From cc1642cf1cf4937f4557ffab2ad59d7df4282820 Mon Sep 17 00:00:00 2001 From: Max <34967410+MqxS@users.noreply.github.com> Date: Tue, 5 Nov 2024 14:58:29 -0500 Subject: [PATCH] Grits (#84) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Added PhotonVision * Added STD DEVS to photonvision * Added camera transforms * SysId Swerve. Fix Swerve Gyro Issue * Photonvision works * Fixed Photonvision * Removed sham cameras * Initial pass at a PV implementation rewrite/refactor. Should work in real and sim, not sure if it works in replay yet, but it should. * Initial pass at note tracking, no functionality yet, just logging detected note poses. * Added note tracking vision IO Inputs * Drive to Maybe Pose Autonomote Note Tracking!! * Drive to Maybe Pose Autonomous Note Tracking!! * better name * Fixed logs being overwritten * auto note track * my computer is too laggy to run so i gotta sim on laptop * stuff * photonvision is disabled. janky note detection auto * getX() replaced with getY() * random translation for note tracking camera * changed note pose calculation * it works :) * Test adding two translations together on real robot. * i wanna make teleop assist * probably not working teleop note lineup assist. * i cooked :( * this kinda sucks :| * Added way to disable PV. Line up to note seems to work. Need to make it assist rotation. * Got note assist during teleop working. Added timestamp check to note tracking camera. * Reordered teleop note align code. * Moved lineup pose into inner optional present scope for autoalign * Tried note tracking auto. Added rumble to both controllers on note pickup. Disabled auto align to note in teleop. * post de * Removed assisted rotation from teleopAssitedLineup * note tracking failures. * allegedly this solves the problems. * added distance offset * workingish note distance * idk why it wont get the flipped one 😭😭😭😭😭😭😭 * extra auto path * Goated changes sim * maybe PV replay? * some auto position reset stuff * seems to work okay. * Removed mega cooked autos. Gave up on note tracking 😭 * READY FOR GRITS DAY 2 * added goated auto v2 * i hate this variable. changed from sim to real. * qual 47 and whatever next is * grits * Added an option for the robot to not intake a note in Sim. Figured out why the robot hit the stage at Grits. It resumed a command that had a waitfor from earlier in the auto. This wasnt a problem earlier in the season since ig no one ever stole our second note. The solution is to add a withTimeout to the Command Group. --------- Co-authored-by: harry.chen --- choreo.chor | 124585 +++++++++++---- .../deploy/choreo/AltSourceCenter0_1_2.1.traj | 3696 +- .../deploy/choreo/AltSourceCenter0_1_2.2.traj | 3432 +- .../deploy/choreo/AltSourceCenter0_1_2.3.traj | 3495 +- .../deploy/choreo/AltSourceCenter0_1_2.traj | 10595 +- .../choreo/AltSourceCenter0_1_2NOTE.1.traj | 1412 + .../choreo/AltSourceCenter0_1_2NOTE.2.traj | 1076 + .../choreo/AltSourceCenter0_1_2NOTE.3.traj | 1055 + .../choreo/AltSourceCenter0_1_2NOTE.4.traj | 1076 + .../choreo/AltSourceCenter0_1_2NOTE.5.traj | 1097 + .../choreo/AltSourceCenter0_1_2NOTE.6.traj | 1139 + .../choreo/AltSourceCenter0_1_2NOTE.traj | 6725 + .../deploy/choreo/Amp2_1Center2_3_4.1.traj | 224 +- .../deploy/choreo/Amp2_1Center2_3_4.2.traj | 1106 +- .../deploy/choreo/Amp2_1Center2_3_4.3.traj | 560 +- .../deploy/choreo/Amp2_1Center2_3_4.4.traj | 490 +- .../deploy/choreo/Amp2_1Center2_3_4.5.traj | 476 +- src/main/deploy/choreo/Amp2_1Center2_3_4.traj | 2800 +- src/main/deploy/choreo/AmpCenter2_3.1.traj | 3448 +- src/main/deploy/choreo/AmpCenter2_3.2.traj | 1324 +- src/main/deploy/choreo/AmpCenter2_3.traj | 4758 +- src/main/deploy/choreo/AmpCenter3_2.1.traj | 1134 +- src/main/deploy/choreo/AmpCenter3_2.2.traj | 1834 +- src/main/deploy/choreo/AmpCenter3_2.traj | 2954 +- .../deploy/choreo/AmpCenter3_2Note (1).1.traj | 1076 + .../deploy/choreo/AmpCenter3_2Note (1).2.traj | 467 + .../deploy/choreo/AmpCenter3_2Note.1.traj | 950 + .../deploy/choreo/AmpCenter3_2Note.2.traj | 341 + src/main/deploy/choreo/AmpCenter3_2Note.traj | 1265 + src/main/deploy/choreo/AmpCenter3_4.1.traj | 3246 +- src/main/deploy/choreo/AmpCenter3_4.2.traj | 1174 +- src/main/deploy/choreo/AmpCenter3_4.traj | 4406 +- src/main/deploy/choreo/AmpCenter4_2_1.1.traj | 1952 +- src/main/deploy/choreo/AmpCenter4_2_1.2.traj | 1484 +- src/main/deploy/choreo/AmpCenter4_2_1.3.traj | 3250 +- src/main/deploy/choreo/AmpCenter4_2_1.traj | 6658 +- src/main/deploy/choreo/AmpCenter4_3.1.traj | 1948 +- src/main/deploy/choreo/AmpCenter4_3.2.traj | 3195 +- src/main/deploy/choreo/AmpCenter4_3.traj | 5129 +- src/main/deploy/choreo/AmpCenter4_3_2.1.traj | 1960 +- src/main/deploy/choreo/AmpCenter4_3_2.2.traj | 1132 +- src/main/deploy/choreo/AmpCenter4_3_2.3.traj | 1304 +- src/main/deploy/choreo/AmpCenter4_3_2.traj | 4368 +- src/main/deploy/choreo/AmpSpeaker2.1.traj | 1018 +- src/main/deploy/choreo/AmpSpeaker2.traj | 1018 +- .../deploy/choreo/AmpSpeaker2Center2_3.1.traj | 513 +- .../deploy/choreo/AmpSpeaker2Center2_3.2.traj | 3603 +- .../deploy/choreo/AmpSpeaker2Center2_3.3.traj | 1181 +- .../deploy/choreo/AmpSpeaker2Center2_3.traj | 5269 +- .../choreo/AmpSpeaker2Center4_3_2.1.traj | 2613 +- .../choreo/AmpSpeaker2Center4_3_2.2.traj | 1132 +- .../choreo/AmpSpeaker2Center4_3_2.3.traj | 1274 +- .../deploy/choreo/AmpSpeaker2Center4_3_2.traj | 4991 +- src/main/deploy/choreo/FightNorth.1.traj | 2231 + src/main/deploy/choreo/FightNorth.2.traj | 1265 + src/main/deploy/choreo/FightNorth.traj | 3470 + .../choreo/NorthSourceCenter0_1_2.1.traj | 1496 + .../choreo/NorthSourceCenter0_1_2.2.traj | 1412 + .../choreo/NorthSourceCenter0_1_2.3.traj | 1286 + .../deploy/choreo/NorthSourceCenter0_1_2.traj | 4142 + .../deploy/choreo/SourceCenter0_1_2.1.traj | 2825 +- .../deploy/choreo/SourceCenter0_1_2.2.traj | 3530 +- .../deploy/choreo/SourceCenter0_1_2.3.traj | 3534 +- src/main/deploy/choreo/SourceCenter0_1_2.traj | 9861 +- src/main/deploy/choreo/SourceCenter1_0.1.traj | 3684 +- src/main/deploy/choreo/SourceCenter1_0.2.traj | 3328 +- src/main/deploy/choreo/SourceCenter1_0.traj | 6998 +- .../deploy/choreo/SourceCenter1_0_2.1.traj | 1890 +- .../deploy/choreo/SourceCenter1_0_2.2.traj | 1582 +- .../deploy/choreo/SourceCenter1_0_2.3.traj | 1638 +- src/main/deploy/choreo/SourceCenter1_0_2.traj | 5082 +- src/main/deploy/choreo/SourceMobility.1.traj | 1006 +- src/main/deploy/choreo/SourceMobility.traj | 1006 +- src/main/deploy/choreo/SourceSpeaker0.1.traj | 1120 +- src/main/deploy/choreo/SourceSpeaker0.traj | 1120 +- .../choreo/SourceSpeaker0Center1.1.traj | 992 +- .../choreo/SourceSpeaker0Center1.2.traj | 3908 +- .../deploy/choreo/SourceSpeaker0Center1.traj | 4886 +- .../choreo/SourceSpeaker0Center1_2.1.traj | 748 +- .../choreo/SourceSpeaker0Center1_2.2.traj | 3795 +- .../choreo/SourceSpeaker0Center1_2.3.traj | 4147 +- .../choreo/SourceSpeaker0Center1_2.traj | 8590 +- src/main/deploy/choreo/Speaker0_1_2.1.traj | 210 +- src/main/deploy/choreo/Speaker0_1_2.2.traj | 294 +- src/main/deploy/choreo/Speaker0_1_2.3.traj | 1148 +- src/main/deploy/choreo/Speaker0_1_2.traj | 1624 +- .../choreo/Speaker0_1_2Center4_3.1.traj | 210 +- .../choreo/Speaker0_1_2Center4_3.2.traj | 294 +- .../choreo/Speaker0_1_2Center4_3.3.traj | 1148 +- .../choreo/Speaker0_1_2Center4_3.4.traj | 616 +- .../choreo/Speaker0_1_2Center4_3.5.traj | 1582 +- .../deploy/choreo/Speaker0_1_2Center4_3.traj | 3794 +- .../choreo/Speaker0_1_2Center4_3_2.1.traj | 210 +- .../choreo/Speaker0_1_2Center4_3_2.2.traj | 294 +- .../choreo/Speaker0_1_2Center4_3_2.3.traj | 1148 +- .../choreo/Speaker0_1_2Center4_3_2.4.traj | 574 +- .../choreo/Speaker0_1_2Center4_3_2.5.traj | 476 +- .../choreo/Speaker0_1_2Center4_3_2.6.traj | 658 +- .../choreo/Speaker0_1_2Center4_3_2.traj | 3290 +- src/main/deploy/choreo/Speaker2_1_0.1.traj | 483 +- src/main/deploy/choreo/Speaker2_1_0.2.traj | 1058 +- src/main/deploy/choreo/Speaker2_1_0.3.traj | 679 +- src/main/deploy/choreo/Speaker2_1_0.traj | 2276 +- src/main/deploy/choreo/Walton.1.traj | 2828 +- src/main/deploy/choreo/Walton.traj | 2828 +- src/main/java/frc/robot/Robot.java | 111 +- src/main/java/frc/robot/auto/AutoChooser.java | 5 +- src/main/java/frc/robot/auto/Autos.java | 384 +- .../java/frc/robot/constants/Constants.java | 13 +- .../frc/robot/constants/FieldConstants.java | 8 + .../java/frc/robot/constants/RobotMap.java | 1 - .../frc/robot/constants/SimConstants.java | 6 + src/main/java/frc/robot/state/NoteState.java | 7 +- .../frc/robot/subsystems/drive/Swerve.java | 198 +- .../robot/subsystems/drive/SwerveModule.java | 2 +- .../drive/estimator/PoseEstimator.java | 356 + .../estimator/SwerveDrivePoseEstimator.java | 145 + .../HolonomicDriveWithPIDController.java | 5 + .../java/frc/robot/subsystems/gyro/Gyro.java | 2 +- .../robot/subsystems/gyro/GyroIOPigeon2.java | 1 - .../frc/robot/subsystems/intake/Intake.java | 2 +- .../superstructure/ShotParameters.java | 6 +- .../subsystems/superstructure/arm/Arm.java | 2 +- .../superstructure/shooter/Shooter.java | 8 +- .../superstructure/shooter/ShooterIOReal.java | 8 +- .../robot/subsystems/vision/PhotonVision.java | 120 +- .../subsystems/vision/PhotonVisionRunner.java | 5 + .../subsystems/vision/RealVisionRunner.java | 18 +- .../subsystems/vision/ReplayVisionRunner.java | 78 +- .../subsystems/vision/SimVisionRunner.java | 117 +- .../vision/cameras/CameraProperties.java | 2 +- .../vision/cameras/TitanCamera.java | 4 +- .../cameras/TitanCameraCalibration.java | 18 + .../vision/result/NoteTrackingResult.java | 45 +- src/main/java/frc/robot/utils/PoseUtils.java | 9 + .../java/frc/robot/utils/gyro/GyroUtils.java | 5 +- .../frc/robot/utils/logging/LogUtils.java | 5 - .../robot/subsystems/drive/SwerveTest.java | 2 +- vendordeps/AdvantageKit.json | 10 +- vendordeps/ChoreoLib.json | 6 +- vendordeps/Phoenix6.json | 48 +- 141 files changed, 284735 insertions(+), 83729 deletions(-) create mode 100644 src/main/deploy/choreo/AltSourceCenter0_1_2NOTE.1.traj create mode 100644 src/main/deploy/choreo/AltSourceCenter0_1_2NOTE.2.traj create mode 100644 src/main/deploy/choreo/AltSourceCenter0_1_2NOTE.3.traj create mode 100644 src/main/deploy/choreo/AltSourceCenter0_1_2NOTE.4.traj create mode 100644 src/main/deploy/choreo/AltSourceCenter0_1_2NOTE.5.traj create mode 100644 src/main/deploy/choreo/AltSourceCenter0_1_2NOTE.6.traj create mode 100644 src/main/deploy/choreo/AltSourceCenter0_1_2NOTE.traj create mode 100644 src/main/deploy/choreo/AmpCenter3_2Note (1).1.traj create mode 100644 src/main/deploy/choreo/AmpCenter3_2Note (1).2.traj create mode 100644 src/main/deploy/choreo/AmpCenter3_2Note.1.traj create mode 100644 src/main/deploy/choreo/AmpCenter3_2Note.2.traj create mode 100644 src/main/deploy/choreo/AmpCenter3_2Note.traj create mode 100644 src/main/deploy/choreo/FightNorth.1.traj create mode 100644 src/main/deploy/choreo/FightNorth.2.traj create mode 100644 src/main/deploy/choreo/FightNorth.traj create mode 100644 src/main/deploy/choreo/NorthSourceCenter0_1_2.1.traj create mode 100644 src/main/deploy/choreo/NorthSourceCenter0_1_2.2.traj create mode 100644 src/main/deploy/choreo/NorthSourceCenter0_1_2.3.traj create mode 100644 src/main/deploy/choreo/NorthSourceCenter0_1_2.traj create mode 100644 src/main/java/frc/robot/subsystems/drive/estimator/PoseEstimator.java create mode 100644 src/main/java/frc/robot/subsystems/drive/estimator/SwerveDrivePoseEstimator.java diff --git a/choreo.chor b/choreo.chor index 0064732..58baa19 100644 --- a/choreo.chor +++ b/choreo.chor @@ -1,5 +1,5 @@ { - "version": "v0.3.1", + "version": "v0.4", "robotConfiguration": { "mass": 59.239164, "rotationalInertia": 1.793, @@ -57,352 +57,820 @@ "x": 0.7892991304397583, "y": 4.346817970275879, "heading": 2.101011772509917, - "angularVelocity": 1.189446680628619e-25, - "velocityX": -9.878033753371689e-25, - "velocityY": 1.443300667828419e-23, + "angularVelocity": 3.115734710538343e-19, + "velocityX": 2.1749871464802517e-18, + "velocityY": -4.641417619345192e-19, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], "timestamp": 0 }, { - "x": 0.8016918144360435, - "y": 4.344525119298707, - "heading": 2.1136796330971412, - "angularVelocity": 0.2644375896255093, - "velocityX": 0.2586933651822189, - "velocityY": -0.04786254013447211, - "timestamp": 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b/src/main/deploy/choreo/Speaker0_1_2Center4_3_2.4.traj index 453ff98..7fc0433 100644 --- a/src/main/deploy/choreo/Speaker0_1_2Center4_3_2.4.traj +++ b/src/main/deploy/choreo/Speaker0_1_2Center4_3_2.4.traj @@ -7,7 +7,19 @@ "angularVelocity": 9.166324650383306e-26, "velocityX": -8.349667641830109e-25, "velocityY": 3.432879336121136e-25, - "timestamp": 0 + "timestamp": 0, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 2.7929590329915377, @@ -16,7 +28,19 @@ "angularVelocity": -0.09928226923050573, "velocityX": 