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Amp Side.auto index 449dfbd7..77354e67 100644 --- a/src/main/deploy/pathplanner/autos/Friendly Auto Amp Side.auto +++ b/src/main/deploy/pathplanner/autos/Friendly Auto Amp Side.auto @@ -2,15 +2,78 @@ "version": 1.0, "startingPose": { "position": { - "x": 0.7084318399429321, - "y": 6.756027698516846 + "x": 0.695, + "y": 6.737 }, - "rotation": -122.00540420769615 + "rotation": -120.32113697747288 }, "command": { "type": "sequential", "data": { - "commands": [] + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Amp Side.1" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake Note" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Amp Side.2" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Zero Hood" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Amp Side.3" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake Note" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Amp Side.4" + } + } + ] + } + } + ] } }, "folder": null, diff --git a/src/main/deploy/pathplanner/autos/Friendly Auto Source Side.auto b/src/main/deploy/pathplanner/autos/Friendly Auto Source Side.auto index 9ae0b090..f95fea3a 100644 --- a/src/main/deploy/pathplanner/autos/Friendly Auto Source Side.auto +++ b/src/main/deploy/pathplanner/autos/Friendly Auto Source Side.auto @@ -2,15 +2,124 @@ "version": 1.0, "startingPose": { "position": { - "x": 0.7084317803382874, - "y": 4.35865592956543 + "x": 0.6949124932289124, + "y": 4.350799083709717 }, - "rotation": 120.96375496765019 + "rotation": 121.42956875605759 }, "command": { "type": "sequential", "data": { - "commands": [] + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Zero Hood" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Source Side.1" + } + } + ] + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Shoot When Ready" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Source Side.2" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake Note" + } + }, + { + "type": "path", + "data": { + "pathName": "Friend Source Side.3" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Friend Source Side.4" + } + }, + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Shoot When Ready" + } + } + ] + } + } + ] } }, "folder": null, diff --git a/src/main/deploy/pathplanner/autos/Greedy Auto No Stage.auto b/src/main/deploy/pathplanner/autos/Greedy Auto No Stage.auto new file mode 100644 index 00000000..dc5e7b58 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Greedy Auto No Stage.auto @@ -0,0 +1,145 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3711200952529907, + "y": 5.528105735778809 + }, + "rotation": 180.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Zero Hood" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Shoot When Ready" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake Note" + } + }, + { + "type": "path", + "data": { + "pathName": "Greedy No Stage.1" + } + }, + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + ] + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Shoot When Ready" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Greedy No Stage.2" + } + }, + { + "type": "named", + "data": { + "name": "Intake Note" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Greedy No Stage.3" + } + }, + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + ] + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Shoot When Ready" + } + } + ] + } + } + ] + } + }, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Greedy Auto.auto b/src/main/deploy/pathplanner/autos/Greedy Auto.auto deleted file mode 100644 index dd30d3cc..00000000 --- a/src/main/deploy/pathplanner/autos/Greedy Auto.auto +++ /dev/null @@ -1,56 +0,0 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.390610933303833, - "y": 5.547595977783203 - }, - "rotation": -177.70940339240997 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Zero Hood" - } - }, - { - "type": "named", - "data": { - "name": "Shoot" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Intake Note" - } - }, - { - "type": "path", - "data": { - "pathName": "Greedy.1" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Shoot" - } - } - ] - } - }, - "folder": null, - "choreoAuto": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Greedy Auto 2.auto b/src/main/deploy/pathplanner/autos/TWO NOTE.auto similarity index 58% rename from src/main/deploy/pathplanner/autos/Greedy Auto 2.auto rename to src/main/deploy/pathplanner/autos/TWO NOTE.auto index 2992ce25..05e4abfe 100644 --- a/src/main/deploy/pathplanner/autos/Greedy Auto 2.auto +++ b/src/main/deploy/pathplanner/autos/TWO NOTE.auto @@ -2,10 +2,10 @@ "version": 1.0, "startingPose": { "position": { - "x": 1.390610933303833, - "y": 5.547595977783203 + "x": 1.3711200952529907, + "y": 5.528105735778809 }, - "rotation": -177.70940339240997 + "rotation": 180.0 }, "command": { "type": "sequential", @@ -36,43 +36,18 @@ { "type": "path", "data": { - "pathName": "Greedy.1" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Shoot" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Intake Note" + "pathName": "Greedy No Stage.1" } }, { - "type": "path", + "type": "named", "data": { - "pathName": "Greedy.2" + "name": "Ready Shooter" } } ] } }, - { - "type": "named", - "data": { - "name": "Shoot" - } - }, { "type": "parallel", "data": { @@ -80,23 +55,17 @@ { "type": "named", "data": { - "name": "Intake Note" + "name": "Ready Shooter" } }, { - "type": "path", + "type": "named", "data": { - "pathName": "Greedy.3" + "name": "Shoot When Ready" } } ] } - }, - { - "type": "named", - "data": { - "name": "Shoot" - } } ] } diff --git a/src/main/deploy/pathplanner/autos/Temp Greedy.auto b/src/main/deploy/pathplanner/autos/Temp Greedy.auto new file mode 100644 index 00000000..70832086 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Temp Greedy.auto @@ -0,0 +1,151 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3711200952529907, + "y": 5.528105735778809 + }, + "rotation": 180.