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"controlIntervalCount": 45 + }, + { + "timestamp": 2.448051365997333, + "isStopPoint": false, + "x": 7.914562702178955, + "y": 4.100584983825684, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 45 + }, + { + "timestamp": 3.736725645976329, + "isStopPoint": false, + "x": 5.185208320617676, + "y": 4.3530802726745605, + "heading": 0, + "isInitialGuess": true, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 45 + }, + { + "timestamp": 5.02539992595531, + "isStopPoint": true, + "x": 0.935, + "y": 5.575, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 45 + } + ], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + } + ], + "usesControlIntervalGuessing": false, + "defaultControlIntervalCount": 45, + "usesDefaultFieldObstacles": true, + "circleObstacles": [ + { + "x": 5.642649173736572, + "y": 5.461571216583252, + "radius": 0.4772370291594308 + }, + { + "x": 3.3041837215423584, + "y": 4.008256912231445, + "radius": 0.5 + }, + { + "x": 5.70914363861084, + "y": 2.7374088764190674, + "radius": 0.5 + } + ], + "eventMarkers": [], + "isTrajectoryStale": false + } + }, + "splitTrajectoriesAtStopPoints": false, + "usesObstacles": true +} \ No newline at end of file diff --git a/src/main/kotlin/frc/team449/control/holonomic/SwerveOrthogonalCommand.kt b/src/main/kotlin/frc/team449/control/holonomic/SwerveOrthogonalCommand.kt index d8cf370..1dcd5ce 100644 --- a/src/main/kotlin/frc/team449/control/holonomic/SwerveOrthogonalCommand.kt +++ b/src/main/kotlin/frc/team449/control/holonomic/SwerveOrthogonalCommand.kt @@ -48,6 +48,9 @@ class SwerveOrthogonalCommand( private var desiredVel = doubleArrayOf(0.0, 0.0, 0.0) + private var angVelOffset = 0.0 + private var usingAngVelOffset = false + init { addRequirements(drive) rotCtrl.enableContinuousInput(-PI, PI) @@ -75,7 +78,7 @@ class SwerveOrthogonalCommand( atGoal = true } - fun snapToAngle(angle: Double) { + fun orthogonalAngle(angle: Double) { val desAngle = MathUtil.angleModulus(angle + allianceCompensation.invoke()) if (abs(desAngle - drive.heading.radians) > RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && abs(desAngle - drive.heading.radians) < 2 * PI - RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD @@ -85,6 +88,14 @@ class SwerveOrthogonalCommand( } } + fun snapToAngle(angle: Double, angVel: Double = 0.0) { + val desAngle = MathUtil.angleModulus(angle + allianceCompensation.invoke()) + rotCtrl.calculate(drive.heading.radians, desAngle) + atGoal = rotCtrl.atSetpoint() + angVelOffset = angVel + usingAngVelOffset = true + } + override fun execute() { val currTime = timer.get() dt = currTime - prevTime @@ -127,7 +138,7 @@ class SwerveOrthogonalCommand( // } if (controller.aButtonPressed) { - snapToAngle(0.0) + orthogonalAngle(0.0) } if (atGoal) { @@ -139,14 +150,25 @@ class SwerveOrthogonalCommand( ) * -sign(controller.rightX) * drive.maxRotSpeed ) } else { - rotScaled = MathUtil.clamp( - rotCtrl.calculate(drive.heading.radians), - -RobotConstants.ALIGN_ROT_SPEED, - RobotConstants.ALIGN_ROT_SPEED - ) - atGoal = rotCtrl.atSetpoint() + if (usingAngVelOffset) { + rotScaled = MathUtil.clamp( + rotCtrl.calculate(drive.heading.radians) + angVelOffset, + -RobotConstants.ALIGN_ROT_SPEED, + RobotConstants.ALIGN_ROT_SPEED + ) + atGoal = rotCtrl.atSetpoint() + } else { + rotScaled = MathUtil.clamp( + rotCtrl.calculate(drive.heading.radians), + -RobotConstants.ALIGN_ROT_SPEED, + RobotConstants.ALIGN_ROT_SPEED + ) + atGoal = rotCtrl.atSetpoint() + } } + usingAngVelOffset = false + val vel = Translation2d(xClamped, yClamped) if (fieldOriented.invoke()) { diff --git a/src/main/kotlin/frc/team449/control/vision/VisionEstimator.kt b/src/main/kotlin/frc/team449/control/vision/VisionEstimator.kt index a8461a6..2faa059 100644 --- a/src/main/kotlin/frc/team449/control/vision/VisionEstimator.kt +++ b/src/main/kotlin/frc/team449/control/vision/VisionEstimator.kt @@ -21,7 +21,6 @@ import org.photonvision.targeting.PhotonTrackedTarget import org.photonvision.targeting.TargetCorner import java.util.Optional import kotlin.jvm.optionals.getOrNull -import kotlin.math.PI import kotlin.math.abs /** @@ -32,7 +31,7 @@ class VisionEstimator( private val tagLayout: AprilTagFieldLayout, val camera: PhotonCamera, private val robotToCam: Transform3d -) : PhotonPoseEstimator(tagLayout, PoseStrategy.MULTI_TAG_PNP_ON_RIO, camera, robotToCam) { +) : PhotonPoseEstimator(tagLayout, PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, camera, robotToCam) { private val reportedErrors: HashSet = HashSet() private var driveHeading: Rotation2d? = null private var lastPose: Pose3d? = null @@ -64,7 +63,7 @@ class VisionEstimator( return if (!cameraResult.hasTargets()) { Optional.empty() } else { - useCenter(cameraResult) + multiTagOnCoprocStrategy(cameraResult) } } @@ -96,9 +95,22 @@ class VisionEstimator( val visionPose = checkBest(lastPose, best, alternate) ?: best - val difference = MathUtil.angleModulus(abs(MathUtil.angleModulus(visionPose.toPose2d().rotation.radians) - MathUtil.angleModulus(driveHeading!!.radians))) + if (abs( + MathUtil.angleModulus( + MathUtil.angleModulus(visionPose.rotation.z) - + MathUtil.angleModulus(driveHeading!!.radians) + ) + ) + > VisionConstants.TAG_HEADING_MAX_DEV_RAD + ) { + DriverStation.reportWarning("Tag Heading over Max Deviation, deviated by ${Units.radiansToDegrees(abs(visionPose.rotation.z - driveHeading!!.radians))}", false) + return Optional.empty() + } - if (MathUtil.angleModulus(difference + PI) - PI > VisionConstants.SINGLE_TAG_HEADING_MAX_DEV_RAD) { + if ((!result.multiTagResult.fiducialIDsUsed.containsAll(listOf(3, 4)) && DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) || + (!result.multiTagResult.fiducialIDsUsed.containsAll(listOf(7, 8)) && DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) + ) { + println("throwing away estimate, non