Merge pull request #251 from Shenzhen-Robotics-Alliance/beta

Add Maple-Sim

Author: thenetworkgrinch

IronMaple-License.md

@@ -0,0 +1,15 @@
+<p align="center">
+  <img src="https://github.com/Shenzhen-Robotics-Alliance/maple-sim/raw/main/docs/media/team_logo.png" width="20%"  alt="team logo"/>
+  <img src="https://github.com/Shenzhen-Robotics-Alliance/maple-sim/raw/main/docs/media/icon.png" width="79%"  alt="project logo"/>
+</p>
+
+#### This project uses [maple-sim](https://github.com/Shenzhen-Robotics-Alliance/maple-sim) for simulation.
+If you encounter any bugs related to drivetrain physics simulation, please [submit an issue to maple-sim](https://github.com/Shenzhen-Robotics-Alliance/maple-sim/issues/new/choose).
+
+## MIT License, Copyright (c) 2024 Team5516 "Iron Maple"
+
+**Permission is hereby granted, free of charge, to any person obtaining a copyof this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:**
+
+> #### The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+*THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.*

build.gradle

@@ -99,4 +99,4 @@ wpi.java.configureTestTasks(test)
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
-}
+}

src/main/java/frc/robot/RobotContainer.java

@@ -96,6 +96,10 @@ public RobotContainer()
    */
   private void configureBindings()
   {
+    if (Robot.isSimulation())
+    {
+      driverXbox.start().onTrue(Commands.runOnce(() -> drivebase.resetOdometry(new Pose2d(3, 3, new Rotation2d()))));
+    }
     if (DriverStation.isTest())
     {
       driverXbox.b().whileTrue(drivebase.sysIdDriveMotorCommand());

src/main/java/frc/robot/subsystems/swervedrive/Vision.java

@@ -129,10 +129,16 @@ public static Pose2d getAprilTagPose(int aprilTag, Transform2d robotOffset)
    */
   public void updatePoseEstimation(SwerveDrive swerveDrive)
   {
-    if (SwerveDriveTelemetry.isSimulation)
+    if (SwerveDriveTelemetry.isSimulation && swerveDrive.getSimulationDriveTrainPose().isPresent())
     {
-      visionSim.update(swerveDrive.getPose());
-
+      /*
+       * In the maple-sim, odometry is simulated using encoder values, accounting for factors like skidding and drifting.
+       * As a result, the odometry may not always be 100% accurate.
+       * However, the vision system should be able to provide a reasonably accurate pose estimation, even when odometry is incorrect.
+       * (This is why teams implement vision system to correct odometry.)
+       * Therefore, we must ensure that the actual robot pose is provided in the simulator when updating the vision simulation during the simulation.
+       */
+      visionSim.update(swerveDrive.getSimulationDriveTrainPose().get());
     }
     for (Cameras camera : Cameras.values())
     {

src/main/java/swervelib/SwerveDrive.java

@@ -21,10 +21,8 @@
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.*;
 import edu.wpi.first.wpilibj.Alert.AlertType;
-import edu.wpi.first.wpilibj.Notifier;
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import java.util.ArrayList;
@@ -34,6 +32,7 @@
 import java.util.Optional;
 import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;
+
 import org.ironmaple.simulation.SimulatedArena;
 import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
 import org.ironmaple.simulation.drivesims.SwerveModuleSimulation;
@@ -51,6 +50,8 @@
 import swervelib.telemetry.SwerveDriveTelemetry;
 import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity;
 
+import static edu.wpi.first.units.Units.*;
+
 /**
  * Swerve Drive class representing and controlling the swerve drive.
  */
@@ -199,48 +200,51 @@ public SwerveDrive(
     kinematics = new SwerveDriveKinematics(config.moduleLocationsMeters);
     odometryThread = new Notifier(this::updateOdometry);
 