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Zero Hood" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Shoot When Ready" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake Note" + } + }, + { + "type": "path", + "data": { + "pathName": "Temp Greedy.1" + } + }, + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Shoot When Ready" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Temp Greedy.2" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake Note" + } + }, + { + "type": "path", + "data": { + "pathName": "Temp Greedy.3" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Temp Greedy.4" + } + }, + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Ready Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Shoot When Ready" + } + } + ] + } + } + ] + } + }, + "folder": null, + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 19151202..4d0e5e40 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -112,7 +112,7 @@ public void disabledPeriodic() {} /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */ @Override public void autonomousInit() { - autonomousCommand = robotContainer.getAutonomousCommand(); + autonomousCommand = robotContainer.getAutonomousCommand(); //fixme: add zero sequence before this command // schedule the autonomous command (example) if (autonomousCommand != null) { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8d001d81..4acea767 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -20,6 +20,7 @@ import edu.wpi.first.units.Units; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.RobotState; import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj2.command.Command; @@ -49,8 +50,8 @@ import frc.robot.subsystems.intake.IntakeIOSparkMax; import frc.robot.subsystems.lights.LEDs; import frc.robot.subsystems.shooter.*; -import frc.robot.util.Dashboard; import frc.robot.util.Mode; +import org.littletonrobotics.junction.networktables.LoggedDashboardBoolean; import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; @@ -74,13 +75,12 @@ */ public class RobotContainer { public static SysIDMode sysIDMode = SysIDMode.Disabled; - private final Shooter shooter; - private final Feeder feeder; - private final Intake intake; - private final Climb climb; - private final VisionIOReal vision; + public final Shooter shooter; + public final Feeder feeder; + public final Intake intake; + public final Climb climb; // private final Dashboard dashboard; - private final LEDs leds; + public final LEDs leds; private final ControllerRumble driverRumble = new ControllerRumble(0); private final ControllerRumble operatorRumble = new ControllerRumble(1); @@ -97,7 +97,11 @@ public class RobotContainer { private final ReactionObject reactions; LoggedDashboardNumber angleOffsetInput = new LoggedDashboardNumber("Angle Offset", 0.0); // Subsystems - private Drive drive; + public Drive drive; + LoggedDashboardBoolean invertX = new LoggedDashboardBoolean("Invert X Axis", false); + LoggedDashboardBoolean invertY = new LoggedDashboardBoolean("Invert Y Axis", false); + LoggedDashboardBoolean invertOmega = new LoggedDashboardBoolean("Invert Omega Axis", false); + /** * The container for the robot. Contains subsystems, IO devices, and commands. @@ -110,11 +114,14 @@ public RobotContainer() { drive = new Drive( new GyroIOPigeon2(), - new VisionIOReal("ShootSideCamera"), new ModuleIOSparkMax(0){}, new ModuleIOSparkMax(1){}, new ModuleIOSparkMax(2){}, - new ModuleIOSparkMax(3){}); + new ModuleIOSparkMax(3){}, + new VisionIOReal[]{ + new VisionIOReal("ShootSideCamera"), + new VisionIOReal("RightCamera") //fixme: rename camera + }); shooter = new Shooter(new ShooterIOTalonFX(), new HoodIOSparkMax()); // new HoodIOSparkMax() {} feeder = new Feeder(new FeederIOTalonFX()); intake = new Intake(new IntakeIOSparkMax()); @@ -125,8 +132,7 @@ public RobotContainer() { // Sim robot, instantiate physics sim IO implementations drive = new Drive( - new GyroIO() { - }, + new GyroIO() {}, new VisionIOSim( "ShootSideCamera", () -> (drive == null) ? (drive.getPose()) : new Pose2d()), new ModuleIOSim(), @@ -199,12 +205,10 @@ public RobotContainer() { NamedCommands.registerCommand( "Shoot When Ready", sequence( - ShooterCommands.autoAim(shooter, drive), waitUntil(() -> (shooter.allAtSetpoint() && (shooter.getShooterVelocityRPM() > 1000))), feedToShooter(feeder) ) .withTimeout(3.0) - .andThen(ShooterCommands.simpleHoodZero(shooter)) ); NamedCommands.registerCommand( "Shoot", @@ -218,7 +222,6 @@ public RobotContainer() { NamedCommands.registerCommand( "Intake Note", smartIntakeCommand(intake, feeder) - .withTimeout(1.0) .andThen(IntakeCommands.idleCommand(intake) .withTimeout(1.5)) ); @@ -232,7 +235,6 @@ public RobotContainer() { // DriveCommands.joystickDrive(drive, () -> .1, () -> 0, () -> 0.0).withTimeout(4.0) ); autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser()); - vision = new VisionIOReal("ShootSideCamera"); // dashboard = new Dashboard(autoChooser, drive, shooter, feeder, intake, vision, this.smartCommandsMode); this.reactions = new ReactionObject( @@ -240,7 +242,10 @@ public RobotContainer() { new Trigger(feeder::getBeamBroken), new Trigger(shooter::allAtSetpoint), new Trigger(shooter::hoodAtSetpoint), - new Trigger(shooter::flywheelAtSetpoint) + new Trigger(shooter::flywheelAtSetpoint), + new Trigger(RobotState::isTeleop), + new Trigger(RobotState::isAutonomous), + new Trigger(RobotState::isEnabled) ); configureButtonBindings(); @@ -260,9 +265,9 @@ private void configureButtonBindings() { drive.setDefaultCommand( DriveCommands.joystickDrive( drive, - driverController::getLeftY, - driverController::getLeftX, - driverController::getRightX)); + () -> (-driverController.getLeftY() * (invertX.get()?-1:1)), + () -> (-driverController.getLeftX() * (invertY.get()?-1:1)), + () -> (-driverController.getRightX()) * (invertOmega.get()?-1:1))); intake.setDefaultCommand(IntakeCommands.idleCommand(intake)); feeder.setDefaultCommand(new RunCommand(() -> feeder.runVolts(0.0), feeder)); shooter.setDefaultCommand( @@ -283,6 +288,10 @@ private void configureButtonBindings() { ClimbCommands.runClimb(climb, operatorController::getLeftY, operatorController::getRightY) )); + leds.setDefaultCommand( + either(LEDCommands.enabled(leds), LEDCommands.disabled(leds, this), RobotState::isEnabled) + .ignoringDisable(true)); //fixme: MAKE THIS LINE WORK + // ---- DRIVETRAIN COMMANDS ---- driverController.x().whileTrue(runOnce(drive::stopWithX, drive)); @@ -290,9 +299,9 @@ private void configureButtonBindings() { var command = DriveCommands.aimAtSpeakerCommand( drive, - driverController::getLeftY, - driverController::getLeftX, - driverController::getRightX); + () -> (-driverController.getLeftY() * (invertX.get()?-1:1)), + () -> (-driverController.getLeftX() * (invertY.get()?-1:1)), + () -> (-driverController.getRightX()) * (invertOmega.get()?