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Make south auto routines work! #196

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Make south auto routines work! #196

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075c91a
Updated south notes
Tsunami014 Mar 15, 2024
94a2f6c
Fixed centre5&4 note auto
Tsunami014 Mar 15, 2024
ec2665f
Added safety point to help avoid bad starting positions
Tsunami014 Mar 15, 2024
6af90d1
Redid the check for intended start pos!
Tsunami014 Mar 15, 2024
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32 changes: 26 additions & 6 deletions autonomous/autonomous.py
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Original file line number Diff line number Diff line change
Expand Up @@ -175,7 +175,14 @@ class Centre5Centre4(AutoBase):

def __init__(self) -> None:
note_paths = [
Path([NotePositions.Centre5], face_target=False),
Path(
[
PathPositions.avoid_starting_faults,
PathPositions.avoid_stage_S,
NotePositions.Centre5,
],
face_target=False,
),
Path(
[
PathPositions.avoid_stage_S,
Expand All @@ -186,7 +193,10 @@ def __init__(self) -> None:
]

shoot_paths = [
Path([ShootingPositions.source_side], face_target=True),
Path(
[PathPositions.avoid_stage_S, ShootingPositions.source_side],
face_target=True,
),
Path(
[
PathPositions.avoid_stage_S,
Expand All @@ -195,7 +205,7 @@ def __init__(self) -> None:
face_target=True,
),
]
sim_start_pos = Translation2d(15.4, 2.94)
sim_start_pos = ShootingPositions.source_side
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)
Expand All @@ -207,7 +217,14 @@ class Centre5Centre4Centre3(AutoBase):

def __init__(self) -> None:
note_paths = [
Path([NotePositions.Centre5], face_target=False),
Path(
[
PathPositions.avoid_starting_faults,
PathPositions.avoid_stage_S,
NotePositions.Centre5,
],
face_target=False,
),
Path(
[
PathPositions.avoid_stage_S,
Expand All @@ -226,7 +243,10 @@ def __init__(self) -> None:
]

shoot_paths = [
Path([ShootingPositions.source_side], face_target=True),
Path(
[PathPositions.avoid_stage_S, ShootingPositions.source_side],
face_target=True,
),
Path(
[
PathPositions.avoid_stage_S,
Expand All @@ -243,7 +263,7 @@ def __init__(self) -> None:
face_target=True,
),
]
sim_start_pos = Translation2d(15.4, 2.94)
sim_start_pos = ShootingPositions.source_side
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)
22 changes: 14 additions & 8 deletions robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
from utilities.game import is_red
from utilities.scalers import rescale_js
from utilities.functions import clamp
from utilities.position import on_same_side_of_stage, y_close_to_stage
from utilities.position import distance_between


class MyRobot(magicbot.MagicRobot):
Expand All @@ -47,6 +47,8 @@ class MyRobot(magicbot.MagicRobot):
vision_port: VisualLocalizer
vision_starboard: VisualLocalizer

START_POS_TOLERANCE = 1

def createObjects(self) -> None:
self.data_log = wpilib.DataLogManager.getLog()

Expand All @@ -71,7 +73,7 @@ def createObjects(self) -> None:
)

def teleopInit(self) -> None:
pass
self.field.getObject("Intended start pos").setPoses([])

def teleopPeriodic(self) -> None:
if self.climber.should_lock_mechanisms():
Expand Down Expand Up @@ -204,6 +206,7 @@ def disabledPeriodic(self) -> None:
if (
not self.vision_port.sees_target()
and not self.vision_starboard.sees_target()
and not self.isSimulation()
):
self.status_lights.no_vision()
else:
Expand All @@ -213,11 +216,14 @@ def disabledPeriodic(self) -> None:
intended_start_pose = selected_auto.get_starting_pose()
current_pose = self.chassis.get_pose()
if intended_start_pose is not None:
if on_same_side_of_stage(intended_start_pose, current_pose):
if y_close_to_stage(current_pose):
self.status_lights.too_close_to_stage()
else:
self.status_lights.rainbow()
self.field.getObject("Intended start pos").setPose(
intended_start_pose
)
if (
distance_between(intended_start_pose, current_pose)
< self.START_POS_TOLERANCE
):
self.status_lights.rainbow()
else:
self.status_lights.invalid_start()
else:
Expand All @@ -226,7 +232,7 @@ def disabledPeriodic(self) -> None:
self.status_lights.missing_start_pose()

def autonomousInit(self) -> None:
pass
self.field.getObject("Intended start pos").setPoses([])


if __name__ == "__main__":
Expand Down
14 changes: 4 additions & 10 deletions utilities/position.py
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ class ShootingPositions:
amp_speaker_bounce = Translation2d(
14.7, (NotePositions.amp.y + NotePositions.speaker.y) / 2
)
source_side = Translation2d(14.7, 2.8)
source_side = Translation2d(15.556, 4.034)


class TeamPoses:
Expand All @@ -76,15 +76,8 @@ class TeamPoses:
RED_PODIUM = field_flip_pose2d(BLUE_PODIUM)


def on_same_side_of_stage(intended_start_pose: Pose2d, current_pose: Pose2d) -> bool:
return not (
(intended_start_pose.y > TeamPoses.BLUE_PODIUM.y)
^ (current_pose.y > TeamPoses.BLUE_PODIUM.y)
)


def y_close_to_stage(pose: Pose2d) -> bool:
return abs(pose.y - TeamPoses.BLUE_PODIUM.y) < 0.9
def distance_between(intended_start_pose: Pose2d, current_pose: Pose2d) -> float:
return (intended_start_pose.translation() - current_pose.translation()).norm()


class PathPositions:
Expand All @@ -93,3 +86,4 @@ class PathPositions:
stage_transition_S_entry = Translation2d(13.0, 2.5)
avoid_wall = Translation2d(10.80, 6.55)
avoid_stage_S = Translation2d(10.66, 1.40)
avoid_starting_faults = Translation2d(14.429, 2.946)
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