+    this.swerveModules = config.modules;
+
     // Create an integrator for angle if the robot is being simulated to emulate an IMU
     // If the robot is real, instantiate the IMU instead.
     if (SwerveDriveTelemetry.isSimulation)
     {
-      simIMU = new SwerveIMUSimulation();
-      imuReadingCache = new Cache<>(simIMU::getGyroRotation3d, 5L);
+      DriveTrainSimulationConfig simulationConfig = DriveTrainSimulationConfig.Default()
+              .withBumperSize(
+                      Meters.of(config.getTracklength()).plus(Inches.of(5)),
+                      Meters.of(config.getTrackwidth()).plus(Inches.of(5)))
+              .withRobotMass(Kilograms.of(config.physicalCharacteristics.robotMassKg))
+              .withCustomModuleTranslations(config.moduleLocationsMeters)
+              .withGyro(config.getGyroSim())
+              .withSwerveModule(() -> new SwerveModuleSimulation(
+                      config.getDriveMotorSim(),
+                      config.getAngleMotorSim(),
+                      config.physicalCharacteristics.conversionFactor.drive.gearRatio,
+                      config.physicalCharacteristics.conversionFactor.angle.gearRatio,
+                      Amps.of(config.physicalCharacteristics.driveMotorCurrentLimit),
+                      Amps.of(20),
+                      Volts.of(config.physicalCharacteristics.driveFrictionVoltage),
+                      Volts.of(config.physicalCharacteristics.angleFrictionVoltage),
+                      Inches.of(config.physicalCharacteristics.conversionFactor.drive.diameter/2),
+                      KilogramSquareMeters.of(0.02),
+                      config.physicalCharacteristics.wheelGripCoefficientOfFriction));
+
+      mapleSimDrive = new SwerveDriveSimulation(simulationConfig, startingPose);
+
+      // feed module simulation instances to modules
+      for (int i = 0; i < swerveModules.length; i++)
+      {
+        this.swerveModules[i].configureModuleSimulation(mapleSimDrive.getModules()[i]);
+      }
 
-      // Setup MapleSim
-      SwerveModuleSimulation simModule = new SwerveModuleSimulation(config.getDriveMotorSim(),
-                                                                    config.getAngleMotorSim(),
-                                                                    config.physicalCharacteristics.driveMotorCurrentLimit,
-                                                                    config.physicalCharacteristics.conversionFactor.drive.gearRatio,
-                                                                    config.physicalCharacteristics.conversionFactor.angle.gearRatio,
-                                                                    config.physicalCharacteristics.driveFrictionVoltage,
-                                                                    config.physicalCharacteristics.angleFrictionVoltage,
-                                                                    config.physicalCharacteristics.wheelGripCoefficientOfFriction,
-                                                                    config.physicalCharacteristics.conversionFactor.drive.diameter /
-                                                                    2,
-                                                                    config.physicalCharacteristics.steerRotationalInertia);
-      DriveTrainSimulationConfig simCfg = new DriveTrainSimulationConfig(config.physicalCharacteristics.robotMassKg,
-                                                                         config.getTracklength() +
-                                                                         Units.inchesToMeters(5),
-                                                                         config.getTrackwidth() +
-                                                                         Units.inchesToMeters(5),
-                                                                         config.getTracklength(),
-                                                                         config.getTrackwidth(),
-                                                                         () -> {
-                                                                           return simModule;
-                                                                         },
-                                                                         config.getGyroSim());
-      mapleSimDrive = new SwerveDriveSimulation(simCfg, startingPose);
       // register the drivetrain simulation
       SimulatedArena.getInstance().addDriveTrainSimulation(mapleSimDrive);
-    } else
-    {
+
+      simIMU = new SwerveIMUSimulation(mapleSimDrive.getGyroSimulation());
+      imuReadingCache = new Cache<>(simIMU::getGyroRotation3d, 5L);
+    } else {
       imu = config.imu;
       imu.factoryDefault();
       imuReadingCache = new Cache<>(imu::getRotation3d, 5L);
     }
 