speaker") return Optional.empty() } @@ -111,9 +123,9 @@ class VisionEstimator( ) ) } else { - Optional.empty() -// println("getting into single tag") - lowestAmbiguityStrategy(result) + println("getting into single tag") +// useCenter(result) + Optional.empty() } } @@ -213,7 +225,7 @@ class VisionEstimator( MathUtil.angleModulus(driveHeading!!.radians) ) ) - > VisionConstants.SINGLE_TAG_HEADING_MAX_DEV_RAD + > VisionConstants.TAG_HEADING_MAX_DEV_RAD ) { DriverStation.reportWarning("Best Single Tag Heading over Max Deviation, deviated by ${Units.radiansToDegrees(abs(bestPose.rotation.z - driveHeading!!.radians))}", false) return Optional.empty() @@ -223,7 +235,7 @@ class VisionEstimator( EstimatedRobotPose( bestPose, result.timestampSeconds, - result.getTargets(), + listOf(usedTarget), PoseStrategy.LOWEST_AMBIGUITY ) ) @@ -272,7 +284,7 @@ class VisionEstimator( MathUtil.angleModulus(driveHeading!!.radians) ) ) - > VisionConstants.SINGLE_TAG_HEADING_MAX_DEV_RAD + > VisionConstants.TAG_HEADING_MAX_DEV_RAD ) { DriverStation.reportWarning("Best Single Tag Heading over Max Deviation, deviated by ${Units.radiansToDegrees(abs(bestPose.rotation.z - driveHeading!!.radians))}", false) return Optional.empty() diff --git a/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt b/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt index 1df02df..3c5b800 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt @@ -23,7 +23,7 @@ import kotlin.math.abs object AutoUtil { - private fun autoJiggle(robot: Robot): Command { + fun autoJiggle(robot: Robot): Command { return SequentialCommandGroup( ConditionalCommand( SequentialCommandGroup( @@ -102,7 +102,7 @@ object AutoUtil { return ParallelCommandGroup( SequentialCommandGroup( robot.undertaker.intake(), - robot.feeder.intake(), + robot.feeder.slowIntake(), WaitUntilCommand { !robot.infrared.get() }, robot.undertaker.stop(), ConditionalCommand( @@ -114,7 +114,7 @@ object AutoUtil { robot.feeder.stop(), ) { !robot.closeToShooterInfrared.get() } ), - robot.shooter.shootPass() + robot.shooter.shootSubwoofer() ) } @@ -322,8 +322,9 @@ object AutoUtil { fun autoFarIntakeV2PremoveQuick(robot: Robot, angle: Double): Command { return ParallelCommandGroup( SequentialCommandGroup( - robot.pivot.moveStow().until { robot.pivot.inTolerance(PivotConstants.AMP_ANGLE) }.andThen( - InstantCommand({ robot.pivot.setVoltage(-0.35) }) + robot.feeder.stop(), + robot.pivot.moveStow().until { robot.pivot.inTolerance(PivotConstants.STOW_ANGLE) }.andThen( + InstantCommand({ robot.pivot.setVoltage(-0.25) }) ), robot.undertaker.intake(), robot.feeder.slowIntake(), @@ -346,8 +347,8 @@ object AutoUtil { fun autoFarIntakeV2Premove(robot: Robot, angle: Double): Command { return ParallelCommandGroup( SequentialCommandGroup( - robot.pivot.moveStow().until { robot.pivot.inTolerance(PivotConstants.AMP_ANGLE) }.andThen( - InstantCommand({ robot.pivot.setVoltage(-0.35) }) + robot.pivot.moveStow().until { robot.pivot.inTolerance(PivotConstants.STOW_ANGLE) }.andThen( + InstantCommand({ robot.pivot.setVoltage(-0.25) }) ), robot.undertaker.intake(), robot.feeder.slowIntake(), @@ -373,8 +374,8 @@ object AutoUtil { fun autoFarIntakeV2PremoveCenterline(robot: Robot, angle: Double, waitTime: Double): Command { return ParallelCommandGroup( SequentialCommandGroup( - robot.pivot.moveStow().until { robot.pivot.inTolerance(PivotConstants.AMP_ANGLE) }.andThen( - InstantCommand({ robot.pivot.setVoltage(-0.35) }) + robot.pivot.moveStow().until { robot.pivot.inTolerance(PivotConstants.STOW_ANGLE) }.andThen( + InstantCommand({ robot.pivot.setVoltage(-0.25) }) ), robot.undertaker.intake(), robot.feeder.slowIntake(), @@ -439,9 +440,11 @@ object AutoUtil { ) if (robot.shooter.atSetpoint() && - abs(MathUtil.angleModulus(robot.drive.heading.radians - robotAngle)) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && - (robot.pivot.inAutoTolerance(pivotAngle) && !fast) || - (fast && robot.pivot.inTolerance(pivotAngle)) + abs(RobotConstants.ORTHOGONAL_CONTROLLER.positionError) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && + ( + (robot.pivot.inAutoTolerance(pivotAngle) && !fast) || + (fast && robot.pivot.inTolerance(pivotAngle)) + ) ) { robot.feeder.intakeVoltage() robot.undertaker.intakeVoltage() @@ -459,7 +462,7 @@ object AutoUtil { return cmd } - fun autoFarShootHelperVision(robot: Robot, fast: Boolean = false): Command { + fun autoFarShootHelperVisionFast(robot: Robot, offset: Double = 0.0): Command { val cmd = SequentialCommandGroup( FunctionalCommand( { }, @@ -473,11 +476,7 @@ object AutoUtil { val pivotAngle = if (distance <= 1.30) 0.0 else SpinShooterConstants.SHOOTING_MAP.get(distance) - if (fast) { - robot.pivot.moveToAngleSlow(MathUtil.clamp(pivotAngle, PivotConstants.MIN_ANGLE, PivotConstants.MAX_ANGLE)) - } else { - robot.pivot.moveToAngleAuto(MathUtil.clamp(pivotAngle, PivotConstants.MIN_ANGLE, PivotConstants.MAX_ANGLE)) - } + robot.pivot.moveToAngleSlow(MathUtil.clamp(pivotAngle + offset, PivotConstants.MIN_ANGLE, PivotConstants.MAX_ANGLE)) val robotToPoint = FieldConstants.SPEAKER_POSE - robot.drive.pose.translation @@ -495,16 +494,66 @@ object AutoUtil { ) if (robot.shooter.atSetpoint() && - abs(MathUtil.angleModulus(robot.drive.heading.radians - desiredAngle.radians)) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && - (robot.pivot.inAutoTolerance(pivotAngle) && !fast) || - (fast && robot.pivot.inTolerance(pivotAngle)) + abs(RobotConstants.ORTHOGONAL_CONTROLLER.positionError) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && + robot.pivot.inAutoTolerance(pivotAngle) ) { robot.feeder.intakeVoltage() robot.undertaker.intakeVoltage() } }, { }, - { false }, + { robot.infrared.get() && robot.closeToShooterInfrared.get() }, + robot.shooter, + robot.pivot, + robot.feeder, + robot.undertaker + ) + ) + cmd.name = "auto aiming" + return cmd + } + + fun