0.46033087339850437, "velocityY": 0.06187284180332167, - "timestamp": 0.0840972481236264 + "timestamp": 0.0840972481236264, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 2.8703840586850724, @@ -25,7 +49,19 @@ "angularVelocity": -0.19825710541778507, "velocityX": 0.9206606330294708, "velocityY": 0.12374778443471678, - "timestamp": 0.1681944962472528 + "timestamp": 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+3472,19 @@ "angularVelocity": -2.72166048536252, "velocityX": -2.228128358267006, "velocityY": -0.02542277815534536, - "timestamp": 5.732874004765317 + "timestamp": 5.732874004765317, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 7.50491994835131, @@ -1501,7 +3493,19 @@ "angularVelocity": -2.6434959104252918, "velocityX": -2.289326296381045, "velocityY": 0.06302471180487319, - "timestamp": 5.7556406271798455 + "timestamp": 5.7556406271798455, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 7.451470131610983, @@ -1510,7 +3514,19 @@ "angularVelocity": -2.557132441262097, "velocityX": -2.347727114155418, "velocityY": 0.15327352643636943, - "timestamp": 5.778407249594374 + "timestamp": 5.778407249594374, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 7.396771409875188, @@ -1519,7 +3535,19 @@ "angularVelocity": -2.4606581390604187, "velocityX": -2.4025839555756687, "velocityY": 0.2456257902017143, - "timestamp": 5.801173872008903 + "timestamp": 5.801173872008903, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 7.340928618071684, @@ -1528,7 +3556,19 @@ "angularVelocity": -2.351378531576293, "velocityX": -2.4528360327998473, "velocityY": 0.3404333098986118, - "timestamp": 5.823940494423431 + "timestamp": 5.823940494423431, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 7.284081962316178, @@ -1537,7 +3577,19 @@ "angularVelocity": -2.225467774184617, "velocityX": -2.496929703513257, "velocityY": 0.4380731358616606, - "timestamp": 5.84670711683796 + "timestamp": 5.84670711683796, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 7.22642497208616, @@ -1546,7 +3598,19 @@ "angularVelocity": -2.0775754108281936, "velocityX": -2.5325227950029587, "velocityY": 0.5388514408997898, - "timestamp": 5.869473739252489 + "timestamp": 5.869473739252489, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 7.168232935529183, @@ -1555,7 +3619,19 @@ "angularVelocity": -1.9008903326539497, "velocityX": -2.5560241434777966, "velocityY": 0.6427089630558697, - "timestamp": 5.892240361667017 + "timestamp": 5.892240361667017, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 7.109903948936797, @@ -1564,7 +3640,19 @@ "angularVelocity": -1.6900108495984625, "velocityX": -2.5620395300782013, "velocityY": 0.7484395595247797, - "timestamp": 5.915006984081546 + "timestamp": 5.915006984081546, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 7.052000689661826, @@ -1573,7 +3661,19 @@ "angularVelocity": -1.4532295625541172, "velocityX": -2.543339904386544, "velocityY": 0.8520336776505638, - "timestamp": 5.937773606496075 + "timestamp": 5.937773606496075, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.995239516535686, @@ -1582,7 +3682,19 @@ "angularVelocity": -1.2298510850300315, "velocityX": -2.493174968717245, "velocityY": 0.9444638585059854, - "timestamp": 5.960540228910603 + "timestamp": 5.960540228910603, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.940313561328219, @@ -1591,7 +3703,19 @@ "angularVelocity": -1.0538924546698574, "velocityX": -2.412564947377363, "velocityY": 1.0128828068620845, - "timestamp": 5.983306851325132 + "timestamp": 5.983306851325132, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.887641714323082, @@ -1600,7 +3724,19 @@ "angularVelocity": -0.9188197336459244, "velocityX": -2.3135556098793453, "velocityY": 1.0517159546606758, - "timestamp": 6.006073473739661 + "timestamp": 6.006073473739661, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.837381616579044, @@ -1609,7 +3745,19 @@ "angularVelocity": -0.8132725375883434, "velocityX": -2.2076220542914133, "velocityY": 1.0657230773912274, - "timestamp": 6.028840096154189 + "timestamp": 6.028840096154189, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.789559958513746, @@ -1618,7 +3766,19 @@ "angularVelocity": -0.7272200390727265, "velocityX": -2.100516150115495, "velocityY": 1.0619113680092265, - "timestamp": 6.051606718568718 + "timestamp": 6.051606718568718, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.744154540951473, @@ -1627,7 +3787,19 @@ "angularVelocity": -0.6542206325599044, "velocityX": -1.994385321438738, "velocityY": 1.0456889871544648, - "timestamp": 6.0743733409832465 + "timestamp": 6.0743733409832465, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.701128849795042, @@ -1636,7 +3808,19 @@ "angularVelocity": -0.5906757686788388, "velocityX": -1.8898583361656023, "velocityY": 1.0206576652413712, - "timestamp": 6.097139963397775 + "timestamp": 6.097139963397775, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.660444707728426, @@ -1645,7 +3829,19 @@ "angularVelocity": -0.5344292146657692, "velocityX": -1.7870082494385906, "velocityY": 0.9891729702679953, - "timestamp": 6.119906585812304 + "timestamp": 6.119906585812304, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.622066508258599, @@ -1654,7 +3850,19 @@ "angularVelocity": -0.4840423592818514, "velocityX": -1.6857221405550684, "velocityY": 0.9528087627360792, - "timestamp": 6.1426732082268325 + "timestamp": 6.1426732082268325, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.585962352007767, @@ -1663,7 +3871,19 @@ "angularVelocity": -0.43847679049806265, "velocityX": -1.585837178368261, "velocityY": 0.9126498607863986, - "timestamp": 6.165439830641361 + "timestamp": 6.165439830641361, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.552104070277294, @@ -1672,7 +3892,19 @@ "angularVelocity": -0.3969456032414495, "velocityX": -1.4871894967110906, "velocityY": 0.8694677620751261, - "timestamp": 6.18820645305589 + "timestamp": 6.18820645305589, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.520466880398079, @@ -1681,7 +3913,19 @@ "angularVelocity": -0.3588340630336901, "velocityX": -1.389630367789048, "velocityY": 0.8238270527806555, - "timestamp": 6.210973075470418 + "timestamp": 6.210973075470418, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.4910289533574606, @@ -1690,7 +3934,19 @@ "angularVelocity": -0.32365186350152675, "velocityX": -1.293030055342484, "velocityY": 0.7761514913882208, - "timestamp": 6.233739697884947 + "timestamp": 6.233739697884947, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.463770996229371, @@ -1699,7 +3955,19 @@ "angularVelocity": -0.29100178373703894, "velocityX": -1.1972771644288498, "velocityY": 0.7267662686783092, - "timestamp": 6.256506320299476 + "timestamp": 6.256506320299476, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.438675882483037, @@ -1708,7 +3976,19 @@ "angularVelocity": -0.2605579022702505, "velocityX": -1.1022765384082431, "velocityY": 0.6759258248072649, - "timestamp": 6.279272942714004 + "timestamp": 6.279272942714004, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.41572833631353, @@ -1717,7 +3997,19 @@ "angularVelocity": -0.23204987721083703, "velocityX": -1.007946886089899, "velocityY": 0.6238326600723056, - "timestamp": 6.302039565128533 + "timestamp": 6.302039565128533, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.394914667259154, @@ -1726,7 +4018,19 @@ "angularVelocity": -0.2052513075902901, "velocityX": -0.9142185729356702, "velocityY": 0.5706503723846142, - "timestamp": 6.324806187543062 + "timestamp": 6.324806187543062, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.376222548372071, @@ -1735,7 +4039,19 @@ "angularVelocity": -0.17997095005119831, "velocityX": -0.8210317080303613, "velocityY": 0.5165128968776492, - "timestamp": 6.34757280995759 + "timestamp": 6.34757280995759, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.35964083091888, @@ -1744,7 +4060,19 @@ "angularVelocity": -0.156045988646323, "velocityX": -0.7283345395410399, "velocityY": 0.46153118689078326, - "timestamp": 6.370339432372119 + "timestamp": 6.370339432372119, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.345159389276038, @@ -1753,7 +4081,19 @@ "angularVelocity": -0.1333368112497207, "velocityX": -0.6360821284408354, "velocityY": 0.40579813325302694, - "timestamp": 6.393106054786648 + "timestamp": 6.393106054786648, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.3327689906378515, @@ -1762,7 +4102,19 @@ "angularVelocity": -0.1117229095298847, "velocityX": -0.5442352586425051, "velocityY": 0.34939224626554444, - "timestamp": 6.415872677201176 + "timestamp": 6.415872677201176, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.3224611850913615, @@ -1771,7 +4123,19 @@ "angularVelocity": -0.09109962821412664, "velocityX": -0.452759542404157, "velocityY": 0.2923804528334574, - "timestamp": 6.438639299615705 + "timestamp": 6.438639299615705, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.314228212434999, @@ -1780,7 +4144,19 @@ "angularVelocity": -0.07137556392071973, "velocityX": -0.3616246848767531, "velocityY": 0.2348202502801366, - "timestamp": 6.461405922030234 + "timestamp": 6.461405922030234, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.308062922805055, @@ -1789,7 +4165,19 @@ "angularVelocity": -0.052470466063005185, "velocityX": -0.2708038776103256, "velocityY": 0.17676138534619593, - "timestamp": 6.484172544444762 + "timestamp": 6.484172544444762, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.30395870873408, @@ -1798,7 +4186,19 @@ "angularVelocity": -0.034313529565149985, "velocityX": -0.18027329641817885, "velocityY": 0.11824717786961372, - "timestamp": 6.506939166859291 + "timestamp": 6.506939166859291, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.301909446716309, @@ -1807,7 +4207,19 @@ "angularVelocity": -0.016841996063942093, "velocityX": -0.09001168379125686, "velocityY": 0.059315575178214175, - "timestamp": 6.5297057892738195 + "timestamp": 6.5297057892738195, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 6.301909446716309, @@ -1816,7 +4228,19 @@ "angularVelocity": 1.1292318959943017e-25, "velocityX": 2.328787896655831e-25, "velocityY": 1.2747012238178649e-25, - "timestamp": 6.552472411688348 + "timestamp": 6.552472411688348, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] } ], "eventMarkers": [] diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 878ef1d..72b55c7 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; -import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; import frc.robot.auto.AutoChooser; import frc.robot.auto.AutoOption; import frc.robot.auto.Autos; @@ -76,16 +75,15 @@ public class Robot extends LoggedRobot { public final Shooter shooter = new Shooter(Constants.CURRENT_MODE, HardwareConstants.SHOOTER); public final Superstructure superstructure = new Superstructure(arm, shooter); - @SuppressWarnings("unused") public final PhotonVision photonVision = new PhotonVision(Constants.CURRENT_MODE, swerve, swerve.getPoseEstimator()); public final NoteState noteState = new NoteState(Constants.CURRENT_MODE, intake); public final ShootCommands shootCommands = new ShootCommands(swerve, intake, superstructure, noteState); - public final Autos autos = new Autos(swerve, intake, superstructure, noteState, shootCommands); + public final Autos autos = new Autos(swerve, intake, superstructure, photonVision, noteState, shootCommands); public final AutoChooser autoChooser = new AutoChooser<>( new AutoOption( "DoNothing", - autos.doNothing(), + autos.driveAndNoteDetect(), Constants.CompetitionType.COMPETITION ) ); @@ -99,10 +97,8 @@ public class Robot extends LoggedRobot { private final Trigger autoEnabled = new Trigger(DriverStation::isAutonomousEnabled); private final Trigger teleopEnabled = new Trigger(DriverStation::isTeleopEnabled); - private final Trigger endgameTrigger = new Trigger( - () -> DriverStation.getMatchTime() <= 20 - && DriverStation.isFMSAttached() - ).and(teleopEnabled); + private final Trigger endgameTrigger = new Trigger(() -> DriverStation.getMatchTime() <= 20) + .and(DriverStation::isFMSAttached).and(teleopEnabled); @Override public void robotInit() { @@ -169,10 +165,8 @@ public void robotInit() { Logger.addDataReceiver(new NT4Publisher()); } case SIM -> { - // log to working directory when running sim - // setPath doesn't seem to work in sim (path is ignored and hoot files are always sent to /logs) -// SignalLogger.setPath("/logs"); - Logger.addDataReceiver(new WPILOGWriter("")); + SignalLogger.setPath("/logs"); + Logger.addDataReceiver(new WPILOGWriter("/logs")); Logger.addDataReceiver(new NT4Publisher()); } case REPLAY -> { @@ -214,13 +208,13 @@ public void