-    this.swerveModules = config.modules;
-
     //    odometry = new SwerveDriveOdometry(kinematics, getYaw(), getModulePositions());
     swerveDrivePoseEstimator =
         new SwerveDrivePoseEstimator(
@@ -287,7 +291,7 @@ public SwerveDrive(
       SwerveDriveTelemetry.measuredStatesObj = new SwerveModuleState[SwerveDriveTelemetry.moduleCount];
     }
 
-    odometryThread.startPeriodic(SwerveDriveTelemetry.isSimulation ? 0.01 : 0.02);
+    setOdometryPeriod(SwerveDriveTelemetry.isSimulation ? 0.004 : 0.02);
 
     checkIfTunerXCompatible();
 
@@ -344,6 +348,7 @@ private void checkIfTunerXCompatible()
   public void setOdometryPeriod(double period)
   {
     odometryThread.stop();
+    SimulatedArena.overrideSimulationTimings(Seconds.of(period), 1);
     odometryThread.startPeriodic(period);
   }
 
@@ -353,6 +358,7 @@ public void setOdometryPeriod(double period)
   public void stopOdometryThread()
   {
     odometryThread.stop();
+    SimulatedArena.overrideSimulationTimings(Seconds.of(TimedRobot.kDefaultPeriod), 5);
   }
 
   /**
@@ -699,7 +705,7 @@ public void setChassisSpeeds(ChassisSpeeds chassisSpeeds)
   }
 
   /**
-   * Gets the current pose (position and rotation) of the robot, as reported by odometry.
+   * Gets the measured pose (position and rotation) of the robot, as reported by odometry.
    *
    * @return The robot's pose
    */
@@ -713,7 +719,25 @@ public Pose2d getPose()
   }
 
   /**
-   * Gets the current field-relative velocity (x, y and omega) of the robot
+   * Gets the actual pose of the drivetrain during simulation
+   *
+   * @return an optional Pose2d, representing the drivetrain pose during simulation, or an empty optional when running on real robot
+   * */
+  public Optional<Pose2d> getSimulationDriveTrainPose()
+  {
+    if (SwerveDriveTelemetry.isSimulation)
+    {
+      odometryLock.lock();
+      Pose2d simulationPose = mapleSimDrive.getSimulatedDriveTrainPose();
+      odometryLock.unlock();
+      return Optional.of(simulationPose);
+    }
+
+    return Optional.empty();
+  }
+
+  /**
+   * Gets the measured field-relative robot velocity (x, y and omega)
    *
    * @return A ChassisSpeeds object of the current field-relative velocity
    */
@@ -727,6 +751,26 @@ public ChassisSpeeds getFieldVelocity()
         kinematics.toChassisSpeeds(getStates()), getOdometryHeading().unaryMinus());
   }
 
+  /**
+   * Gets the actual field-relative robot velocity (x, y and omega) during simulation
+   *
+   * @return An optional ChassisSpeeds representing the actual field-relative velocity of the robot, or an empty optional when running on real robot
+   * @deprecated for testing version of maple-sim only
+   */
+  @Deprecated
+  public Optional<ChassisSpeeds> getSimulationFieldVelocity()
+  {
+    if (SwerveDriveTelemetry.isSimulation)
+    {
+      odometryLock.lock();
+      ChassisSpeeds simulationFieldRelativeVelocity = mapleSimDrive.getDriveTrainSimulatedChassisSpeedsFieldRelative();
+      odometryLock.unlock();
+      return Optional.of(simulationFieldRelativeVelocity);
+    }
+
+    return Optional.empty();
+  }
+
   /**
    * Gets the current robot-relative velocity (x, y and omega) of the robot
    *
@@ -737,6 +781,26 @@ public ChassisSpeeds getRobotVelocity()
     return kinematics.toChassisSpeeds(getStates());
   }
 
