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Merge pull request #193 from thedropbears/auto-paths
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Update auto paths
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@LucienMorey
LucienMorey authored Mar 14, 2024
2 parents ec07689 + 60f7f59 commit b6d8eae
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Showing 2 changed files with 126 additions and 17 deletions.
142 changes: 125 additions & 17 deletions autonomous/autonomous.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
Path,
ShootingPositions,
PathPositions,
TeamPoses,
)
from utilities import game
from autonomous.base import AutoBase
Expand All @@ -16,8 +17,8 @@ def rotation_to_red_speaker(position: Translation2d) -> Rotation2d:
return t.angle() + Rotation2d(math.pi)


class PodiumSpeakerAmpTopcentre(AutoBase):
MODE_NAME = "5 notes: internal, podium, speaker, amp, top centre"
class PodiumSpeakerAmpCentre1(AutoBase):
MODE_NAME = "5 notes: podium, speaker, amp, centre 1"

def __init__(self) -> None:
note_paths = [
Expand All @@ -36,7 +37,7 @@ def __init__(self) -> None:


class PodiumSpeakerAmp(AutoBase):
MODE_NAME = "4 notes: internal, podium, speaker, amp"
MODE_NAME = "4 notes: podium, speaker, amp"

def __init__(self) -> None:
note_paths = [
Expand All @@ -50,16 +51,17 @@ def __init__(self) -> None:
Path([NotePositions.amp], face_target=True),
]
# Start pose only needs to be on the correct half of the field,
# so choose the podium as a reference point
# so choose the subwoofer
start_pose = Pose2d(
NotePositions.podium, rotation_to_red_speaker(NotePositions.podium)
TeamPoses.RED_TEST_POSE.translation(),
rotation_to_red_speaker(TeamPoses.RED_TEST_POSE.translation()),
)
super().__init__(note_paths, shoot_paths, start_pose)


class AmpCentre1(AutoBase):
# The "top" or north notes of the field
MODE_NAME = "3 notes: internal, amp, centre 1"
MODE_NAME = "3 notes: amp, centre 1"

def __init__(self) -> None:
note_paths = [
Expand All @@ -71,16 +73,41 @@ def __init__(self) -> None:
Path([PathPositions.avoid_wall, NotePositions.amp], face_target=True),
]
# Start pose only needs to be on the correct half of the field,
# so choose the amp as a reference point
# so choose the subwoofer
start_pose = Pose2d(
NotePositions.amp, rotation_to_red_speaker(NotePositions.amp)
TeamPoses.RED_TEST_POSE.translation(),
rotation_to_red_speaker(TeamPoses.RED_TEST_POSE.translation()),
)
super().__init__(note_paths, shoot_paths, start_pose)


class AmpCentre1Centre2(AutoBase):
# The "top" or north notes of the field
MODE_NAME = "4 notes: amp, centre 1, centre 2"

def __init__(self) -> None:
note_paths = [
Path([NotePositions.amp], face_target=False),
Path([PathPositions.avoid_wall, NotePositions.Centre1], face_target=False),
Path([PathPositions.avoid_wall, NotePositions.Centre2], face_target=False),
]
shoot_paths = [
Path([NotePositions.amp], face_target=True),
Path([PathPositions.avoid_wall, NotePositions.amp], face_target=True),
Path([PathPositions.avoid_wall, NotePositions.amp], face_target=True),
]
# Start pose only needs to be on the correct half of the field,
# so choose the subwoofer
start_pose = Pose2d(
TeamPoses.RED_TEST_POSE.translation(),
rotation_to_red_speaker(TeamPoses.RED_TEST_POSE.translation()),
)
super().__init__(note_paths, shoot_paths, start_pose)


class SpeakerCentre3(AutoBase):
# Moving through the stage
MODE_NAME = "3 notes: internal, speaker, centre 3"
MODE_NAME = "3 notes: speaker, centre 3"