robotInit() { LogUtils.getRequirementsFromSubsystems(interrupted.getRequirements()) ); - Logger.recordOutput("Commands/Interrupting", interrupting.isPresent() + Logger.recordOutput("Commands/Interrupter", interrupting.isPresent() ? interrupting.get().getName() : "None" ); Logger.recordOutput( - "Commands/InterruptingRequirements", + "Commands/InterrupterRequirements", LogUtils.getRequirementsFromSubsystems( interrupting.isPresent() ? interrupting.get().getRequirements() : Set.of() ) @@ -319,20 +313,20 @@ public void testInit() { coDriverController.y(testEventLoop).and(coDriverController.rightBumper(testEventLoop)) .whileTrue(shooter.torqueCurrentSysIdCommand()); - coDriverController.x(testEventLoop).and(coDriverController.rightBumper(testEventLoop)) - .whileTrue(arm.voltageSysIdCommand()); - - coDriverController.a(testEventLoop).and(coDriverController.rightBumper(testEventLoop)) - .whileTrue(intake.torqueCurrentSysIdCommand()); - - coDriverController.y(testEventLoop) - .whileTrue(swerve.linearTorqueCurrentSysIdQuasistaticCommand(SysIdRoutine.Direction.kForward)); - coDriverController.a(testEventLoop) - .whileTrue(swerve.linearTorqueCurrentSysIdQuasistaticCommand(SysIdRoutine.Direction.kReverse)); - coDriverController.b(testEventLoop) - .whileTrue(swerve.linearTorqueCurrentSysIdDynamicCommand(SysIdRoutine.Direction.kForward)); - coDriverController.x(testEventLoop) - .whileTrue(swerve.linearTorqueCurrentSysIdDynamicCommand(SysIdRoutine.Direction.kReverse)); +// coDriverController.x(testEventLoop).and(coDriverController.rightBumper(testEventLoop)) +// .whileTrue(arm.voltageSysIdCommand()); +// +// coDriverController.a(testEventLoop).and(coDriverController.rightBumper(testEventLoop)) +// .whileTrue(intake.torqueCurrentSysIdCommand()); + +// coDriverController.y(testEventLoop) +// .whileTrue(swerve.linearTorqueCurrentSysIdQuasistaticCommand(SysIdRoutine.Direction.kForward)); +// coDriverController.a(testEventLoop) +// .whileTrue(swerve.linearTorqueCurrentSysIdQuasistaticCommand(SysIdRoutine.Direction.kReverse)); +// coDriverController.b(testEventLoop) +// .whileTrue(swerve.linearTorqueCurrentSysIdDynamicCommand(SysIdRoutine.Direction.kForward)); +// coDriverController.x(testEventLoop) +// .whileTrue(swerve.linearTorqueCurrentSysIdDynamicCommand(SysIdRoutine.Direction.kReverse)); } @Override @@ -357,12 +351,12 @@ public void configureAutos() { autoChooser.addAutoOption(new AutoOption( "Speaker2_1_0", autos.speaker2_1_0(), - Constants.CompetitionType.COMPETITION + Constants.CompetitionType.TESTING )); autoChooser.addAutoOption(new AutoOption( "Speaker0_1_2", autos.speaker0_1_2(), - Constants.CompetitionType.COMPETITION + Constants.CompetitionType.TESTING )); autoChooser.addAutoOption(new AutoOption( "Speaker0_1_2Center4_3", @@ -431,6 +425,11 @@ public void configureAutos() { autos.altSourceCenter0_1_2(), Constants.CompetitionType.COMPETITION )); + autoChooser.addAutoOption(new AutoOption( + "NorthSourceCenter0_1_2", + autos.northSourceCenter0_1_2(), + Constants.CompetitionType.COMPETITION + )); autoChooser.addAutoOption(new AutoOption( "old_SourceCenter0_1_2", autos.sourceCenter0_1_2(), @@ -441,6 +440,11 @@ public void configureAutos() { autos.sourceCenter1_0_2(), Constants.CompetitionType.COMPETITION )); + autoChooser.addAutoOption(new AutoOption( + "FightNorth", + autos.fightNorth(), + Constants.CompetitionType.COMPETITION + )); autoChooser.addAutoOption(new AutoOption( "SourceSpeaker0", autos.sourceSpeaker0(), @@ -461,27 +465,56 @@ public void configureAutos() { autos.sourceSpeaker0Center1_2(), Constants.CompetitionType.TESTING )); - - autoChooser.addAutoOption(new AutoOption( "Walton", autos.walton(), Constants.CompetitionType.TESTING )); +// autoChooser.addAutoOption(new AutoOption( +// "FollowNoteAmp", +// autos.driveAndNoteDetect(), +// Constants.CompetitionType.TESTING +// )); +// autoChooser.addAutoOption(new AutoOption( +// "FollowNoteSource", +// autos.AltSourceCenter0_1_2NOTE(), +// Constants.CompetitionType.TESTING +// )); } @SuppressWarnings("RedundantSuppression") public void configureButtonBindings(final EventLoop teleopEventLoop) { + //noinspection SuspiciousNameCombination this.driverController.leftTrigger(0.5, teleopEventLoop) - .whileTrue(intake.intakeCommand()); + .whileTrue(Commands.parallel( + intake.intakeCommand().asProxy(), + swerve.teleopDriveAndAssistLineup( + driverController::getLeftY, + driverController::getLeftX, + driverController::getRightX, + IsRedAlliance, + () -> photonVision.getBestNotePose(swerve::getPose) + ) + )); +// this.driverController.leftTrigger(0.5, teleopEventLoop) +// .whileTrue(intake.intakeCommand()); + // 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( - ControllerUtils.rumbleForDurationCommand( - driverController.getHID(), - GenericHID.RumbleType.kBothRumble, - 0.5, - 0.5 + this.noteState.hasNote.and(teleopEnabled).onTrue( + Commands.parallel( + ControllerUtils.rumbleForDurationCommand( + driverController.getHID(), + GenericHID.RumbleType.kBothRumble, + 0.5, + 0.5 + ), + ControllerUtils.rumbleForDurationCommand( + coDriverController.getHID(), + GenericHID.RumbleType.kBothRumble, + 0.5, + 0.5 + ) ) ); diff --git a/src/main/java/frc/robot/auto/AutoChooser.java b/src/main/java/frc/robot/auto/AutoChooser.java index 618eb15..13f0181 100644 --- a/src/main/java/frc/robot/auto/AutoChooser.java +++ b/src/main/java/frc/robot/auto/AutoChooser.java @@ -11,7 +11,10 @@ import org.littletonrobotics.junction.inputs.LoggableInputs; import org.littletonrobotics.junction.networktables.LoggedDashboardInput; -import java.util.*; +import java.util.HashSet; +import java.util.LinkedHashMap; +import java.util.List; +import java.util.Map; import java.util.function.Function; public class AutoChooser implements AutoCloseable, LoggedDashboardInput { diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index 4f1c977..d27d5d3 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -4,6 +4,7 @@ import com.choreo.lib.ChoreoTrajectory; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Timer; @@ -18,8 +19,12 @@ import frc.robot.subsystems.intake.Intake; 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.*; +import java.util.List; +import java.util.Set; +import java.util.concurrent.atomic.AtomicReference; import java.util.function.DoubleSupplier; import java.util.function.Supplier; @@ -33,6 +38,7 @@ public class Autos { private final Swerve swerve; private final Intake intake; private final Superstructure superstructure; + private final PhotonVision photonVision; private final NoteState noteState; private final ShootCommands shootCommands; @@ -41,12 +47,14 @@ public Autos( final Swerve swerve, final Intake intake, final Superstructure superstructure, + final PhotonVision photonVision, final NoteState noteState, final ShootCommands shootCommands ) { this.swerve = swerve; this.intake = intake; this.superstructure = superstructure; + this.photonVision = photonVision; this.noteState = noteState; this.shootCommands = shootCommands; } @@ -134,13 +142,16 @@ private Command followPath(final ChoreoTrajectory choreoTrajectory) { } private Command followPath(final ChoreoTrajectory choreoTrajectory, final Timer timer) { - return Commands.runOnce(timer::start) - .andThen(followPath(choreoTrajectory)) - .finallyDo(timer::stop); + return Commands.parallel( + Commands.run(() -> Logger.recordOutput(LogKey + "/FollowTimer", timer.get())), + Commands.runOnce(timer::start) + .andThen(followPath(choreoTrajectory)) + .finallyDo(timer::stop) + ); } private Command resetPose(final ChoreoTrajectory trajectory) { - return Commands.defer(() -> swerve.resetPoseCommand( + return Commands.defer(() -> photonVision.resetPoseCommand( Robot.IsRedAlliance.getAsBoolean() ? trajectory.getFlippedInitialPose() : trajectory.getInitialPose() @@ -190,7 +201,7 @@ public EventLoop doNothing() { return doNothingEventLoop; } - + public EventLoop sourceSpeaker0() { final Timer timer = new Timer(); final AutoTriggers autoTriggers = new AutoTriggers("SourceSpeaker0", swerve::getPose, timer::get); @@ -331,7 +342,7 @@ public EventLoop ampSpeaker2Center2_3() { autoTriggers.atTime(0.4).onTrue( Commands.sequence( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ) ); @@ -345,7 +356,7 @@ public EventLoop ampSpeaker2Center2_3() { autoTriggers.atTime(3).onTrue( Commands.sequence( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ) ); @@ -358,7 +369,7 @@ public EventLoop ampSpeaker2Center2_3() { autoTriggers.atTime(7).onTrue( Commands.sequence( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ) ); @@ -380,50 +391,44 @@ public EventLoop speaker2_1_0() { autoTriggers.atTime(0.4).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); - autoTriggers.atTime(1.25).onTrue( + autoTriggers.atTime(1).onTrue( Commands.sequence( -// Commands.waitUntil(noteState.isStored) -// .withTimeout(2), - Commands.waitSeconds(0.5), + Commands.waitSeconds(1), shootCommands.deferredStopAimAndShoot().withName("Shoot0").asProxy(), followPath(autoTriggers.trajectories.get(1), timer).asProxy() ).withName("Shoot0AndFollow1") ); - autoTriggers.atTime(2).onTrue( + autoTriggers.atTime(2.3).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); - autoTriggers.atTime(3.87).onTrue( + autoTriggers.atTime(4.03).onTrue( Commands.sequence( -// Commands.waitUntil(noteState.isStored) -// .withTimeout(2), - Commands.waitSeconds(0.5), + Commands.waitSeconds(1), shootCommands.deferredStopAimAndShoot().withName("Shoot1").asProxy(), followPath(autoTriggers.trajectories.get(2), timer).asProxy() ).withName("Shoot1AndFollow2") ); - autoTriggers.atTime(4.3).onTrue( + autoTriggers.atTime(4.6).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake2") ); - autoTriggers.atTime(6.02).onTrue( + autoTriggers.atTime(6.03).onTrue( Commands.sequence( -// Commands.waitUntil(noteState.isStored) -// .withTimeout(2), - Commands.waitSeconds(0.5), + Commands.waitSeconds(1), shootCommands.deferredStopAimAndShoot().withName("Shoot2").asProxy() ).withName("Shoot2") ); @@ -449,7 +454,7 @@ public EventLoop sourceCenter1_0() { autoTriggers.atTime(1.7).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -463,7 +468,7 @@ public EventLoop sourceCenter1_0() { autoTriggers.atTime(6).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -485,7 +490,7 @@ public EventLoop ampCenter3_2() { autoTriggers.atTime(2).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -499,7 +504,7 @@ public EventLoop ampCenter3_2() { autoTriggers.atTime(6).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -521,7 +526,7 @@ public EventLoop ampCenter2_3() { autoTriggers.atTime(2).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -535,7 +540,7 @@ public EventLoop ampCenter2_3() { autoTriggers.atTime(5.85).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -557,7 +562,7 @@ public EventLoop ampCenter4_3() { autoTriggers.atTime(1.8).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -574,7 +579,7 @@ public EventLoop ampCenter4_3() { autoTriggers.atTime(5).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -599,7 +604,7 @@ public EventLoop ampCenter3_4() { autoTriggers.atTime(1.8).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -616,7 +621,7 @@ public EventLoop ampCenter3_4() { autoTriggers.atTime(5.2).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -794,17 +799,17 @@ public EventLoop speaker0_1_2Center4_3() { final AutoTriggers autoTriggers = new AutoTriggers(trajectoryName, swerve::getPose, timer::get); autoTriggers.autoEnabled().whileTrue( - Commands.sequence( - noteState.setState(NoteState.State.STORED), - resetPose(autoTriggers.trajectory), - shootCommands.shootSubwoofer().withName("ShootPreload").asProxy(), - Commands.runOnce(timer::reset), - followIntakeAndInstantShoot( - autoTriggers.trajectories.get(0), - timer, - 0.4 - ).asProxy().withName("Follow0AndIntakeInstantShoot0") - ).withName("PreloadFollow0AndShoot0") + Commands.sequence( + noteState.setState(NoteState.State.STORED), + resetPose(autoTriggers.trajectory), + shootCommands.shootSubwoofer().withName("ShootPreload").asProxy(), + Commands.runOnce(timer::reset), + followIntakeAndInstantShoot( + autoTriggers.trajectories.get(0), + timer, + 0.4 + ).asProxy().withName("Follow0AndIntakeInstantShoot0") + ).withName("PreloadFollow0AndShoot0") ); autoTriggers.atTime(1.13).onTrue( @@ -1032,7 +1037,7 @@ public EventLoop sourceCenter0_1_2() { autoTriggers.atTime(1.6).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -1050,7 +1055,7 @@ public EventLoop sourceCenter0_1_2() { autoTriggers.atTime(6).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -1094,7 +1099,7 @@ public EventLoop altSourceCenter0_1_2() { autoTriggers.atTime(1.6).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), Commands.sequence( Commands.waitUntil(noteState.hasNote), shootCommands.readySuperstructureForShot().asProxy() @@ -1115,7 +1120,7 @@ public EventLoop altSourceCenter0_1_2() { autoTriggers.atTime(5.5).