From 980b25e7eaa71856a27ad20e6434c5fab897f72b Mon Sep 17 00:00:00 2001 From: NoamRosenberg08 Date: Sun, 11 Dec 2022 19:34:49 +0200 Subject: [PATCH 01/14] noam - started working on path planner + stated path planner command --- .idea/misc.xml | 2 +- .../pegasus/commands/auto/PathPlannerCommand.java | 11 +++++++++++ .../pegasus/commands/swerve/PathFollowerCommand.java | 2 +- 3 files changed, 13 insertions(+), 2 deletions(-) create mode 100644 src/main/java/edu/greenblitz/pegasus/commands/auto/PathPlannerCommand.java diff --git a/.idea/misc.xml b/.idea/misc.xml index 5821b2fa..fd8e2467 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -4,5 +4,5 @@ - + \ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathPlannerCommand.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathPlannerCommand.java new file mode 100644 index 00000000..625f1233 --- /dev/null +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathPlannerCommand.java @@ -0,0 +1,11 @@ +package edu.greenblitz.pegasus.commands.auto; + +import com.pathplanner.lib.PathPlanner; +import com.pathplanner.lib.PathPlannerTrajectory; + +import java.util.ArrayList; + +public class PathPlannerCommand{ + + +} diff --git a/src/main/java/edu/greenblitz/pegasus/commands/swerve/PathFollowerCommand.java b/src/main/java/edu/greenblitz/pegasus/commands/swerve/PathFollowerCommand.java index 50a53fd4..a44170e5 100644 --- a/src/main/java/edu/greenblitz/pegasus/commands/swerve/PathFollowerCommand.java +++ b/src/main/java/edu/greenblitz/pegasus/commands/swerve/PathFollowerCommand.java @@ -8,7 +8,7 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile; import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; -public class PathFollowerCommand extends SwerveControllerCommand {//todo move to experimental branch +public class PathFollowerCommand extends SwerveControllerCommand { public PathFollowerCommand(Trajectory trajectory){ super( From 327aaf37638e5beff29cf07d607ccc64db9f9f38 Mon Sep 17 00:00:00 2001 From: NoamRosenberg08 Date: Sun, 11 Dec 2022 20:18:27 +0200 Subject: [PATCH 02/14] noam added follower autonomu command NOT TESTED --- .../{New New Path.path => new.path} | 0 src/main/java/edu/greenblitz/pegasus/OI.java | 3 ++ .../commands/auto/Auto_test_command.java | 18 ++++++++ .../commands/auto/PathPlannerCommand.java | 42 ++++++++++++++++++- .../pegasus/commands/auto/ThreeBallAuto.java | 3 +- .../commands/swerve/PathFollowerCommand.java | 40 ------------------ 6 files changed, 63 insertions(+), 43 deletions(-) rename src/main/deploy/pathplanner/{New New Path.path => new.path} (100%) create mode 100644 src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java delete mode 100644 src/main/java/edu/greenblitz/pegasus/commands/swerve/PathFollowerCommand.java diff --git a/src/main/deploy/pathplanner/New New Path.path b/src/main/deploy/pathplanner/new.path similarity index 100% rename from src/main/deploy/pathplanner/New New Path.path rename to src/main/deploy/pathplanner/new.path diff --git a/src/main/java/edu/greenblitz/pegasus/OI.java b/src/main/java/edu/greenblitz/pegasus/OI.java index d7ef643b..a5869d4a 100644 --- a/src/main/java/edu/greenblitz/pegasus/OI.java +++ b/src/main/java/edu/greenblitz/pegasus/OI.java @@ -1,5 +1,6 @@ package edu.greenblitz.pegasus; +import edu.greenblitz.pegasus.commands.auto.Auto_test_command; import edu.greenblitz.pegasus.commands.funnel.RunFunnel; import edu.greenblitz.pegasus.commands.intake.extender.ToggleRoller; import edu.greenblitz.pegasus.commands.intake.roller.RunRoller; @@ -53,6 +54,8 @@ private void initButtons() { mainJoystick.Y.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetChassisAngle())); + mainJoystick.X.whenPressed(new Auto_test_command()); + mainJoystick.POV_UP.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetAllEncoders())); mainJoystick.R1.whenHeld(new StartEndCommand(() -> Intake.getInstance().getExtender().retract(), diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java new file mode 100644 index 00000000..34a8bbef --- /dev/null +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java @@ -0,0 +1,18 @@ +package edu.greenblitz.pegasus.commands.auto; + + +import com.pathplanner.lib.PathPlanner; +import edu.greenblitz.pegasus.RobotMap; + +public class Auto_test_command extends PathPlannerCommand{ + private static final String autoName = "new.path"; + public Auto_test_command (){ + super(PathPlanner.loadPath( + autoName, + RobotMap.Pegasus.Swerve.KMaxAngularVelocity/3, + RobotMap.Pegasus.Swerve.KMMaxAcceleration/3 + ) + ); + + } +} diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathPlannerCommand.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathPlannerCommand.java index 625f1233..a06258c2 100644 --- a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathPlannerCommand.java +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathPlannerCommand.java @@ -2,10 +2,50 @@ import com.pathplanner.lib.PathPlanner; import com.pathplanner.lib.PathPlannerTrajectory; +import edu.greenblitz.pegasus.RobotMap; +import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.trajectory.TrapezoidProfile; +import edu.wpi.first.wpilibj2.command.Subsystem; +import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; import java.util.ArrayList; +import java.util.function.Consumer; +import java.util.function.Supplier; -public class PathPlannerCommand{ +public class PathPlannerCommand extends SwerveControllerCommand { + public PathPlannerCommand(PathPlannerTrajectory trajectory) { + super( + trajectory, + SwerveChassis.getInstance()::getLocation, + SwerveChassis.getInstance().getKinematics(), + createPIDController(), + createPIDController(), + createThetaController(), + SwerveChassis.getInstance()::setModuleStates, + SwerveChassis.getInstance()); + System.out.println("starting auto"); + } + + + private static ProfiledPIDController createThetaController() { + ProfiledPIDController thetaController = new ProfiledPIDController( + RobotMap.Pegasus.Swerve.rotationPID.getKp(), 0, 0, new TrapezoidProfile.Constraints(RobotMap.Pegasus.Swerve.KMaxAngularVelocity, RobotMap.Pegasus.Swerve.KMMaxAngularAcceleration)); + thetaController.enableContinuousInput(-Math.PI, Math.PI); + return thetaController; + } + + + private static PIDController createPIDController() { + return new PIDController(RobotMap.Pegasus.Swerve.linPID.getKp(), 0, 0); + } } + diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/ThreeBallAuto.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/ThreeBallAuto.java index 8ec87780..095419b5 100644 --- a/src/main/java/edu/greenblitz/pegasus/commands/auto/ThreeBallAuto.java +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/ThreeBallAuto.java @@ -5,7 +5,6 @@ import edu.greenblitz.pegasus.commands.intake.extender.ExtendRoller; import edu.greenblitz.pegasus.commands.multiSystem.MoveBallUntilClick; import edu.greenblitz.pegasus.commands.shooter.DoubleShoot; -import edu.greenblitz.pegasus.commands.swerve.PathFollowerCommand; import edu.greenblitz.pegasus.commands.swerve.TragectoryCreator; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; @@ -20,7 +19,7 @@ public ThreeBallAuto(){ addCommands( new DoubleShoot(3000), new ExtendRoller(), - new PathFollowerCommand(PathPlanner.loadPath("3 ball auto", RobotMap.Pegasus.Swerve.KMaxVelocity / 3, RobotMap.Pegasus.Swerve.KMMaxAcceleration / 3)) + new PathPlannerCommand(PathPlanner.loadPath("3 ball auto", RobotMap.Pegasus.Swerve.KMaxVelocity / 3, RobotMap.Pegasus.Swerve.KMMaxAcceleration / 3)) .alongWith(new MoveBallUntilClick()), new DoubleShoot(3000) ); diff --git a/src/main/java/edu/greenblitz/pegasus/commands/swerve/PathFollowerCommand.java b/src/main/java/edu/greenblitz/pegasus/commands/swerve/PathFollowerCommand.java deleted file mode 100644 index a44170e5..00000000 --- a/src/main/java/edu/greenblitz/pegasus/commands/swerve/PathFollowerCommand.java +++ /dev/null @@ -1,40 +0,0 @@ -package edu.greenblitz.pegasus.commands.swerve; - -import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; -import edu.greenblitz.pegasus.RobotMap; -import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.controller.ProfiledPIDController; -import edu.wpi.first.math.trajectory.Trajectory; -import edu.wpi.first.math.trajectory.TrapezoidProfile; -import edu.wpi.first.wpilibj2.command.SwerveControllerCommand; - -public class PathFollowerCommand extends SwerveControllerCommand { - public PathFollowerCommand(Trajectory trajectory){ - - super( - trajectory, - SwerveChassis.getInstance()::getLocation, - SwerveChassis.getInstance().getKinematics(), - createPIDController(), - createPIDController(), - createThetaController(), - SwerveChassis.getInstance()::setModuleStates, - SwerveChassis.getInstance()); - System.out.println("starting