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} @SuppressWarnings("RedundantSuppression") @@ -493,7 +497,7 @@ public void configureButtonBindings(final EventLoop teleopEventLoop) { // TODO: this doesn't rumble early enough, or as early as we'd like it to // not sure if we're hardware limited or its behind by a few cycles and we can speed it up - this.noteState.hasNote.onTrue( + this.noteState.hasNote.and(teleopEnabled).onTrue( Commands.parallel( ControllerUtils.rumbleForDurationCommand( driverController.getHID(), diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index 229bb0f..df66704 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -21,6 +21,7 @@ import frc.robot.subsystems.superstructure.ShotParameters; import frc.robot.subsystems.superstructure.Superstructure; import frc.robot.subsystems.vision.PhotonVision; +import org.littletonrobotics.junction.Logger; import java.util.List; import java.util.Set; @@ -1236,7 +1237,7 @@ public EventLoop followNote() { Commands.repeatingSequence( Commands.parallel( superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy(), - swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), Commands.repeatingSequence( intake.intakeCommand().asProxy(), superstructure.toInstantGoal(Superstructure.Goal.EJECT).asProxy(), @@ -1246,7 +1247,6 @@ public EventLoop followNote() { ) ) ); - return eventLoop; } @@ -1257,18 +1257,19 @@ public EventLoop driveAndNoteDetect() { autoTriggers.autoEnabled().whileTrue(preloadSubwooferAndFollow0(autoTriggers.trajectories, timer)); - final ChoreoTrajectory nextTrajectory = autoTriggers.trajectories.get(1); - autoTriggers.atTime(2.1).onTrue( + autoTriggers.atTime(2.23).onTrue( Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it -// swerve.driveToPose(() -> new Pose2d(8.282, 5.787, Rotation2d.fromRadians(2.458))), + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)) + .until(noteState.hasNote), swerve.driveToPose( - nextTrajectory::getInitialPose, - new Pose2d(1.5, 1.5, Rotation2d.fromDegrees(6)) + Robot.IsRedAlliance.getAsBoolean() + ? autoTriggers.trajectories.get(1)::getFlippedInitialPose + : autoTriggers.trajectories.get(1)::getInitialPose, + new Pose2d(1, 1, Rotation2d.fromDegrees(6)) ), - followPath(nextTrajectory, timer).asProxy() + followPath(autoTriggers.trajectories.get(1), timer) ), Commands.sequence( Commands.waitUntil(noteState.hasNote), @@ -1277,7 +1278,7 @@ public EventLoop driveAndNoteDetect() { ).withName("Intake0") ); - autoTriggers.atTime(4.3).onTrue( + autoTriggers.atTime(3.37).onTrue( Commands.sequence( shootCommands.deferredStopAimAndShoot() .onlyIf(noteState.hasNote) @@ -1286,7 +1287,6 @@ public EventLoop driveAndNoteDetect() { superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy() ).withName("Shoot0AndFollow1") ); - return autoTriggers.eventLoop; } @@ -1301,7 +1301,7 @@ public EventLoop AltSourceCenter0_1_2NOTE() { Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)) + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)) .until(noteState.hasNote), swerve.driveToPose( autoTriggers.trajectories.get(0)::getFinalPose, @@ -1331,7 +1331,7 @@ public EventLoop AltSourceCenter0_1_2NOTE() { Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it swerve.driveToPose( autoTriggers.trajectories.get(2)::getInitialPose, new Pose2d(1.5, 1.5, Rotation2d.fromDegrees(6)) @@ -1360,7 +1360,7 @@ public EventLoop AltSourceCenter0_1_2NOTE() { Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it swerve.driveToPose( autoTriggers.trajectories.get(2)::getInitialPose, new Pose2d(1.5, 1.5, Rotation2d.fromDegrees(6)) diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 2853e75..12737c3 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -745,36 +745,16 @@ public Command driveToPose(final Supplier poseSupplier, final Pose2d pos }); } - public Command driveToNotePose(final Supplier> poseSupplier) { - final AtomicBoolean continuousTracking = new AtomicBoolean(true); - final AtomicReference steadyNotePose = new AtomicReference<>(); - + public Command driveToOptionalPose(final Supplier> poseSupplier) { return Commands.sequence( runOnce(() -> { holonomicControllerActive = true; holonomicDriveWithPIDController.reset(getPose(), getRobotRelativeSpeeds()); - continuousTracking.set(true); - steadyNotePose.set(new Pose2d()); }), run(() -> { final Optional pose = poseSupplier.get(); if (pose.isPresent()) { - final Pose2d lineupPose; - if (continuousTracking.get()) { - lineupPose = pose.get(); - } else { - lineupPose = steadyNotePose.get(); - } - Logger.recordOutput(LogKey + "/NoteLineUp/LastLineupPose", lineupPose); - - final double noteDistance = getPose().minus(lineupPose).getTranslation().getNorm(); - if (continuousTracking.get() && noteDistance < 0.8) { - continuousTracking.set(false); - steadyNotePose.set(lineupPose); - } - Logger.recordOutput(LogKey + "/NoteLineUp/NoteDistance", noteDistance); - - this.holonomicPoseTarget = lineupPose; + this.holonomicPoseTarget = pose.get(); drive(holonomicDriveWithPIDController.calculate(getPose(), holonomicPoseTarget)); } else { stop(); @@ -784,6 +764,7 @@ public Command driveToNotePose(final Supplier> poseSupplier) { ).finallyDo(() -> holonomicControllerActive = false); } + public void stop() { drive(new ChassisSpeeds()); }