autoFarShootHelperVisionSlow(robot: Robot, offset: Double = 0.0): Command { + val cmd = SequentialCommandGroup( + FunctionalCommand( + { }, + { + robot.shooter.shootPiece( + SpinShooterConstants.ANYWHERE_LEFT_SPEED, + SpinShooterConstants.ANYWHERE_RIGHT_SPEED + ) + + val distance = abs(FieldConstants.SPEAKER_POSE.getDistance(robot.drive.pose.translation)) + + val pivotAngle = if (distance <= 1.30) 0.0 else SpinShooterConstants.SHOOTING_MAP.get(distance) + + robot.pivot.moveToAngleAuto(MathUtil.clamp(pivotAngle + offset, PivotConstants.MIN_ANGLE, PivotConstants.MAX_ANGLE)) + + val robotToPoint = FieldConstants.SPEAKER_POSE - robot.drive.pose.translation + + val desiredAngle = robotToPoint.angle + Rotation2d(PI) + + robot.drive.set( + ChassisSpeeds( + 0.0, + 0.0, + RobotConstants.ORTHOGONAL_CONTROLLER.calculate( + robot.drive.heading.radians, + desiredAngle.radians + ) + ) + ) + + if (robot.shooter.atAimSetpoint() && +// (abs(RobotConstants.ORTHOGONAL_CONTROLLER.positionError) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD) && + robot.pivot.inTolerance(pivotAngle) + ) { + robot.feeder.intakeVoltage() + robot.undertaker.intakeVoltage() + } + }, + { }, + { robot.infrared.get() && robot.closeToShooterInfrared.get() }, robot.shooter, robot.pivot, robot.feeder, diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt index fd70106..18764e3 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt @@ -1,5 +1,7 @@ package frc.team449.robot2024.auto.routines +import edu.wpi.first.math.MatBuilder +import edu.wpi.first.math.Nat import edu.wpi.first.math.controller.PIDController import edu.wpi.first.wpilibj2.command.InstantCommand import edu.wpi.first.wpilibj2.command.WaitCommand @@ -8,6 +10,7 @@ import frc.team449.control.auto.ChoreoRoutineStructure import frc.team449.control.auto.ChoreoTrajectory import frc.team449.robot2024.Robot import frc.team449.robot2024.auto.AutoUtil +import frc.team449.robot2024.constants.vision.VisionConstants class Experimental3PieceMid( robot: Robot, @@ -25,10 +28,22 @@ class Experimental3PieceMid( 1 to AutoUtil.autoIntakeCenterline(robot), ), stopEventMap = hashMapOf( - 0 to AutoUtil.autoShoot(robot), + 0 to AutoUtil.autoShoot(robot).andThen( + InstantCommand({ + robot.drive.enableVisionFusion = true + VisionConstants.MAX_DISTANCE_SINGLE_TAG = 4.5 + VisionConstants.SINGLE_TAG_TRUST.setColumn(0, MatBuilder.fill(Nat.N3(), Nat.N1(), .325, .325, 3.0)) + VisionConstants.MULTI_TAG_TRUST.setColumn(0, MatBuilder.fill(Nat.N3(), Nat.N1(), .325, .325, 3.0)) + }) + ), 1 to AutoUtil.autoShoot(robot), 2 to AutoUtil.autoShoot(robot) .andThen( + InstantCommand({ + VisionConstants.MAX_DISTANCE_SINGLE_TAG = 5.0 + VisionConstants.SINGLE_TAG_TRUST.setColumn(0, MatBuilder.fill(Nat.N3(), Nat.N1(), .15, .15, 3.0)) + VisionConstants.MULTI_TAG_TRUST.setColumn(0, MatBuilder.fill(Nat.N3(), Nat.N1(), .10, .10, 3.0)) + }), InstantCommand({ robot.drive.stop() }), robot.undertaker.stop(), robot.feeder.stop(), diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPiece.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPiece.kt new file mode 100644 index 0000000..b50355f --- /dev/null +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPiece.kt @@ -0,0 +1,49 @@ +package frc.team449.robot2024.auto.routines + +import edu.wpi.first.wpilibj2.command.InstantCommand +import edu.wpi.first.wpilibj2.command.WaitCommand +import frc.team449.control.auto.ChoreoRoutine +import frc.team449.control.auto.ChoreoRoutineStructure +import frc.team449.control.auto.ChoreoTrajectory +import frc.team449.robot2024.Robot +import frc.team449.robot2024.auto.AutoUtil + +class FourPiece( + robot: Robot, + isRed: Boolean +) : ChoreoRoutineStructure { + override val routine = + ChoreoRoutine( + drive = robot.drive, + parallelEventMap = hashMapOf( + 0 to AutoUtil.autoIntake(robot), + 1 to AutoUtil.autoIntake(robot), + 2 to AutoUtil.autoIntake(robot), + 3 to AutoUtil.autoIntake(robot), + ), + stopEventMap = hashMapOf( + 0 to AutoUtil.autoShoot(robot), + 1 to AutoUtil.autoShoot(robot), + 2 to AutoUtil.autoShoot(robot) + .andThen( + InstantCommand({ robot.drive.stop() }), + robot.undertaker.stop(), + robot.feeder.stop(), + WaitCommand(0.050), + robot.shooter.forceStop(), + robot.pivot.moveStow(), + ) + ), + debug = false, + timeout = 0.0 + ) + + override val trajectory: MutableList = + if (isRed) { + AutoUtil.transformForRed( + ChoreoTrajectory.createTrajectory("4_Piece") + ) + } else { + ChoreoTrajectory.createTrajectory("4_Piece") + } +} diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceAmpHelper.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceAmpHelper.kt index 62a2e6d..6cf413f 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceAmpHelper.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceAmpHelper.kt @@ -6,6 +6,8 @@ import edu.wpi.first.math.controller.PIDController import edu.wpi.first.math.geometry.Translation2d import edu.wpi.first.math.util.Units import edu.wpi.first.wpilibj2.command.InstantCommand +import edu.wpi.first.wpilibj2.command.ParallelCommandGroup +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup import edu.wpi.first.wpilibj2.command.WaitCommand import frc.team449.control.auto.ChoreoRoutine import frc.team449.control.auto.ChoreoRoutineStructure @@ -73,9 +75,11 @@ class FourPieceAmpHelper( robot, shot2PivotAngle ), - 2 to AutoUtil.autoFarIntakeV2PremoveQuick( - robot, - shot3PivotAngle + 2 to ParallelCommandGroup( + robot.pivot.moveStow(), + robot.shooter.shootSubwoofer(), + robot.feeder.intake(), + robot.undertaker.intake() ), ), stopEventMap = hashMapOf( @@ -84,28 +88,28 @@ class FourPieceAmpHelper( robot.drive.enableVisionFusion = true VisionConstants.MAX_DISTANCE_SINGLE_TAG = 4.5 VisionConstants.SINGLE_TAG_TRUST.setColumn(0, MatBuilder.fill(Nat.N3(), Nat.N1(), .325, .325, 3.0)) - VisionConstants.MULTI_TAG_TRUST.setColumn(0, MatBuilder.fill(Nat.N3(), Nat.N1(), .325, .325, 