-1:1)); driverController.leftBumper().whileTrue(command.getCommand()); // ---- INTAKE COMMANDS ---- @@ -321,13 +330,13 @@ private void configureButtonBindings() { driverController.rightBumper().whileTrue(IntakeCommands.idleCommand(intake)); operatorController - .povDown() + .povLeft() .whileTrue( IntakeCommands.flushIntake(intake) .alongWith(FeederCommands.flushFeeder(feeder)) ); operatorController - .povUp() + .povDown() .whileTrue( sequence( parallel( @@ -349,6 +358,15 @@ private void configureButtonBindings() { ) .until(() -> !feeder.getBeamBroken()) ); + operatorController + .a() + .toggleOnTrue(LEDCommands.setIntakeBoolean()) + .onTrue( + LEDCommands.setIntakeType(leds).ignoringDisable(true) + ); + operatorController + .b() + .toggleOnTrue(LEDCommands.dropNoteEmily(leds).ignoringDisable(true)); // ---- SHOOTER COMMANDS ---- operatorController @@ -359,27 +377,11 @@ private void configureButtonBindings() { .whileTrue( ShooterCommands.JustShoot(shooter) ); - operatorController - .a() - .whileTrue( - parallel( - sequence( - ShooterCommands.ampShoot(shooter).until(() -> !feeder.getBeamBroken()), - ShooterCommands.pushIntoAmp(shooter) - ), - sequence( - waitSeconds(0.5), - waitUntil(shooter::allAtSetpoint), - feedToShooter(feeder) - .until(() -> !feeder.getBeamBroken()) - ) - ) - ); operatorController .leftBumper() .onTrue( feedToBeamBreak(feeder) - .withTimeout(2) + .withTimeout(5) ); driverController .rightTrigger() @@ -395,19 +397,24 @@ private void configureButtonBindings() { operatorController .start() .onTrue( - ShooterCommands.addToOffset() - ); - operatorController - .back() - .onTrue( - ShooterCommands.removeFromOffset() + ShooterCommands.simpleHoodZero(shooter) + .withTimeout(4.0) ); - driverController + driverController // fixme move to operator controls .povUp() .whileTrue(newAmpShoot(shooter) .alongWith(feedToShooter(feeder)) .onlyWhile(feeder::getBeamBroken) .andThen(ShooterCommands.ampAngle(shooter))); + + // NEW OPERATOR CONTROLS + // leftbumper zero + // x justShoot + // y aim + // povup humanplayerintake + // down flush + + //zero shooter break; case DriveMotors: drive.setDefaultCommand( @@ -541,7 +548,7 @@ public Command getExitCommand(Mode m) { } public void configureReactions() { - driverRumble.setDefaultCommand(noRumble(driverRumble)); + driverRumble.setDefaultCommand(noRumble(driverRumble).ignoringDisable(true)); reactions.intakeBeamBroken .and(reactions.shooterBeamBroken.negate()) .whileTrue( @@ -549,9 +556,17 @@ public void configureReactions() { rumbleLight(driverRumble) .withTimeout(0.1), waitSeconds(0.2) - .andThen(rumbleLightWithFalloff(operatorRumble)) - ) + .andThen(rumbleLightWithFalloff(operatorRumble).withTimeout(10.0)) + ).ignoringDisable(true) ); + reactions + .isAutonomous + .and(reactions.isEnabled) + .whileTrue(LEDCommands.flameCommand(leds).ignoringDisable(true)); + reactions + .isTeleop + .and(reactions.isEnabled) + .whileTrue(LEDCommands.enabled(leds).ignoringDisable(true)); } @@ -579,18 +594,24 @@ public enum SysIDMode { } private class ReactionObject { + Trigger isEnabled; Trigger intakeBeamBroken; Trigger shooterBeamBroken; Trigger shooterAllAtSetpoint; Trigger shooterHoodAtSetpoint; Trigger shooterRpmAtSetpoint; + Trigger isTeleop; + Trigger isAutonomous; - public ReactionObject(Trigger intakeBeamBroken, Trigger shooterBeamBroken, Trigger shooterAllAtSetpoint, Trigger shooterHoodAtSetpoint, Trigger shooterRpmAtSetpoint) { + public ReactionObject(Trigger intakeBeamBroken, Trigger shooterBeamBroken, Trigger shooterAllAtSetpoint, Trigger shooterHoodAtSetpoint, Trigger shooterRpmAtSetpoint, Trigger t, Trigger b, Trigger trigger) { this.intakeBeamBroken = intakeBeamBroken; this.shooterBeamBroken = shooterBeamBroken; this.shooterAllAtSetpoint = shooterAllAtSetpoint; this.shooterHoodAtSetpoint = shooterHoodAtSetpoint; this.shooterRpmAtSetpoint = shooterRpmAtSetpoint; + this.isTeleop = t; + this.isAutonomous = b; + this.isEnabled = trigger; } } } diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java index d2411559..74c2f466 100644 --- a/src/main/java/frc/robot/commands/DriveCommands.java +++ b/src/main/java/frc/robot/commands/DriveCommands.java @@ -13,10 +13,6 @@ package frc.robot.commands; -import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.commands.PathfindingCommand; -import com.pathplanner.lib.path.PathPlannerPath; -import com.pathplanner.lib.pathfinding.Pathfinding; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.filter.LinearFilter; @@ -45,6 +41,7 @@ import static edu.wpi.first.math.geometry.Rotation2d.fromRotations; import static edu.wpi.first.units.Units.*; import static edu.wpi.first.wpilibj.DriverStation.Alliance.Blue; +import static edu.wpi.first.wpilibj.DriverStation.Alliance.Red; public class DriveCommands { @@ -101,7 +98,6 @@ public static Command joystickDrive( DoubleSupplier omegaSupplier) { return Commands.run( () -> { - // Apply deadband double linearMagnitude = MathUtil.applyDeadband( @@ -128,7 +124,6 @@ public static Command joystickDrive( omega * drive.getMaxAngularSpeedRadPerSec(), drive.getRotation().rotateBy( getAllianceRotation()))); - }, drive); } @@ -250,7 +245,7 @@ public static CommandAndReadySupplier aimAtSpeakerCommand( linearVelocity.getX() * drive.getMaxLinearSpeedMetersPerSec(), linearVelocity.getY() * drive.getMaxLinearSpeedMetersPerSec(), - -value*6.28, + (rotationController.getSetpoint().velocity+value)*6.28, drive.getRotation().rotateBy( getAllianceRotation()))); previousPose[0] = drive.getPose(); @@ -269,7 +264,7 @@ public static CommandAndReadySupplier aimAtSpeakerCommand( } private static Rotation2d getAllianceRotation() { - return fromRotations((DriverStation.getAlliance().orElse(Blue) == Blue) ? 0.5 : 0.0); + return fromRotations((DriverStation.getAlliance().orElse(Blue) == Red) ? 