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), Commands.sequence( Commands.waitUntil(noteState.hasNote), shootCommands.readySuperstructureForShot().asProxy() @@ -1153,6 +1158,121 @@ public EventLoop altSourceCenter0_1_2() { return autoTriggers.eventLoop; } + public EventLoop northSourceCenter0_1_2() { + final String trajectoryName = "NorthSourceCenter0_1_2"; + final Timer timer = new Timer(); + final AutoTriggers autoTriggers = new AutoTriggers(trajectoryName, swerve::getPose, timer::get); + + autoTriggers.autoEnabled().whileTrue(preloadSubwooferAndFollow0(autoTriggers.trajectories, timer)); + + autoTriggers.atTime(1.6).onTrue( + Commands.parallel( + intake.intakeCommand().asProxy(), + Commands.sequence( + Commands.waitUntil(noteState.hasNote), + shootCommands.readySuperstructureForShot().asProxy() + ) + ).withName("Intake0") + ); + + autoTriggers.atTime(4.8).onTrue( + Commands.sequence( + shootCommands.deferredStopAimAndShoot() + .onlyIf(noteState.hasNote) + .withName("Shoot0") + .asProxy(), + superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy(), + followPath(autoTriggers.trajectories.get(1), timer).asProxy() + ).withName("Shoot0AndFollow1") + ); + + autoTriggers.atTime(5.5).onTrue( + Commands.parallel( + intake.intakeCommand().asProxy(), + Commands.sequence( + Commands.waitUntil(noteState.hasNote), + shootCommands.readySuperstructureForShot().asProxy() + ).withTimeout(3) + ).withName("Intake1") + ); + + autoTriggers.atTime(8.87).onTrue( + Commands.sequence( + shootCommands.deferredStopAimAndShoot() + .onlyIf(noteState.hasNote) + .withName("Shoot1") + .asProxy(), + superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy(), + followPath(autoTriggers.trajectories.get(2), timer).asProxy() + ).withName("Shoot1AndFollow2") + ); + + autoTriggers.atTime(9.8).onTrue( + Commands.parallel( + intake.intakeCommand() + ).withName("Intake2") + ); + + autoTriggers.atTime(12.79).onTrue( + Commands.sequence( + shootCommands.deferredStopAimAndShoot() + .onlyIf(noteState.hasNote) + .withName("Shoot2") + .asProxy(), + superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy() + ).withName("Shoot2") + ); + + return autoTriggers.eventLoop; + } + + public EventLoop fightNorth() { + final String trajectoryName = "FightNorth"; + final Timer timer = new Timer(); + final AutoTriggers autoTriggers = new AutoTriggers(trajectoryName, swerve::getPose, timer::get); + + autoTriggers.autoEnabled().whileTrue(preloadSubwooferAndFollow0(autoTriggers.trajectories, timer)); + + autoTriggers.atTime(1.5).onTrue( + Commands.parallel( + intake.intakeCommand().asProxy(), + Commands.sequence( + Commands.waitUntil(noteState.hasNote), + shootCommands.readySuperstructureForShot().asProxy() + ) + ).withName("Intake1") + ); + + autoTriggers.atTime(4.77).onTrue( + Commands.sequence( + shootCommands.deferredStopAimAndShoot() + .onlyIf(noteState.hasNote) + .withName("Shoot1") + .asProxy(), + superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy(), + followPath(autoTriggers.trajectories.get(1), timer).asProxy() + ).withName("Shoot1AndFollow2") + ); + + autoTriggers.atTime(5.5).onTrue( + Commands.parallel( + intake.intakeCommand() + ).withName("Intake2") + ); + + autoTriggers.atTime(8.66).onTrue( + Commands.sequence( + shootCommands.deferredStopAimAndShoot() + .onlyIf(noteState.hasNote) + .withName("Shoot2") + .asProxy(), + superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy() + ).withName("Shoot2") + ); + + return autoTriggers.eventLoop; + } + public EventLoop sourceCenter1_0_2() { final String trajectoryName = "SourceCenter1_0_2"; final Timer timer = new Timer(); @@ -1162,7 +1282,7 @@ public EventLoop sourceCenter1_0_2() { autoTriggers.atTime(1.8).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), Commands.sequence( Commands.waitUntil(noteState.hasNote), shootCommands.readySuperstructureForShot().asProxy() @@ -1183,7 +1303,7 @@ public EventLoop sourceCenter1_0_2() { autoTriggers.atTime(6.2).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), Commands.sequence( Commands.waitUntil(noteState.hasNote), shootCommands.readySuperstructureForShot().asProxy() @@ -1220,4 +1340,162 @@ public EventLoop sourceCenter1_0_2() { return autoTriggers.eventLoop; } + + public EventLoop followNote() { + final EventLoop eventLoop = new EventLoop(); + final Trigger trigger = new Trigger(eventLoop, DriverStation::isAutonomousEnabled);; + + trigger.whileTrue( + Commands.repeatingSequence( + Commands.parallel( + superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy(), + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), + Commands.repeatingSequence( + intake.intakeCommand().asProxy(), + superstructure.toInstantGoal(Superstructure.Goal.EJECT).asProxy(), + Commands.waitSeconds(1), + intake.feedCommand().asProxy() + ) + ) + ) + ); + return eventLoop; + } + + public EventLoop driveAndNoteDetect() { + final String trajectoryName = "AmpCenter3_2Note"; + final Timer timer = new Timer(); + final AutoTriggers autoTriggers = new AutoTriggers(trajectoryName, swerve::getPose, timer::get); + final AtomicReference preNoteTrackPose = new AtomicReference<>(new Pose2d()); + + autoTriggers.autoEnabled().whileTrue(preloadSubwooferAndFollow0(autoTriggers.trajectories, timer)); + + autoTriggers.atTime(2.35).onTrue( + Commands.parallel( + intake.intakeCommand().asProxy(), + Commands.sequence( + Commands.runOnce(() -> preNoteTrackPose.set(swerve.getPose())), + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)) + .until(noteState.hasNote), + swerve.driveToPose( + preNoteTrackPose::get, + new Pose2d(1, 1, Rotation2d.fromDegrees(6)) + ), + followPath(autoTriggers.trajectories.get(1), timer) + ), + Commands.sequence( + Commands.waitUntil(noteState.hasNote), + shootCommands.readySuperstructureForShot().asProxy() + ) + ).withName("Intake0") + ); + + autoTriggers.atTime(3.76).onTrue( + Commands.sequence( + shootCommands.deferredStopAimAndShoot() + .onlyIf(noteState.hasNote) + .withName("Shoot0") + .asProxy(), + superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy() + ).withName("Shoot0AndFollow1") + ); + return autoTriggers.eventLoop; + } + + public EventLoop AltSourceCenter0_1_2NOTE() { + final String trajectoryName = "AltSourceCenter0_1_2NOTE"; + final Timer timer = new Timer(); + final AutoTriggers autoTriggers = new AutoTriggers(trajectoryName, swerve::getPose, timer::get); + + autoTriggers.autoEnabled().whileTrue(preloadSubwooferAndFollow0(autoTriggers.trajectories, timer)); + + autoTriggers.atTime(2.49).onTrue( + Commands.parallel( + intake.intakeCommand().asProxy(), + Commands.sequence( + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)) + .until(noteState.hasNote), + swerve.driveToPose( + autoTriggers.trajectories.get(0)::getFinalPose, + new Pose2d(1.5, 1.5, Rotation2d.fromDegrees(7)) + ), + followPath(autoTriggers.trajectories.get(1), timer).asProxy() + ), + Commands.sequence( + Commands.waitUntil(noteState.hasNote), + shootCommands.readySuperstructureForShot().asProxy() + ) + ).withName("Intake0") + ); + + autoTriggers.atTime(4.17).onTrue( + Commands.sequence( + shootCommands.deferredStopAimAndShoot() + .onlyIf(noteState.hasNote) + .withName("Shoot0") + .asProxy(), + superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy(), + followPath(autoTriggers.trajectories.get(1), timer).asProxy() + ).withName("Shoot0AndFollow1") + ); + + autoTriggers.atTime(5.8).onTrue( + Commands.parallel( + intake.intakeCommand().asProxy(), + Commands.sequence( + 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)) + ), + followPath(autoTriggers.trajectories.get(2), timer).asProxy() + ), + Commands.sequence( + Commands.waitUntil(noteState.hasNote), + shootCommands.readySuperstructureForShot().asProxy() + ) + ).withName("Intake1") + ); + + autoTriggers.atTime(7.5).onTrue( + Commands.sequence( + shootCommands.deferredStopAimAndShoot() + .onlyIf(noteState.hasNote) + .withName("Shoot1") + .asProxy(), + superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy(), + followPath(autoTriggers.trajectories.get(2), timer).asProxy() + ).withName("Shoot1AndFollow2") + ); + + autoTriggers.atTime(9.36).onTrue( + Commands.parallel( + intake.intakeCommand().asProxy(), + Commands.sequence( + 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)) + ), + followPath(autoTriggers.trajectories.get(2), timer).asProxy() + ), + Commands.sequence( + Commands.waitUntil(noteState.hasNote), + shootCommands.readySuperstructureForShot().asProxy() + ) + ).withName("Intake2") + ); + + autoTriggers.atTime(11.1).onTrue( + Commands.sequence( + shootCommands.deferredStopAimAndShoot() + .onlyIf(noteState.hasNote) + .withName("Shoot2") + .asProxy(), + superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy() + ).withName("Shoot2") + ); + + return autoTriggers.eventLoop; + } } diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 5322891..3a86fb2 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -11,13 +11,14 @@ public interface Constants { RobotMode CURRENT_MODE = RobotMode.REAL; - CompetitionType CURRENT_COMPETITION_TYPE = CompetitionType.TESTING; + CompetitionType CURRENT_COMPETITION_TYPE = CompetitionType.COMPETITION; double LOOP_PERIOD_SECONDS = 0.02; enum RobotMode { REAL, SIM, - REPLAY + REPLAY, + DISABLED } enum CompetitionType { @@ -39,16 +40,20 @@ interface Vision { new Translation3d(Units.inchesToMeters(11.862), Units.inchesToMeters(12.681), Units.inchesToMeters(8.947)), new Rotation3d(0, Units.degreesToRadians(-25), Units.degreesToRadians(20)) ); - Transform3d ROBOT_TO_FC_APRILTAG = new Transform3d( new Translation3d(Units.inchesToMeters(13.36613), Units.inchesToMeters(8.5202), Units.inchesToMeters(6.759)), new Rotation3d(0, Units.degreesToRadians(-30), 0) ); - Transform3d ROBOT_TO_FR_APRILTAG = new Transform3d( new Translation3d(Units.inchesToMeters(11.838), Units.inchesToMeters(-12.861), Units.inchesToMeters(8.947)), new Rotation3d(0, Units.degreesToRadians(-25), Units.degreesToRadians(-20)) ); + Transform3d ROBOT_TO_REAR_NOTE = new Transform3d( + new Translation3d(Units.inchesToMeters(-16), Units.inchesToMeters(0), Units.inchesToMeters(14)), + new Rotation3d(0, Units.degreesToRadians(22), Units.degreesToRadians(180)) + ); + + double NOTE_HEIGHT_Z = Units.inchesToMeters(2); /** * Standard deviations of the supplied pose estimate (before vision, likely to be solely wheel odometry) diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java index 6ceb52e..22cbe99 100644 --- a/src/main/java/frc/robot/constants/FieldConstants.java +++ b/src/main/java/frc/robot/constants/FieldConstants.java @@ -36,6 +36,14 @@ public class FieldConstants { public static final Pose2d RED_AMP_POSE = PoseUtils.flip(BLUE_AMP_POSE); public static final Pose2d RED_AMP_SCORING_POSE = PoseUtils.flip(BLUE_AMP_SCORING_POSE); + public static final Pose2d[] CENTER_LINE_NOTE_POSES = new Pose2d[] { + new Pose2d(FIELD_LENGTH_X_METERS/2, 7.47, Rotation2d.fromDegrees(0)), + new Pose2d(FIELD_LENGTH_X_METERS/2, 5.79, Rotation2d.fromDegrees(0)), + new Pose2d(FIELD_LENGTH_X_METERS/2, FIELD_WIDTH_Y_METERS / 2.0, Rotation2d.fromDegrees(0)), + new Pose2d(FIELD_LENGTH_X_METERS/2, FIELD_WIDTH_Y_METERS - 5.79, Rotation2d.fromDegrees(0)), + new Pose2d(FIELD_LENGTH_X_METERS/2, FIELD_WIDTH_Y_METERS - 7.47, Rotation2d.fromDegrees(0)), + }; + private static Pose2d getAllianceFlippedPose(final Pose2d blueAlliancePose, final Pose2d redAlliancePose) { final Optional alliance = DriverStation.getAlliance(); if (alliance.isPresent()) { diff --git a/src/main/java/frc/robot/constants/RobotMap.java b/src/main/java/frc/robot/constants/RobotMap.java index d78fbef..231d7a8 100644 --- a/src/main/java/frc/robot/constants/RobotMap.java +++ b/src/main/java/frc/robot/constants/RobotMap.java @@ -2,7 +2,6 @@ public interface RobotMap { int PowerDistributionHub = 1; - int Pigeon = 13; String RioCANBus = "rio"; String CanivoreCANBus = "CANivore"; diff --git a/src/main/java/frc/robot/constants/SimConstants.java b/src/main/java/frc/robot/constants/SimConstants.java index 81816f9..cb2b0ec 100644 --- a/src/main/java/frc/robot/constants/SimConstants.java +++ b/src/main/java/frc/robot/constants/SimConstants.java @@ -5,6 +5,7 @@ import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.util.Units; import frc.robot.subsystems.drive.constants.SwerveConstants; +import org.photonvision.estimation.TargetModel; public interface SimConstants { // Assume 2mOhm resistance for voltage drop calculation @@ -41,4 +42,9 @@ interface SwerveModules { /** Simulated steer voltage required to overcome friction. */ double STEER_KS_VOLTS = 0.25; } + + interface Vision { + TargetModel NOTE_TARGET_MODEL = + new TargetModel(Units.inchesToMeters(14), Units.inchesToMeters(14), Units.inchesToMeters(2)); + } } diff --git a/src/main/java/frc/robot/state/NoteState.java b/src/main/java/frc/robot/state/NoteState.java index 