auto"); - } - - private static ProfiledPIDController createThetaController() { - ProfiledPIDController thetaController = new ProfiledPIDController( - RobotMap.Pegasus.Swerve.rotationPID.getKp(), 0, 0, new TrapezoidProfile.Constraints(RobotMap.Pegasus.Swerve.KMaxAngularVelocity, RobotMap.Pegasus.Swerve.KMMaxAngularAcceleration)); - thetaController.enableContinuousInput(-Math.PI, Math.PI); - return thetaController; - } - - private static PIDController createPIDController() { - return new PIDController(RobotMap.Pegasus.Swerve.linPID.getKp(), 0, 0); - } - - - -} - From 70836f2e7adb952c30bdb83a7908ba201dbe7174 Mon Sep 17 00:00:00 2001 From: NoamRosenberg08 Date: Wed, 14 Dec 2022 16:00:24 +0200 Subject: [PATCH 03/14] noam - not compiling cuz need to update path palnner lib, but added auto path builder --- .../commands/auto/Auto_test_command.java | 66 ++++++++++++++----- 1 file changed, 48 insertions(+), 18 deletions(-) diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java index 34a8bbef..ab1750ed 100644 --- a/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java @@ -1,18 +1,48 @@ -package edu.greenblitz.pegasus.commands.auto; - - -import com.pathplanner.lib.PathPlanner; -import edu.greenblitz.pegasus.RobotMap; - -public class Auto_test_command extends PathPlannerCommand{ - private static final String autoName = "new.path"; - public Auto_test_command (){ - super(PathPlanner.loadPath( - autoName, - RobotMap.Pegasus.Swerve.KMaxAngularVelocity/3, - RobotMap.Pegasus.Swerve.KMMaxAcceleration/3 - ) - ); - - } -} +//package edu.greenblitz.pegasus.commands.auto; +// +// +//import com.pathplanner.lib.PathPlanner; +//import com.pathplanner.lib.PathPlannerTrajectory; +//import edu.greenblitz.pegasus.RobotMap; +//import edu.greenblitz.pegasus.commands.shooter.ShooterByRPM; +//import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; +//import edu.greenblitz.pegasus.utils.Localizer; +//import edu.greenblitz.pegasus.utils.commands.GBCommand; +//import edu.greenblitz.pegasus.utils.cords.Position; +// +//import java.awt.*; +//import java.util.ArrayList; +//import java.util.HashMap; +// +//public class Auto_test_command extends PathPlannerCommand{ +// private static final String autoName = "new.path"; +// public Auto_test_command (){ +// ArrayList pathGroup = +// PathPlanner.loadPath( +// autoName, +// new PathConstrains( +// 4/* m/s */, +// 3 /* max acceleration of 3m/s ^ 2 */) +// ); +// +// HashMap eventMap = new HashMap<>(); +// /** the event name, the command() */ +// eventMap.put("shoot", new ShooterByRPM(20)); +// SwerveAutoBuilder autoBuilder = new SwerveAutoBuilder ( +// Localizer.getInstance().getLocation(); +// Localizer.getInstance().reset( +// 0, +// 0, +// new Position(0,0)), +// SwerveChassis.getInstance().getKinematics(), +// //new pid object +// //new pid object +// +// SwerveChassis.getInstance().setModuleStates(), +// eventMap, +// SwerveChassis.getInstance() +// ) +// +// +// } +//} \ No newline at end of file From 06df17e816e86d25318536099d1aaa0e6734f85a Mon Sep 17 00:00:00 2001 From: NoamRosenberg08 Date: Mon, 19 Dec 2022 17:05:14 +0200 Subject: [PATCH 04/14] noam - started to add swerve auto builder - not worky --- src/main/java/edu/greenblitz/pegasus/OI.java | 3 +- .../commands/auto/Auto_test_command.java | 103 ++++++++++-------- .../subsystems/swerve/SwerveChassis.java | 16 ++- vendordeps/PathplannerLib.json | 4 +- 4 files changed, 74 insertions(+), 52 deletions(-) diff --git a/src/main/java/edu/greenblitz/pegasus/OI.java b/src/main/java/edu/greenblitz/pegasus/OI.java index a5869d4a..3884e131 100644 --- a/src/main/java/edu/greenblitz/pegasus/OI.java +++ b/src/main/java/edu/greenblitz/pegasus/OI.java @@ -14,6 +14,7 @@ import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; import edu.greenblitz.pegasus.utils.DigitalInputMap; import edu.greenblitz.pegasus.utils.hid.SmartJoystick; +import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.StartEndCommand; @@ -54,7 +55,7 @@ private void initButtons() { mainJoystick.Y.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetChassisAngle())); - mainJoystick.X.whenPressed(new Auto_test_command()); + mainJoystick.X.whenPressed(() -> new Auto_test_command("3 ball auto.path")); mainJoystick.POV_UP.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetAllEncoders())); diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java index ab1750ed..4d775669 100644 --- a/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java @@ -1,48 +1,55 @@ -//package edu.greenblitz.pegasus.commands.auto; -// -// -//import com.pathplanner.lib.PathPlanner; -//import com.pathplanner.lib.PathPlannerTrajectory; -//import edu.greenblitz.pegasus.RobotMap; -//import edu.greenblitz.pegasus.commands.shooter.ShooterByRPM; -//import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; -//import edu.greenblitz.pegasus.utils.Localizer; -//import edu.greenblitz.pegasus.utils.commands.GBCommand; -//import edu.greenblitz.pegasus.utils.cords.Position; -// -//import java.awt.*; -//import java.util.ArrayList; -//import java.util.HashMap; -// -//public class Auto_test_command extends PathPlannerCommand{ -// private static final String autoName = "new.path"; -// public Auto_test_command (){ -// ArrayList pathGroup = -// PathPlanner.loadPath( -// autoName, -// new PathConstrains( -// 4/* m/s */, -// 3 /* max acceleration of 3m/s ^ 2 */) -// ); -// -// HashMap eventMap = new HashMap<>(); -// /** the event name, the command() */ -// eventMap.put("shoot", new ShooterByRPM(20)); -// SwerveAutoBuilder autoBuilder = new SwerveAutoBuilder ( -// Localizer.getInstance().getLocation(); -// Localizer.getInstance().reset( -// 0, -// 0, -// new Position(0,0)), -// SwerveChassis.getInstance().getKinematics(), -// //new pid object -// //new pid object -// -// SwerveChassis.getInstance().setModuleStates(), -// eventMap, -// SwerveChassis.getInstance() -// ) -// -// -// } -//} \ No newline at end of file +package edu.greenblitz.pegasus.commands.auto; + + +import com.pathplanner.lib.*; + +import com.pathplanner.lib.auto.PIDConstants; +import com.pathplanner.lib.auto.SwerveAutoBuilder; +import edu.greenblitz.pegasus.RobotMap; +import edu.greenblitz.pegasus.commands.shooter.ShooterByRPM; +import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; +import edu.greenblitz.pegasus.utils.Localizer; +import edu.greenblitz.pegasus.utils.commands.GBCommand; +import edu.greenblitz.pegasus.utils.cords.Position; + +import java.awt.*; +import java.util.ArrayList; +import java.util.HashMap; + +public class Auto_test_command { + public Auto_test_command (String autoName){ + PathPlannerCommand autonomousCommand = new PathPlannerCommand(PathPlanner.loadPath( + autoName, + new PathConstraints( + RobotMap.Pegasus.Swerve.MAX_VELOCITY, + RobotMap.Pegasus.Swerve.KMMaxAcceleration + )) + ); + + HashMap eventMap = new HashMap<>(); + /** the event name, the command() */ + eventMap.put("shoot", new ShooterByRPM(20)); + + SwerveAutoBuilder autoBuilder; + autoBuilder = new SwerveAutoBuilder( + SwerveChassis.getInstance()::getLocation, + SwerveChassis.getInstance()::resetLocalizer, + SwerveChassis.getInstance().getKinematics(), + new PIDConstants( + RobotMap.Pegasus.Swerve.linPID.getKp(), + RobotMap.Pegasus.Swerve.linPID.getKi(), + RobotMap.Pegasus.Swerve.linPID.getKd() + ), + new PIDConstants( + RobotMap.Pegasus.Swerve.rotationPID.getKp(), + RobotMap.Pegasus.Swerve.rotationPID.getKi(), + RobotMap.Pegasus.Swerve.rotationPID.getKd() + ), + SwerveChassis.getInstance().getModuleStates(), + eventMap, + SwerveChassis.getInstance() + ); + + + } +} \ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java index a0227c08..9bedfa31 100644 --- a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java +++ b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java @@ -17,6 +17,7 @@ public class SwerveChassis extends GBSubsystem { private final SwerveDriveKinematics kinematics; + public enum Module { FRONT_RIGHT, FRONT_LEFT, @@ -199,7 +200,10 @@ public SwerveDriveOdometry getLocalizer (){ public Pose2d getLocation(){ return this.localizer.getPoseMeters(); } - public void resetLocalizer(){localizer.resetPosition(new Pose2d(),new Rotation2d());} + public Pose2d resetLocalizer(){ + localizer.resetPosition(new Pose2d(),new Rotation2d()); + return getLocation(); + } public PigeonGyro getPigeonGyro() { return pigeonGyro; @@ -244,4 +248,14 @@ public SwerveModuleState getModuleState (Module module){ return getModule(module).getModuleState(); } + public SwerveModuleState[] getModuleStates (){ + SwerveModuleState[] states = { + getModuleState(Module.FRONT_RIGHT), + getModuleState(Module.FRONT_LEFT), + getModuleState(Module.BACK_LEFT), + getModuleState(Module.BACK_RIGHT) + }; + return states; + } + } diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json index 1858ea40..83def35a 100644 --- a/vendordeps/PathplannerLib.json +++ b/vendordeps/PathplannerLib.json @@ -1,7 +1,7 @@ { "fileName": "PathplannerLib.json", "name": "PathplannerLib", - "version": "2022.2.1", + "version": "2023.2.0", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", "mavenUrls": [ "https://3015rangerrobotics.github.io/pathplannerlib/repo" @@ -19,7 +19,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2022.2.1", + "version": "2023.2.0", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false, From c9cfd7e1d15acded2bc837b6ef371d54387ccda9 Mon Sep 17 00:00:00 2001 From: itamaroryan Date: Tue, 20 Dec 2022 17:57:08 +0200 Subject: [PATCH 05/14] noam & romi - updated pathplanner lib, added autoswerve builder NOT TESTED --- .idea/misc.xml | 2 +- .pathplanner/settings.json | 7 ++ src/main/deploy/pathplanner/3 ball auto.path | 82 ++++++++++++++++++- src/main/deploy/pathplanner/New New Path.path | 49 +++++++++++ src/main/deploy/pathplanner/New Path.path | 50 ++++++++++- .../generatedJSON/3 ball auto.wpilib.json | 2 +- .../generatedJSON/New New Path.wpilib.json | 2 +- .../generatedJSON/New Path.wpilib.json | 2 +- .../generatedJSON/static auto.wpilib.json | 1 + src/main/deploy/pathplanner/static auto.path | 75 ++++++++++++++++- src/main/java/edu/greenblitz/GBLib | 2 +- .../commands/auto/Auto_test_command.java | 71 +++++++++------- .../subsystems/swerve/SwerveChassis.java | 13 ++- .../greenblitz/pegasus/utils/PIDObject.java | 4 + vendordeps/PathplannerLib.json | 4 +- 15 files changed, 322 insertions(+), 44 deletions(-) create mode 100644 .pathplanner/settings.json create mode 100644 src/main/deploy/pathplanner/New New Path.path create mode 100644 src/main/deploy/pathplanner/generatedJSON/static auto.wpilib.json diff --git a/.idea/misc.xml b/.idea/misc.xml index fd8e2467..5821b2fa 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -4,5 +4,5 @@ - + \ No newline at end of file diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json new file mode 100644 index 00000000..d1825d72 --- /dev/null +++ b/.pathplanner/settings.json @@ -0,0 +1,7 @@ +{ + "robotWidth": 0.75, + "robotLength": 0.69, + "holonomicMode": true, + "generateJSON": true, + "generateCSV": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3 ball auto.path b/src/main/deploy/pathplanner/3 ball auto.path index 0d8dba84..9173f70b 100644 --- a/src/main/deploy/pathplanner/3 ball auto.path +++ b/src/main/deploy/pathplanner/3 ball auto.path @@ -1 +1,81 @@ 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\ No newline at end of file diff --git a/src/main/deploy/pathplanner/static auto.path b/src/main/deploy/pathplanner/static auto.path index d56de2f6..3c108d6f 100644 --- a/src/main/deploy/pathplanner/static auto.path +++ b/src/main/deploy/pathplanner/static auto.path @@ -1 +1,74 @@ -{"waypoints":[{"anchorPoint":{"x":1.0,"y":3.0},"prevControl":null,"nextControl":{"x":2.0,"y":3.0},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":3.0,"y":5.0},"prevControl":{"x":3.0,"y":4.0},"nextControl":{"x":3.0,"y":4.0},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":3.0},"prevControl":{"x":4.0,"y":3.0},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}]} \ No newline at end of file +{ + "waypoints": [ + { + "anchorPoint": { + "x": 1.0, + "y": 3.0 + }, + "prevControl": null, + "nextControl": { + "x": 2.0, + "y": 3.0 + }, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.0, + "y": 5.0 + }, + "prevControl": { + "x": 3.0, + "y": 4.0 + }, + "nextControl": { + "x": 3.0, + "y": 4.0 + }, + "holonomicAngle": 0.0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 5.0, + "y": 3.0 + }, + "prevControl": { + "x": 4.0, + "y": 3.0 + }, + "nextControl": null, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/java/edu/greenblitz/GBLib b/src/main/java/edu/greenblitz/GBLib index 457063c6..8a3830e6 160000 --- a/src/main/java/edu/greenblitz/GBLib +++ b/src/main/java/edu/greenblitz/GBLib @@ -1 +1 @@ -Subproject commit 457063c60d45d5c57bb658b9a80fff03eace7da5 +Subproject commit 8a3830e6b1cb616bacbca8fdb290478c747571eb diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java index 4d775669..2b45921c 100644 --- a/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java @@ -6,49 +6,60 @@ import com.pathplanner.lib.auto.PIDConstants; import com.pathplanner.lib.auto.SwerveAutoBuilder; import edu.greenblitz.pegasus.RobotMap; +import edu.greenblitz.pegasus.commands.intake.ExtendAndCollect; import edu.greenblitz.pegasus.commands.shooter.ShooterByRPM; import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; import edu.greenblitz.pegasus.utils.Localizer; +import edu.greenblitz.pegasus.utils.PIDObject; import edu.greenblitz.pegasus.utils.commands.GBCommand; import edu.greenblitz.pegasus.utils.cords.Position; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.wpilibj2.command.Command; +import org.greenblitz.motion.pathing.Path; import java.awt.*; import java.util.ArrayList; import java.util.HashMap; +import java.util.function.Consumer; +import java.util.function.Supplier; public class Auto_test_command { - public Auto_test_command (String autoName){ - PathPlannerCommand autonomousCommand = new PathPlannerCommand(PathPlanner.loadPath( - autoName, - new PathConstraints( - RobotMap.Pegasus.Swerve.MAX_VELOCITY, - RobotMap.Pegasus.Swerve.KMMaxAcceleration - )) - ); - - HashMap eventMap = new HashMap<>(); + public Auto_test_command (String autoName){; + + HashMap eventMap = new HashMap<>(); /** the event name, the command() */ eventMap.put("shoot", new ShooterByRPM(20)); - - SwerveAutoBuilder autoBuilder; - autoBuilder = new SwerveAutoBuilder( - SwerveChassis.getInstance()::getLocation, - SwerveChassis.getInstance()::resetLocalizer, - SwerveChassis.getInstance().getKinematics(), - new PIDConstants( - RobotMap.Pegasus.Swerve.linPID.getKp(), - RobotMap.Pegasus.Swerve.linPID.getKi(), - RobotMap.Pegasus.Swerve.linPID.getKd() - ), - new PIDConstants( - RobotMap.Pegasus.Swerve.rotationPID.getKp(), - RobotMap.Pegasus.Swerve.rotationPID.getKi(), - RobotMap.Pegasus.Swerve.rotationPID.getKd() - ), - SwerveChassis.getInstance().getModuleStates(), - eventMap, - SwerveChassis.getInstance() - ); + eventMap.put("grip", new ExtendAndCollect()); + + SwerveAutoBuilder autoBuilder = new SwerveAutoBuilder( + SwerveChassis.getInstance()::getLocation, + SwerveChassis.getInstance()::resetLocalizer, + SwerveChassis.getInstance().getKinematics(), + RobotMap.Pegasus.Swerve.linPID.getPIDConst(), + RobotMap.Pegasus.Swerve.rotationPID.getPIDConst(), + SwerveChassis.getInstance()::setModuleStates, + eventMap, + SwerveChassis.getInstance() + ); + autoBuilder.followPath(PathPlanner.loadPath( + autoName, + new PathConstraints( + RobotMap.Pegasus.Swerve.MAX_VELOCITY, + RobotMap.Pegasus.Swerve.KMMaxAcceleration + )) + ); + + /** + * Supplier poseSupplier, + * Consumer resetPose, + * SwerveDriveKinematics kinematics, + * PIDConstants translationConstants, + * PIDConstants rotationConstants, + * Consumer outputModuleStates, + * HashMap eventMap, + * Subsystem... driveRequirements) + * */ } diff --git a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java index 9bedfa31..38531e20 100644 --- a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java +++ b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java @@ -7,6 +7,7 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.*; +import edu.wpi.first.wpilibj2.command.Subsystem; public class SwerveChassis extends GBSubsystem { @@ -15,9 +16,12 @@ public class SwerveChassis extends GBSubsystem { private final PigeonGyro pigeonGyro; private final SwerveDriveOdometry localizer; private final SwerveDriveKinematics kinematics; - - - + + public void resetLocalizer(Pose2d pose2d) { + this.resetLocalizer(); + } + + public enum Module { FRONT_RIGHT, FRONT_LEFT, @@ -257,5 +261,6 @@ public SwerveModuleState[] getModuleStates (){ }; return states; } - + + } diff --git a/src/main/java/edu/greenblitz/pegasus/utils/PIDObject.java b/src/main/java/edu/greenblitz/pegasus/utils/PIDObject.java index 09016b17..14caa332 100644 --- a/src/main/java/edu/greenblitz/pegasus/utils/PIDObject.java +++ b/src/main/java/edu/greenblitz/pegasus/utils/PIDObject.java @@ -1,5 +1,7 @@ package edu.greenblitz.pegasus.utils; +import com.pathplanner.lib.auto.PIDConstants; + public class PIDObject { private double kp, kd, ki, ff; @@ -81,6 +83,8 @@ public String toString() { public void invert() { inverted *= -1; } + + public PIDConstants getPIDConst(){return new PIDConstants(this.kp,this.ki, this.kd);} public int getInverted() { return inverted; diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json index 83def35a..0b6bdbbc 100644 --- a/vendordeps/PathplannerLib.json +++ b/vendordeps/PathplannerLib.json @@ -11,7 +11,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2022.2.1" + "version": "2023.2.0" } ], "jniDependencies": [], @@ -27,7 +27,7 @@ "binaryPlatforms": [ "windowsx86-64", "linuxx86-64", - "osxx86-64", + "osxuniversal", "linuxathena" ] } From 8e331959cb7f2d6bf23196161c64d61637dab10d Mon Sep 17 00:00:00 2001 From: itamaroryan Date: Wed, 21 Dec 2022 18:45:05 +0200 Subject: [PATCH 06/14] noam & asaf chassis working with path followiung couldn't handle the events --- .pathplanner/settings.json | 2 +- src/main/deploy/pathplanner/3 ball auto.path | 53 +++++++------ src/main/deploy/pathplanner/New New Path.path | 49 ------------ src/main/deploy/pathplanner/New Path.path | 49 ------------ .../generatedJSON/3 ball auto.wpilib.json | 2 +- .../New New New Path.wpilib.json | 2 +- src/main/deploy/pathplanner/static auto.path | 74 ------------------- src/main/java/edu/greenblitz/pegasus/OI.java | 10 ++- .../java/edu/greenblitz/pegasus/RobotMap.java | 2 +- .../commands/auto/Auto_test_command.java | 66 ----------------- .../commands/auto/PathFollowerBuilder.java | 64 ++++++++++++++++ .../pegasus/subsystems/Dashboard.java | 20 ++++- .../subsystems/swerve/Calibration.java | 2 +- .../subsystems/swerve/SwerveChassis.java | 2 +- 14 files changed, 123 insertions(+), 274 deletions(-) delete mode 100644 src/main/deploy/pathplanner/New New Path.path delete mode 100644 src/main/deploy/pathplanner/New Path.path delete mode 100644 src/main/deploy/pathplanner/static auto.path delete mode 100644 src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java create mode 100644 src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json index d1825d72..02d3972b 100644 --- a/.pathplanner/settings.json +++ b/.pathplanner/settings.json @@ -1,6 +1,6 @@ { "robotWidth": 0.75, - "robotLength": 0.69, + "robotLength": 0.79, "holonomicMode": true, "generateJSON": true, "generateCSV": false diff --git a/src/main/deploy/pathplanner/3 ball auto.path b/src/main/deploy/pathplanner/3 ball auto.path index 9173f70b..bbf7bc57 100644 --- a/src/main/deploy/pathplanner/3 ball auto.path +++ b/src/main/deploy/pathplanner/3 ball auto.path @@ -2,40 +2,42 @@ "waypoints": [ { "anchorPoint": { - "x": 6.515602189549599, - "y": 2.7118992897044283 + "x": 8.664836560442351, + "y": 1.632075379535375 }, "prevControl": null, "nextControl": { - "x": 5.774820961151699, - "y": 2.3530833821991965 + "x": 8.387878314218167, + "y": 0.8209833727359774 }, - "holonomicAngle": 79.69515353123381, + "holonomicAngle": -156.03751102542168, "isReversal": false, "velOverride": null, "isLocked": false, "isStopPoint": false, "stopEvent": { - "names": [], + "names": [ + "ExtendAndCollect" + ], "executionBehavior": "parallel", "waitBehavior": "none", - "waitTime": 0 + "waitTime": 1.5 } }, { "anchorPoint": { - "x": 5.104445651929278, - "y": 1.898251897769618 + "x": 7.97244094488189, + "y": 0.6528301518141514 }, "prevControl": { - "x": 5.7988654057153415, - "y": 2.211122336288613 + "x": 8.547928061600441, + "y": 0.6528301518141514 }, "nextControl": { - "x": 4.051147342801014, - "y": 1.4236889233272139 + "x": 6.973412985287511, + "y": 0.6528301518141514 }, - "holonomicAngle": 19.311856564352684, + "holonomicAngle": -132.35745470593506, "isReversal": false, "velOverride": null, "isLocked": false, @@ -49,32 +51,35 @@ }, { "anchorPoint": { - "x": 3.9680604325545303, - "y": 1.549656736973958 + "x": 7.8339618217697975, + "y": 2.9080615853539413 }, "prevControl": { - "x": 3.088382723832024, - "y": 1.1098178826127056 + "x": 7.497655379926146, + "y": 1.9485990895058722 }, "nextControl": null, - "holonomicAngle": -107.97034002332326, + "holonomicAngle": -109.85521436932105, "isReversal": false, "velOverride": null, "isLocked": false, "isStopPoint": false, "stopEvent": { - "names": [], + "names": [ + "FullShoot300" + ], "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 + "waitBehavior": "minimum", + "waitTime": 4.0 } } ], "markers": [ { - "position": 0.0, + "position": 1.4109090909090933, "names": [ - "shoot" + "StopRoller", + "ShooterByRPM300" ] } ] diff --git a/src/main/deploy/pathplanner/New New Path.path b/src/main/deploy/pathplanner/New New Path.path deleted file mode 100644 index 76014c64..00000000 --- a/src/main/deploy/pathplanner/New New Path.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.0, - "y": 3.0 - }, - "prevControl": null, - "nextControl": { - "x": 2.0, - "y": 3.0 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 2.0, - "y": 3.0 - }, - "prevControl": { - "x": 1.1227465492905666, - "y": 1.9908495513193545 - }, - "nextControl": null, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/New Path.path b/src/main/deploy/pathplanner/New Path.path deleted file mode 100644 index b1e070b4..00000000 --- a/src/main/deploy/pathplanner/New Path.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 0.0, - "y": 0.0 - }, - "prevControl": null, - "nextControl": { - "x": 0.8439755667065119, - "y": 0.014731648314691396 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 1.0, - "y": 3.0 - }, - "prevControl": { - "x": -0.9860895651722801, - "y": 2.9653326776866624 - }, - "nextControl": null, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/generatedJSON/3 ball auto.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/3 ball auto.wpilib.json index b227d38c..a4787801 100644 --- a/src/main/deploy/pathplanner/generatedJSON/3 ball auto.wpilib.json +++ b/src/main/deploy/pathplanner/generatedJSON/3 ball auto.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/deploy/pathplanner/static auto.path b/src/main/deploy/pathplanner/static auto.path deleted file mode 100644 index 3c108d6f..00000000 --- a/src/main/deploy/pathplanner/static auto.path +++ /dev/null @@ -1,74 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.0, - "y": 3.0 - }, - "prevControl": null, - "nextControl": { - "x": 2.0, - "y": 3.0 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 3.0, - "y": 5.0 - }, - "prevControl": { - "x": 3.0, - "y": 4.0 - }, - "nextControl": { - "x": 3.0, - "y": 4.0 - }, - "holonomicAngle": 0.0, - "isReversal": true, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.0, - "y": 3.0 - }, - "prevControl": { - "x": 4.0, - "y": 3.0 - }, - "nextControl": null, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/OI.java b/src/main/java/edu/greenblitz/pegasus/OI.java index 3884e131..e5032ff4 100644 --- a/src/main/java/edu/greenblitz/pegasus/OI.java +++ b/src/main/java/edu/greenblitz/pegasus/OI.java @@ -1,6 +1,6 @@ package edu.greenblitz.pegasus; -import edu.greenblitz.pegasus.commands.auto.Auto_test_command; +import edu.greenblitz.pegasus.commands.auto.PathFollowerBuilder; import edu.greenblitz.pegasus.commands.funnel.RunFunnel; import edu.greenblitz.pegasus.commands.intake.extender.ToggleRoller; import edu.greenblitz.pegasus.commands.intake.roller.RunRoller; @@ -10,11 +10,11 @@ import edu.greenblitz.pegasus.commands.shooter.ShooterEvacuate; import edu.greenblitz.pegasus.commands.shooter.StopShooter; import edu.greenblitz.pegasus.commands.swerve.CombineJoystickMovement; +import edu.greenblitz.pegasus.commands.swerve.calibration.CalibrateLampreyByNeo; import edu.greenblitz.pegasus.subsystems.Intake; import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; import edu.greenblitz.pegasus.utils.DigitalInputMap; import edu.greenblitz.pegasus.utils.hid.SmartJoystick; -import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.StartEndCommand; @@ -27,10 +27,12 @@ public class OI { private final SmartJoystick mainJoystick; private final SmartJoystick secondJoystick; + private final SmartJoystick debugJoystick; private OI() { mainJoystick = new SmartJoystick(RobotMap.Pegasus.Joystick.MAIN, 0.1); secondJoystick = new SmartJoystick(RobotMap.Pegasus.Joystick.SECOND, 0.2); + debugJoystick = new SmartJoystick(3, 0.2); initButtons(); } @@ -52,10 +54,10 @@ public static void disableHandling() { private void initButtons() { SwerveChassis.getInstance().setDefaultCommand(new CombineJoystickMovement(mainJoystick, false)); - +debugJoystick.A.whenPressed(new CalibrateLampreyByNeo(SwerveChassis.Module.BACK_LEFT)); mainJoystick.Y.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetChassisAngle())); - mainJoystick.X.whenPressed(() -> new Auto_test_command("3 ball auto.path")); + mainJoystick.X.whenPressed(PathFollowerBuilder.getInstance().followPath("1 meter")); mainJoystick.POV_UP.