0.5 : 0.0); } public static CommandAndReadySupplier aimAtSpeakerCommand( diff --git a/src/main/java/frc/robot/commands/IntakeCommands.java b/src/main/java/frc/robot/commands/IntakeCommands.java index 4ad84d60..2c702f36 100644 --- a/src/main/java/frc/robot/commands/IntakeCommands.java +++ b/src/main/java/frc/robot/commands/IntakeCommands.java @@ -28,7 +28,7 @@ public static Command smartIntakeCommand(Intake intake, Feeder feeder) { safeIntakeCommand(intake, feeder) .until(feeder::getIntakeBeamBroken), intakeCommand(intake) - .withTimeout(0.2) + .withTimeout(.2) .onlyWhile(feeder::getIntakeBeamBroken), IntakeCommands.flushIntakeWithoutTheArmExtendedOutward(intake) .onlyWhile(feeder::getIntakeBeamBroken) diff --git a/src/main/java/frc/robot/commands/LEDCommands.java b/src/main/java/frc/robot/commands/LEDCommands.java index b6da0c76..8ed22dd9 100644 --- a/src/main/java/frc/robot/commands/LEDCommands.java +++ b/src/main/java/frc/robot/commands/LEDCommands.java @@ -1,19 +1,25 @@ package frc.robot.commands; -import com.ctre.phoenix.led.FireAnimation; -import com.ctre.phoenix.led.RainbowAnimation; -import com.ctre.phoenix.led.RgbFadeAnimation; -import com.ctre.phoenix.led.TwinkleAnimation; +import com.ctre.phoenix.led.*; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj.RobotController; import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.RobotContainer; import frc.robot.subsystems.lights.LEDs; +import java.util.Optional; + import static com.ctre.phoenix.led.TwinkleAnimation.TwinklePercent.Percent30; -import static edu.wpi.first.wpilibj2.command.Commands.startEnd; +import static edu.wpi.first.wpilibj2.command.Commands.*; import static frc.robot.subsystems.lights.LEDs.candleLength; import static frc.robot.subsystems.lights.LEDs.stripLength; public class LEDCommands { + public static boolean wantsHPI; public static Command flameCommand(LEDs leds, double brightness) { + if (leds == null) return none(); + if (leds.getCandle() == null) return idle(leds); var candle = leds.getCandle(); return startEnd( () -> { @@ -30,25 +36,125 @@ public static Command flameCommand(LEDs leds, double brightness) { ); } - public static Command flameCommand(LEDs leds) { - return flameCommand(leds, 0.25); + public static Command setIntakeBoolean(){ + return runOnce(() -> wantsHPI = !wantsHPI) + .withName("Change Intake Mode"); + } - public static Command disabled(LEDs leds) { + public static Command setIntakeType(LEDs leds){ + if (leds == null) return none(); + if (leds.getCandle() == null) return idle(leds); var candle = leds.getCandle(); + + return runEnd( + () -> { + if(wantsHPI) { + candle.animate(new SingleFadeAnimation(255, 255, 50, 0, .1, stripLength * 4, candleLength), 0); + } + else{ + candle.animate(new SingleFadeAnimation(0, 0, 80, 0, .1, stripLength * 4, candleLength), 0); + } + }, + () -> { + for (int i = 0; i < candle.getMaxSimultaneousAnimationCount(); i++) candle.clearAnimation(i); + }, + leds + ); + } + + public static Command dropNoteEmily(LEDs leds){ + if (leds == null) return none(); + if (leds.getCandle() == null) return idle(leds); + var candle = leds.getCandle(); + return startEnd( () -> { - candle.animate(new RgbFadeAnimation(1.0, 0.5, candleLength, 0), 0); - candle.animate(new RainbowAnimation(1, 0, stripLength * 4, false, candleLength), 1); + if(!wantsHPI) { + candle.animate(new LarsonAnimation(255, 255, 50, 0, 0, stripLength, LarsonAnimation.BounceMode.Back, stripLength, candleLength), 0); + candle.animate(new LarsonAnimation(255, 255, 50, 0, 0, stripLength, LarsonAnimation.BounceMode.Front, stripLength, candleLength + stripLength), 1); + candle.animate(new LarsonAnimation(255, 255, 50, 0, 0, stripLength, LarsonAnimation.BounceMode.Back, stripLength, candleLength + stripLength*2), 2); + candle.animate(new LarsonAnimation(255, 255, 50, 0, 0, stripLength, LarsonAnimation.BounceMode.Front, stripLength, candleLength + stripLength*3), 3); + } }, () -> { - for (int i = 0; i < 2; i++) candle.clearAnimation(i); + for (int i = 0; i < candle.getMaxSimultaneousAnimationCount(); i++) candle.clearAnimation(i); }, leds ); } + public static Command flameCommand(LEDs leds) { + return flameCommand(leds, 0.25); + } + + public static Command disabled(LEDs leds, RobotContainer robotContainer) { + if (leds == null) return none(); + if (leds.getCandle() == null) return idle(leds); + var candle = leds.getCandle(); + + return startEnd( + () -> candle.animate(new RainbowAnimation(1, 0, stripLength * 4, false, candleLength), 1), + () -> { + for (int i = 0; i < candle.getMaxSimultaneousAnimationCount(); i++) candle.clearAnimation(i); + }, + leds + ).deadlineWith(run(()-> { + boolean dsAttached = DriverStation.isDSAttached(); + boolean cameraConnected = robotContainer.drive.cameraCount() > 1; + boolean gyroConnected = robotContainer.drive.isGyroConnected(); + if (cameraConnected) { + candle.clearAnimation(2); + candle.setLEDs(0, 100, 0, 0, 0, 1); + } else candle.animate(new StrobeAnimation(255, 0, 0, 0, 0, 1, 0), 2); + + Optional side = DriverStation.getAlliance(); + if (side.isEmpty()) { + candle.animate(new StrobeAnimation(50,50,50, 0, 0, 1, 1), 3);//blinkred + } else if (side.get() == Alliance.Blue) { + candle.animate(new SingleFadeAnimation(0,0,100, 0, 0, 1, 1), 3); + } else if (side.get() == Alliance.Red) { + candle.animate(new SingleFadeAnimation(100, 0, 0, 0, 0, 1, 1), 3); + } else { + candle.animate(new StrobeAnimation(100,0,0, 0, 0, 1, 1), 3);//blinkred + } + + if (dsAttached) { + candle.clearAnimation(4); + candle.setLEDs(0, 100, 0, 0, 2, 1); + } + else candle.animate(new StrobeAnimation(100, 0, 0, 0, 0, 1, 2), 4); + + if (gyroConnected) { + candle.clearAnimation(5); + candle.setLEDs(0, 100, 0, 0, 3, 1); + } + else + candle.animate(new StrobeAnimation(100, 0, 0, 0, 0, 1, 3), 5); + + if (RobotController.getBatteryVoltage() > 13.0) { + candle.clearAnimation(5); + candle.setLEDs(0, 100, 0, 0, 4, 1); + } + else + candle.animate(new StrobeAnimation(100, 0, 0, 0, 0, 1,4), 5); + + if (DriverStation.isFMSAttached()) { + candle.clearAnimation(6); + candle.setLEDs(0, 100, 0, 0, 5, 1); + } + else + candle.animate(new StrobeAnimation(100, 0, 0, 0, 0, 1, 5), 6); + })).handleInterrupt(() -> { + for (int i = 0; i < candle.getMaxSimultaneousAnimationCount(); i++) { + candle.clearAnimation(i); + } + }); + } + public static Command enabled(LEDs leds) { + if (leds == null) return none(); + if (leds.getCandle() == null) return idle(leds); var candle = leds.getCandle(); return startEnd( () -> { @@ -56,7 +162,7 @@ public static Command enabled(LEDs leds) { candle.animate(new TwinkleAnimation(200, 200, 200, 1, 0, stripLength * 4, Percent30, candleLength), 1); }, () -> { - for (int i = 0; i < 2; i++) candle.clearAnimation(i); + for (int i = 0; i < candle.getMaxSimultaneousAnimationCount(); i++) candle.clearAnimation(i); }, leds ); diff --git a/src/main/java/frc/robot/commands/ShooterCommands.java b/src/main/java/frc/robot/commands/ShooterCommands.java index 06ab132e..bfda5fba 100644 --- a/src/main/java/frc/robot/commands/ShooterCommands.java +++ b/src/main/java/frc/robot/commands/ShooterCommands.java @@ -114,9 +114,11 @@ public static Command simpleHoodZero(Shooter shooter) { run(() -> { shooter.zeroMode = true; shooter.setHoodPIDEnabled(false); + //fixme: potentially make this higher (must do with testing, could damage robot) shooter.hoodRunVolts(2); }, shooter), sequence( + waitSeconds(0.25), waitUntil(() -> !