def __init__(self) -> None:
note_paths = [
Expand All @@ -98,21 +125,96 @@ def __init__(self) -> None:
),
]
# Start pose only needs to be on the correct half of the field,
# so choose the speaker as a reference point
# so choose the subwoofer
start_pose = Pose2d(
TeamPoses.RED_TEST_POSE.translation(),
rotation_to_red_speaker(TeamPoses.RED_TEST_POSE.translation()),
)
super().__init__(note_paths, shoot_paths, start_pose)


class SpeakerCentre3Centre4(AutoBase):
# Moving through the stage
MODE_NAME = "4 notes: speaker, centre 3, centre 4"

def __init__(self) -> None:
note_paths = [
Path([NotePositions.speaker], face_target=False),
Path(
[PathPositions.stage_transition_N, NotePositions.Centre3],
face_target=False,
),
Path(
[PathPositions.stage_transition_N, NotePositions.Centre4],
face_target=False,
),
]
shoot_paths = [
Path([NotePositions.speaker], face_target=True),
Path(
[PathPositions.stage_transition_N, NotePositions.speaker],
face_target=True,
),
Path(
[PathPositions.stage_transition_N, NotePositions.speaker],
face_target=True,
),
]
# Start pose only needs to be on the correct half of the field,
# so choose the subwoofer
start_pose = Pose2d(
NotePositions.speaker, rotation_to_red_speaker(NotePositions.speaker)
TeamPoses.RED_TEST_POSE.translation(),
rotation_to_red_speaker(TeamPoses.RED_TEST_POSE.translation()),
)
super().__init__(note_paths, shoot_paths, start_pose)


class Centre3Centre5(AutoBase):
class Centre5Centre4(AutoBase):
# Stay in the south of the field to avoid interfering with allies using the close notes
MODE_NAME = "3 notes: internal, center 3, center 5"
# Not yet tested
DISABLED = True
MODE_NAME = "3 notes: centre 5, centre 4"

def __init__(self) -> None:
note_paths = [
Path([NotePositions.Centre5], face_target=False),
Path(
[
PathPositions.avoid_stage_S,
NotePositions.Centre4,
],
face_target=False,
),
]

shoot_paths = [
Path([ShootingPositions.source_side], face_target=True),
Path(
[
PathPositions.avoid_stage_S,
ShootingPositions.source_side,
],
face_target=True,
),
]
sim_start_pos = Translation2d(15.4, 2.94)
rotation = rotation_to_red_speaker(sim_start_pos)
sim_start_pose = Pose2d(sim_start_pos, rotation)
super().__init__(note_paths, shoot_paths, sim_start_pose)


class Centre5Centre4Centre3(AutoBase):
# Stay in the south of the field to avoid interfering with allies using the close notes
MODE_NAME = "4 notes: centre 5, centre 4, centre 3"

def __init__(self) -> None:
note_paths = [
Path([NotePositions.Centre5], face_target=False),
Path(
[
PathPositions.avoid_stage_S,
NotePositions.Centre4,
],
face_target=False,
),
Path(
[
PathPositions.stage_transition_S_entry,
Expand All @@ -121,10 +223,17 @@ def __init__(self) -> None:
],
face_target=False,
),
Path([NotePositions.Centre5], face_target=False),
]

shoot_paths = [
Path([ShootingPositions.source_side], face_target=True),
Path(
[
PathPositions.avoid_stage_S,
ShootingPositions.source_side,
],
face_target=True,
),
Path(
[
PathPositions.stage_transition_S,
Expand All @@ -133,7 +242,6 @@ def __init__(self) -> None:
],
face_target=True,
),
Path([ShootingPositions.source_side], face_target=True),
]
sim_start_pos = Translation2d(15.4, 2.94)
rotation = rotation_to_red_speaker(sim_start_pos)
Expand Down
1 change: 1 addition & 0 deletions utilities/position.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -92,3 +92,4 @@ class PathPositions:
stage_transition_S = Translation2d(11.4, 3.74)
stage_transition_S_entry = Translation2d(13.0, 2.5)
avoid_wall = Translation2d(10.80, 6.55)
avoid_stage_S = Translation2d(10.66, 1.40)

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