8b26971..0e01b7d 100644 --- a/src/main/java/frc/robot/state/NoteState.java +++ b/src/main/java/frc/robot/state/NoteState.java @@ -36,6 +36,7 @@ public enum State { public final Trigger hasNote = isStoring.or(isStored).or(isFeeding); public final BooleanSupplier shouldStoreNotes; + private boolean isSimNotePresent = true; public NoteState(final Constants.RobotMode mode, final Intake intake) { this.intake = intake; @@ -113,10 +114,14 @@ private Command setIntakeSensorState(final boolean shooterBeamBroken) { return Commands.runOnce(() -> intake.setBeamBreakSensorState(shooterBeamBroken)); } + public void isSimNotePresent(final boolean isNotePresent) { + this.isSimNotePresent = isNotePresent; + } + public void configureSimTriggers() { final ThreadLocalRandom random = ThreadLocalRandom.current(); - intake.intaking.and(hasNote.negate()).and(intake.shooterBeamBreakBroken.negate()) + intake.intaking.and(hasNote.negate()).and(intake.shooterBeamBreakBroken.negate()).and(() -> isSimNotePresent) .whileTrue(Commands.sequence( waitRand(random, 0.1, 2), Commands.waitSeconds(0.15), diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index b7ffa66..21e9b93 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -13,11 +13,7 @@ import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.ProfiledPIDController; -import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModulePosition; @@ -37,6 +33,7 @@ import frc.robot.constants.Constants; import frc.robot.constants.HardwareConstants; import frc.robot.subsystems.drive.constants.SwerveConstants; +import frc.robot.subsystems.drive.estimator.SwerveDrivePoseEstimator; import frc.robot.subsystems.drive.trajectory.HolonomicChoreoController; import frc.robot.subsystems.drive.trajectory.HolonomicDriveWithPIDController; import frc.robot.subsystems.gyro.Gyro; @@ -46,6 +43,9 @@ import frc.robot.utils.teleop.Profiler; import org.littletonrobotics.junction.Logger; +import java.util.Optional; +import java.util.concurrent.atomic.AtomicBoolean; +import java.util.concurrent.atomic.AtomicReference; import java.util.concurrent.locks.ReentrantReadWriteLock; import java.util.function.BooleanSupplier; import java.util.function.Consumer; @@ -89,6 +89,7 @@ public class Swerve extends SubsystemBase { private boolean headingControllerActive = false; private Rotation2d headingTarget = new Rotation2d(); private final PIDController headingController; + private final Pose2d holonomicPoseTolerance = new Pose2d(0.05, 0.05, Rotation2d.fromDegrees(6)); public final Trigger atHolonomicDrivePose; private boolean holonomicControllerActive = false; @@ -317,8 +318,8 @@ public void periodic() { } Logger.recordOutput( - LogKey + "/IsUsingFallbackSimGyro", - mode == Constants.RobotMode.REAL && !gyro.isReal() + LogKey + "/IsUsingFallbackSimGyro", + mode == Constants.RobotMode.REAL && !gyro.isReal() ); Logger.recordOutput( @@ -359,6 +360,10 @@ public Pose2d getPose() { return poseEstimator.getEstimatedPosition(); } + public Optional getPose(final double atTimestamp) { + return poseEstimator.sampleAt(atTimestamp); + } + public Gyro getGyro() { return gyro; } @@ -399,20 +404,16 @@ public Command zeroRotationCommand() { return runOnce(this::zeroRotation); } - public void resetPose(final Pose2d robotPose) { + private void resetPose(final Pose2d robotPose) { poseEstimator.resetPosition(gyro.getYawRotation2d(), getModulePositions(), robotPose); } - public Command resetPoseCommand(final Pose2d robotPose) { - return runOnce(() -> resetPose(robotPose)); - } - public ChassisSpeeds getRobotRelativeSpeeds() { return kinematics.toChassisSpeeds( - frontLeft.getState(), - frontRight.getState(), - backLeft.getState(), - backRight.getState() + frontLeft.getState(), + frontRight.getState(), + backLeft.getState(), + backRight.getState() ); } @@ -474,9 +475,9 @@ public void drive(final SwerveModuleState[] states, final ChassisSpeeds desiredS } public void drive( - final double xSpeed, - final double ySpeed, - final double omega, + final double xSpeedMeterPerSec, + final double ySpeedMetersPerSec, + final double omegaRadsPerSec, final boolean fieldRelative, final boolean invertYaw ) { @@ -484,15 +485,15 @@ public void drive( if (fieldRelative) { final Rotation2d poseYaw = getYaw(); speeds = ChassisSpeeds.fromFieldRelativeSpeeds( - xSpeed, - ySpeed, - omega, + xSpeedMeterPerSec, + ySpeedMetersPerSec, + omegaRadsPerSec, invertYaw ? poseYaw.plus(Rotation2d.fromRadians(Math.PI)) : poseYaw ); } else { - speeds = new ChassisSpeeds(xSpeed, ySpeed, omega); + speeds = new ChassisSpeeds(xSpeedMeterPerSec, ySpeedMetersPerSec, omegaRadsPerSec); } drive(speeds); @@ -544,6 +545,119 @@ public Command teleopDriveCommand( }); } + public Command teleopDriveAndAssistLineup( + final DoubleSupplier xSpeedSupplier, + final DoubleSupplier ySpeedSupplier, + final DoubleSupplier rotSupplier, + final BooleanSupplier invertYaw, + final Supplier> optionalLineupPoseSupplier + ) { + final AtomicBoolean continuousTracking = new AtomicBoolean(true); + final AtomicReference steadyNotePose = new AtomicReference<>(); + + return Commands.sequence( + runOnce(() -> { + continuousTracking.set(true); + steadyNotePose.set(new Pose2d()); + }), + run(() -> { + final Profiler.DriverProfile driverProfile = Profiler.getDriverProfile(); + final Profiler.SwerveSpeed swerveSpeed = Profiler.getSwerveSpeed(); + + final Translation2d translationInput = ControllerUtils.calculateLinearVelocity( + -xSpeedSupplier.getAsDouble(), + -ySpeedSupplier.getAsDouble(), + 0.01 + ); + final double rotationInput = ControllerUtils.getStickSquaredInput( + -rotSupplier.getAsDouble(), + 0.01 + ); + + final Optional optionalLineupPose = optionalLineupPoseSupplier.get(); + if (optionalLineupPose.isPresent()) { + final Pose2d robotPose = getPose(); + final Pose2d lineupPose; + if (continuousTracking.get()) { + lineupPose = optionalLineupPose.get(); + } else { + lineupPose = steadyNotePose.get(); + } + Logger.recordOutput(LogKey + "/NoteLineUp/LastLineupPose", lineupPose); + + final double noteDistance = robotPose.minus(lineupPose).getTranslation().getNorm(); + if (continuousTracking.get() && noteDistance < 0.8) { + continuousTracking.set(false); + steadyNotePose.set(lineupPose); + } + Logger.recordOutput(LogKey + "/NoteLineUp/NoteDistance", noteDistance); + + final Pose2d robotRelativeLineupPose = lineupPose.relativeTo(robotPose); + final Translation2d robotRelativeLineupTranslation = robotRelativeLineupPose.getTranslation(); + + final Translation2d robotRelativeJoysticks = translationInput + .rotateBy( + robotPose + .getRotation() + .rotateBy(Rotation2d.fromDegrees(invertYaw.getAsBoolean() ? 180 : 0)) + .unaryMinus() + ); + final Translation2d joyStickUnitVector = robotRelativeJoysticks.div(robotRelativeJoysticks.getNorm()); + final Translation2d lineupUnitVector = robotRelativeLineupTranslation + .div(robotRelativeLineupTranslation.getNorm()); + final double dotProduct = joyStickUnitVector.getX() * lineupUnitVector.getX() + + joyStickUnitVector.getY() * lineupUnitVector.getY(); + + Logger.recordOutput(LogKey + "/NoteLineUp/JoyStickUnitVector", robotPose.transformBy( + new Transform2d(joyStickUnitVector, Rotation2d.fromDegrees(0)) + )); + Logger.recordOutput(LogKey + "/NoteLineUp/LineupUnitVector", robotPose.transformBy( + new Transform2d(lineupUnitVector, Rotation2d.fromDegrees(0)) + )); + Logger.recordOutput(LogKey + "/NoteLineUp/DotProduct", dotProduct); + + final Translation2d assistedSpeeds = joyStickUnitVector + .interpolate(lineupUnitVector, dotProduct) + .times(robotRelativeJoysticks.getNorm()) + .rotateBy(robotPose + .getRotation() + .rotateBy(Rotation2d.fromDegrees(invertYaw.getAsBoolean() ? 180 : 0)) + ); + + Logger.recordOutput(LogKey + "/NoteLineUp/AssistedSpeeds", assistedSpeeds); + + drive( + assistedSpeeds.getX() + * swerveSpeed.getTranslationSpeed() + * driverProfile.getTranslationSensitivity(), + assistedSpeeds.getY() + * swerveSpeed.getTranslationSpeed() + * driverProfile.getTranslationSensitivity(), + rotationInput + * swerveSpeed.getRotationSpeed() + * driverProfile.getRotationalSensitivity(), + true, + invertYaw.getAsBoolean() + ); + } else { + drive( + translationInput.getX() + * swerveSpeed.getTranslationSpeed() + * driverProfile.getTranslationSensitivity(), + translationInput.getY() + * swerveSpeed.getTranslationSpeed() + * driverProfile.getTranslationSensitivity(), + rotationInput + * swerveSpeed.getRotationSpeed() + * driverProfile.getRotationalSensitivity(), + true, + invertYaw.getAsBoolean() + ); + } + }) + ); + } + public Command teleopFacingAngleCommand( final DoubleSupplier xSpeedSupplier, final DoubleSupplier ySpeedSupplier, @@ -613,6 +727,44 @@ public Command driveToPose(final Supplier poseSupplier) { ).finallyDo(() -> holonomicControllerActive = false); } + public Command driveToPose(final Supplier poseSupplier, final Pose2d poseTolerance) { + return Commands.sequence( + runOnce(() -> { + holonomicControllerActive = true; + holonomicDriveWithPIDController.setTolerance(poseTolerance); + holonomicDriveWithPIDController.reset(getPose(), getRobotRelativeSpeeds()); + }), + run(() -> { + this.holonomicPoseTarget = poseSupplier.get(); + drive(holonomicDriveWithPIDController.calculate(getPose(), holonomicPoseTarget)); + }).until(holonomicDriveWithPIDController::atReference), + runOnce(this::stop) + ).finallyDo(() -> { + holonomicControllerActive = false; + holonomicDriveWithPIDController.setTolerance(holonomicPoseTolerance); + }); + } + + public Command driveToOptionalPose(final Supplier> poseSupplier) { + return Commands.sequence( + runOnce(() -> { + holonomicControllerActive = true; + holonomicDriveWithPIDController.reset(getPose(), getRobotRelativeSpeeds()); + }), + run(() -> { + final Optional pose = poseSupplier.get(); + if (pose.isPresent()) { + this.holonomicPoseTarget = pose.get(); + drive(holonomicDriveWithPIDController.calculate(getPose(), holonomicPoseTarget)); + } else { + stop(); + } + }).until(holonomicDriveWithPIDController::atReference), + runOnce(this::stop) + ).finallyDo(() -> holonomicControllerActive = false); + } + + public void stop() { drive(new ChassisSpeeds()); } diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveModule.java b/src/main/java/frc/robot/subsystems/drive/SwerveModule.java index e06dce8..c683714 100644 --- a/src/main/java/frc/robot/subsystems/drive/SwerveModule.java +++ b/src/main/java/frc/robot/subsystems/drive/SwerveModule.java @@ -30,7 +30,7 @@ public SwerveModule( this.moduleIO = switch (robotMode) { case REAL -> new SwerveModuleIOTalonFX(constants, odometryThreadRunner); case SIM -> new SwerveModuleIOTalonFXSim(constants, odometryThreadRunner); - case REPLAY -> new SwerveModuleIO() {}; + case REPLAY, DISABLED -> new SwerveModuleIO() {}; }; this.moduleIO.config(); diff --git a/src/main/java/frc/robot/subsystems/drive/estimator/PoseEstimator.java b/src/main/java/frc/robot/subsystems/drive/estimator/PoseEstimator.java new file mode 100644 index 0000000..bbb63d4 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/estimator/PoseEstimator.java @@ -0,0 +1,356 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package frc.robot.subsystems.drive.estimator; + +import edu.wpi.first.math.MathSharedStore; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Twist2d; +import edu.wpi.first.math.interpolation.Interpolatable; +import edu.wpi.first.math.interpolation.TimeInterpolatableBuffer; +import edu.wpi.first.math.kinematics.Kinematics; +import edu.wpi.first.math.kinematics.Odometry; +import edu.wpi.first.math.kinematics.WheelPositions; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; + +import java.util.Map; +import java.util.NoSuchElementException; +import java.util.Objects; +import java.util.Optional; + +/** + * This class wraps {@link Odometry} to fuse latency-compensated vision measurements with encoder + * measurements. Robot code should not use this directly- Instead, use the particular type for your + * drivetrain (e.g., {@link DifferentialDrivePoseEstimator}). It is intended to be a drop-in + * replacement for {@link Odometry}; in fact, if you never call {@link + * PoseEstimator#addVisionMeasurement} and only call {@link PoseEstimator#update} then this will + * behave exactly the same as Odometry. + * + *

{@link PoseEstimator#update} should be called every robot loop. + * + *

