From c820c52ac8bed9289599a5b909e1dac44e994beb Mon Sep 17 00:00:00 2001 From: Mihir Patankar Date: Wed, 10 Apr 2024 22:47:28 -0400 Subject: [PATCH] Make auto changes --- ChoreoProject.chor | 9850 ++++++++--------- .../deploy/choreo/3PieceSourceSide.1.traj | 1010 +- .../deploy/choreo/3PieceSourceSide.2.traj | 749 +- .../deploy/choreo/3PieceSourceSide.3.traj | 1039 +- .../deploy/choreo/3PieceSourceSide.4.traj | 881 +- src/main/deploy/choreo/3PieceSourceSide.traj | 3665 +++--- .../choreo/3PieceSourceSideLower.1.traj | 1014 +- .../choreo/3PieceSourceSideLower.2.traj | 786 +- .../choreo/3PieceSourceSideLower.3.traj | 924 +- .../choreo/3PieceSourceSideLower.4.traj | 786 +- .../deploy/choreo/3PieceSourceSideLower.traj | 3500 +++--- src/main/deploy/choreo/AmpSide2Piece.1.traj | 1114 +- src/main/deploy/choreo/AmpSide2Piece.2.traj | 410 +- src/main/deploy/choreo/AmpSide2Piece.traj | 1520 +-- src/main/deploy/choreo/CenterlineDisrupt.traj | 815 -- src/main/java/frc/robot/Autos.java | 75 +- src/main/java/frc/robot/Robot.java | 11 +- src/main/java/frc/robot/Superstructure.java | 2 +- src/main/java/frc/robot/arm/Arm.java | 2 +- .../java/frc/robot/drivetrain/Module.java | 2 +- src/main/java/frc/robot/shooter/Shooter.java | 9 +- .../frc/robot/vision/GamePieceDetection.java | 16 +- 22 files changed, 13269 insertions(+), 14911 deletions(-) delete mode 100644 src/main/deploy/choreo/CenterlineDisrupt.traj diff --git a/ChoreoProject.chor b/ChoreoProject.chor index 7141b5c..79c1245 100644 --- a/ChoreoProject.chor +++ b/ChoreoProject.chor @@ -1,16 +1,16 @@ { "version": "v0.3.1", "robotConfiguration": { - "mass": 65.1974197627209, - "rotationalInertia": 15, + "mass": 71.61837776965554, + "rotationalInertia": 7, "motorMaxTorque": 0.49, - "motorMaxVelocity": 4640, + "motorMaxVelocity": 4600, "gearing": 6.122448979591837, "wheelbase": 0.40004978397311663, "trackWidth": 0.5270497153931537, "bumperLength": 0.8254998984, "bumperWidth": 0.8254998984, - "wheelRadius": 0.047497974351093854 + 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"timestamp": 6.822207531375864 - } - ], - "eventMarkers": [] -} \ No newline at end of file diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index ff901b4..526ba83 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -4,6 +4,7 @@ import com.choreo.lib.ChoreoControlFunction; import com.choreo.lib.ChoreoTrajectory; import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj.Timer; @@ -18,8 +19,9 @@ import frc.robot.intake.Intake; import frc.robot.lights.Lights; import frc.robot.shooter.Shooter; +import frc.robot.vision.GamePieceDetection; import java.util.Set; -import java.util.function.BooleanSupplier; +import org.littletonrobotics.junction.Logger; public class Autos { @@ -31,10 +33,11 @@ public class Autos { private final Intake m_intake; private final Arm m_arm; private final Lights m_lights; + private final GamePieceDetection m_gamePieceDetection; private final PIDController m_translationController = new PIDController(3.0, 0.0, 0.0); - private final PIDController m_rotationController = new PIDController(3.0, 0.0, 0.0); - private boolean shootingWhileMoving = false; + private final PIDController m_yControllerGamePieceError = new PIDController(0.1, 0.0, 0.0); + private final PIDController m_rotationController = new PIDController(5.0, 0.0, 0.0); public Autos( Drivetrain drivetrain, @@ -42,13 +45,15 @@ public Autos( Feeder feeder, Intake intake, Arm arm, - Lights lights) { + Lights lights, + GamePieceDetection gamePieceDetection) { m_drivetrain = drivetrain; m_shooter = shooter; m_feeder = feeder; m_intake = intake; m_arm = arm; m_lights = lights; + m_gamePieceDetection = gamePieceDetection; } public Command subShot() { @@ -137,27 +142,12 @@ public Command ampSide() { .withName("Amp Side 1.5 Piece"); } - public Command centerlineDisrupt() { - return Commands.sequence( - resetPose("CenterlineDisrupt"), - toggleShootingWhileMoving(), - Commands.deadline( - getPathFollowingCommand( - "CenterlineDisrupt.1", - shootWhileMovingControlFunction(() -> shootingWhileMoving)), - aimAndShoot().andThen(toggleShootingWhileMoving()))) - .withInterruptBehavior(InterruptionBehavior.kCancelIncoming) - .withName("Centerline Disrupt"); - } - - private Command toggleShootingWhileMoving() { - return Commands.runOnce(() -> shootingWhileMoving = !shootingWhileMoving); - } - private Command getPathFollowingCommand( String