- a/src/main/kotlin/frc/chargers/controls/motionprofiling/trapezoidal/AngularTrapezoidProfile.kt +++ b/src/main/kotlin/frc/chargers/controls/motionprofiling/trapezoidal/AngularTrapezoidProfile.kt @@ -29,5 +29,4 @@ class AngularTrapezoidProfile( AngularVelocity(profileState.velocity) ) } - } \ No newline at end of file diff --git a/src/main/kotlin/frc/chargers/controls/motionprofiling/trapezoidal/LinearTrapezoidProfile.kt b/src/main/kotlin/frc/chargers/controls/motionprofiling/trapezoidal/LinearTrapezoidProfile.kt index 9e1aced..4931594 100644 --- a/src/main/kotlin/frc/chargers/controls/motionprofiling/trapezoidal/LinearTrapezoidProfile.kt +++ b/src/main/kotlin/frc/chargers/controls/motionprofiling/trapezoidal/LinearTrapezoidProfile.kt @@ -29,5 +29,4 @@ class LinearTrapezoidProfile( Velocity(profileState.velocity) ) } - } \ No newline at end of file diff --git a/src/main/kotlin/frc/chargers/framework/ChargerRobot.kt b/src/main/kotlin/frc/chargers/framework/ChargerRobot.kt index 1d80199..cc1b30a 100644 --- a/src/main/kotlin/frc/chargers/framework/ChargerRobot.kt +++ b/src/main/kotlin/frc/chargers/framework/ChargerRobot.kt @@ -4,10 +4,10 @@ package frc.chargers.framework import com.batterystaple.kmeasure.quantities.Time import com.batterystaple.kmeasure.quantities.inUnit import com.batterystaple.kmeasure.units.seconds -import com.pathplanner.lib.pathfinding.LocalADStar -import com.pathplanner.lib.pathfinding.Pathfinding import edu.wpi.first.hal.FRCNetComm import edu.wpi.first.hal.HAL +import edu.wpi.first.wpilibj.DataLogManager +import edu.wpi.first.wpilibj.RuntimeType import edu.wpi.first.wpilibj.TimedRobot import edu.wpi.first.wpilibj.smartdashboard.Field2d import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard @@ -114,7 +114,12 @@ abstract class ChargerRobot: TimedRobot(0.02) { logCommandRunning = HorseLog::log, logExecutionTime = HorseLog::log ) - Pathfinding.setPathfinder(LocalADStar()) HAL.report(FRCNetComm.tResourceType.kResourceType_Language, FRCNetComm.tInstances.kLanguage_Kotlin) + if (getRuntimeType() == RuntimeType.kRoboRIO && DataLogManager.getLogDir() == "/home/lvuser/logs") { + HorseLog.logError( + "Logging to disk on RoboRIO 1", + "This is going to cause us to run out of storage. pls don't." + ) + } } } \ No newline at end of file diff --git a/src/main/kotlin/frc/chargers/framework/Tunable.kt b/src/main/kotlin/frc/chargers/framework/Tunable.kt index 5984310..52404b5 100644 --- a/src/main/kotlin/frc/chargers/framework/Tunable.kt +++ b/src/main/kotlin/frc/chargers/framework/Tunable.kt @@ -21,7 +21,7 @@ fun tunable(default: Boolean, key: String? = null) = Tunable(key, default, SmartDashboard::getBoolean, SmartDashboard::putBoolean) /** A property delegate for a [Quantity] that can be tuned from advantagescope. */ -fun tunable(default: Quantity, key: String? = null, unit: Quantity) = +fun tunable(default: Quantity, key: String? = null, unit: Quantity = Quantity(1.0)) = Tunable(key, default, { k, currDefault -> SmartDashboard.getNumber(k, currDefault.inUnit(unit)).ofUnit(unit) }, { k, v -> SmartDashboard.putNumber(k, v.inUnit(unit)) } @@ -64,13 +64,14 @@ class Tunable( // called once on init operator fun provideDelegate(thisRef: Any?, property: KProperty<*>): Tunable { + val propertyName = property.name.replaceFirstChar { it.titlecase() } val path = when { key != null -> key!! - thisRef != null -> "${thisRef::class.simpleName}/${property.name}" - else -> "OtherTunables/${property.name}" + thisRef != null -> "${thisRef::class.simpleName}/$propertyName" + else -> "OtherTunables/$propertyName" } // waits to put the value to the dashboard so that SmartDashboard can initialize - WaitCommand(0.1) + WaitCommand(1.0) .andThen(InstantCommand { put(path, current) }) .ignoringDisable(true) .schedule() diff --git a/src/main/kotlin/frc/chargers/hardware/subsystems/swervedrive/SwerveConstants.kt b/src/main/kotlin/frc/chargers/hardware/subsystems/swervedrive/SwerveConstants.kt index b38434f..feee9e8 100644 --- a/src/main/kotlin/frc/chargers/hardware/subsystems/swervedrive/SwerveConstants.kt +++ b/src/main/kotlin/frc/chargers/hardware/subsystems/swervedrive/SwerveConstants.kt @@ -29,7 +29,7 @@ data class SwerveConstants( val trackWidth: Length, val wheelBase: Length, val moduleType: ModuleType, - val robotRotationPID: PIDConstants = PIDConstants(2.5,0.0,0.0), // rotation of the entire robot; for pathplanner + val robotRotationPID: PIDConstants = PIDConstants(6.0,0.0,0.0), // rotation of the entire robot; for pathplanner val robotTranslationPID: PIDConstants = PIDConstants(4.0,0.0,0.0), // translation of the entire robot; for pathplanner val pathReplanningConfig: ReplanningConfig = ReplanningConfig(), val odometryUpdateRate: Time = 0.02.seconds, diff --git a/src/main/kotlin/frc/chargers/utils/EpsilonEquals.kt b/src/main/kotlin/frc/chargers/utils/EpsilonEquals.kt index 1f7b41f..9c8309a 100644 --- a/src/main/kotlin/frc/chargers/utils/EpsilonEquals.kt +++ b/src/main/kotlin/frc/chargers/utils/EpsilonEquals.kt @@ -1,7 +1,7 @@ @file:Suppress("unused") package frc.chargers.utils -import com.batterystaple.kmeasure.dimensions.Dimension +import com.batterystaple.kmeasure.dimensions.AnyDimension import com.batterystaple.kmeasure.quantities.Quantity import kotlin.math.abs @@ -14,5 +14,5 @@ fun configureEpsilon(value: Double){ infix fun Double.epsilonEquals(other: Double): Boolean = abs(this - other) < kEpsilon -infix fun > Quantity.epsilonEquals(other: Quantity): Boolean = +infix fun Quantity.epsilonEquals(other: Quantity): Boolean = siValue epsilonEquals other.siValue \ No newline at end of file diff --git a/src/main/kotlin/frc/robot/rigatoni/CompetitionRobot.kt b/src/main/kotlin/frc/robot/rigatoni/CompetitionRobot.kt index 55612c7..d461af9 100644 --- a/src/main/kotlin/frc/robot/rigatoni/CompetitionRobot.kt +++ b/src/main/kotlin/frc/robot/rigatoni/CompetitionRobot.kt @@ -8,7 +8,6 @@ import com.pathplanner.lib.auto.AutoBuilder import com.pathplanner.lib.path.PathPlannerPath import edu.wpi.first.math.MathUtil.applyDeadband import edu.wpi.first.math.geometry.Pose2d -import edu.wpi.first.net.PortForwarder import edu.wpi.first.wpilibj.DriverStation import edu.wpi.first.wpilibj.PowerDistribution import edu.wpi.first.wpilibj.RobotBase @@ -56,9 +55,13 @@ class CompetitionRobot: ChargerRobot() { private val autoChooser = SendableChooser() init { + // ---------- Generic Setup ---------- DriverStation.silenceJoystickConnectionWarning(true) - PortForwarder.add(5800, "photonvision.local", 5800) + //PortForwarder.add(5800, "photonvision.local", 5800) gyro.simHeadingSource = { drivetrain.calculatedHeading } + Tunable.tuningMode = true + + // ---------- Logging Config ---------- HorseLog.setOptions( HorseLog.getOptions() .withNtPublish(true) @@ -67,13 +70,12 @@ class CompetitionRobot: ChargerRobot() { .withLogEntryQueueCapacity(3000) ) HorseLog.setPdh(PowerDistribution(1, PowerDistribution.ModuleType.kRev)) - Trigger(DriverStation::isFMSAttached).onTrue( - InstantCommand { HorseLog.setOptions(HorseLog.getOptions().withNtPublish(false)) } - ) setDefaultCommands() setButtonBindings() + setEventListeners() + // ---------- Auto Config ---------- autoChooser.setDefaultOption( "Taxi", RunCommand(drivetrain){ drivetrain.swerveDrive(0.2, 0.0, 0.0, fieldRelative = false) } @@ -84,7 +86,6 @@ class CompetitionRobot: ChargerRobot() { autoChooser.addOption(autoCommand.name, autoCommand) } SmartDashboard.putData("AutoChoices", autoChooser) - Tunable.tuningMode = true } override fun autonomousInit() { @@ -95,6 +96,22 @@ class CompetitionRobot: ChargerRobot() { autoChooser.selected?.cancel() } + private fun setEventListeners() { + Trigger(DriverStation::isFMSAttached).onTrue( + InstantCommand { HorseLog.setOptions(HorseLog.getOptions().withNtPublish(false)) } + ) + + Trigger{ !DriverStation.isJoystickConnected(DRIVER_CONTROLLER_PORT) } + .onTrue( + InstantCommand { HorseLog.logWarning("Driver controller not connected", "") } + ) + + Trigger { !DriverStation.isJoystickConnected(OPERATOR_CONTROLLER_PORT) } + .onTrue( + InstantCommand { HorseLog.logWarning("Operator controller not connected", "") } + ) + } + private fun setButtonBindings() { driverController.apply { val aimTriggers: List @@ -190,15 +207,16 @@ class CompetitionRobot: ChargerRobot() { speed *= SHOOTER_SPEED_MULTIPLIER HorseLog.log("OperatorController/ShooterSpeed", speed) shooter.setSpeed(speed) - } + val pivotSpeedInvert = if (RobotBase.isReal()) -1.0 else 1.0 pivot.defaultCommand = RunCommand(pivot){ - val invert = if (RobotBase.isReal()) -1.0 else 1.0 - var speed = applyDeadband(operatorController.rightY * invert, PIVOT_DEADBAND).squareMagnitude() + var speed = applyDeadband(operatorController.rightY, PIVOT_DEADBAND) + speed = (speed * pivotSpeedInvert).squareMagnitude() speed *= PIVOT_SPEED_MULTIPLIER - HorseLog.log("OperatorController/PivotSpeed", speed) + pivot.setSpeed(speed) + HorseLog.log("OperatorController/PivotSpeed", speed) }.finallyDo(pivot::setIdle) climber.setDefaultRunCommand{ climber.setIdle() } @@ -385,6 +403,17 @@ class CompetitionRobot: ChargerRobot() { +driveThenScoreAmp(PathPlannerPath.fromPathFile("AmpScoreG2")) }, + buildCommand("2 piece amp non-close", log = true){ + +ampAutoStartup() + +pivotAngleCommand(PivotAngle.GROUND_INTAKE_HANDOFF) + +driveAndIntake( + PathPlannerPath.fromChoreoTrajectory("AmpAutoFar.1"), + noteIntakeTime = 0.5.seconds + ) + +driveThenScoreAmp(PathPlannerPath.fromChoreoTrajectory("AmpAutoFar.2")) + +pivotAngleCommand(PivotAngle.STOWED) + }, + speakerAutoStartup(AutoStartingPose::getSpeakerLeft).withName("1 Piece Speaker"), buildCommand("1 Piece Speaker + Taxi", log = true){ diff --git a/src/main/kotlin/frc/robot/rigatoni/subsystems/Climber.kt b/src/main/kotlin/frc/robot/rigatoni/subsystems/Climber.kt index 7c18a2e..3ac3105 100644 --- a/src/main/kotlin/frc/robot/rigatoni/subsystems/Climber.kt +++ b/src/main/kotlin/frc/robot/rigatoni/subsystems/Climber.kt @@ -1,26 +1,26 @@ package frc.robot.rigatoni.subsystems import com.batterystaple.kmeasure.quantities.Angle -import com.batterystaple.kmeasure.quantities.Voltage import com.batterystaple.kmeasure.quantities.times import com.batterystaple.kmeasure.units.hertz -import com.batterystaple.kmeasure.units.radians import com.batterystaple.kmeasure.units.volts import edu.wpi.first.wpilibj2.command.SubsystemBase import frc.chargers.framework.HorseLog.log import frc.chargers.framework.logged +import frc.chargers.framework.tunable import frc.chargers.hardware.motorcontrol.Motor import