{@link PoseEstimator#addVisionMeasurement} can be called as infrequently as you want; if you + * never call it then this class will behave exactly like regular encoder odometry. + * + * @param Wheel positions type. + */ +@SuppressWarnings("ALL") +public class PoseEstimator> { + private final Kinematics m_kinematics; + private final Odometry m_odometry; + private final Matrix m_q = new Matrix<>(Nat.N3(), Nat.N1()); + private final Matrix m_visionK = new Matrix<>(Nat.N3(), Nat.N3()); + + private static final double kBufferDuration = 1.5; + private final TimeInterpolatableBuffer m_poseBuffer = + TimeInterpolatableBuffer.createBuffer(kBufferDuration); + + /** + * Constructs a PoseEstimator. + * + * @param kinematics A correctly-configured kinematics object for your drivetrain. + * @param odometry A correctly-configured odometry object for your drivetrain. + * @param stateStdDevs Standard deviations of the pose estimate (x position in meters, y position + * in meters, and heading in radians). Increase these numbers to trust your state estimate + * less. + * @param visionMeasurementStdDevs Standard deviations of the vision pose measurement (x position + * in meters, y position in meters, and heading in radians). Increase these numbers to trust + * the vision pose measurement less. + */ + public PoseEstimator( + Kinematics kinematics, + Odometry odometry, + Matrix stateStdDevs, + Matrix visionMeasurementStdDevs + ) { + m_kinematics = kinematics; + m_odometry = odometry; + + for (int i = 0; i < 3; ++i) { + m_q.set(i, 0, stateStdDevs.get(i, 0) * stateStdDevs.get(i, 0)); + } + setVisionMeasurementStdDevs(visionMeasurementStdDevs); + } + + /** + * Sets the pose estimator's trust of global measurements. This might be used to change trust in + * vision measurements after the autonomous period, or to change trust as distance to a vision + * target increases. + * + * @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these + * numbers to trust global measurements from vision less. This matrix is in the form [x, y, + * theta]áµ€, with units in meters and radians. + */ + public final void setVisionMeasurementStdDevs(Matrix visionMeasurementStdDevs) { + var r = new double[3]; + for (int i = 0; i < 3; ++i) { + r[i] = visionMeasurementStdDevs.get(i, 0) * visionMeasurementStdDevs.get(i, 0); + } + + // Solve for closed form Kalman gain for continuous Kalman filter with A = 0 + // and C = I. See wpimath/algorithms.md. + for (int row = 0; row < 3; ++row) { + if (m_q.get(row, 0) == 0.0) { + m_visionK.set(row, row, 0.0); + } else { + m_visionK.set( + row, row, m_q.get(row, 0) / (m_q.get(row, 0) + Math.sqrt(m_q.get(row, 0) * r[row]))); + } + } + } + + /** + * Resets the robot's position on the field. + * + *

The gyroscope angle does not need to be reset here on the user's robot code. The library + * automatically takes care of offsetting the gyro angle. + * + * @param gyroAngle The angle reported by the gyroscope. + * @param wheelPositions The current encoder readings. + * @param poseMeters The position on the field that your robot is at. + */ + public void resetPosition(Rotation2d gyroAngle, T wheelPositions, Pose2d poseMeters) { + // Reset state estimate and error covariance + m_odometry.resetPosition(gyroAngle, wheelPositions, poseMeters); + m_poseBuffer.clear(); + } + + /** + * Gets the estimated robot pose. + * + * @return The estimated robot pose in meters. + */ + public Pose2d getEstimatedPosition() { + return m_odometry.getPoseMeters(); + } + + /** + * Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate + * while still accounting for measurement noise. + * + *

This method can be called as infrequently as you want, as long as you are calling {@link + * PoseEstimator#update} every loop. + * + *

To promote stability of the pose estimate and make it robust to bad vision data, we + * recommend only adding vision measurements that are already within one meter or so of the + * current pose estimate. + * + * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera. + * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you + * don't use your own time source by calling {@link + * PoseEstimator#updateWithTime(double,Rotation2d,WheelPositions)} then you must use a + * timestamp with an epoch since FPGA startup (i.e., the epoch of this timestamp is the same + * epoch as {@link edu.wpi.first.wpilibj.Timer#getFPGATimestamp()}.) This means that you + * should use {@link edu.wpi.first.wpilibj.Timer#getFPGATimestamp()} as your time source or + * sync the epochs. + */ + public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) { + // Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip. + try { + if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) { + return; + } + } catch (NoSuchElementException ex) { + return; + } + + // Step 1: Get the pose odometry measured at the moment the vision measurement was made. + var sample = m_poseBuffer.getSample(timestampSeconds); + + if (sample.isEmpty()) { + return; + } + + // Step 2: Measure the twist between the odometry pose and the vision pose. + var twist = sample.get().poseMeters.log(visionRobotPoseMeters); + + // Step 3: We should not trust the twist entirely, so instead we scale this twist by a Kalman + // gain matrix representing how much we trust vision measurements compared to our current pose. + var k_times_twist = m_visionK.times(VecBuilder.fill(twist.dx, twist.dy, twist.dtheta)); + + // Step 4: Convert back to Twist2d. + var scaledTwist = + new Twist2d( + k_times_twist.get(0, 0), + k_times_twist.get(1, 0), + k_times_twist.get(2, 0) + ); + + // Step 5: Reset Odometry to state at sample with vision adjustment. + m_odometry.resetPosition( + sample.get().gyroAngle, + sample.get().wheelPositions, + sample.get().poseMeters.exp(scaledTwist)); + + // Step 6: Record the current pose to allow multiple measurements from the same timestamp + m_poseBuffer.addSample( + timestampSeconds, + new InterpolationRecord( + getEstimatedPosition(), sample.get().gyroAngle, sample.get().wheelPositions)); + + // Step 7: Replay odometry inputs between sample time and latest recorded sample to update the + // pose buffer and correct odometry. + for (Map.Entry entry : + m_poseBuffer.getInternalBuffer().tailMap(timestampSeconds).entrySet()) { + updateWithTime(entry.getKey(), entry.getValue().gyroAngle, entry.getValue().wheelPositions); + } + } + + /** + * Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate + * while still accounting for measurement noise. + * + *

This method can be called as infrequently as you want, as long as you are calling {@link + * PoseEstimator#update} every loop. + * + *

To promote stability of the pose estimate and make it robust to bad vision data, we + * recommend only adding vision measurements that are already within one meter or so of the + * current pose estimate. + * + *

Note that the vision measurement standard deviations passed into this method will continue + * to apply to future measurements until a subsequent call to {@link + * PoseEstimator#setVisionMeasurementStdDevs(Matrix)} or this method. + * + * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera. + * @param timestampSeconds The timestamp of the vision measurement in seconds. Note that if you + * don't use your own time source by calling {@link #updateWithTime}, then you must use a + * timestamp with an epoch since FPGA startup (i.e., the epoch of this timestamp is the same + * epoch as {@link edu.wpi.first.wpilibj.Timer#getFPGATimestamp()}). This means that you + * should use {@link edu.wpi.first.wpilibj.Timer#getFPGATimestamp()} as your time source in + * this case. + * @param visionMeasurementStdDevs Standard deviations of the vision pose measurement (x position + * in meters, y position in meters, and heading in radians). Increase these numbers to trust + * the vision pose measurement less. + */ + public void addVisionMeasurement( + Pose2d visionRobotPoseMeters, + double timestampSeconds, + Matrix visionMeasurementStdDevs + ) { + setVisionMeasurementStdDevs(visionMeasurementStdDevs); + addVisionMeasurement(visionRobotPoseMeters, timestampSeconds); + } + + /** + * Updates the pose estimator with wheel encoder and gyro information. This should be called every + * loop. + * + * @param gyroAngle The current gyro angle. + * @param wheelPositions The current encoder readings. + * @return The estimated pose of the robot in meters. + */ + public Pose2d update(Rotation2d gyroAngle, T wheelPositions) { + return updateWithTime(MathSharedStore.getTimestamp(), gyroAngle, wheelPositions); + } + + /** + * Updates the pose estimator with wheel encoder and gyro information. This should be called every + * loop. + * + * @param currentTimeSeconds Time at which this method was called, in seconds. + * @param gyroAngle The current gyro angle. + * @param wheelPositions The current encoder readings. + * @return The estimated pose of the robot in meters. + */ + public Pose2d updateWithTime(double currentTimeSeconds, Rotation2d gyroAngle, T wheelPositions) { + m_odometry.update(gyroAngle, wheelPositions); + m_poseBuffer.addSample( + currentTimeSeconds, + new InterpolationRecord(getEstimatedPosition(), gyroAngle, wheelPositions.copy()) + ); + + return getEstimatedPosition(); + } + + /** + * Return the pose at a given timestamp, if the buffer is not empty. + * + * @param timestampSeconds The pose's timestamp in seconds. + * @return The pose at the given timestamp (or Optional.empty() if the buffer is empty). + */ + public Optional sampleAt(double timestampSeconds) { + return m_poseBuffer.getSample(timestampSeconds).map(record -> record.poseMeters); + } + + /** + * Represents an odometry record. The record contains the inputs provided as well as the pose that + * was observed based on these inputs, as well as the previous record and its inputs. + */ + private class InterpolationRecord implements Interpolatable { + // The pose observed given the current sensor inputs and the previous pose. + private final Pose2d poseMeters; + + // The current gyro angle. + private final Rotation2d gyroAngle; + + // The current encoder readings. + private final T wheelPositions; + + /** + * Constructs an Interpolation Record with the specified parameters. + * + * @param poseMeters The pose observed given the current sensor inputs and the previous pose. + * @param gyro The current gyro angle. + * @param wheelPositions The current encoder readings. + */ + private InterpolationRecord(Pose2d poseMeters, Rotation2d gyro, T wheelPositions) { + this.poseMeters = poseMeters; + this.gyroAngle = gyro; + this.wheelPositions = wheelPositions; + } + + /** + * Return the interpolated record. This object is assumed to be the starting position, or lower + * bound. + * + * @param endValue The upper bound, or end. + * @param t How far between the lower and upper bound we are. This should be bounded in [0, 1]. + * @return The interpolated value. + */ + @Override + public InterpolationRecord interpolate(InterpolationRecord endValue, double t) { + if (t < 0) { + return this; + } else if (t >= 1) { + return endValue; + } else { + // Find the new wheel distances. + var wheelLerp = wheelPositions.interpolate(endValue.wheelPositions, t); + + // Find the new gyro angle. + var gyroLerp = gyroAngle.interpolate(endValue.gyroAngle, t); + + // Create a twist to represent the change based on the interpolated sensor inputs. + Twist2d twist = m_kinematics.toTwist2d(wheelPositions, wheelLerp); + twist.dtheta = gyroLerp.minus(gyroAngle).getRadians(); + + return new InterpolationRecord(poseMeters.exp(twist), gyroLerp, wheelLerp); + } + } + + @Override + public boolean equals(Object obj) { + if (this == obj) { + return true; + } + if (!(obj instanceof PoseEstimator.InterpolationRecord)) { + return false; + } + var record = (PoseEstimator.InterpolationRecord) obj; + return Objects.equals(gyroAngle, record.gyroAngle) + && Objects.equals(wheelPositions, record.wheelPositions) + && Objects.equals(poseMeters, record.poseMeters); + } + + @Override + public int hashCode() { + return Objects.hash(gyroAngle, wheelPositions, poseMeters); + } + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/estimator/SwerveDrivePoseEstimator.java b/src/main/java/frc/robot/subsystems/drive/estimator/SwerveDrivePoseEstimator.java new file mode 100644 index 0000000..95433d7 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/estimator/SwerveDrivePoseEstimator.java @@ -0,0 +1,145 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. +package frc.robot.subsystems.drive.estimator; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.VecBuilder; +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.SwerveDriveOdometry; +import edu.wpi.first.math.kinematics.SwerveDriveWheelPositions; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; + +/** + * This class wraps {@link SwerveDriveOdometry Swerve Drive Odometry} to fuse latency-compensated + * vision measurements with swerve drive encoder distance measurements. It is intended to be a + * drop-in replacement for {@link SwerveDriveOdometry}. + * + *

{@link SwerveDrivePoseEstimator#update} should be called every robot loop. + * + *