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetAllEncoders())); diff --git a/src/main/java/edu/greenblitz/pegasus/RobotMap.java b/src/main/java/edu/greenblitz/pegasus/RobotMap.java index a8a6cbff..a637832f 100644 --- a/src/main/java/edu/greenblitz/pegasus/RobotMap.java +++ b/src/main/java/edu/greenblitz/pegasus/RobotMap.java @@ -139,7 +139,7 @@ public static class Swerve { }; //TODO: calibrate GOOD PID - public static final PIDObject angPID = new PIDObject().withKp(0.5).withKd(10).withMaxPower(0.8); + public static final PIDObject angPID = new PIDObject().withKp(0.5).withMaxPower(0.8);//).withKd(10).withMaxPower(0.8); public static final PIDObject linPID = new PIDObject().withKp(0.0003).withMaxPower(0.5); public static final PIDObject rotationPID = new PIDObject().withKp(0.5).withKi(0).withKd(0).withFF(0.1); diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java deleted file mode 100644 index 2b45921c..00000000 --- a/src/main/java/edu/greenblitz/pegasus/commands/auto/Auto_test_command.java +++ /dev/null @@ -1,66 +0,0 @@ -package edu.greenblitz.pegasus.commands.auto; - - -import com.pathplanner.lib.*; - -import com.pathplanner.lib.auto.PIDConstants; -import com.pathplanner.lib.auto.SwerveAutoBuilder; -import edu.greenblitz.pegasus.RobotMap; -import edu.greenblitz.pegasus.commands.intake.ExtendAndCollect; -import edu.greenblitz.pegasus.commands.shooter.ShooterByRPM; -import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; -import edu.greenblitz.pegasus.utils.Localizer; -import edu.greenblitz.pegasus.utils.PIDObject; -import edu.greenblitz.pegasus.utils.commands.GBCommand; -import edu.greenblitz.pegasus.utils.cords.Position; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.kinematics.SwerveModuleState; -import edu.wpi.first.wpilibj2.command.Command; -import org.greenblitz.motion.pathing.Path; - -import java.awt.*; -import java.util.ArrayList; -import java.util.HashMap; -import java.util.function.Consumer; -import java.util.function.Supplier; - -public class Auto_test_command { - public Auto_test_command (String autoName){; - - HashMap eventMap = new HashMap<>(); - /** the event name, the command() */ - eventMap.put("shoot", new ShooterByRPM(20)); - eventMap.put("grip", new ExtendAndCollect()); - - SwerveAutoBuilder autoBuilder = new SwerveAutoBuilder( - SwerveChassis.getInstance()::getLocation, - SwerveChassis.getInstance()::resetLocalizer, - SwerveChassis.getInstance().getKinematics(), - RobotMap.Pegasus.Swerve.linPID.getPIDConst(), - RobotMap.Pegasus.Swerve.rotationPID.getPIDConst(), - SwerveChassis.getInstance()::setModuleStates, - eventMap, - SwerveChassis.getInstance() - ); - autoBuilder.followPath(PathPlanner.loadPath( - autoName, - new PathConstraints( - RobotMap.Pegasus.Swerve.MAX_VELOCITY, - RobotMap.Pegasus.Swerve.KMMaxAcceleration - )) - ); - - /** - * Supplier poseSupplier, - * Consumer resetPose, - * SwerveDriveKinematics kinematics, - * PIDConstants translationConstants, - * PIDConstants rotationConstants, - * Consumer outputModuleStates, - * HashMap eventMap, - * Subsystem... driveRequirements) - * */ - - - } -} \ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java new file mode 100644 index 00000000..106a651e --- /dev/null +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java @@ -0,0 +1,64 @@ +package edu.greenblitz.pegasus.commands.auto; + + +import com.pathplanner.lib.*; + +import com.pathplanner.lib.auto.SwerveAutoBuilder; +import edu.greenblitz.pegasus.RobotMap; +import edu.greenblitz.pegasus.commands.intake.ExtendAndCollect; +import edu.greenblitz.pegasus.commands.intake.roller.StopRoller; +import edu.greenblitz.pegasus.commands.multiSystem.InsertIntoShooter; +import edu.greenblitz.pegasus.commands.shooter.ShooterByRPM; +import edu.greenblitz.pegasus.commands.shooter.StopShooter; +import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandBase; + +import java.util.HashMap; + +public class PathFollowerBuilder extends SwerveAutoBuilder{ + + private static final HashMap eventMap = new HashMap<>(); + static { + // the event name, the command() + eventMap.put("ShooterByRPM300", new ShooterByRPM(300)); + eventMap.put("FullShoot300", new ShooterByRPM(300).alongWith(new InsertIntoShooter())); + eventMap.put("StopShooter", new StopShooter()); + eventMap.put("ExtendAndCollect", new ExtendAndCollect()); + eventMap.put("StopRoller", new StopRoller()); + } + + private static PathFollowerBuilder instance; + private PathFollowerBuilder() { + super(SwerveChassis.getInstance()::getLocation, + SwerveChassis.getInstance()::resetLocalizer, + SwerveChassis.getInstance().getKinematics(), + RobotMap.Pegasus.Swerve.linPID.getPIDConst(), + RobotMap.Pegasus.Swerve.rotationPID.getPIDConst(), + SwerveChassis.getInstance()::setModuleStates, + eventMap, + SwerveChassis.getInstance() + ); + } + + + public static PathFollowerBuilder getInstance() { + if (instance == null) { + instance = new PathFollowerBuilder(); + } + return instance; + } + + + public CommandBase followPath(String pathName) { + + return followPath(PathPlanner.loadPath( + pathName, + new PathConstraints( + RobotMap.Pegasus.Swerve.MAX_VELOCITY, + RobotMap.Pegasus.Swerve.KMMaxAcceleration + )) + ); + } + + } \ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/subsystems/Dashboard.java b/src/main/java/edu/greenblitz/pegasus/subsystems/Dashboard.java index 890d69ff..64922083 100644 --- a/src/main/java/edu/greenblitz/pegasus/subsystems/Dashboard.java +++ b/src/main/java/edu/greenblitz/pegasus/subsystems/Dashboard.java @@ -1,5 +1,6 @@ package edu.greenblitz.pegasus.subsystems; +import edu.greenblitz.pegasus.subsystems.swerve.Calibration; import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; import edu.greenblitz.pegasus.utils.GBMath; import edu.greenblitz.pegasus.OI; @@ -30,8 +31,23 @@ public void periodic() { SmartDashboard.putNumber("FL-angle-neo", GBMath.modulo(Math.toDegrees(SwerveChassis.getInstance().getModuleAngle(SwerveChassis.Module.FRONT_LEFT)), 360)); SmartDashboard.putNumber("BR-angle-neo", GBMath.modulo(Math.toDegrees(SwerveChassis.getInstance().getModuleAngle(SwerveChassis.Module.BACK_RIGHT)), 360)); SmartDashboard.putNumber("BL-angle-neo", GBMath.modulo(Math.toDegrees(SwerveChassis.getInstance().getModuleAngle(SwerveChassis.Module.BACK_LEFT)), 360)); - - SmartDashboard.putString("alliance", DriverStation.getAlliance().toString()); + + SmartDashboard.putNumber("FR-lamprey-volt", SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.FRONT_RIGHT)); + SmartDashboard.putNumber("FL-lamprey-volt", SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.FRONT_LEFT)); + SmartDashboard.putNumber("BR-lamprey-volt", SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.BACK_RIGHT)); + SmartDashboard.putNumber("BL-lamprey-volt", SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.BACK_LEFT)); + + SmartDashboard.putNumber("FR-lamprey", Calibration.FRONT_RIGHT.linearlyInterpolate( SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.FRONT_RIGHT))[0]); + SmartDashboard.putNumber("FL-lamprey", Calibration.FRONT_LEFT.linearlyInterpolate( SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.FRONT_LEFT))[0]); + SmartDashboard.putNumber("BR-lamprey", Calibration.BACK_RIGHT.linearlyInterpolate( SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.BACK_RIGHT))[0]); + SmartDashboard.putNumber("BL-lamprey", Calibration.BACK_LEFT.linearlyInterpolate( SwerveChassis.getInstance().getModuleLampreyVoltage(SwerveChassis.Module.BACK_LEFT))[0]); + + + + + + + SmartDashboard.putString("alliance", DriverStation.getAlliance().toString()); } } diff --git a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/Calibration.java b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/Calibration.java index def2b1ba..8f393aca 100644 --- a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/Calibration.java +++ b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/Calibration.java @@ -1035,6 +1035,6 @@ public class Calibration { BACK_RIGHT.addDatapoint(4.750976076000001, new double[]{1.0,}); BACK_RIGHT.addDatapoint(4.752196779, new double[]{0.0,}); BACK_RIGHT.addDatapoint(4.761962403, new double[]{2.0,}); - BACK_RIGHT.addDatapoint(4.761962403, new double[]{2.0,}); + BACK_RIGHT.addDatapoint(5, new double[]{2.0,}); } } diff --git a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java index 38531e20..a7ccaa68 100644 --- a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java +++ b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java @@ -18,7 +18,7 @@ public class SwerveChassis extends GBSubsystem { private final SwerveDriveKinematics kinematics; public void resetLocalizer(Pose2d pose2d) { - this.resetLocalizer(); + localizer.resetPosition(pose2d, new Rotation2d(getChassisAngle())); } From 8e6b78c48860059ab4418b1f4e7c42571e291d99 Mon Sep 17 00:00:00 2001 From: itamaroryan Date: Thu, 22 Dec 2022 14:34:35 +0200 Subject: [PATCH 07/14] Romy & Noam & Asaf - autonomus builder working with event markers! --- .idea/modules/Rapid-Reee-2022.iml | 12 ---- src/main/deploy/pathplanner/1 meter.path | 58 +++++++++++++++++++ src/main/deploy/pathplanner/3 ball auto.path | 16 +++-- .../generatedJSON/1 meter.wpilib.json | 1 + src/main/java/edu/greenblitz/pegasus/OI.java | 2 +- .../java/edu/greenblitz/pegasus/RobotMap.java | 2 +- .../commands/auto/PathFollowerBuilder.java | 13 +++-- 7 files changed, 80 insertions(+), 24 deletions(-) delete mode 100644 .idea/modules/Rapid-Reee-2022.iml create mode 100644 src/main/deploy/pathplanner/1 meter.path create mode 100644 src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json diff --git a/.idea/modules/Rapid-Reee-2022.iml b/.idea/modules/Rapid-Reee-2022.iml deleted file mode 100644 index 86c86d79..00000000 --- a/.idea/modules/Rapid-Reee-2022.iml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - \ No newline at end of file diff --git a/src/main/deploy/pathplanner/1 meter.path b/src/main/deploy/pathplanner/1 meter.path new file mode 100644 index 00000000..28fcee9a --- /dev/null +++ b/src/main/deploy/pathplanner/1 meter.path @@ -0,0 +1,58 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 5.0, + "y": 5.0 + }, + "prevControl": null, + "nextControl": { + "x": 5.638097093498402, + "y": 5.0 + }, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 8.0, + "y": 5.0 + }, + "prevControl": { + "x": 7.3748844541649605, + "y": 5.0 + }, + "nextControl": null, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "StopShooter" + ], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [ + { + "position": 0.0, + "names": [ + "ShooterByRPM2000" + ] + } + ] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3 ball auto.path b/src/main/deploy/pathplanner/3 ball auto.path index bbf7bc57..dea9e420 100644 --- a/src/main/deploy/pathplanner/3 ball auto.path +++ b/src/main/deploy/pathplanner/3 ball auto.path @@ -16,9 +16,7 @@ "isLocked": false, "isStopPoint": false, "stopEvent": { - "names": [ - "ExtendAndCollect" - ], + "names": [], "executionBehavior": "parallel", "waitBehavior": "none", "waitTime": 1.5 @@ -66,10 +64,10 @@ "isStopPoint": false, "stopEvent": { "names": [ - "FullShoot300" + "FullShoot2000" ], "executionBehavior": "parallel", - "waitBehavior": "minimum", + "waitBehavior": "deadline", "waitTime": 4.0 } } @@ -79,7 +77,13 @@ "position": 1.4109090909090933, "names": [ "StopRoller", - "ShooterByRPM300" + "ShooterByRPM2000" + ] + }, + { + "position": 0.0, + "names": [ + "ExtendAndCollect" ] } ] diff --git a/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json new file mode 100644 index 00000000..f68bf792 --- /dev/null +++ b/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/OI.java b/src/main/java/edu/greenblitz/pegasus/OI.java index e5032ff4..2010d64d 100644 --- a/src/main/java/edu/greenblitz/pegasus/OI.java +++ b/src/main/java/edu/greenblitz/pegasus/OI.java @@ -57,7 +57,7 @@ private void initButtons() { debugJoystick.A.whenPressed(new CalibrateLampreyByNeo(SwerveChassis.Module.BACK_LEFT)); mainJoystick.Y.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetChassisAngle())); - mainJoystick.X.whenPressed(PathFollowerBuilder.getInstance().followPath("1 meter")); + mainJoystick.X.whenPressed(PathFollowerBuilder.getInstance().followPath("3 ball auto")); mainJoystick.POV_UP.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetAllEncoders())); diff --git a/src/main/java/edu/greenblitz/pegasus/RobotMap.java b/src/main/java/edu/greenblitz/pegasus/RobotMap.java index a637832f..c643d87e 100644 --- a/src/main/java/edu/greenblitz/pegasus/RobotMap.java +++ b/src/main/java/edu/greenblitz/pegasus/RobotMap.java @@ -139,7 +139,7 @@ public static class Swerve { }; //TODO: calibrate GOOD PID - public static final PIDObject angPID = new PIDObject().withKp(0.5).withMaxPower(0.8);//).withKd(10).withMaxPower(0.8); + public static final PIDObject angPID = new PIDObject().withKp(0.5).withMaxPower(0.5); public static final PIDObject linPID = new PIDObject().withKp(0.0003).withMaxPower(0.5); public static final PIDObject rotationPID = new PIDObject().withKp(0.5).withKi(0).withKd(0).withFF(0.1); diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java index 106a651e..8bda5b80 100644 --- a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java @@ -11,9 +11,14 @@ import edu.greenblitz.pegasus.commands.shooter.ShooterByRPM; import edu.greenblitz.pegasus.commands.shooter.StopShooter; import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; +import edu.greenblitz.pegasus.utils.commands.GBCommand; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandBase; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import java.lang.reflect.Array; +import java.util.ArrayList; import java.util.HashMap; public class PathFollowerBuilder extends SwerveAutoBuilder{ @@ -21,8 +26,8 @@ public class PathFollowerBuilder extends SwerveAutoBuilder{ private static final HashMap eventMap = new HashMap<>(); static { // the event name, the command() - eventMap.put("ShooterByRPM300", new ShooterByRPM(300)); - eventMap.put("FullShoot300", new ShooterByRPM(300).alongWith(new InsertIntoShooter())); + eventMap.put("ShooterByRPM2000", new ShooterByRPM(2000)); + eventMap.put("FullShoot2000", new ShooterByRPM(2000).alongWith(new InsertIntoShooter())); eventMap.put("StopShooter", new StopShooter()); eventMap.put("ExtendAndCollect", new ExtendAndCollect()); eventMap.put("StopRoller", new StopRoller()); @@ -52,7 +57,7 @@ public static PathFollowerBuilder getInstance() { public CommandBase followPath(String pathName) { - return followPath(PathPlanner.loadPath( + return fullAuto(PathPlanner.loadPath( pathName, new PathConstraints( RobotMap.Pegasus.Swerve.MAX_VELOCITY, @@ -61,4 +66,4 @@ public CommandBase followPath(String pathName) { ); } - } \ No newline at end of file +} \ No newline at end of file From e261854ff44b8c22bccd44566ea904bba043dd29 Mon Sep 17 00:00:00 2001 From: itamaroryan Date: Thu, 22 Dec 2022 17:08:06 +0200 Subject: [PATCH 08/14] tal - changes to branch auto done by romi and amir --- src/main/deploy/pathplanner/3 ball auto.path | 32 ++++---- .../generatedJSON/3 ball auto.wpilib.json | 2 +- .../pathplanner/generatedJSON/new.wpilib.json | 1 + src/main/deploy/pathplanner/new.path | 75 ++++++++++++++++++- src/main/java/edu/greenblitz/pegasus/OI.java | 2 +- 5 files changed, 93 insertions(+), 19 deletions(-) create mode 100644 src/main/deploy/pathplanner/generatedJSON/new.wpilib.json diff --git a/src/main/deploy/pathplanner/3 ball auto.path b/src/main/deploy/pathplanner/3 ball auto.path index dea9e420..14465439 100644 --- a/src/main/deploy/pathplanner/3 ball auto.path +++ b/src/main/deploy/pathplanner/3 ball auto.path @@ -2,15 +2,15 @@ "waypoints": [ { "anchorPoint": { - "x": 8.664836560442351, - "y": 1.632075379535375 + "x": 6.249290884748916, + "y": 2.5495209491859923 }, "prevControl": null, "nextControl": { - "x": 8.387878314218167, - "y": 0.8209833727359774 + "x": 5.869827301614257, + "y": 2.288639735780914 }, - "holonomicAngle": -156.03751102542168, + "holonomicAngle": -156.57130719125453, "isReversal": false, "velOverride": null, "isLocked": false, @@ -24,16 +24,16 @@ }, { "anchorPoint": { - "x": 7.97244094488189, - "y": 0.6528301518141514 + "x": 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a/src/main/deploy/pathplanner/generatedJSON/3 ball auto.wpilib.json +++ b/src/main/deploy/pathplanner/generatedJSON/3 ball auto.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/deploy/pathplanner/new.path b/src/main/deploy/pathplanner/new.path index 46f28587..5738dd5a 100644 --- a/src/main/deploy/pathplanner/new.path +++ b/src/main/deploy/pathplanner/new.path @@ -1 +1,74 @@ -{"waypoints":[{"anchorPoint":{"x":1.0,"y":3.0},"prevControl":null,"nextControl":{"x":2.0,"y":3.0},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":2.0,"y":3.0},"prevControl":{"x":1.1227465492905666,"y":1.9908495513193545},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}]} \ No newline at end of file +{ + "waypoints": [ + { + "anchorPoint": { + "x": 4.541704760642951, + "y": 2.3004979727538712 + }, + "prevControl": null, + "nextControl": { + "x": 4.541704760642951, + "y": 3.4280286313658017 + }, + "holonomicAngle": -90.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 4.541704760642951, + "y": 4.434980627886328 + }, + "prevControl": { + "x": 4.541704760642951, + "y": 3.3203063524282665 + }, + "nextControl": { + "x": 4.541704760642951, + "y": 5.54965490334439 + }, + "holonomicAngle": -90.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 5.881685538587215, + "y": 5.680095510046928 + }, + "prevControl": { + "x": 5.087183661399023, + "y": 5.680095510046928 + }, + "nextControl": null, + "holonomicAngle": 179.40934278535332, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/OI.java b/src/main/java/edu/greenblitz/pegasus/OI.java index 2010d64d..28643813 100644 --- a/src/main/java/edu/greenblitz/pegasus/OI.java +++ b/src/main/java/edu/greenblitz/pegasus/OI.java @@ -57,7 +57,7 @@ private void initButtons() { debugJoystick.A.whenPressed(new CalibrateLampreyByNeo(SwerveChassis.Module.BACK_LEFT)); mainJoystick.Y.