(zeroStateDetection.calculate( shooter.isStalled() || (abs( @@ -126,11 +128,9 @@ public static Command simpleHoodZero(Shooter shooter) { runOnce(() -> shooter.setHasZeroed(true)) ) ) - .beforeStarting(print("Starting Hood Zero Sequence")) .withTimeout(4.0) .finallyDo(() -> { shooter.zeroMode = false; - System.out.println("Finished Hood Zero Sequence"); shooter.setHoodPIDEnabled(true); }) .handleInterrupt(() -> { @@ -179,7 +179,7 @@ public static Command removeFromOffset() { public static Command humanPlayerIntake(Shooter shooter){ return run(() -> { shooter.setTargetShooterAngle(Rotation2d.fromRadians(1.214)); - shooter.shooterRunVelocity(-750); + shooter.shooterRunVelocity(-1000); }); } diff --git a/src/main/java/frc/robot/subsystems/ControllerRumble.java b/src/main/java/frc/robot/subsystems/ControllerRumble.java index cd59567f..63aa9991 100644 --- a/src/main/java/frc/robot/subsystems/ControllerRumble.java +++ b/src/main/java/frc/robot/subsystems/ControllerRumble.java @@ -12,7 +12,7 @@ public ControllerRumble(int port) { } public void setRumbleLight(double rumble) { - controller.setRumble(GenericHID.RumbleType.kLeftRumble, rumble); + controller.setRumble(GenericHID.RumbleType.kRightRumble, rumble); } public void setRumbleHeavy(double rumble) { diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index f5dcd0f3..f7da470c 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -14,8 +14,6 @@ package frc.robot.subsystems.drive; import com.pathplanner.lib.auto.AutoBuilder; -import com.pathplanner.lib.pathfinding.LocalADStar; -import com.pathplanner.lib.pathfinding.Pathfinding; import com.pathplanner.lib.util.HolonomicPathFollowerConfig; import com.pathplanner.lib.util.PIDConstants; import com.pathplanner.lib.util.PathPlannerLogging; @@ -66,16 +64,16 @@ public class Drive extends SubsystemBase { private final GyroIOInputsAutoLogged gyroInputs = new GyroIOInputsAutoLogged(); private final Module[] modules = new Module[4]; // FL, FR, BL, BR private final SwerveModulePosition[] swerveModulePositions; - private final VisionIO visionIO; - private final VisionIO.VisionIOInputs visionInputs = new VisionIO.VisionIOInputs(); + private final VisionIO[] visionIO; + private final VisionIO.VisionIOInputs[] visionInputs; // private final private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations()); private SwerveDrivePoseEstimator poseEstimator; private Pose2d pose = new Pose2d(); - PIDConstants positionPID = new PIDConstants(1.0, .00); - PIDConstants rotationPID = new PIDConstants(0.5, .01); + PIDConstants positionPID = new PIDConstants(2, .00); + PIDConstants rotationPID = new PIDConstants(2.5, .00); private Measure> angularVelocity = RadiansPerSecond.zero(); private Rotation2d lastGyroRotation = new Rotation2d(); @@ -92,14 +90,29 @@ public class Drive extends SubsystemBase { private Pose2d previousPose = new Pose2d(); double timestampSeconds = 0.0; - public Drive( + public Drive( + GyroIO gyroIO, + VisionIO visionIO, + ModuleIO flModuleIO, + ModuleIO frModuleIO, + ModuleIO blModuleIO, + ModuleIO brModuleIO) { + this(gyroIO, flModuleIO, frModuleIO, blModuleIO, brModuleIO, new VisionIO[]{visionIO}); + } + + public Drive( GyroIO gyroIO, - VisionIO visionIO, ModuleIO flModuleIO, ModuleIO frModuleIO, ModuleIO blModuleIO, - ModuleIO brModuleIO) { + ModuleIO brModuleIO, + VisionIO[] visionIO) { this.visionIO = visionIO; + visionInputs = new VisionIO.VisionIOInputs[visionIO.length]; + for (int i = 0, visionIOLength = visionIO.length; i < visionIOLength; i++) { + visionInputs[i] = new VisionIO.VisionIOInputs() {}; + } + this.gyroIO = gyroIO; modules[3] = new Module(flModuleIO, 0); @@ -119,7 +132,7 @@ MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig(true, true)), DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Red, this); - Pathfinding.setPathfinder(new LocalADStar()); +// Pathfinding.setPathfinder(new LocalADStar()); //noinspection ToArrayCallWithZeroLengthArrayArgument PathPlannerLogging.setLogActivePathCallback( (activePath) -> @@ -147,77 +160,90 @@ MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig(true, true)), } public void periodic() { - previousPose = pose; - + previousPose = pose; - gyroIO.updateInputs(gyroInputs); - Logger.processInputs("Drive/Gyro", gyroInputs); - visionIO.updateInputs(visionInputs); - Logger.processInputs("Drive/Vision", visionInputs); + gyroIO.updateInputs(gyroInputs); + Logger.processInputs("Drive/Gyro", gyroInputs); - for (var module : modules) { - module.periodic(); - } + VisionIO vision = null; + for (int i = 0, visionIOLength = visionIO.length; i < visionIOLength; i++) { + vision = visionIO[i]; + vision.updateInputs(visionInputs[i]); + } + for (VisionIO.VisionIOInputs visionInput : visionInputs) { + Logger.processInputs("Drive/Vision/" + visionInput.name, visionInput); + } - // Stop moving when disabled - if (DriverStation.isDisabled()) { for (var module : modules) { - module.stop(); + module.periodic(); } - } - // Log empty setpoint states when disabled - if (DriverStation.isDisabled()) { - //noinspection RedundantArrayCreation - Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[] {}); - //noinspection RedundantArrayCreation - Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[] {}); - } - updateSwerveModulePositions(); - // Update odometry - SwerveModulePosition[] wheelDeltas = new SwerveModulePosition[4]; - for (int i = 0; i < 4; i++) { - wheelDeltas[i] = modules[i].getPositionDelta(); - } - - // The twist represents the motion of the robot since the last - // loop cycle in x, y, and theta based only on the modules, - // without the gyro. The gyro is always disconnected in simulation. - var twist = kinematics.toTwist2d(wheelDeltas); - twist.dtheta *= -1; - twist.dx *= -1; - twist.dy *= -1; - if (gyroInputs.connected) { - if (noGyroPoseEstimation != null) { - // todo: make the next line conditional, only update pose if cameras are - // online, otherwise don't do