{@link SwerveDrivePoseEstimator#addVisionMeasurement} can be called as infrequently as you + * want; if you never call it, then this class will behave as regular encoder odometry. + */ +public class SwerveDrivePoseEstimator extends PoseEstimator { + private final int m_numModules; + + /** + * Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision + * measurements. + * + *

The default standard deviations of the model states are 0.1 meters for x, 0.1 meters for y, + * and 0.1 radians for heading. The default standard deviations of the vision measurements are 0.9 + * meters for x, 0.9 meters for y, and 0.9 radians for heading. + * + * @param kinematics A correctly-configured kinematics object for your drivetrain. + * @param gyroAngle The current gyro angle. + * @param modulePositions The current distance measurements and rotations of the swerve modules. + * @param initialPoseMeters The starting pose estimate. + */ + public SwerveDrivePoseEstimator( + SwerveDriveKinematics kinematics, + Rotation2d gyroAngle, + SwerveModulePosition[] modulePositions, + Pose2d initialPoseMeters + ) { + this( + kinematics, + gyroAngle, + modulePositions, + initialPoseMeters, + VecBuilder.fill(0.1, 0.1, 0.1), + VecBuilder.fill(0.9, 0.9, 0.9)); + } + + /** + * Constructs a SwerveDrivePoseEstimator. + * + * @param kinematics A correctly-configured kinematics object for your drivetrain. + * @param gyroAngle The current gyro angle. + * @param modulePositions The current distance and rotation measurements of the swerve modules. + * @param initialPoseMeters The starting pose estimate. + * @param stateStdDevs Standard deviations of the pose estimate (x position in meters, y position + * in meters, and heading in radians). Increase these numbers to trust your state estimate + * less. + * @param visionMeasurementStdDevs Standard deviations of the vision pose measurement (x position + * in meters, y position in meters, and heading in radians). Increase these numbers to trust + * the vision pose measurement less. + */ + public SwerveDrivePoseEstimator( + SwerveDriveKinematics kinematics, + Rotation2d gyroAngle, + SwerveModulePosition[] modulePositions, + Pose2d initialPoseMeters, + Matrix stateStdDevs, + Matrix visionMeasurementStdDevs + ) { + super( + kinematics, + new SwerveDriveOdometry(kinematics, gyroAngle, modulePositions, initialPoseMeters), + stateStdDevs, + visionMeasurementStdDevs); + + m_numModules = modulePositions.length; + } + + /** + * Resets the robot's position on the field. + * + *

The gyroscope angle does not need to be reset in the user's robot code. The library + * automatically takes care of offsetting the gyro angle. + * + * @param gyroAngle The angle reported by the gyroscope. + * @param modulePositions The current distance measurements and rotations of the swerve modules. + * @param poseMeters The position on the field that your robot is at. + */ + public void resetPosition( + Rotation2d gyroAngle, SwerveModulePosition[] modulePositions, Pose2d poseMeters + ) { + resetPosition(gyroAngle, new SwerveDriveWheelPositions(modulePositions), poseMeters); + } + + /** + * Updates the pose estimator with wheel encoder and gyro information. This should be called every + * loop. + * + * @param gyroAngle The current gyro angle. + * @param modulePositions The current distance measurements and rotations of the swerve modules. + * @return The estimated pose of the robot in meters. + */ + public Pose2d update(Rotation2d gyroAngle, SwerveModulePosition[] modulePositions) { + return update(gyroAngle, new SwerveDriveWheelPositions(modulePositions)); + } + + /** + * Updates the pose estimator with wheel encoder and gyro information. This should be called every + * loop. + * + * @param currentTimeSeconds Time at which this method was called, in seconds. + * @param gyroAngle The current gyroscope angle. + * @param modulePositions The current distance measurements and rotations of the swerve modules. + * @return The estimated pose of the robot in meters. + */ + public Pose2d updateWithTime( + double currentTimeSeconds, Rotation2d gyroAngle, SwerveModulePosition[] modulePositions + ) { + return updateWithTime( + currentTimeSeconds, gyroAngle, new SwerveDriveWheelPositions(modulePositions)); + } + + @Override + public Pose2d updateWithTime( + double currentTimeSeconds, Rotation2d gyroAngle, SwerveDriveWheelPositions wheelPositions + ) { + if (wheelPositions.positions.length != m_numModules) { + throw new IllegalArgumentException( + "Number of modules is not consistent with number of wheel locations provided in " + + "constructor"); + } + + return super.updateWithTime(currentTimeSeconds, gyroAngle, wheelPositions); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/trajectory/HolonomicDriveWithPIDController.java b/src/main/java/frc/robot/subsystems/drive/trajectory/HolonomicDriveWithPIDController.java index 4745457..5cfe01f 100644 --- a/src/main/java/frc/robot/subsystems/drive/trajectory/HolonomicDriveWithPIDController.java +++ b/src/main/java/frc/robot/subsystems/drive/trajectory/HolonomicDriveWithPIDController.java @@ -61,6 +61,11 @@ public boolean atReference() { && rotationController.atGoal(); } + public void setTolerance(final Pose2d poseTolerance) { + this.xController.setTolerance(poseTolerance.getX(), poseTolerance.getX() * 1.5); + this.yController.setTolerance(poseTolerance.getY(), poseTolerance.getY() * 1.5); + } + /** * Calculates the next output of the holonomic drive controller * diff --git a/src/main/java/frc/robot/subsystems/gyro/Gyro.java b/src/main/java/frc/robot/subsystems/gyro/Gyro.java index 5091f2f..b19c187 100644 --- a/src/main/java/frc/robot/subsystems/gyro/Gyro.java +++ b/src/main/java/frc/robot/subsystems/gyro/Gyro.java @@ -29,7 +29,7 @@ public Gyro( this.gyroIO = switch (mode) { case REAL -> new GyroIOPigeon2(gyroConstants, odometryThreadRunner); case SIM -> new GyroIOSim(gyroConstants, odometryThreadRunner, kinematics, swerveModules); - case REPLAY -> new GyroIO() {}; + case REPLAY, DISABLED -> new GyroIO() {}; }; this.inputs = new GyroIOInputsAutoLogged(); diff --git a/src/main/java/frc/robot/subsystems/gyro/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/gyro/GyroIOPigeon2.java index c5237d8..ae80019 100644 --- a/src/main/java/frc/robot/subsystems/gyro/GyroIOPigeon2.java +++ b/src/main/java/frc/robot/subsystems/gyro/GyroIOPigeon2.java @@ -2,7 +2,6 @@ import com.ctre.phoenix6.BaseStatusSignal; import com.ctre.phoenix6.StatusSignal; -import com.ctre.phoenix6.configs.MountPoseConfigs; import com.ctre.phoenix6.configs.Pigeon2Configuration; import com.ctre.phoenix6.hardware.ParentDevice; import com.ctre.phoenix6.hardware.Pigeon2; diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java index fc5547d..0310669 100644 --- a/src/main/java/frc/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/intake/Intake.java @@ -54,7 +54,7 @@ public Intake( this.intakeIO = switch (robotMode) { case REAL -> new IntakeIOReal(intakeConstants); case SIM -> new IntakeIOSim(intakeConstants); - case REPLAY -> new IntakeIO() {}; + case REPLAY, DISABLED -> new IntakeIO() {}; }; this.inputs = new IntakeIOInputsAutoLogged(); diff --git a/src/main/java/frc/robot/subsystems/superstructure/ShotParameters.java b/src/main/java/frc/robot/subsystems/superstructure/ShotParameters.java index e4d9236..009339f 100644 --- a/src/main/java/frc/robot/subsystems/superstructure/ShotParameters.java +++ b/src/main/java/frc/robot/subsystems/superstructure/ShotParameters.java @@ -80,7 +80,7 @@ public Parameters interpolate(final Parameters endValue, final double t) { )); shotDataMap.put(4d, new Parameters( - Rotation2d.fromDegrees(26), + Rotation2d.fromDegrees(27), 84.433, 128.883, 84.433, @@ -88,7 +88,7 @@ public Parameters interpolate(final Parameters endValue, final double t) { )); shotDataMap.put(4.5d, new Parameters( - Rotation2d.fromDegrees(25.5), + Rotation2d.fromDegrees(26), 84.433, 128.883, 84.433, @@ -96,7 +96,7 @@ public Parameters interpolate(final Parameters endValue, final double t) { )); shotDataMap.put(5d, new Parameters( - Rotation2d.fromDegrees(24.75), + Rotation2d.fromDegrees(25), 84.433, 128.883, 84.433, diff --git a/src/main/java/frc/robot/subsystems/superstructure/arm/Arm.java b/src/main/java/frc/robot/subsystems/superstructure/arm/Arm.java index c4e7fdb..c91f2f4 100644 --- a/src/main/java/frc/robot/subsystems/superstructure/arm/Arm.java +++ b/src/main/java/frc/robot/subsystems/superstructure/arm/Arm.java @@ -87,7 +87,7 @@ public Arm(final Constants.RobotMode mode, final HardwareConstants.ArmConstants this.armIO = switch (mode) { case REAL -> new ArmIOReal(armConstants); case SIM -> new ArmIOSim(armConstants); - case REPLAY -> new ArmIO() {}; + case REPLAY, DISABLED -> new ArmIO() {}; }; this.inputs = new ArmIOInputsAutoLogged(); diff --git a/src/main/java/frc/robot/subsystems/superstructure/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/superstructure/shooter/Shooter.java index bb0ee73..ad05a69 100644 --- a/src/main/java/frc/robot/subsystems/superstructure/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/superstructure/shooter/Shooter.java @@ -45,7 +45,7 @@ public enum Goal { NONE(0, 0, 0), STOP(0, 0, 0), IDLE(40, 40, 40), - EJECT(80, 80, 80), + EJECT(50, 50, 50), BACK_FEED(-60, -60, -60), AMP(80, -40, -40), FERRY_CENTERLINE(60, 60, 80), @@ -82,7 +82,7 @@ public Shooter(final Constants.RobotMode mode, final HardwareConstants.ShooterCo this.shooterIO = switch (mode) { case REAL -> new ShooterIOReal(shooterConstants); case SIM -> new ShooterIOSim(shooterConstants); - case REPLAY -> new ShooterIO() {}; + case REPLAY, DISABLED -> new ShooterIO() {}; }; this.inputs = new ShooterIOInputsAutoLogged(); @@ -268,10 +268,10 @@ private Command makeSysIdCommand(final SysIdRoutine sysIdRoutine) { return Commands.sequence( sysIdRoutine.quasistatic(SysIdRoutine.Direction.kForward) - .withTimeout(10), + .withTimeout(8), Commands.waitUntil(isStopped), sysIdRoutine.quasistatic(SysIdRoutine.Direction.kReverse) - .withTimeout(10), + .withTimeout(8), Commands.waitUntil(isStopped), sysIdRoutine.dynamic(SysIdRoutine.Direction.kForward) .withTimeout(6), diff --git a/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIOReal.java index c19ad2b..aa250be 100644 --- a/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIOReal.java +++ b/src/main/java/frc/robot/subsystems/superstructure/shooter/ShooterIOReal.java @@ -73,10 +73,10 @@ public ShooterIOReal(final HardwareConstants.ShooterConstants shooterConstants) public void config() { final TalonFXConfiguration ampTalonFXConfiguration = new TalonFXConfiguration(); ampTalonFXConfiguration.Slot0 = new Slot0Configs() - .withKS(2.732) - .withKV(0.038323) - .withKA(0.15474) - .withKP(6.246); + .withKS(5.6462) + .withKV(0) + .withKA(0.18083) + .withKP(3.5468); ampTalonFXConfiguration.TorqueCurrent.PeakForwardTorqueCurrent = 80; ampTalonFXConfiguration.TorqueCurrent.PeakReverseTorqueCurrent = -80; ampTalonFXConfiguration.CurrentLimits.StatorCurrentLimit = 60; diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index 93a1d8b..32c4c0d 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -4,14 +4,16 @@ import edu.wpi.first.apriltag.AprilTagFields; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.Vector; -import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import edu.wpi.first.math.numbers.N3; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj2.command.Command; import frc.robot.constants.Constants; +import frc.robot.constants.FieldConstants; import frc.robot.subsystems.drive.Swerve; import frc.robot.subsystems.drive.constants.SwerveConstants; +import frc.robot.subsystems.drive.estimator.SwerveDrivePoseEstimator; import frc.robot.subsystems.vision.cameras.TitanCamera; import frc.robot.subsystems.vision.result.NoteTrackingResult; import frc.robot.utils.PoseUtils; @@ -24,8 +26,11 @@ import java.io.UncheckedIOException; import java.util.