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetChassisAngle())); - mainJoystick.X.whenPressed(PathFollowerBuilder.getInstance().followPath("3 ball auto")); + mainJoystick.X.whenPressed(PathFollowerBuilder.getInstance().followPath("new")); mainJoystick.POV_UP.whenPressed(new InstantCommand(() -> SwerveChassis.getInstance().resetAllEncoders())); From 14fc599d090516d4b3de160e3ebed171929a26f8 Mon Sep 17 00:00:00 2001 From: NoamRosenberg08 Date: Tue, 27 Dec 2022 17:44:04 +0200 Subject: [PATCH 09/14] noam - added auto selector - NOT TESTED --- .idea/misc.xml | 2 +- .../java/edu/greenblitz/pegasus/Robot.java | 5 +++- .../pegasus/utils/AutoSelector.java | 28 +++++++++++++++++++ 3 files changed, 33 insertions(+), 2 deletions(-) create mode 100644 src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java diff --git a/.idea/misc.xml b/.idea/misc.xml index 5821b2fa..fd8e2467 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -4,5 +4,5 @@ - + \ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/Robot.java b/src/main/java/edu/greenblitz/pegasus/Robot.java index 617cc761..36aa56ef 100644 --- a/src/main/java/edu/greenblitz/pegasus/Robot.java +++ b/src/main/java/edu/greenblitz/pegasus/Robot.java @@ -1,8 +1,11 @@ package edu.greenblitz.pegasus; +import edu.greenblitz.pegasus.commands.auto.PathFollowerBuilder; +import edu.greenblitz.pegasus.commands.auto.PathPlannerCommand; import edu.greenblitz.pegasus.commands.auto.Taxi; import edu.greenblitz.pegasus.subsystems.*; import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; +import edu.greenblitz.pegasus.utils.AutoSelector; import edu.greenblitz.pegasus.utils.DigitalInputMap; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; @@ -64,7 +67,7 @@ public void autonomousInit() { SwerveChassis.getInstance().resetAllEncoders(); SwerveChassis.getInstance().resetLocalizer(); (new Taxi(2.5, 2)).schedule(); //THIS //todo sendablechooser for choosing auto - + PathFollowerBuilder.getInstance().followPath(AutoSelector.getInstance().getSelectedAuto()); } diff --git a/src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java b/src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java new file mode 100644 index 00000000..c4b6cfe4 --- /dev/null +++ b/src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java @@ -0,0 +1,28 @@ +package edu.greenblitz.pegasus.utils; + +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +public class AutoSelector { + static private AutoSelector instance; //i did some shenanigan with the static private hehe + private SendableChooser chooser = new SendableChooser<>(); + + private AutoSelector (){ + // m_chooser.addOption(auto name, path name ); + chooser.addOption("1 meter", "1 meter"); + chooser.addOption("3 ball auto","3 ball auto"); + chooser.addOption("new", "new"); //this is the name of the path + + SmartDashboard.putData(chooser); + } + + public static AutoSelector getInstance () { + if (instance == null) { + instance = new AutoSelector(); + } + return instance; + } + + public String getSelectedAuto (){ + return chooser.getSelected(); + } +} From 2b18626140b47d1dfcdfd394d209a5706b6d7c15 Mon Sep 17 00:00:00 2001 From: greenblitz4590 <94316058+greenblitz4590@users.noreply.github.com> Date: Wed, 28 Dec 2022 17:49:40 +0200 Subject: [PATCH 10/14] Romy - Made linRPMToMetersPerSeconds in robot map, now get curr vel in swerve module returns in meters per second --- src/main/java/edu/greenblitz/pegasus/RobotMap.java | 1 + .../edu/greenblitz/pegasus/subsystems/swerve/SwerveModule.java | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/edu/greenblitz/pegasus/RobotMap.java b/src/main/java/edu/greenblitz/pegasus/RobotMap.java index c643d87e..2e3b4f0e 100644 --- a/src/main/java/edu/greenblitz/pegasus/RobotMap.java +++ b/src/main/java/edu/greenblitz/pegasus/RobotMap.java @@ -118,6 +118,7 @@ public static class Swerve { public static final double angleTicksToWheelToRPM = Swerve.ANG_GEAR_RATIO * motors.SPARKMAX_VELOCITY_UNITS_TO_RPM; public static final double linTicksToWheelToRPM = Swerve.LIN_GEAR_RATIO * motors.SPARKMAX_VELOCITY_UNITS_TO_RPM; + public static final double linRPMToMetersPerSecond = WHEEL_CIRC / 60; public static final double angleTicksToRadians = Swerve.ANG_GEAR_RATIO * motors.SPARKMAX_TICKS_PER_RADIAN; public static final double NEO_PHYSICAL_TICKS_TO_RADIANS = angleTicksToRadians / 42; //do not use unless you understand the meaning diff --git a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveModule.java b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveModule.java index e474190c..bdd59164 100644 --- a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveModule.java +++ b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveModule.java @@ -81,7 +81,7 @@ public double getModuleAngle() { } public double getCurrentVelocity() { - return (linearMotor.getEncoder().getVelocity() / RobotMap.Pegasus.Swerve.linTicksToWheelToRPM); + return (RobotMap.Pegasus.Swerve.linRPMToMetersPerSecond * linearMotor.getEncoder().getVelocity()); } public void rotateByAngle(double angle) { From b0929482caa1946bcfc4564e33683d1d29aca1f8 Mon Sep 17 00:00:00 2001 From: greenblitz4590 <94316058+greenblitz4590@users.noreply.github.com> Date: Wed, 28 Dec 2022 18:08:45 +0200 Subject: [PATCH 11/14] noam & tal - auto selector now finished. --- .idea/misc.xml | 2 +- src/main/java/edu/greenblitz/pegasus/Robot.java | 5 +++-- src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java | 2 +- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/.idea/misc.xml b/.idea/misc.xml index fd8e2467..5821b2fa 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -4,5 +4,5 @@ - + \ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/Robot.java b/src/main/java/edu/greenblitz/pegasus/Robot.java index 36aa56ef..f7ca728c 100644 --- a/src/main/java/edu/greenblitz/pegasus/Robot.java +++ b/src/main/java/edu/greenblitz/pegasus/Robot.java @@ -23,6 +23,7 @@ public void robotInit() { Intake.getInstance(); Indexing.getInstance(); Shooter.create(RobotMap.Pegasus.Shooter.ShooterMotor.PORT_LEADER); + AutoSelector.getInstance(); //todo add voltage compensation //swerve @@ -66,8 +67,8 @@ public void autonomousInit() { //resets encoders SwerveChassis.getInstance().resetAllEncoders(); SwerveChassis.getInstance().resetLocalizer(); - (new Taxi(2.5, 2)).schedule(); //THIS //todo sendablechooser for choosing auto - PathFollowerBuilder.getInstance().followPath(AutoSelector.getInstance().getSelectedAuto()); +// PathFollowerBuilder.getInstance().followPath(AutoSelector.getInstance().getSelectedAuto()); + SmartDashboard.putString("dood", AutoSelector.getInstance().getSelectedAuto()); } diff --git a/src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java b/src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java index c4b6cfe4..0c86a3bf 100644 --- a/src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java +++ b/src/main/java/edu/greenblitz/pegasus/utils/AutoSelector.java @@ -11,7 +11,7 @@ private AutoSelector (){ chooser.addOption("1 meter", "1 meter"); chooser.addOption("3 ball auto","3 ball auto"); chooser.addOption("new", "new"); //this is the name of the path - + chooser.setDefaultOption("default","1 meter"); SmartDashboard.putData(chooser); } From 60a9bd369a92cc1dced4d21bf58bb55568a5051c Mon Sep 17 00:00:00 2001 From: greenblitz4590 <94316058+greenblitz4590@users.noreply.github.com> Date: Mon, 2 Jan 2023 20:31:14 +0200 Subject: [PATCH 12/14] noam & asaf - line auto working - tested --- src/main/deploy/pathplanner/1 meter.path | 31 +++++++++++++++++-- .../generatedJSON/1 meter.wpilib.json | 2 +- .../java/edu/greenblitz/pegasus/Robot.java | 9 ++++-- .../java/edu/greenblitz/pegasus/RobotMap.java | 2 +- .../commands/auto/PathFollowerBuilder.java | 7 +++++ .../subsystems/swerve/SwerveChassis.java | 8 ++++- 6 files changed, 50 insertions(+), 9 deletions(-) diff --git a/src/main/deploy/pathplanner/1 meter.path b/src/main/deploy/pathplanner/1 meter.path index 28fcee9a..742b39f4 100644 --- a/src/main/deploy/pathplanner/1 meter.path +++ b/src/main/deploy/pathplanner/1 meter.path @@ -28,10 +28,13 @@ "y": 5.0 }, "prevControl": { - "x": 7.3748844541649605, - "y": 5.0 + "x": 7.956159299839376, + "y": 5.623576329452989 + }, + "nextControl": { + "x": 8.060594591444142, + "y": 4.138121590690774 }, - "nextControl": null, "holonomicAngle": 0, "isReversal": false, "velOverride": null, @@ -45,6 +48,28 @@ "waitBehavior": "none", "waitTime": 0 } + }, + { + "anchorPoint": { + "x": 8.078079612249876, + "y": 3.473690800072818 + }, + "prevControl": { + "x": 8.043109570638405, + "y": 5.053171012857609 + }, + "nextControl": null, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } } ], "markers": [ diff --git a/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json index f68bf792..9ca4b596 100644 --- a/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json +++ b/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/Robot.java b/src/main/java/edu/greenblitz/pegasus/Robot.java index f7ca728c..a4c0028e 100644 --- a/src/main/java/edu/greenblitz/pegasus/Robot.java +++ b/src/main/java/edu/greenblitz/pegasus/Robot.java @@ -7,6 +7,8 @@ import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; import edu.greenblitz.pegasus.utils.AutoSelector; import edu.greenblitz.pegasus.utils.DigitalInputMap; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -31,7 +33,8 @@ public void robotInit() { SwerveChassis.getInstance().resetChassisAngle(); SwerveChassis.getInstance().resetAllEncoders(); SmartDashboard.putNumber("auto number", 1); - + SwerveChassis.field2d.getObject("traj").setTrajectory(PathFollowerBuilder.getInstance().getTrajectory("1 meter")); + SwerveChassis.field2d.setRobotPose(new Pose2d(1,1,new Rotation2d(0))); OI.getInstance(); } @@ -67,8 +70,8 @@ public void autonomousInit() { //resets encoders SwerveChassis.getInstance().resetAllEncoders(); SwerveChassis.getInstance().resetLocalizer(); -// PathFollowerBuilder.getInstance().followPath(AutoSelector.getInstance().getSelectedAuto()); - SmartDashboard.putString("dood", AutoSelector.getInstance().getSelectedAuto()); + PathFollowerBuilder.getInstance().followPath("1 meter").schedule(); +// SmartDashboard.putString("dood", AutoSelector.getInstance().getSelectedAuto()); } diff --git a/src/main/java/edu/greenblitz/pegasus/RobotMap.java b/src/main/java/edu/greenblitz/pegasus/RobotMap.java index 2e3b4f0e..714c6875 100644 --- a/src/main/java/edu/greenblitz/pegasus/RobotMap.java +++ b/src/main/java/edu/greenblitz/pegasus/RobotMap.java @@ -105,7 +105,7 @@ public static class DigitalInputMap { public static class Swerve { - public static final Pose2d initialRobotPosition = new Pose2d(0, 0, new Rotation2d(0)); + public static final Pose2d initialRobotPosition = new Pose2d(8, 8, new Rotation2d(0)); public static final double WHEEL_CIRC = 0.0517 * 2 * Math.PI; //very accurate right now public static final double ANG_GEAR_RATIO = 1 / 6.0; //todo maybe 6.0 /1? input/output diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java index 8bda5b80..d9398053 100644 --- a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java @@ -12,6 +12,7 @@ import edu.greenblitz.pegasus.commands.shooter.StopShooter; import edu.greenblitz.pegasus.subsystems.swerve.SwerveChassis; import edu.greenblitz.pegasus.utils.commands.GBCommand; +import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandBase; @@ -66,4 +67,10 @@ public CommandBase followPath(String pathName) { ); } + public Trajectory getTrajectory (String trajectory){ + return PathPlanner.loadPath(trajectory, + 0.5, + 0.1); + } + } \ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java index a7ccaa68..2d215db4 100644 --- a/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java +++ b/src/main/java/edu/greenblitz/pegasus/subsystems/swerve/SwerveChassis.java @@ -4,14 +4,19 @@ import edu.greenblitz.pegasus.utils.PigeonGyro; import edu.greenblitz.pegasus.subsystems.GBSubsystem; import edu.greenblitz.pegasus.utils.GBMath; +import edu.wpi.first.math.controller.RamseteController; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.*; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.Subsystem; public class SwerveChassis extends GBSubsystem { private final SwerveModule frontRight, frontLeft, backRight, backLeft; + public static Field2d field2d = new Field2d(); // private final PigeonGyro pigeonGyro; private final PigeonGyro pigeonGyro; private final SwerveDriveOdometry localizer; @@ -30,7 +35,7 @@ public enum Module { } public SwerveChassis() { - + SmartDashboard.putData(field2d); this.frontRight = new SwerveModule( RobotMap.Pegasus.Swerve.Module1.SteerMotorID, RobotMap.Pegasus.Swerve.Module1.linMotorID, @@ -86,6 +91,7 @@ public void periodic() { localizer.update(new Rotation2d(getChassisAngle()), frontLeft.getModuleState(), frontRight.getModuleState(), backLeft.getModuleState(), backRight.getModuleState()); + field2d.setRobotPose(localizer.getPoseMeters()); } /** From 231a8b2a4b1b1a6f0197766382669a7e5af5cffe Mon Sep 17 00:00:00 2001 From: greenblitz4590 <94316058+greenblitz4590@users.noreply.github.com> Date: Thu, 5 Jan 2023 17:58:29 +0200 Subject: [PATCH 13/14] noam - pathplanner working with turns and comands --- src/main/deploy/pathplanner/1 meter.path | 31 ++----------------- .../generatedJSON/1 meter.wpilib.json | 2 +- .../java/edu/greenblitz/pegasus/Robot.java | 2 -- .../commands/auto/PathFollowerBuilder.java | 4 +-- 4 files changed, 6 insertions(+), 33 deletions(-) diff --git a/src/main/deploy/pathplanner/1 meter.path b/src/main/deploy/pathplanner/1 meter.path index 742b39f4..ac1afe62 100644 --- a/src/main/deploy/pathplanner/1 meter.path +++ b/src/main/deploy/pathplanner/1 meter.path @@ -28,13 +28,10 @@ "y": 5.0 }, "prevControl": { - "x": 7.956159299839376, - "y": 5.623576329452989 - }, - "nextControl": { - "x": 8.060594591444142, - "y": 4.138121590690774 + "x": 6.096443920933169, + "y": 5.064827693394764 }, + "nextControl": null, "holonomicAngle": 0, "isReversal": false, "velOverride": null, @@ -48,28 +45,6 @@ "waitBehavior": "none", "waitTime": 0 } - }, - { - "anchorPoint": { - "x": 8.078079612249876, - "y": 3.473690800072818 - }, - "prevControl": { - "x": 8.043109570638405, - "y": 5.053171012857609 - }, - "nextControl": null, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } } ], "markers": [ diff --git a/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json b/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json index 9ca4b596..dc186a24 100644 --- a/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json +++ b/src/main/deploy/pathplanner/generatedJSON/1 meter.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/edu/greenblitz/pegasus/Robot.java b/src/main/java/edu/greenblitz/pegasus/Robot.java index a4c0028e..f1091197 100644 --- a/src/main/java/edu/greenblitz/pegasus/Robot.java +++ b/src/main/java/edu/greenblitz/pegasus/Robot.java @@ -33,8 +33,6 @@ public void robotInit() { SwerveChassis.getInstance().resetChassisAngle(); SwerveChassis.getInstance().resetAllEncoders(); SmartDashboard.putNumber("auto number", 1); - SwerveChassis.field2d.getObject("traj").setTrajectory(PathFollowerBuilder.getInstance().getTrajectory("1 meter")); - SwerveChassis.field2d.setRobotPose(new Pose2d(1,1,new Rotation2d(0))); OI.getInstance(); } diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java index d9398053..f1997f8f 100644 --- a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java @@ -61,8 +61,8 @@ public CommandBase followPath(String pathName) { return fullAuto(PathPlanner.loadPath( pathName, new PathConstraints( - RobotMap.Pegasus.Swerve.MAX_VELOCITY, - RobotMap.Pegasus.Swerve.KMMaxAcceleration + 2, + 1 )) ); } From de484766be47f640342b8d266125a56b0bfb4a8e Mon Sep 17 00:00:00 2001 From: NoamRosenberg08 Date: Sun, 8 Jan 2023 13:07:52 +0200 Subject: [PATCH 14/14] noam - added comments to some functions --- .idea/misc.xml | 2 +- .idea/modules.xml | 1 + .../pegasus/commands/auto/PathFollowerBuilder.java | 10 ++++++++-- 3 files changed, 10 insertions(+), 3 deletions(-) diff --git a/.idea/misc.xml b/.idea/misc.xml index 5821b2fa..fd8e2467 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -4,5 +4,5 @@ - + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml index 3ca86a67..5dda5d6f 100644 --- a/.idea/modules.xml +++ b/.idea/modules.xml @@ -2,6 +2,7 @@ + diff --git a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java index f1997f8f..2eca3d5d 100644 --- a/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java +++ b/src/main/java/edu/greenblitz/pegasus/commands/auto/PathFollowerBuilder.java @@ -23,7 +23,9 @@ import java.util.HashMap; public class PathFollowerBuilder extends SwerveAutoBuilder{ - + + + /** the use of the event map is to run a marker by its name run a command */ private static final HashMap eventMap = new HashMap<>(); static { // the event name, the command() @@ -55,7 +57,10 @@ public static PathFollowerBuilder getInstance() { return instance; } - + + /** + * @return returns the command for the full auto (commands and trajectory included) + * */ public CommandBase followPath(String pathName) { return fullAuto(PathPlanner.loadPath( @@ -67,6 +72,7 @@ public CommandBase followPath(String pathName) { ); } + /** get the WPILib trajectory object from a .path file */ public Trajectory getTrajectory (String trajectory){ return PathPlanner.loadPath(trajectory, 0.5,