frc.chargers.hardware.motorcontrol.ChargerSparkMax private const val CLIMBER_ID_LEFT = 6 private const val CLIMBER_ID_RIGHT = 8 -private const val GEAR_RATIO: Double = 10.0 -private val HIGH_LIMIT: Angle? = -100.radians -private val LOW_LIMIT: Angle? = null -private val MAX_VOLTAGE: Voltage = 8.volts +private const val GEAR_RATIO = 10.0 +private val MAX_VOLTAGE = 8.volts class Climber: SubsystemBase() { + private val highLimit by tunable(Angle(Double.POSITIVE_INFINITY)) + private val lowLimit by tunable(Angle(Double.NEGATIVE_INFINITY)) + private val leftMotor: Motor = ChargerSparkMax(CLIMBER_ID_LEFT, faultLogName = "LeftClimberMotor") .configure( optimizeUpdateRate = true, @@ -43,10 +43,9 @@ class Climber: SubsystemBase() { private val rightPosition by logged{ rightMotor.encoder.angularPosition } private fun willSurpassLimit(hookSpeed: Double, position: Angle): Boolean{ - val surpassedUpperLimit: Boolean = HIGH_LIMIT != null && hookSpeed > 0.0 && position >= HIGH_LIMIT - val surpassedLowerLimit: Boolean = LOW_LIMIT != null && hookSpeed < 0.0 && position <= LOW_LIMIT - - return (surpassedUpperLimit || surpassedLowerLimit).also{ log("Climber/HasSurpassedLimit", it) } + val surpassedUpperLimit = hookSpeed > 0.0 && position >= highLimit + val surpassedLowerLimit = hookSpeed < 0.0 && position <= lowLimit + return (surpassedUpperLimit || surpassedLowerLimit).also { log("Climber/HasSurpassedLimit", it) } } fun moveLeftHook(speed: Double){ diff --git a/src/main/kotlin/frc/robot/rigatoni/subsystems/Drivetrain.kt b/src/main/kotlin/frc/robot/rigatoni/subsystems/Drivetrain.kt index bc51b5a..b23e406 100644 --- a/src/main/kotlin/frc/robot/rigatoni/subsystems/Drivetrain.kt +++ b/src/main/kotlin/frc/robot/rigatoni/subsystems/Drivetrain.kt @@ -48,7 +48,7 @@ private val SWERVE_CONSTANTS = SwerveConstants( moduleType = ModuleType.Mk4iL2, trackWidth = 27.inches, wheelBase = 27.inches, - azimuthPID = PIDConstants(2.0,0.0,0.0), + azimuthPID = PIDConstants(10.0,0.0,0.0), azimuthPIDTolerance = 1.degrees, velocityPID = PIDConstants(0.05,0.0,0.0), velocityFF = AngularMotorFeedforward(0.0,0.13), diff --git a/src/main/kotlin/frc/robot/rigatoni/subsystems/Pivot.kt b/src/main/kotlin/frc/robot/rigatoni/subsystems/Pivot.kt index 8323c7f..ade4e71 100644 --- a/src/main/kotlin/frc/robot/rigatoni/subsystems/Pivot.kt +++ b/src/main/kotlin/frc/robot/rigatoni/subsystems/Pivot.kt @@ -16,6 +16,7 @@ import frc.chargers.controls.motionprofiling.AngularMotionProfileState import frc.chargers.controls.motionprofiling.trapezoidal.AngularTrapezoidProfile import frc.chargers.framework.HorseLog.log import frc.chargers.framework.logged +import frc.chargers.framework.tunable import frc.chargers.hardware.motorcontrol.Motor import frc.chargers.hardware.motorcontrol.ChargerSparkMax import frc.chargers.hardware.motorcontrol.simulation.MotorSim @@ -25,14 +26,14 @@ import frc.chargers.wpilibextensions.Rotation3d import kcommand.InstantCommand // Angle values: - is outward, + is inward +// voltage: + is outward, - is inward private const val PIVOT_MOTOR_ID = 9 private const val PIVOT_ENCODER_ID = 0 -private val PIVOT_SIM_STARTING_TRANSLATION = Translation3d(-0.32, 0.0, 0.72) -private val FORWARD_LIMIT: Angle = -1.636.radians -private val REVERSE_LIMIT: Angle = 1.8.radians private val PID_TOLERANCE = 2.degrees private val ABSOLUTE_ENCODER_OFFSET = -1.404.radians +private val PIVOT_SIM_STARTING_TRANSLATION = Translation3d(-0.32, 0.0, 0.72) +private val PIVOT_MOI = 0.008.kilo.grams * (meters * meters) // upright = 0 rad object PivotAngle { @@ -45,12 +46,15 @@ object PivotAngle { } class Pivot(disable: Boolean = false): SubsystemBase() { + private val forwardLimit by tunable(-1.636.radians) + private val reverseLimit by tunable(1.15.radians) + private val motor: Motor private val absoluteEncoder: PositionEncoder? init { if (isSimulation() || disable){ - motor = MotorSim(DCMotor.getNEO(1), moi = 0.008.kilo.grams * (meters * meters)) + motor = MotorSim(DCMotor.getNEO(1), PIVOT_MOI) absoluteEncoder = null }else{ motor = ChargerSparkMax(PIVOT_MOTOR_ID, faultLogName = "PivotMotor") @@ -67,21 +71,16 @@ class Pivot(disable: Boolean = false): SubsystemBase() { statorCurrentLimit = 35.amps, currentPosition = startingAngle, gearRatio = 96.0, - positionPID = PIDConstants(7.0,0.0,0.001) + positionPID = PIDConstants(7.0, 0.0, 0.001) ) Trigger(DriverStation::isDisabled) - .onTrue(InstantCommand { - setIdle() - motor.configure(brakeWhenIdle = false) - }.ignoringDisable(true)) - .onFalse(InstantCommand { - motor.configure(brakeWhenIdle = true) - }.ignoringDisable(true)) + .onTrue(InstantCommand { setIdle(); motor.configure(brakeWhenIdle = false) }.ignoringDisable(true)) + .onFalse(InstantCommand { motor.configure(brakeWhenIdle = true) }) } private val motionProfile: AngularMotionProfile? = AngularTrapezoidProfile( maxVelocity = AngularVelocity(8.0), - maxAcceleration = AngularAcceleration(16.0) + maxAcceleration = AngularAcceleration(10.0) ) private var motionProfileSetpoint = AngularMotionProfileState(startingAngle) private val feedforward = AngularMotorFeedforward(0.0, 0.0, 0.0) @@ -93,12 +92,10 @@ class Pivot(disable: Boolean = false): SubsystemBase() { // note: forward is negative, so we do <= forward limit private fun willExceedSoftStop(movingForward: Boolean): Boolean = - (angle <= FORWARD_LIMIT && movingForward) || (angle >= REVERSE_LIMIT && !movingForward) + (angle <= forwardLimit && movingForward) || (angle >= reverseLimit && !movingForward) private fun resetMotionProfile(){ - if (motionProfile != null){ - motionProfileSetpoint.position = angle - } + if (motionProfile != null) motionProfileSetpoint.position = angle } fun setIdle(){ @@ -108,7 +105,7 @@ class Pivot(disable: Boolean = false): SubsystemBase() { fun setVoltage(voltage: Voltage){ resetMotionProfile() - if (willExceedSoftStop(movingForward = voltage > 0.volts)){ + if (willExceedSoftStop(movingForward = voltage < 0.volts)){ setIdle() atTarget = true return @@ -119,7 +116,7 @@ class Pivot(disable: Boolean = false): SubsystemBase() { fun setSpeed(speed: Double) = setVoltage(speed * 12.volts) fun setAngle(target: Angle) { - if (willExceedSoftStop(movingForward = this.angle > target)){ + if (willExceedSoftStop(movingForward = this.angle < target)){ setIdle() atTarget = true return @@ -150,13 +147,12 @@ class Pivot(disable: Boolean = false): SubsystemBase() { override fun periodic(){ log("Pivot/StatorCurrent", motor.statorCurrent) log("Pivot/VoltageReading", motor.voltageOut) - // logs Mechanism 3d pose for simulation. - log( - "Pivot/Mechanism3dPose", - Pose3d( - PIVOT_SIM_STARTING_TRANSLATION, - Rotation3d(0.degrees, -angle, 0.degrees) // custom overload function that accepts kmeasure quantities + if (isSimulation()) { + log( // logs Mechanism 3d pose for simulation. + "Pivot/Mechanism3dPose", + // custom overload function that accepts kmeasure quantities + Pose3d(PIVOT_SIM_STARTING_TRANSLATION, Rotation3d(0.degrees, -angle, 0.degrees)) ) - ) + } } } \ No newline at end of file