it. - poseEstimator.resetPosition(gyroInputs.yawPosition, swerveModulePositions, pose); - noGyroPoseEstimation = null; + // Stop moving when disabled + if (DriverStation.isDisabled()) { + for (var module : modules) { + module.stop(); + } } - // If the gyro is connected, replace the theta component of the twist - // with the change in angle since the last loop cycle. - - // update the pose estimator - pose = poseEstimator.update(gyroInputs.yawPosition, swerveModulePositions); - angularVelocity = RadiansPerSecond.of(gyroInputs.yawVelocityRadPerSec); - - } else { - if (noGyroPoseEstimation == null) { - noGyroRotation = pose.getRotation(); - noGyroPoseEstimation = - new SwerveDrivePoseEstimator( - kinematics, pose.getRotation(), swerveModulePositions, pose); + // Log empty setpoint states when disabled + if (DriverStation.isDisabled()) { + //noinspection RedundantArrayCreation + Logger.recordOutput("SwerveStates/Setpoints", new SwerveModuleState[]{}); + //noinspection RedundantArrayCreation + Logger.recordOutput("SwerveStates/SetpointsOptimized", new SwerveModuleState[]{}); } - // Apply the twist (change since last loop cycle) to the current pose - noGyroRotation = - pose.rotateBy(noGyroRotation.minus(pose.getRotation())).exp(twist).getRotation(); - pose = noGyroPoseEstimation.update(noGyroRotation, swerveModulePositions); - angularVelocity = RadiansPerSecond.of(twist.dtheta / .02); - } + updateSwerveModulePositions(); + // Update odometry + SwerveModulePosition[] wheelDeltas = new SwerveModulePosition[4]; + for (int i = 0; i < 4; i++) { + wheelDeltas[i] = modules[i].getPositionDelta(); + } - Logger.recordOutput("pose", pose); + // The twist represents the motion of the robot since the last + // loop cycle in x, y, and theta based only on the modules, + // without the gyro. The gyro is always disconnected in simulation. + var twist = kinematics.toTwist2d(wheelDeltas); + twist.dtheta *= -1; + twist.dx *= -1; + twist.dy *= -1; + if (gyroInputs.connected) { + boolean isAnyCameraConnected = false; + for (VisionIO.VisionIOInputs visionInput : visionInputs) { + if (visionInput.connected) { + isAnyCameraConnected = true; + break; + } + } + if (noGyroPoseEstimation != null && isAnyCameraConnected) { + // todo: make the next line conditional, only update pose if cameras are + // online, otherwise don't do it. + poseEstimator.resetPosition(gyroInputs.yawPosition, swerveModulePositions, pose); + noGyroPoseEstimation = null; + } + // If the gyro is connected, replace the theta component of the twist + // with the change in angle since the last loop cycle. + + // update the pose estimator + pose = poseEstimator.update(gyroInputs.yawPosition, swerveModulePositions); + angularVelocity = RadiansPerSecond.of(gyroInputs.yawVelocityRadPerSec); + + } else { + if (noGyroPoseEstimation == null) { + noGyroRotation = pose.getRotation(); + noGyroPoseEstimation = + new SwerveDrivePoseEstimator( + kinematics, pose.getRotation(), swerveModulePositions, pose); + } + + // Apply the twist (change since last loop cycle) to the current pose + noGyroRotation = + pose.rotateBy(noGyroRotation.minus(pose.getRotation())).exp(twist).getRotation(); + pose = noGyroPoseEstimation.update(noGyroRotation, swerveModulePositions); + angularVelocity = RadiansPerSecond.of(twist.dtheta / .02); + } + + Logger.recordOutput("pose", pose); /* _____ R: <-x y^ | ^ | G: \|/x ->y @@ -226,56 +252,58 @@ public void periodic() { // new UnscentedKalmanFilter<>() // Transform2d twistPerDt = getTwistPerDt(); // poseEstimator.addVisionMeasurement(pose.minus(new Transform2d(gyroInputs.accelY * 0.02 * 0.02 - twistPerDt.getX() * .02, gyroInputs.accelX * 0.02 * 0.02 - twistPerDt.getY() * .02, Rotation2d.fromDegrees(0.0))), new Matrix(Nat.N3(), Nat.N1(), new double[]{0.075, .075, 100.0}));// fixme: add acceleration from gyro - - Optional estPose = photonPoseEstimator.update(visionInputs.cameraResult); - if (estPose.isPresent() && (timestampSeconds != estPose.get().timestampSeconds)) { - estPose.ifPresent( - estimatedRobotPose -> { - Logger.recordOutput("estRoPose", estimatedRobotPose.estimatedPose); - Pose2d pose2d = estimatedRobotPose.estimatedPose.toPose2d(); - var shouldUse = true; - if ( - shouldUse && ((!DriverStation.isFMSAttached()) || - ((estimatedRobotPose.estimatedPose.getX() <= 16.5) && - (estimatedRobotPose.estimatedPose.getX() > 0) && - (estimatedRobotPose.estimatedPose.getZ() <= 1) && - (estimatedRobotPose.estimatedPose.getZ() > -1) && - (estimatedRobotPose.estimatedPose.getY() <= 8.2) && - (estimatedRobotPose.estimatedPose.getY() > 0))) - ) // only add it if it's less than 1 meter and in the field - { - Matrix visionMatrix; - switch (estimatedRobotPose.targetsUsed.size()) { - case 0: - visionMatrix = new Matrix<>(Nat.N3(), Nat.N1(), new double[]{16, 16, 32}); - case 1: - - var mult = estimatedRobotPose.targetsUsed.get(0).getPoseAmbiguity() * 25; - if ( - (pose.getX() <= 16.5) && - (pose.getX() > 0) && - (pose.getY() <= 8.2) && - (pose.getY() > 0) - ) mult = mult / 4; - visionMatrix = new Matrix<>(Nat.N3(), Nat.N1(), new double[]{8 * mult, 8 * mult, 12 * mult}); - break; - case 2: - var avg = 0.0; - for (PhotonTrackedTarget photonTrackedTarget : estimatedRobotPose.targetsUsed) { - Transform3d camttarg = photonTrackedTarget.getBestCameraToTarget(); - avg += (Math.pow(camttarg.getX(), 2) +Math.pow(camttarg.getY(), 2) + Math.pow(camttarg.getZ(), 2)); - } - visionMatrix = new Matrix<>(Nat.N3(), Nat.N1(), new double[]{1.75 * avg, 1.75 * avg, 3 * avg}); - default: - visionMatrix = new Matrix<>(Nat.N3(), Nat.N1(), new double[]{0.05, 0.05, 0.2}); + var visionInput = visionInputs[0]; +// +// for (VisionIO.VisionIOInputs visionInput : visionInputs) { + Optional estPose = photonPoseEstimator.update(visionInput.cameraResult); + if (estPose.isPresent() && (timestampSeconds != estPose.get().timestampSeconds)) { + estPose.ifPresent( + estimatedRobotPose -> { + Logger.recordOutput("estRoPose", estimatedRobotPose.estimatedPose); + Pose2d pose2d = estimatedRobotPose.estimatedPose.toPose2d(); + var shouldUse = true; + if ( + shouldUse && ((!DriverStation.isFMSAttached()) || + ((estimatedRobotPose.estimatedPose.getX() <= 16.5) && + (estimatedRobotPose.estimatedPose.getX() > 0) && + (estimatedRobotPose.estimatedPose.getZ() <= 1) && + (estimatedRobotPose.estimatedPose.getZ() > -1) && + (estimatedRobotPose.estimatedPose.getY() <= 8.2) && + (estimatedRobotPose.estimatedPose.getY() > 0))) + ) // only add it if