3.0)) + VisionConstants.MULTI_TAG_TRUST.setColumn(0, MatBuilder.fill(Nat.N3(), Nat.N1(), .225, .225, 3.0)) }) ), - 1 to AutoUtil.autoFarShootHelperVision(robot, fast = false), - 2 to AutoUtil.autoFarShootHelperVision(robot, fast = false), - 3 to AutoUtil.autoFarShootHelperVision(robot, fast = false) - .andThen( - InstantCommand({ - VisionConstants.MAX_DISTANCE_SINGLE_TAG = 5.0 - VisionConstants.SINGLE_TAG_TRUST.setColumn(0, MatBuilder.fill(Nat.N3(), Nat.N1(), .15, .15, 3.0)) - VisionConstants.MULTI_TAG_TRUST.setColumn(0, MatBuilder.fill(Nat.N3(), Nat.N1(), .10, .10, 3.0)) - }), - InstantCommand({ robot.drive.stop() }), - robot.undertaker.stop(), - robot.feeder.stop(), - WaitCommand(0.050), - robot.shooter.forceStop(), - robot.pivot.moveStow(), - ) + 1 to AutoUtil.autoFarShootHelperVisionSlow(robot, offset = Units.degreesToRadians(2.80)), + 2 to AutoUtil.autoFarShootHelperVisionSlow(robot, offset = Units.degreesToRadians(-0.375)), + 3 to SequentialCommandGroup( + InstantCommand({ + robot.drive.enableVisionFusion = true + VisionConstants.MAX_DISTANCE_SINGLE_TAG = 4.5 + VisionConstants.SINGLE_TAG_TRUST.setColumn(0, MatBuilder.fill(Nat.N3(), Nat.N1(), .15, .15, 3.0)) + VisionConstants.MULTI_TAG_TRUST.setColumn(0, MatBuilder.fill(Nat.N3(), Nat.N1(), .10, .10, 3.0)) + }), + InstantCommand({ robot.drive.stop() }), + WaitCommand(0.50), + robot.undertaker.stop(), + robot.feeder.stop(), + robot.shooter.forceStop(), + robot.pivot.moveStow() + ) ), debug = false, - timeout = 0.0 + timeout = 2.15 ) override val trajectory: MutableList = diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceHelper.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceHelper.kt index 1d4ea7a..38791ae 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceHelper.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceHelper.kt @@ -23,13 +23,10 @@ class FourPieceHelper( val shot0DriveAngle = Units.degreesToRadians(-44.338651066156395) val shot0PivotAngle = Units.degreesToRadians(14.48705441278648) - val shot1DriveAngle = Units.degreesToRadians(-38.2144036003265) val shot1PivotAngle = Units.degreesToRadians(26.242354379317156) - val shot2DriveAngle = Units.degreesToRadians(-36.28816690114658) val shot2PivotAngle = Units.degreesToRadians(27.88355832196282) - val shot3DriveAngle = Units.degreesToRadians(-35.26536028224181) val shot3PivotAngle = Units.degreesToRadians(31.705604274195668) override val routine = @@ -40,7 +37,7 @@ class FourPieceHelper( 0 to AutoUtil.autoFarIntakeV2PremoveCenterline( robot, shot1PivotAngle, - 2.5 + 3.25 ), 1 to AutoUtil.autoFarIntakeV2Premove( robot, @@ -62,17 +59,21 @@ class FourPieceHelper( }, AutoUtil.autoFarShootHelperV2(robot, shot0DriveAngle, shot0PivotAngle, fast = true) ), - 1 to AutoUtil.autoFarShootHelperV2(robot, shot1DriveAngle, shot1PivotAngle, fast = false), - 2 to AutoUtil.autoFarShootHelperV2(robot, shot2DriveAngle, shot2PivotAngle, fast = false), - 3 to AutoUtil.autoFarShootHelperV2(robot, shot3DriveAngle, shot3PivotAngle, fast = false) - .andThen( - InstantCommand({ robot.drive.stop() }), - robot.undertaker.stop(), - robot.feeder.stop(), - WaitCommand(0.050), - robot.shooter.forceStop(), - robot.pivot.moveStow(), - ) + 1 to AutoUtil.autoJiggle(robot).andThen( + AutoUtil.autoFarShootHelperVisionSlow(robot) + ), + 2 to AutoUtil.autoJiggle(robot).andThen( + AutoUtil.autoFarShootHelperVisionSlow(robot) + ), + 3 to AutoUtil.autoJiggle(robot).andThen( + AutoUtil.autoFarShootHelperVisionSlow(robot), + InstantCommand({ robot.drive.stop() }), + robot.undertaker.stop(), + robot.feeder.stop(), + WaitCommand(0.050), + robot.shooter.forceStop(), + robot.pivot.moveStow(), + ) ), debug = false, timeout = 0.0 diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt index 8b53cdc..1abec22 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt @@ -22,7 +22,13 @@ class RoutineChooser(private val robot: Robot) : SendableChooser() { "RedFourPieceHelper" to FourPieceHelper(robot, true).createCommand(), "BlueFourPieceHelper" to FourPieceHelper(robot, false).createCommand(), "RedFourPieceAmp" to FourPieceAmpHelper(robot, true).createCommand(), - "BlueFourPieceAmp" to FourPieceAmpHelper(robot, false).createCommand() + "BlueFourPieceAmp" to FourPieceAmpHelper(robot, false).createCommand(), + "RedWorld" to World(robot, true).createCommand(), + "BlueWorld" to World(robot, false).createCommand(), + "RedWorld3" to World3(robot, true).createCommand(), + "BlueWorld3" to World3(robot, false).createCommand(), + "Red4" to FourPiece(robot, true).createCommand(), + "Blue4" to FourPiece(robot, false).createCommand() ) } @@ -34,6 +40,21 @@ class RoutineChooser(private val robot: Robot) : SendableChooser() { /** Add auto options here */ this.setDefaultOption("Do Nothing", "DoNothing") + this.addOption( + "4 piece", + if (isRed) "Red4" else "Blue4" + ) + + this.addOption( + "worlds center first", + if (isRed) "RedWorld" else "BlueWorld" + ) + + this.addOption( + "worlds 3", + if (isRed) "RedWorld3" else "BlueWorld3" + ) + this.addOption( "5 Piece Subwoofer MIDDY", if (isRed) "RedSubwoofer5Piece" else "BlueSubwoofer5Piece" diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/World.