trajectoryName, ChoreoControlFunction controlFunction) { + final ChoreoTrajectory trajectory = Choreo.getTrajectory(trajectoryName); + Logger.recordOutput("Drivetrain/Trajectory", trajectory.getPoses()); return Choreo.choreoSwerveCommand( - Choreo.getTrajectory(trajectoryName), + trajectory, PoseEstimation.getInstance()::getPose, controlFunction, m_drivetrain::runVelocity, @@ -169,28 +159,32 @@ private Command getPathFollowingCommand( private Command getPathFollowingCommand(String trajectoryName) { return getPathFollowingCommand( trajectoryName, - Choreo.choreoSwerveController( + choreoSwerveController( m_translationController, m_translationController, m_rotationController)); } - private ChoreoControlFunction shootWhileMovingControlFunction(BooleanSupplier shootingOnTheMove) { + public ChoreoControlFunction choreoSwerveController( + PIDController xController, PIDController yController, PIDController rotationController) { + rotationController.enableContinuousInput(-Math.PI, Math.PI); return (pose, referenceState) -> { + Logger.recordOutput( + "Drivetrain/TrajectorySetpoint", + new Pose2d(referenceState.x, referenceState.y, new Rotation2d(referenceState.heading))); double xFF = referenceState.velocityX; double yFF = referenceState.velocityY; double rotationFF = referenceState.angularVelocity; - double xFeedback = m_translationController.calculate(pose.getX(), referenceState.x); - double yFeedback = m_translationController.calculate(pose.getY(), referenceState.y); + double xFeedback = xController.calculate(pose.getX(), referenceState.x); + double yFeedback = + m_gamePieceDetection.hasValidTarget.getAsBoolean() + ? m_yControllerGamePieceError.calculate( + m_gamePieceDetection.horizontalErrorDeg.getAsDouble(), 0.0) + : yController.calculate(pose.getY(), referenceState.y); double rotationFeedback = - m_rotationController.calculate(pose.getRotation().getRadians(), referenceState.heading); - double omegaRadiansPerSecond = - shootingOnTheMove.getAsBoolean() ? 0.0 : rotationFF + rotationFeedback; - Rotation2d robotRotation = - shootingOnTheMove.getAsBoolean() - ? PoseEstimation.getInstance().getAimingParameters().driveHeading() - : pose.getRotation(); + rotationController.calculate(pose.getRotation().getRadians(), referenceState.heading); + return ChassisSpeeds.fromFieldRelativeSpeeds( - xFF + xFeedback, yFF + yFeedback, omegaRadiansPerSecond, robotRotation); + xFF + xFeedback, yFF + yFeedback, rotationFF + rotationFeedback, pose.getRotation()); }; } @@ -214,18 +208,7 @@ private Command aim() { .alongWith( Commands.defer( () -> { - if (shootingWhileMoving) { - return Commands.startEnd( - () -> - m_drivetrain.setHeadingGoal( - () -> - PoseEstimation.getInstance() - .getAimingParameters() - .driveHeading()), - m_drivetrain::clearHeadingGoal); - } else { - return m_drivetrain.blankDrive(); - } + return m_drivetrain.blankDrive(); }, Set.of())) .withName("Aim"); diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index a0459d5..0082c02 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -6,6 +6,7 @@ import edu.wpi.first.net.PortForwarder; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.RobotBase; +import edu.wpi.first.wpilibj.util.Color; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.Commands; @@ -95,7 +96,7 @@ public Robot() { : Subsystems.createTalonFXClimber(); m_shooter = Subsystems.createTalonFXShooter(); m_feeder = Subsystems.createTalonFXFeeder(); - m_gamePieceDetection = Subsystems.createBlankGamePieceDetection(); + m_gamePieceDetection = Subsystems.createLimelightGamePieceDetection(); break; case kSim: m_drivetrain = Subsystems.createSimDrivetrain(); @@ -122,7 +123,9 @@ public Robot() { NoteVisualizer.setWristPoseSupplier(m_arm.wristPoseSupplier); NoteVisualizer.resetNotes(); NoteVisualizer.showStagedNotes(); - final Autos autos = new Autos(m_drivetrain, m_shooter, m_feeder, m_intake, m_arm, m_lights); + final Autos autos = + new Autos( + m_drivetrain, m_shooter, m_feeder, m_intake, m_arm, m_lights, m_gamePieceDetection); NamedCommands.registerCommand("intake", m_intake.intake()); NamedCommands.registerCommand("intakeOff", m_intake.idle()); NamedCommands.registerCommand("enableShooter", new ScheduleCommand(m_shooter.runShooter())); @@ -208,6 +211,10 @@ public Robot() { .or(m_feeder.hasNote) .onTrue(Commands.runOnce(() -> NoteVisualizer.setHasNote(true))); m_feeder.hasNote.onTrue(m_lights.noteBlink()); + m_gamePieceDetection + .hasValidTarget + .and(() -> DriverStation.isAutonomous()) + .onTrue(m_lights.startBlink(Color.kBlue)); m_driverController .rightTrigger() diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 90724c0..0ff8b49 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -75,7 +75,7 @@ public static Command aimAtStash(Drivetrain drivetrain, Shooter shooter, Arm arm .getAngle() .rotateBy(new Rotation2d(Math.PI))), drivetrain::clearHeadingGoal), - shooter.stashShot(), + shooter.feederShot(), arm.goToSetpoint(ArmSetpoints.kStash), lights.showReadyToShootStatus( drivetrain.atHeadingGoal.and(drivetrain.atHeadingGoal).and(arm.atGoal))) diff --git a/src/main/java/frc/robot/arm/Arm.java b/src/main/java/frc/robot/arm/Arm.java index 47074a3..0c8562e 100644 --- a/src/main/java/frc/robot/arm/Arm.java +++ b/src/main/java/frc/robot/arm/Arm.java @@ -308,7 +308,7 @@ public enum ArmSetpoints { kAmp(1.49 + 0.0873 + Units.degreesToRadians(3.0), Units.degreesToRadians(228), 0.0, 0.0), kClimb(1.633, -2.371, 0.0, 0.0), kTrap(Units.degreesToRadians(53.0), Units.degreesToRadians(80.0), 0.0, 0.0), - kStash(Units.degreesToRadians(10.0), Units.degreesToRadians(170.0), 0.0, 0.0); + kStash(Units.degreesToRadians(-31), 2.083, 0.0, 0.0); public final double elbowAngle; public final double wristAngle; diff --git a/src/main/java/frc/robot/drivetrain/Module.java b/src/main/java/frc/robot/drivetrain/Module.java index 6aa2489..bdd4ef7 100644 --- a/src/main/java/frc/robot/drivetrain/Module.java +++ b/src/main/java/frc/robot/drivetrain/Module.java @@ -15,7 +15,7 @@ public class Module { Constants.kIsViper ? (50.0 / 13.0) : (50.0 / 14.0); public static final double kDriveRatio = kDriveRatioFirstStage * (16.0 / 28.0) * (45.0 / 15.0); public static final double kSteerRatio = 150.0 / 7.0; - private final double kWheelDiameterMeters = Units.inchesToMeters(1.87 * 2); + private final double kWheelDiameterMeters = Units.inchesToMeters(1.73 * 2); private final double kWheelRadiusMeters = kWheelDiameterMeters / 2.0; private final double kCouplingRatio = kDriveRatioFirstStage; diff --git a/src/main/java/frc/robot/shooter/Shooter.java b/src/main/java/frc/robot/shooter/Shooter.java index 9203370..ec981ba 100644 --- a/src/main/java/frc/robot/shooter/Shooter.java +++ b/src/main/java/frc/robot/shooter/Shooter.java @@ -131,13 +131,8 @@ public Command trapAssist() { .withName("Trap Assist"); } - public Command stashShot() { - return this.run( - () -> { - m_io.setTopRollerVoltage(12.0); - m_io.setBottomRollerVoltage(12.0); - }) - .withName("Stash Shot (Shooter)"); + public Command feederShot() { + return this.run(() -> setRollersSetpointRpm(3500.0)).withName("Feeder Shot (Shooter)"); } public Command ampShot() { diff --git a/src/main/java/frc/robot/vision/GamePieceDetection.java b/src/main/java/frc/robot/vision/GamePieceDetection.java index 0f5319b..9a8a446 100644 --- a/src/main/java/frc/robot/vision/GamePieceDetection.java +++ b/src/main/java/frc/robot/vision/GamePieceDetection.java @@ -1,19 +1,23 @@ package frc.robot.vision; +import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants; -import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; import org.littletonrobotics.junction.Logger; public class GamePieceDetection { - private final double kTargetAreaThreshold = 0.0; + private final double kMinimumTargetAreaPercent = 1.7; private final GamePieceDetectionIO m_io; private final GamePieceDetectionIOInputsAutoLogged m_inputs = new GamePieceDetectionIOInputsAutoLogged(); - public final BooleanSupplier hasValidTarget = - () -> m_inputs.hasTarget || m_inputs.targetArea > kTargetAreaThreshold; - public final DoubleSupplier horizontalError = + public final Trigger hasValidTarget = + new Trigger( + () -> + m_inputs.connected + && m_inputs.hasTarget + && m_inputs.targetArea > kMinimumTargetAreaPercent); + public final DoubleSupplier horizontalErrorDeg = () -> m_inputs.targetHorizontalOffsetDegrees * (Constants.onRedAllianceSupplier.getAsBoolean() ? -1 : 1); @@ -26,6 +30,6 @@ public void periodic() { m_io.updateInputs(m_inputs); Logger.processInputs("VisionInputs/Limelight", m_inputs); Logger.recordOutput("GamePieceDetection/ValidTarget", hasValidTarget.getAsBoolean()); - Logger.recordOutput("GamePieceDetection/HorizontalError", horizontalError.getAsDouble()); + Logger.recordOutput("GamePieceDetection/HorizontalErrorDeg", horizontalErrorDeg.getAsDouble()); } }