+  /**
+   * Gets the actual robot-relative robot velocity (x, y and omega) during simulation
+   *
+   * @return An optional ChassisSpeeds representing the actual robot-relative velocity of the robot, or an empty optional when running on real robot
+   * @deprecated for testing version of maple-sim only
+   */
+  @Deprecated
+  public Optional<ChassisSpeeds> getSimulationRobotVelocity()
+  {
+    if (SwerveDriveTelemetry.isSimulation)
+    {
+      odometryLock.lock();
+      ChassisSpeeds simulationFieldRelativeVelocity = mapleSimDrive.getDriveTrainSimulatedChassisSpeedsRobotRelative();
+      odometryLock.unlock();
+      return Optional.of(simulationFieldRelativeVelocity);
+    }
+
+    return Optional.empty();
+  }
+
   /**
    * Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this
    * method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
@@ -748,8 +812,13 @@ public void resetOdometry(Pose2d pose)
   {
     odometryLock.lock();
     swerveDrivePoseEstimator.resetPosition(getYaw(), getModulePositions(), pose);
+    if (SwerveDriveTelemetry.isSimulation)
+    {
+      mapleSimDrive.setSimulationWorldPose(pose);
+    }
     odometryLock.unlock();
     kinematics.toSwerveModuleStates(ChassisSpeeds.fromFieldRelativeSpeeds(0, 0, 0, getYaw()));
+
   }
 
   /**
@@ -1048,13 +1117,17 @@ public void updateOdometry()
       // Update odometry
       swerveDrivePoseEstimator.update(getYaw(), getModulePositions());
 
+      if (SwerveDriveTelemetry.isSimulation)
+      {
+        SimulatedArena.getInstance().simulationPeriodic();
+      }
+
       // Update angle accumulator if the robot is simulated
       if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.INFO.ordinal())
       {
         Pose2d[] modulePoses = getSwerveModulePoses(swerveDrivePoseEstimator.getEstimatedPosition());
         if (SwerveDriveTelemetry.isSimulation)
         {
-          SimulatedArena.getInstance().simulationPeriodic();
           simIMU.updateOdometry(
               kinematics,
               getStates(),
@@ -1073,7 +1146,14 @@ public void updateOdometry()
 
       if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.POSE.ordinal())
       {
-        field.setRobotPose(swerveDrivePoseEstimator.getEstimatedPosition());
+        if (SwerveDriveTelemetry.isSimulation)
+        {
+          field.setRobotPose(mapleSimDrive.getSimulatedDriveTrainPose());
+          field.getObject("OdometryPose").setPose(swerveDrivePoseEstimator.getEstimatedPosition());
+        } else
+        {
+          field.setRobotPose(swerveDrivePoseEstimator.getEstimatedPosition());
+        }
       }
 
       double sumVelocity = 0;

src/main/java/swervelib/SwerveModule.java

@@ -171,6 +171,11 @@ public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfigurat
       absoluteEncoder.configure(moduleConfiguration.absoluteEncoderInverted);
     }
 
+    if (SwerveDriveTelemetry.isSimulation)
+    {
+      simModule = new SwerveModuleSimulation();
+    }
+
     // Setup the cache for the absolute encoder position.
     absolutePositionCache = new Cache<>(this::getRawAbsolutePosition, 20);
 
@@ -525,6 +530,13 @@ public double getAbsolutePosition()
    */
   public double getRawAbsolutePosition()
   {
+    /* During simulation, when no absolute encoders are available, we return the state from the simulation module instead. */
+    if (SwerveDriveTelemetry.isSimulation)
+    {
+      Rotation2d absolutePosition = simModule.getState().angle;
+      return absolutePosition.getDegrees();
+    }
+
     double angle;
     if (absoluteEncoder != null)
     {
@@ -709,4 +721,19 @@ public void invalidateCache()
     drivePositionCache.update();
     driveVelocityCache.update();
   }
+
+  /**
+   * Obtains the {@link SwerveModuleSimulation} used in simulation.
+   *
+   * @return the module simulation, <b>null</b> if this method is called on a real robot
+   * */
+  public SwerveModuleSimulation getSimModule()
+  {
+    return simModule;
+  }
+
+  public void configureModuleSimulation(org.ironmaple.simulation.drivesims.SwerveModuleSimulation swerveModuleSimulation)
+  {
+    this.simModule.configureSimModule(swerveModuleSimulation);
+  }
 }