it's less than 1 meter and in the field + { + Matrix visionMatrix; + switch (estimatedRobotPose.targetsUsed.size()) { + case 0: + visionMatrix = new Matrix<>(Nat.N3(), Nat.N1(), new double[]{16, 16, 32}); + case 1: + + var mult = estimatedRobotPose.targetsUsed.get(0).getPoseAmbiguity() * 25; + if ( + (pose.getX() <= 16.5) && + (pose.getX() > 0) && + (pose.getY() <= 8.2) && + (pose.getY() > 0) + ) mult = mult / 4; + visionMatrix = new Matrix<>(Nat.N3(), Nat.N1(), new double[]{8 * mult, 8 * mult, 12 * mult}); + break; + case 2: + var avg = 0.0; + for (PhotonTrackedTarget photonTrackedTarget : estimatedRobotPose.targetsUsed) { + Transform3d camttarg = photonTrackedTarget.getBestCameraToTarget(); + avg += (Math.pow(camttarg.getX(), 2) + Math.pow(camttarg.getY(), 2) + Math.pow(camttarg.getZ(), 2)); + } + visionMatrix = new Matrix<>(Nat.N3(), Nat.N1(), new double[]{1.75 * avg, 1.75 * avg, 3 * avg}); + default: + visionMatrix = new Matrix<>(Nat.N3(), Nat.N1(), new double[]{0.05, 0.05, 0.2}); + } + poseEstimator.addVisionMeasurement(pose2d, estimatedRobotPose.timestampSeconds, visionMatrix); } - poseEstimator.addVisionMeasurement(pose2d, estimatedRobotPose.timestampSeconds, visionMatrix); -// noGyroPoseEstimation.addVisionMeasurement(pose2d, estimatedRobotPose.timestampSeconds, visionMatrix); - } - }); + }); +// } } getTwistPerDt(); - getTagCount(); + logCameraData(); } private void updateSwerveModulePositions() { @@ -283,14 +311,18 @@ private void updateSwerveModulePositions() { for (int i = 0; i < modules.length; i++) swerveModulePositions[i] = modules[i].getPosition(); } + public boolean isGyroConnected() { + return gyroInputs.connected; + } /** * Runs the drive at the desired velocity. * * @param speeds Speeds in meters/sec */ public void runVelocity(ChassisSpeeds speeds) { + ChassisSpeeds flipped = new ChassisSpeeds(speeds.vxMetersPerSecond, speeds.vyMetersPerSecond, -speeds.omegaRadiansPerSecond); // Calculate module setpoints - ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.02); + ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(flipped, 0.02); SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds); SwerveDriveKinematics.desaturateWheelSpeeds(setpointStates, MAX_LINEAR_SPEED); @@ -377,87 +409,78 @@ public void populateTurnCharacterizationData(SysIdRoutineLog routineLog) { var averageDriveMotor = routineLog.motor("Average TurnMotor"); averageDriveMotor.angularVelocity(driveVelocityAverage.divide(4.0)); averageDriveMotor.angularPosition(drivePositionAverage.divide(4.0)); - getVisionTags(); } - /** - * Returns all currently visable apriltags. - */ - @AutoLogOutput(key = "Vision/Tags 3D") - private Pose3d[] getVisionTags() { - List targets = visionInputs.cameraResult.getTargets(); - var out = new Pose3d[targets.size()]; - for (int i = 0; i < targets.size(); i++) - out[i] = new Pose3d(pose).plus(robotToCam.plus(targets.get(i).getBestCameraToTarget())); - return out; - } + private void logCameraData() { + for (VisionIO.VisionIOInputs visionInput : visionInputs) { + // Corners + List targets = visionInput.cameraResult.targets; + var outCorners = new Translation2d[targets.size() * 4]; + for (int i = 0; i < targets.size(); i++) { + var corners = targets.get(i).getDetectedCorners(); + for (int j = 0; j < corners.size(); j++) { + TargetCorner corner = corners.get(j); + outCorners[i + j] = new Translation2d( + corner.x, + corner.y); + } + } + for (int i = 0; i < outCorners.length; i++) { + Translation2d translation2d = outCorners[i]; + if (translation2d == null) outCorners[i] = new Translation2d(); + } + Logger.recordOutput("Vision/"+ visionInput.name+ "/Corners", outCorners); - @AutoLogOutput(key = "Vision/Tags 2D") - private Pose2d[] getVision2dTags() { - List targets = visionInputs.cameraResult.getTargets(); - var out = new Pose2d[targets.size()]; - for (int i = 0; i < targets.size(); i++) { - var b = robotToCam.plus(targets.get(i).getBestCameraToTarget()); - out[i] = pose.plus(new Transform2d(b.getTranslation().toTranslation2d(), b.getRotation().toRotation2d())); - } - return out; - } + // PNP Result + Logger.recordOutput("Vision/"+ visionInput.name+ "/MultiTag PNP Result", visionInput.cameraResult.getMultiTagResult()); - @AutoLogOutput(key = "Vision/Tag Ambiguities") - private double[] getVisionTagAmbiguities() { - List targets = visionInputs.cameraResult.getTargets(); - var out = new double[targets.size()]; - for (int i = 0, targetsSize = targets.size(); i < targetsSize; i++) { - PhotonTrackedTarget target = targets.get(i); - out[i] = target.getPoseAmbiguity(); - } - return out; - } + // Tag Count + Logger.recordOutput("Vision/"+visionInput.name+"/Tag Count", visionInput.cameraResult.getTargets().size()); - @AutoLogOutput(key = "Vision/Corners") - private Translation2d[] getVisionCorners() { - List targets = visionInputs.cameraResult.getTargets(); - var out = new Translation2d[targets.size() * 4]; - for (int i = 0; i < targets.size(); i++) { - var corners = targets.get(i).getDetectedCorners(); - for (int j = 0; j < corners.size(); j++) { - TargetCorner corner = corners.get(j); - out[i + j] = new Translation2d( - corner.x, - corner.y); + var outAmbiguities = new double[targets.size()]; + for (int i = 0, targetsSize = targets.size(); i < targetsSize; i++) { + PhotonTrackedTarget target = targets.get(i); + outAmbiguities[i] = target.getPoseAmbiguity(); } + Logger.recordOutput("Vision/"+visionInput.name+"/Tag Ambiguities", outAmbiguities); + + // Tags 2D + var outTags2D = new Pose2d[targets.size()]; + for (int i = 0; i < targets.size(); i++) { + var b = robotToCam.plus(targets.get(i).getBestCameraToTarget()); + outTags2D[i] = pose.plus(new Transform2d(b.getTranslation().toTranslation2d(), b.getRotation().toRotation2d())); + } + Logger.recordOutput("Vision/"+visionInput.name+"/Tags 2d", outTags2D); + + var outTags3d = new Pose3d[targets.size()]; + for (int i = 0; i < targets.size(); i++) + outTags3d[i] = new Pose3d(pose).plus(robotToCam.plus(targets.get(i).getBestCameraToTarget())); + Logger.recordOutput("Vision/"+visionInput.name+"/Tags 3d", outTags3d); } - for (int i = 0; i < out.length; i++) { - Translation2d translation2d = out[i]; - if (translation2d == null) out[i] = new Translation2d(); - } - return out; } - /** Returns the module states (turn angles and drive velocities) for all of the modules. */ @AutoLogOutput(key = "SwerveStates/Measured") private