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/World.kt new file mode 100644 index 0000000..908449d --- /dev/null +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/World.kt @@ -0,0 +1,53 @@ +package frc.team449.robot2024.auto.routines + +import edu.wpi.first.wpilibj2.command.InstantCommand +import edu.wpi.first.wpilibj2.command.ParallelCommandGroup +import edu.wpi.first.wpilibj2.command.WaitCommand +import frc.team449.control.auto.ChoreoRoutine +import frc.team449.control.auto.ChoreoRoutineStructure +import frc.team449.control.auto.ChoreoTrajectory +import frc.team449.robot2024.Robot +import frc.team449.robot2024.auto.AutoUtil + +class World( + robot: Robot, + isRed: Boolean +) : ChoreoRoutineStructure { + override val routine = + ChoreoRoutine( + drive = robot.drive, + parallelEventMap = hashMapOf( + 0 to ParallelCommandGroup( + robot.feeder.intake(), + robot.shooter.scoreAmp(), + robot.undertaker.intake(), + + ) + .withTimeout(1.75) + .andThen(AutoUtil.autoIntake(robot)), + ), + stopEventMap = hashMapOf( + 0 to AutoUtil.autoShoot(robot), + 1 to AutoUtil.autoShoot(robot) + .andThen( + InstantCommand({ robot.drive.stop() }), + robot.undertaker.stop(), + robot.feeder.stop(), + WaitCommand(0.050), + robot.shooter.forceStop(), + robot.pivot.moveStow(), + ) + ), + debug = false, + timeout = 0.0 + ) + + override val trajectory: MutableList = + if (isRed) { + AutoUtil.transformForRed( + ChoreoTrajectory.createTrajectory("world") + ) + } else { + ChoreoTrajectory.createTrajectory("world") + } +} diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/World3.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/World3.kt new file mode 100644 index 0000000..94eeba1 --- /dev/null +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/World3.kt @@ -0,0 +1,47 @@ +package frc.team449.robot2024.auto.routines + +import edu.wpi.first.wpilibj2.command.InstantCommand +import edu.wpi.first.wpilibj2.command.WaitCommand +import frc.team449.control.auto.ChoreoRoutine +import frc.team449.control.auto.ChoreoRoutineStructure +import frc.team449.control.auto.ChoreoTrajectory +import frc.team449.robot2024.Robot +import frc.team449.robot2024.auto.AutoUtil + +class World3( + robot: Robot, + isRed: Boolean +) : ChoreoRoutineStructure { + override val routine = + ChoreoRoutine( + drive = robot.drive, + parallelEventMap = hashMapOf( + 0 to AutoUtil.autoIntake(robot), + 1 to AutoUtil.autoIntake(robot) + ), + stopEventMap = hashMapOf( + 0 to AutoUtil.autoShoot(robot), + 1 to AutoUtil.autoShoot(robot), + 2 to AutoUtil.autoShoot(robot) + .andThen( + InstantCommand({ robot.drive.stop() }), + robot.undertaker.stop(), + robot.feeder.stop(), + WaitCommand(0.050), + robot.shooter.forceStop(), + robot.pivot.moveStow(), + ) + ), + debug = false, + timeout = 0.0 + ) + + override val trajectory: MutableList = + if (isRed) { + AutoUtil.transformForRed( + ChoreoTrajectory.createTrajectory("world3") + ) + } else { + ChoreoTrajectory.createTrajectory("world3") + } +} diff --git a/src/main/kotlin/frc/team449/robot2024/constants/RobotConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/RobotConstants.kt index 6703706..4e516c7 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/RobotConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/RobotConstants.kt @@ -14,18 +14,18 @@ object RobotConstants { const val PDH_CAN = 1 /** Controller Configurations */ - const val ROT_RATE_LIMIT = 20.0 * PI + const val ROT_RATE_LIMIT = 17.27 * PI const val NEG_ROT_RATE_LIM = -27.5 * PI const val DRIVE_RADIUS_DEADBAND = .125 const val ROTATION_DEADBAND = .125 - val SNAP_TO_ANGLE_TOLERANCE_RAD = Units.degreesToRadians(2.75) + val SNAP_TO_ANGLE_TOLERANCE_RAD = Units.degreesToRadians(3.5) /** In kilograms, include bumpers and battery and all */ const val ROBOT_WEIGHT = 55.0 /** Drive configuration */ val MAX_LINEAR_SPEED = SwerveConstants.MAX_ATTAINABLE_MK4I_SPEED // m/s - const val MAX_ROT_SPEED = 2 * PI // rad/s + const val MAX_ROT_SPEED = 9 * PI / 4 // rad/s val MAX_ACCEL = 4 * DCMotor( MotorConstants.NOMINAL_VOLTAGE, MotorConstants.STALL_TORQUE * SwerveConstants.EFFICIENCY, @@ -46,12 +46,12 @@ object RobotConstants { /** PID controller for Orthogonal turning */ val ORTHOGONAL_CONTROLLER = PIDController( - 6.25, + 5.65, 0.0, 0.0 ) - const val ALIGN_ROT_SPEED = 3 * PI + const val ALIGN_ROT_SPEED = 7 * PI / 2 val IR_CHANNEL = 3 val IR_CHANNEL2 = 4 diff --git a/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt index 87497ab..a167e3e 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/drives/SwerveConstants.kt @@ -49,7 +49,7 @@ object SwerveConstants { const val DRIVE_GEARING = (14.0 / 50.0) * (28.0 / 16.0) * (15.0 / 45.0) const val DRIVE_UPR = 0.31818905832 const val TURN_UPR = 2 * Math.PI - val MAX_ATTAINABLE_MK4I_SPEED = Units.feetToMeters(16.1870732587) // (12 - DRIVE_KS) / DRIVE_KV + val MAX_ATTAINABLE_MK4I_SPEED = Units.feetToMeters(15.85) // (12 - DRIVE_KS) / DRIVE_KV const val DRIVE_CURRENT_LIM = 55 const val STEERING_CURRENT_LIM = 40 const val JOYSTICK_FILTER_ORDER = 2 diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt index fe26a72..b0d1794 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt @@ -14,5 +14,5 @@ object FeederConstants { const val BRAKE_MODE = false - const val CHECK_NOTE_IN_LOCATION_TIMEOUT_SECONDS = 1.35 + const val CHECK_NOTE_IN_LOCATION_TIMEOUT_SECONDS = 2.25 } diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt index cd7540a..6d51b53 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt @@ -59,14 +59,15 @@ object PivotConstants { const val CONTROL_EFFORT_VOLTS = 12.0 /** LQR Position and Velocity tolerances for fast Controller*/ + // for offseason, increase these tolerances to like 20.0 and 60.0 or something val FAST_POS_TOLERANCE = Units.degreesToRadians(10.0) val FAST_VEL_TOLERANCE = Units.degreesToRadians(45.0) - val AUTO_POS_TOLERANCE = Units.degreesToRadians(0.20) + val AUTO_POS_TOLERANCE = Units.degreesToRadians(0.375) val AUTO_VEL_TOLERANCE = Units.degreesToRadians(5.0) - val AUTO_MAX_POS_ERROR = Units.degreesToRadians(0.30) + val AUTO_MAX_POS_ERROR = Units.degreesToRadians(0.325) - val SHOOT_ANYWHERE_POS_TOLERANCE = Units.degreesToRadians(0.30) + val SHOOT_ANYWHERE_POS_TOLERANCE = Units.degreesToRadians(0.75) val MAX_POS_ERROR = Units.degreesToRadians(1.65) val AMP_TOL = Units.degreesToRadians(25.0) @@ -79,6 +80,7 @@ object PivotConstants { val MAX_VELOCITY = MotorConstants.FREE_SPEED * GEARING * 0.85 // Max at 35A should be 178.15455320820428 (at stall) + // for offseason, try increasing this to 175 :joy: val MAX_ACCEL = 0.1727 * 195 // this some