SwerveModuleState[] getModuleStates() { SwerveModuleState[] states = new SwerveModuleState[4]; - for (int i = 0; i < 4; i++) { - states[i] = modules[i].getState(); - } + for (int i = 0; i < 4; i++) states[i] = modules[i].getState(); return states; } - /** - * Returns the amount of tags visible from the vision system - */ - @AutoLogOutput(key = "Vision/Tag Count") - private int getTagCount() { - return visionInputs.cameraResult.getTargets().size(); - } - /** Returns the current odometry pose. */ @AutoLogOutput(key = "Odometry/Robot") public Pose2d getPose() { return pose; } + @AutoLogOutput(key = "Vision/Camera Count") + public int cameraCount() { + var cameraCount = 0; + for (VisionIO.VisionIOInputs visionInput : visionInputs) { + if (visionInput.connected) cameraCount++; + } + return cameraCount; + } + /** * Returns the current odometry pose. */ diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java index 7d29b56e..4cb6e1f9 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java @@ -24,8 +24,6 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.util.Units; -import static java.lang.Double.NaN; - /** * Module IO implementation for SparkMax drive motor controller, SparkMax turn motor controller (NEO * or NEO 550), and analog absolute encoder connected to the RIO @@ -63,27 +61,27 @@ public ModuleIOSparkMax(int index) { turnSparkMax = new CANSparkMax(2, MotorType.kBrushless); cancoder = new CANcoder(0); absoluteEncoderOffset = - new Rotation2d(-1.771_747_809_96); // MUST BE CALIBRATED + new Rotation2d(1.369_844_843_629_793_2); // MUST BE CALIBRATED break; case 1: driveSparkMax = new CANSparkMax(3, MotorType.kBrushless); turnSparkMax = new CANSparkMax(4, MotorType.kBrushless); cancoder = new CANcoder(1); - absoluteEncoderOffset = new Rotation2d(-5.098_952_114_3); // MUST BE CALIBRATED + absoluteEncoderOffset = new Rotation2d(-1.957_359_460_710_207_2); // MUST BE CALIBRATED break; case 2: driveSparkMax = new CANSparkMax(5, MotorType.kBrushless); turnSparkMax = new CANSparkMax(6, MotorType.kBrushless); cancoder = new CANcoder(2); absoluteEncoderOffset = - new Rotation2d(4.154_019_965_27); // MUST BE CALIBRATED + new Rotation2d(7.295_612_618_859_793); // MUST BE CALIBRATED break; case 3: driveSparkMax = new CANSparkMax(7, MotorType.kBrushless); turnSparkMax = new CANSparkMax(8, MotorType.kBrushless); cancoder = new CANcoder(3); absoluteEncoderOffset = - new Rotation2d(0.329_805_869_4); // MUST BE CALIBRATED + new Rotation2d(3.471_398_522_989_793); // MUST BE CALIBRATED break; default: throw new RuntimeException("Invalid module index"); @@ -103,7 +101,7 @@ public ModuleIOSparkMax(int index) { turnSparkMax.setSmartCurrentLimit(30); driveSparkMax.enableVoltageCompensation(12.0); turnSparkMax.enableVoltageCompensation(12.0); - driveSparkMax.setInverted(false); + driveSparkMax.setInverted(true); driveEncoder.setPosition(0.0); driveEncoder.setMeasurementPeriod(10); @@ -128,9 +126,8 @@ public ModuleIOSparkMax(int index) { @Override public void updateInputs(ModuleIOInputs inputs) { BaseStatusSignal.refreshAll(turnAbsolutePosition); - double position = driveEncoder.getPosition(); - inputs.drivePositionRad = - Units.rotationsToRadians((position == NaN) ? 0.0 : position) / DRIVE_GEAR_RATIO; + inputs.drivePositionRad = + Units.rotationsToRadians(driveEncoder.getPosition()) / DRIVE_GEAR_RATIO; inputs.driveVelocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(driveEncoder.getVelocity()) / DRIVE_GEAR_RATIO; inputs.driveAppliedVolts = driveSparkMax.getAppliedOutput() * driveSparkMax.getBusVoltage(); diff --git a/src/main/java/frc/robot/subsystems/drive/VisionIO.java b/src/main/java/frc/robot/subsystems/drive/VisionIO.java index 98e8776e..2e3011ac 100644 --- a/src/main/java/frc/robot/subsystems/drive/VisionIO.java +++ b/src/main/java/frc/robot/subsystems/drive/VisionIO.java @@ -18,6 +18,7 @@ class VisionIOInputs implements LoggableInputs { double latencyMillis = 0; double timestampSeconds = 0; boolean connected = false; + String name = ""; PhotonPipelineResult cameraResult = new PhotonPipelineResult(); private PhotonPipelineResult.APacketSerde aPacketSerde; @@ -57,6 +58,7 @@ public double[] positionToArray(Transform3d... value) { public void toLog(LogTable table) { table.put("LatencyMillis", latencyMillis); table.put("TimestampSeconds", timestampSeconds); + table.put("Name", name); var packet = new Packet(cameraResult.getPacketSize()); aPacketSerde = new PhotonPipelineResult.APacketSerde(); @@ -69,6 +71,7 @@ public void fromLog(LogTable table) { // driverMode = table.getBoolean("DriverMode", driverMode); latencyMillis = table.get("LatencyMillis", latencyMillis); timestampSeconds = table.get("TimestampSeconds", timestampSeconds); + name = table.get("Name", name); table.get("CameraResultData").getRaw(); cameraResult = PhotonPipelineResult.serde.unpack(new Packet(table.get("CameraResultData").getRaw())); diff --git a/src/main/java/frc/robot/subsystems/drive/VisionIOReal.java b/src/main/java/frc/robot/subsystems/drive/VisionIOReal.java index 61bab73f..4deae31c 100644 --- a/src/main/java/frc/robot/subsystems/drive/VisionIOReal.java +++ b/src/main/java/frc/robot/subsystems/drive/VisionIOReal.java @@ -22,5 +22,6 @@ public void updateInputs(VisionIOInputs inputs) { inputs.driverMode = cam.getDriverMode(); inputs.timestampSeconds = cam.getLatestResult().getTimestampSeconds(); inputs.connected = cam.isConnected(); + inputs.name = cam.getName(); } } diff --git a/src/main/java/frc/robot/subsystems/lights/LEDs.java b/src/main/java/frc/robot/subsystems/lights/LEDs.java index dab89902..f29dd41f 100644 --- a/src/main/java/frc/robot/subsystems/lights/LEDs.java +++ b/src/main/java/frc/robot/subsystems/lights/LEDs.java @@ -23,6 +23,9 @@ public LEDs() { config.v5Enabled = false; config.enableOptimizations = true; candle.configAllSettings(config); + for (int i = 0; i < candle.getMaxSimultaneousAnimationCount(); i++) { + candle.clearAnimation(i); + } } } diff --git a/src/main/java/frc/robot/util/Dashboard.java b/src/main/java/frc/robot/util/Dashboard.java index 42652209..63c4ee4e 100644 --- a/src/main/java/frc/robot/util/Dashboard.java +++ b/src/main/java/frc/robot/util/Dashboard.java @@ -1,8 +1,5 @@ package frc.robot.util; -import edu.wpi.first.cscore.VideoSource; -import edu.wpi.first.networktables.NetworkTable; -import edu.wpi.first.util.sendable.SendableRegistry; import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;