fire, actual value is 33.6765 const val SLOW_ACCEL = 0.5804 * 21.75 // this some fire, actual value is 12.6237 @@ -89,6 +91,8 @@ object PivotConstants { val MAX_ANGLE = Units.degreesToRadians(105.0) val AMP_ANGLE = Units.degreesToRadians(89.0) // 95.0 at blacksburg val CLIMB_ANGLE = Units.degreesToRadians(60.0) - val PASS_ANGLE = Units.degreesToRadians(62.5) + val PASS_ANGLE = Units.degreesToRadians(7.5) + val PASS_ANGLE_T2 = Units.degreesToRadians(5.0) + val PASS_ANGLE_T3 = Units.degreesToRadians(0.0) val STOW_ANGLE = Units.degreesToRadians(-1.0) } diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/SpinShooterConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/SpinShooterConstants.kt index 811b2d7..816323b 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/SpinShooterConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/SpinShooterConstants.kt @@ -19,8 +19,12 @@ object SpinShooterConstants { val SUBWOOFER_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(2800.0) val ANYWHERE_LEFT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(4850.0) val ANYWHERE_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3850.0) - val PASS_LEFT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(4500.0) - val PASS_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3500.0) + val PASS_LEFT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3900.0) + val PASS_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(2900.0) + val PASS2_LEFT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3550.0) + val PASS2_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(2550.0) + val PASS3_LEFT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(3550.0) + val PASS3_RIGHT_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(2550.0) val AMP_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(1800.0) val OUTTAKE_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(-200.0) @@ -31,15 +35,15 @@ object SpinShooterConstants { val SHOOTING_MAP = InterpolatingDoubleTreeMap() val TIME_MAP = InterpolatingDoubleTreeMap() - const val LEFT_KS = 0.28278 // 0.19599 - const val RIGHT_KS = 0.39721 // 0.28982 - const val LEFT_KV = 0.011015 // 0.010993 - const val RIGHT_KV = 0.011905 // 0.010836 - const val LEFT_KA = 0.0065218 // 0.0061217 - const val RIGHT_KA = 0.00714 // 0.00815 + const val LEFT_KS = 0.2377 // 0.19599 + const val RIGHT_KS = 0.32957 // 0.28982 + const val LEFT_KV = 0.010607 // 0.010993 + const val RIGHT_KV = 0.011597 // 0.010836 + const val LEFT_KA = 0.0050 // 0.0061217 + const val RIGHT_KA = 0.0060 // 0.00815 - const val IN_TOLERANCE = 15.0 - const val AIM_TOLERANCE = 19.5 + const val IN_TOLERANCE = 10.0 + const val AIM_TOLERANCE = 15.0 const val AMP_TOLERANCE = 75.0 const val START_INPT_ERR = 50.0 @@ -70,10 +74,10 @@ object SpinShooterConstants { * SHOOTING_MAP.put(distanceToSpeaker, pivotAngle) */ SHOOTING_MAP.put(1.385103, 0.0) - SHOOTING_MAP.put(2.140248, 0.232883) - SHOOTING_MAP.put(2.749805, 0.345332) + SHOOTING_MAP.put(2.202962, 0.242588) + SHOOTING_MAP.put(2.779649, 0.331436) SHOOTING_MAP.put(3.291857, 0.384108) - SHOOTING_MAP.put(4.148121, 0.447664) + SHOOTING_MAP.put(3.998236, 0.436227) SHOOTING_MAP.put(4.935377, 0.514283) TIME_MAP.put(1.32, 0.20) diff --git a/src/main/kotlin/frc/team449/robot2024/constants/vision/VisionConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/vision/VisionConstants.kt index 32c3feb..d742948 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/vision/VisionConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/vision/VisionConstants.kt @@ -35,11 +35,12 @@ object VisionConstants { /** Robot to Camera distance */ val backLeft = Transform3d( - Translation3d(Units.inchesToMeters(-10.696), Units.inchesToMeters(-10.848), Units.inchesToMeters(9.11)), + Translation3d(Units.inchesToMeters(-10.696), Units.inchesToMeters(10.848), Units.inchesToMeters(9.11)), Rotation3d(0.0, Units.degreesToRadians(-28.125), Units.degreesToRadians(180.0 + 7.5)) ) + val backRight = Transform3d( - Translation3d(Units.inchesToMeters(-10.696), Units.inchesToMeters(10.848), Units.inchesToMeters(9.11)), + Translation3d(Units.inchesToMeters(-10.696), Units.inchesToMeters(-10.848), Units.inchesToMeters(9.11)), Rotation3d(0.0, Units.degreesToRadians(-28.125), Units.degreesToRadians(180.0 - 7.5)) ) @@ -51,14 +52,14 @@ object VisionConstants { /** Filtering Constants */ const val MAX_AMBIGUITY = 0.25 var MAX_DISTANCE_SINGLE_TAG = 5.0 - const val MAX_DISTANCE_MULTI_TAG = 6.0 - val SINGLE_TAG_HEADING_MAX_DEV_RAD = Units.radiansToDegrees(5.0) + var MAX_DISTANCE_MULTI_TAG = 6.0 + val TAG_HEADING_MAX_DEV_RAD = Units.radiansToDegrees(5.0) var MAX_HEIGHT_ERR_METERS = 0.25 const val NUM_TAG_FACTOR = 2.0 /** Std Dev Calculation Constants */ const val ORDER = 2 - const val PROPORTION = 1.0 / 20.0 + const val PROPORTION = 1.0 / 30.0 val VISION_SIM = VisionSystemSim( "main" @@ -77,12 +78,12 @@ object VisionConstants { /** List of cameras that we want to use */ val ESTIMATORS: ArrayList = arrayListOf( -// VisionSubsystem( -// "back_left", -// TAG_LAYOUT, -// backLeft, -// VISION_SIM -// ), + VisionSubsystem( + "back_left", + TAG_LAYOUT, + backLeft, + VISION_SIM + ), VisionSubsystem( "back_right", TAG_LAYOUT, @@ -93,5 +94,5 @@ object VisionConstants { val ENCODER_TRUST: Matrix = MatBuilder.fill(Nat.N3(), Nat.N1(), .125, .125, .0125) val SINGLE_TAG_TRUST: Matrix = MatBuilder.fill(Nat.N3(), Nat.N1(), .15, .15, 1e+9) - val MULTI_TAG_TRUST: Matrix = MatBuilder.fill(Nat.N3(), Nat.N1(), .10, .10, .80) + val MULTI_TAG_TRUST: Matrix = MatBuilder.fill(Nat.N3(), Nat.N1(), .10, .10, 1.75) } diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt index acef4da..7fa6193 100644 --- a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt +++ b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt @@ -177,7 +177,7 @@ class ControllerBindings( robot.pivot.moveStow() ) - driveController.y().onTrue( + driveController.leftBumper().onTrue( SequentialCommandGroup( checkNoteInLocation(), robot.undertaker.slowIntake(), @@ -193,21 +193,59 @@ class ControllerBindings( ) ) +// driveController.leftBumper().onTrue( +// SequentialCommandGroup( +// InstantCommand({ robot.drive.maxLinearSpeed = 1.10 }) +// .andThen(InstantCommand({ robot.drive.maxRotSpeed = PI / 2 })), +// checkNoteInLocation(), +// ConditionalCommand( +// SequentialCommandGroup( +// robot.undertaker.stop(), +// robot.feeder.outtake(), +// robot.shooter.duringIntake(), +// WaitUntilCommand { robot.closeToShooterInfrared.get() }, +// stopIntake() +// ), +// stopIntake() +// ) { !robot.closeToShooterInfrared.get() }, +// robot.undertaker.slowIntake(), +// WaitCommand(0.30), +// robot.shooter.autoAim() +// ) +// ).onFalse( +// ParallelCommandGroup( +// InstantCommand({ robot.drive.maxLinearSpeed = RobotConstants.MAX_LINEAR_SPEED }) +// .andThen( +// InstantCommand({ robot.drive.maxRotSpeed = RobotConstants.MAX_ROT_SPEED }) +// ), +// robot.undertaker.stop(), +// robot.shooter.rampStop(), +// robot.feeder.stop(), +// robot.pivot.moveStow() +// ) +// ) + + driveController.x().onTrue( + SequentialCommandGroup( + checkNoteInLocation(), + robot.shooter.passShot() + ) + ).onFalse( + ParallelCommandGroup( + robot.undertaker.stop(), + robot.shooter.rampStop(), + robot.feeder.stop(), + robot.pivot.moveStow() + ) + ) + driveController.b().onTrue( SequentialCommandGroup( - InstantCommand({ robot.drive.maxLinearSpeed = 1.10 }) - .andThen(InstantCommand({ robot.drive.maxRotSpeed = PI / 2 })), checkNoteInLocation(), - robot.undertaker.slowIntake(), - WaitCommand(0.10), - robot.shooter.autoAim() + robot.shooter.passShotT2() ) ).onFalse( ParallelCommandGroup( - InstantCommand({ robot.drive.maxLinearSpeed = RobotConstants.MAX_LINEAR_SPEED }) - .andThen( - InstantCommand({ robot.drive.maxRotSpeed = RobotConstants.MAX_ROT_SPEED }) - ), robot.undertaker.stop(), robot.shooter.rampStop(), robot.feeder.stop(), @@ -215,10 +253,10 @@ class ControllerBindings( ) ) - driveController.x().onTrue( + driveController.y().onTrue( SequentialCommandGroup( checkNoteInLocation(), - robot.shooter.passShot() + robot.shooter.passShotT3() ) ).onFalse( ParallelCommandGroup( @@ -359,26 +397,26 @@ class ControllerBindings( stopAll() ) -// /** Characterization */ -// // Quasistatic Forwards -// driveController.povUp().onTrue( -// shooterRoutine.quasistatic(SysIdRoutine.Direction.kForward) -// ) -// -// // Quasistatic Reverse -// driveController.povDown().onTrue( -// shooterRoutine.quasistatic(SysIdRoutine.Direction.kReverse) -// ) -// -// // Dynamic Forwards -// driveController.povRight().onTrue( -// shooterRoutine.dynamic(SysIdRoutine.Direction.kForward) -// ) -// -// // Dynamic Reverse -// driveController.povLeft().onTrue( -// shooterRoutine.dynamic(SysIdRoutine.Direction.kReverse) -// ) + /** Characterization */ + // Quasistatic Forwards + driveController.povUp().onTrue( + shooterRoutine.quasistatic(SysIdRoutine.Direction.kForward) + ) + + // Quasistatic Reverse + driveController.povDown().onTrue( + shooterRoutine.quasistatic(SysIdRoutine.Direction.kReverse) + ) + + // Dynamic Forwards + driveController.povRight().onTrue( + shooterRoutine.dynamic(SysIdRoutine.Direction.kForward) + ) + + // Dynamic Reverse + driveController.povLeft().onTrue( + shooterRoutine.dynamic(SysIdRoutine.Direction.kReverse) + ) } private fun intakePiece(): Command { diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt index 99a4591..7af9804 100644 --- a/src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt +++ b/src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt @@ -46,6 +46,10 @@ class Feeder( } } + fun stopVoltage() { + motor.stopMotor() + } + override fun initSendable(builder: SendableBuilder) { builder.publishConstString("1.0", "Motor Voltages") builder.addDoubleProperty("1.1 Last Voltage", { motor.lastVoltage }, null) diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt index cec6230..71a7a21 100644 --- a/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt +++ b/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt @@ -94,14 +94,14 @@ open class Pivot( private fun correctAuto() { observer.correct( - VecBuilder.fill(getFastVoltage()), + VecBuilder.fill(getAutoVoltage()), VecBuilder.fill(positionSupplier.get()) ) } private fun correctFast() { observer.correct( - VecBuilder.fill(getAutoVoltage()), + VecBuilder.fill(getFastVoltage()), VecBuilder.fill(positionSupplier.get()) ) } diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt index 94a2b78..0bbb694 100644 --- a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt +++ b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt @@ -54,6 +54,7 @@ open class Shooter( private fun correct() { val voltage = getVoltage() + // for offseason use last motor voltage observer.correct( VecBuilder.fill(voltage), VecBuilder.fill(velocity.get()) @@ -78,6 +79,7 @@ open class Shooter( -observer.getXhat(1) ) + // for offseason, try using the last motor voltage observer.predict(voltage, RobotConstants.LOOP_TIME) } diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt index 3d0eb5e..018a4f9 100644 --- a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt +++ b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt @@ -42,6 +42,8 @@ open class SpinShooter( private val robot: Robot ) : SubsystemBase() { + private var robotAngleGoal = 0.0 + /** Left, Right Desired velocity */ private var desiredVels = Pair(0.0, 0.0) @@ -230,7 +232,7 @@ open class SpinShooter( Units.metersToInches(abs(FieldConstants.SPEAKER_POSE.getDistance(Translation2d(14.144, 4.211)))) } - val angle = Units.degreesToRadians(SpinShooterConstants.equation(distance) + 0.45) + val angle = Units.degreesToRadians(SpinShooterConstants.equation(distance) + 0.385) robot.pivot.moveToAngleSlow(MathUtil.clamp(angle, PivotConstants.MIN_ANGLE, PivotConstants.MAX_ANGLE)) @@ -245,7 +247,7 @@ open class SpinShooter( robot.driveCommand.snapToAngle(robotToPoint.angle.radians + if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) PI else 0.0) if (robot.shooter.atSetpoint() && - robot.driveCommand.atGoal && + abs(RobotConstants.ORTHOGONAL_CONTROLLER.positionError) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && robot.pivot.inTolerance() && robot.mechController.hid.leftBumper ) { @@ -253,7 +255,7 @@ open class SpinShooter( } }, { }, - { !robot.driveController.hid.yButton }, + { !robot.driveController.hid.leftBumper }, this, robot.pivot, robot.feeder, @@ -308,13 +310,15 @@ open class SpinShooter( val cmd = FunctionalCommand( { }, { + robot.feeder.stopVoltage() + + robot.pivot.moveToAngleSlow(PivotConstants.PASS_ANGLE) + shootPiece( SpinShooterConstants.PASS_LEFT_SPEED, SpinShooterConstants.PASS_RIGHT_SPEED ) - robot.pivot.moveToAngleSlow(-0.75) - val fieldToRobot = if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) { Translation2d(FieldConstants.fieldLength - 7.5, 1.585) } else { @@ -325,10 +329,10 @@ open class SpinShooter( robot.driveCommand.snapToAngle(robotToPoint.angle.radians + if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) PI else 0.0) - if (robot.shooter.atSetpoint() && - robot.driveCommand.atGoal && - robot.pivot.inTolerance() && - robot.mechController.hid.leftBumper + if (robot.shooter.atAimSetpoint() && + abs(RobotConstants.ORTHOGONAL_CONTROLLER.positionError) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && + robot.mechController.hid.leftBumper && + robot.pivot.inTolerance() ) { robot.feeder.intakeVoltage() robot.undertaker.intakeVoltage() @@ -337,7 +341,6 @@ open class SpinShooter( { }, { !robot.driveController.hid.xButton }, this, - robot.pivot, robot.feeder, robot.undertaker ) @@ -345,10 +348,99 @@ open class SpinShooter( return cmd } - fun autoAim(): Command { + fun passShotT2(): Command { + val cmd = FunctionalCommand( + { }, + { + robot.feeder.stopVoltage() + + robot.pivot.moveToAngleSlow(PivotConstants.PASS_ANGLE_T2) + + shootPiece( + SpinShooterConstants.PASS2_LEFT_SPEED, + SpinShooterConstants.PASS2_RIGHT_SPEED + ) + + val fieldToRobot = if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) { + Translation2d(FieldConstants.fieldLength - 6.761, 4.259) + } else { + Translation2d(6.761, 4.259) + } + + val robotToPoint = FieldConstants.PASS_POSE - fieldToRobot + + robot.driveCommand.snapToAngle(robotToPoint.angle.radians + if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) PI else 0.0) + + if (robot.shooter.atAimSetpoint() && + abs(RobotConstants.ORTHOGONAL_CONTROLLER.positionError) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && + robot.mechController.hid.leftBumper && + robot.pivot.inTolerance() + ) { + robot.feeder.intakeVoltage() + robot.undertaker.intakeVoltage() + } + }, + { }, + { !robot.driveController.hid.bButton }, + this, + robot.feeder, + robot.undertaker + ) + cmd.name = "pass shot" + return cmd + } + + fun passShotT3(): Command { val cmd = FunctionalCommand( { }, { + robot.feeder.stopVoltage() + + robot.pivot.moveToAngleSlow(PivotConstants.PASS_ANGLE_T3) + + shootPiece( + SpinShooterConstants.PASS3_LEFT_SPEED, + SpinShooterConstants.PASS3_RIGHT_SPEED + ) + + val fieldToRobot = if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) { + Translation2d(FieldConstants.fieldLength - 7.053, 6.846) + } else { + Translation2d(7.053, 6.846) + } + + val robotToPoint = FieldConstants.PASS_POSE - fieldToRobot + + robot.driveCommand.snapToAngle(robotToPoint.angle.radians + if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) PI else 0.0) + + if (robot.shooter.atAimSetpoint() && + abs(RobotConstants.ORTHOGONAL_CONTROLLER.positionError) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && + robot.mechController.hid.leftBumper && + robot.pivot.inTolerance() + ) { + robot.feeder.intakeVoltage() + robot.undertaker.intakeVoltage() + } + }, + { }, + { !robot.driveController.hid.yButton }, + this, + robot.feeder, + robot.undertaker + ) + cmd.name = "pass shot" + return cmd + } + + fun autoAim(): Command { + val cmd = FunctionalCommand( + { + val robotToPoint = FieldConstants.SPEAKER_POSE - robot.drive.pose.translation + robotAngleGoal = (robotToPoint.angle + Rotation2d(if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) PI else 0.0)).radians + }, + { + robot.feeder.stopVoltage() + shootPiece( SpinShooterConstants.ANYWHERE_LEFT_SPEED, SpinShooterConstants.ANYWHERE_RIGHT_SPEED @@ -400,10 +492,13 @@ open class SpinShooter( val desiredAngle = robotToPoint.angle + Rotation2d(if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) PI else 0.0) - robot.driveCommand.snapToAngle(desiredAngle.radians) + robot.driveCommand.snapToAngle(desiredAngle.radians, 0.0) + +// println(RobotConstants.ORTHOGONAL_CONTROLLER.positionError * 12.5) +// println(Units.radiansToDegrees(RobotConstants.ORTHOGONAL_CONTROLLER.positionError)) if (robot.shooter.atAimSetpoint() && - robot.driveCommand.atGoal && + abs(RobotConstants.ORTHOGONAL_CONTROLLER.positionError) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && robot.pivot.inShootAnywhereTolerance(angle) && robot.mechController.hid.leftBumper ) { @@ -412,7 +507,7 @@ open class SpinShooter( }, { }, { - !robot.driveController.hid.bButton + !robot.driveController.hid.leftBumper }, this, robot.pivot, @@ -562,6 +657,7 @@ open class SpinShooter( builder.addDoubleProperty("5.2 Right Inpt Err Voltage", { -rightObserver.getXhat(1) }, null) builder.publishConstString("6.0", "Shoot from Anywhere") builder.addDoubleProperty("6.1 Speaker Distance (meters)", { abs(FieldConstants.SPEAKER_POSE.getDistance(robot.drive.pose.translation)) }, null) + builder.addBooleanProperty("6.2 Drive In Angle Tol", { abs(RobotConstants.ORTHOGONAL_CONTROLLER.positionError) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD }, null) } companion object {