*; +import java.util.function.Supplier; import java.util.stream.Collectors; +import static edu.wpi.first.wpilibj2.command.Commands.runOnce; + public class PhotonVision extends VirtualSubsystem { public static final String PhotonLogKey = "Vision"; @@ -64,7 +69,8 @@ public static Map makeVisionIOI } private final PhotonVisionRunner runner; - private final Map visionIOInputsMap; + private final Map aprilTagVisionIOInputsMap; + private final Map noteTrackingVisionIOInputsMap; private final Swerve swerve; private final SwerveDrivePoseEstimator poseEstimator; @@ -99,29 +105,37 @@ yield new SimVisionRunner( ), PhotonVision.apriltagFieldLayout, visionSystemSim, + FieldConstants.CENTER_LINE_NOTE_POSES, PhotonVision.makeVisionIOInputsMap( new SimVisionRunner.VisionIOApriltagsSim(TitanCamera.PHOTON_FL_APRILTAG, visionSystemSim), new SimVisionRunner.VisionIOApriltagsSim(TitanCamera.PHOTON_FC_APRILTAG, visionSystemSim), new SimVisionRunner.VisionIOApriltagsSim(TitanCamera.PHOTON_FR_APRILTAG, visionSystemSim) + ), + PhotonVision.makeVisionIOInputsMap( + new SimVisionRunner.VisionIONoteTrackingSim(TitanCamera.PHOTON_BC_NOTE_TRACKING, visionSystemSim) ) ); } case REPLAY -> new ReplayVisionRunner( PhotonVision.apriltagFieldLayout, PhotonVision.makeVisionIOInputsMap( - new ReplayVisionRunner.VisionIOApriltagsReplay(TitanCamera.PHOTON_FL_APRILTAG), - new ReplayVisionRunner.VisionIOApriltagsReplay(TitanCamera.PHOTON_FC_APRILTAG), - new ReplayVisionRunner.VisionIOApriltagsReplay(TitanCamera.PHOTON_FR_APRILTAG) + new ReplayVisionRunner.VisionIOReplay(TitanCamera.PHOTON_FL_APRILTAG), + new ReplayVisionRunner.VisionIOReplay(TitanCamera.PHOTON_FC_APRILTAG), + new ReplayVisionRunner.VisionIOReplay(TitanCamera.PHOTON_FR_APRILTAG) + ), + PhotonVision.makeVisionIOInputsMap( + new ReplayVisionRunner.VisionIOReplay(TitanCamera.PHOTON_BC_NOTE_TRACKING) ) ); + case DISABLED -> new PhotonVisionRunner() {}; }; this.swerve = swerve; this.poseEstimator = poseEstimator; - this.visionIOInputsMap = runner.getApriltagVisionIOInputsMap(); + this.aprilTagVisionIOInputsMap = runner.getApriltagVisionIOInputsMap(); + this.noteTrackingVisionIOInputsMap = runner.getNoteTrackingVisionIOInputsMap(); this.lastEstimatedRobotPose = new HashMap<>(); - final Pose2d estimatedPose = poseEstimator.getEstimatedPosition(); resetPosition(estimatedPose); } @@ -187,8 +201,8 @@ public EstimationRejectionReason shouldRejectEstimation( // TODO: this rejection showed up very often at event-cmp and didn't seem to help much, // maybe re-evaluate why we added this rejection in the first place? (removed for now) // if (lastEstimatedRobotPose.timestampSeconds == -1 || secondsSinceLastUpdate <= 0) { - // TODO: do we always need to reject immediately here? maybe we can still use the next estimation even - // if the last estimation had no timestamp or was very close + // TODO: do we always need to reject immediately here? maybe we can still use the next estimation even + // if the last estimation had no timestamp or was very close // return EstimationRejectionReason.LAST_ESTIMATED_POSE_TIMESTAMP_INVALID_OR_TOO_CLOSE; // } @@ -237,10 +251,16 @@ public Vector calculateStdDevs(final EstimatedRobotPose estimatedRobotPose, private void update() { for ( final Map.Entry - visionIOInputsEntry : visionIOInputsMap.entrySet() + visionIOInputsEntry : aprilTagVisionIOInputsMap.entrySet() ) { final VisionIO visionIO = visionIOInputsEntry.getKey(); final VisionIO.VisionIOInputs inputs = visionIOInputsEntry.getValue(); + final String logKey = PhotonLogKey + "/" + inputs.name; + + Logger.recordOutput( + logKey + "/CameraPose", + new Pose3d(swerve.getPose()).transformBy(Constants.Vision.ROBOT_TO_REAR_NOTE) + ); final EstimatedRobotPose estimatedRobotPose = runner.getEstimatedRobotPose(visionIO); if (estimatedRobotPose != null) { @@ -248,15 +268,13 @@ private void update() { final EstimationRejectionReason rejectionReason = shouldRejectEstimation(lastEstimatedPose, estimatedRobotPose); - Logger.recordOutput( - PhotonLogKey + "/RejectionReason", rejectionReason.getId() - ); + Logger.recordOutput(logKey + "/RejectionReason", rejectionReason.getId()); if (rejectionReason.wasRejected()) { continue; } final Vector stdDevs = calculateStdDevs(estimatedRobotPose, inputs.stdDevFactor); - Logger.recordOutput(PhotonLogKey + "/" + inputs.name + "/StdDevs", stdDevs.getData()); + Logger.recordOutput(logKey + "/StdDevs", stdDevs.getData()); lastEstimatedRobotPose.put(visionIO, estimatedRobotPose); poseEstimator.addVisionMeasurement( @@ -265,25 +283,44 @@ private void update() { stdDevs ); } + } + + for ( + final Map.Entry + visionIOInputsEntry : noteTrackingVisionIOInputsMap.entrySet() + ) { + final VisionIO visionIO = visionIOInputsEntry.getKey(); + final VisionIO.VisionIOInputs inputs = visionIOInputsEntry.getValue(); + final String logKey = PhotonLogKey + "/" + inputs.name; + + Logger.recordOutput( + logKey + "/CameraPose", + new Pose3d(swerve.getPose()).transformBy(Constants.Vision.ROBOT_TO_REAR_NOTE) + ); final NoteTrackingResult noteTrackingResult = runner.getNoteTrackingResult(visionIO); if (noteTrackingResult != null) { - Logger.recordOutput(PhotonLogKey + "/NoteTracking/HasTargets", noteTrackingResult.hasTargets); + Logger.recordOutput(logKey + "/HasTargets", noteTrackingResult.hasTargets); final Optional optionalBestNotePose = noteTrackingResult - .getBestNotePose(timestamp -> Optional.of(swerve.getPose())); + .getBestNotePose(swerve::getPose); - Logger.recordOutput(PhotonLogKey + "/NoteTracking/HasBestNotePose", optionalBestNotePose.isPresent()); + Logger.recordOutput(logKey + "/HasBestNotePose", optionalBestNotePose.isPresent()); Logger.recordOutput( - PhotonLogKey + "/NoteTracking/BestNotePose", - optionalBestNotePose.orElseGet(Pose2d::new) + logKey + "/BestNotePose", + new Pose3d(optionalBestNotePose.orElseGet(Pose2d::new)) ); - final Pose2d[] notePoses = noteTrackingResult - .getNotePoses(timestamp -> Optional.of(swerve.getPose())); + final Pose2d[] notePose2ds = noteTrackingResult + .getNotePoses(swerve::getPose); + + final Pose3d[] notePose3ds = new Pose3d[notePose2ds.length]; + for (int i = 0; i < notePose2ds.length; i++) { + notePose3ds[i] = PoseUtils.note2dTo3d(notePose2ds[i]); + } - Logger.recordOutput(PhotonLogKey + "/NoteTracking/NotePoses", notePoses); + Logger.recordOutput(logKey + "/NotePoses", notePose3ds); } else { - Logger.recordOutput(PhotonLogKey + "/NoteTracking/HasTargets", false); + Logger.recordOutput(logKey + "/HasTargets", false); } } } @@ -293,7 +330,7 @@ public void updateOutputs() { final Map.Entry estimatedRobotPoseEntry : lastEstimatedRobotPose.entrySet() ) { - final VisionIO.VisionIOInputs inputs = visionIOInputsMap.get(estimatedRobotPoseEntry.getKey()); + final VisionIO.VisionIOInputs inputs = aprilTagVisionIOInputsMap.get(estimatedRobotPoseEntry.getKey()); final EstimatedRobotPose estimatedRobotPose = estimatedRobotPoseEntry.getValue(); final String logKey = PhotonVision.PhotonLogKey + "/" + inputs.name; @@ -351,4 +388,39 @@ public void resetPosition(final Pose2d robotPose, final Rotation2d robotYaw) { public void resetPosition(final Pose2d robotPose) { resetPosition(robotPose, swerve.getYaw()); } + + public Command resetPoseCommand(final Pose2d robotPose) { + return runOnce(() -> resetPosition(robotPose)); + } + + public List getNotePoses() { + final List notePoses = new ArrayList<>(); + for (final VisionIO visionIO : noteTrackingVisionIOInputsMap.keySet()) { + final NoteTrackingResult noteTrackingResult = runner.getNoteTrackingResult(visionIO); + if (noteTrackingResult != null) { + notePoses.addAll(Arrays.asList(noteTrackingResult + .getNotePoses(swerve::getPose))); + } + } + return notePoses; + } + + public Optional getBestNotePose(final Supplier robotPoseSupplier) { + final List notePoses = new ArrayList<>(); + + for (final VisionIO visionIO : noteTrackingVisionIOInputsMap.keySet()) { + final NoteTrackingResult noteTrackingResult = runner.getNoteTrackingResult(visionIO); + if (noteTrackingResult != null) { + final Optional optionalBestNotePose = noteTrackingResult + .getBestNotePose(timestamp -> Optional.of(swerve.getPose())); + + optionalBestNotePose.ifPresent(notePoses::add); + } + } + + notePoses.sort(Comparator.comparingDouble(pose -> + robotPoseSupplier.get().minus(pose).getTranslation().getNorm())); + + return notePoses.isEmpty() ? Optional.empty() : Optional.of(notePoses.get(0)); + } } diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java index a669c5d..85fa4b9 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java @@ -9,10 +9,15 @@ public interface PhotonVisionRunner { default void periodic() {} default void resetRobotPose(final Pose3d pose3d) {} + default Map getApriltagVisionIOInputsMap() { return Map.of(); } + default Map getNoteTrackingVisionIOInputsMap() { + return Map.of(); + } + default EstimatedRobotPose getEstimatedRobotPose(final VisionIO visionIO) { return null; } diff --git a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java index bcfbf48..f12dec9 100644 --- a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java @@ -1,8 +1,8 @@ package frc.robot.subsystems.vision; import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.math.geometry.*; -import edu.wpi.first.math.util.Units; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Transform3d; import frc.robot.constants.Constants; import frc.robot.subsystems.vision.cameras.TitanCamera; import frc.robot.subsystems.vision.result.NoteTrackingResult; @@ -44,8 +44,6 @@ public void updateInputs(final VisionIO.VisionIOInputs inputs) { } public static class VisionIONoteTrackingReal implements VisionIO { - public static final double NOTE_HEIGHT_Z = Units.inchesToMeters(1); - private final PhotonCamera photonCamera; private final String cameraName; @@ -149,9 +147,10 @@ public void periodic() { final PhotonPipelineResult pipelineResult = inputs.latestResult; VisionUtils.correctPipelineResultTimestamp(pipelineResult); - // TODO: HasTarget is true at this point, but when it gets sent through - // NoteTrackingResult and logged outside of here, it becomes always false. - Logger.recordOutput("HasTarget", pipelineResult.hasTargets()); + Logger.recordOutput( + String.format("%s/%s/HasTarget", PhotonVision.PhotonLogKey, inputs.name), + pipelineResult.hasTargets() + ); final NoteTrackingResult noteTrackingResult = new NoteTrackingResult(inputs.robotToCamera, pipelineResult); noteTrackingResultMap.put(visionIO, noteTrackingResult); @@ -170,6 +169,11 @@ public Map getApriltagVisionIOInp return apriltagVisionIOInputsMap; } + @Override + public Map getNoteTrackingVisionIOInputsMap() { + return noteTrackingVisionIOInputsMap; + } + @Override public EstimatedRobotPose getEstimatedRobotPose(final VisionIO visionIO) { return estimatedRobotPoseMap.get(visionIO); diff --git a/src/main/java/frc/robot/subsystems/vision/ReplayVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/ReplayVisionRunner.java index 2f38091..bce4bad 100644 --- a/src/main/java/frc/robot/subsystems/vision/ReplayVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/ReplayVisionRunner.java @@ -4,6 +4,7 @@ import edu.wpi.first.math.geometry.Pose3d; import frc.robot.constants.Constants; import frc.robot.subsystems.vision.cameras.TitanCamera; +import frc.robot.subsystems.vision.result.NoteTrackingResult; import frc.robot.utils.closeables.ToClose; import org.littletonrobotics.junction.Logger; import org.photonvision.EstimatedRobotPose; @@ -15,31 +16,35 @@ import java.util.Map; public class ReplayVisionRunner implements PhotonVisionRunner { - public static class VisionIOApriltagsReplay implements VisionIO { + public static class VisionIOReplay implements VisionIO { private final TitanCamera titanCamera; private final PhotonCamera photonCamera; - public VisionIOApriltagsReplay(final TitanCamera titanCamera) { + public VisionIOReplay(final TitanCamera titanCamera) { this.titanCamera = titanCamera; this.photonCamera = titanCamera.getPhotonCamera(); } } - private final Map visionIONames; - private final Map visionIOInputsMap; - private final Map photonPoseEstimatorMap; + private final Map visionIONames; + private final Map apriltagVisionIOInputsMap; + private final Map noteTrackingVisionIOInputsMap; + private final Map photonPoseEstimatorMap; private final Map estimatedRobotPoseMap; + private final Map noteTrackingResultMap; public ReplayVisionRunner( final AprilTagFieldLayout aprilTagFieldLayout, - final Map visionIOInputsMap + final Map apriltagVisionIOInputsMap, + final Map noteTrackingVisionIOInputsMap ) { - this.visionIOInputsMap = visionIOInputsMap; + this.apriltagVisionIOInputsMap = apriltagVisionIOInputsMap; + this.noteTrackingVisionIOInputsMap = noteTrackingVisionIOInputsMap; - final Map visionIONames = new HashMap<>(); - final Map poseEstimatorMap = new HashMap<>(); - for (final ReplayVisionRunner.VisionIOApriltagsReplay visionIOApriltagsReplay : visionIOInputsMap.keySet()) { + final Map visionIONames = new HashMap<>(); + final Map poseEstimatorMap = new HashMap<>(); + for (final ReplayVisionRunner.VisionIOReplay visionIOApriltagsReplay : apriltagVisionIOInputsMap.keySet()) { final PhotonPoseEstimator photonPoseEstimator = new PhotonPoseEstimator( aprilTagFieldLayout, Constants.Vision.MULTI_TAG_POSE_STRATEGY, @@ -52,9 +57,14 @@ public ReplayVisionRunner( visionIONames.put(visionIOApriltagsReplay, visionIOApriltagsReplay.photonCamera.getName()); } + for (final ReplayVisionRunner.VisionIOReplay visionIONoteTrackReplay : noteTrackingVisionIOInputsMap.keySet()) { + visionIONames.put(visionIONoteTrackReplay, visionIONoteTrackReplay.photonCamera.getName()); + } + this.visionIONames = visionIONames; this.photonPoseEstimatorMap = poseEstimatorMap; this.estimatedRobotPoseMap = new HashMap<>(); + this.noteTrackingResultMap = new HashMap<>(); } @SuppressWarnings("DuplicatedCode") @@ -65,10 +75,10 @@ public void periodic() { } for ( - final Map.Entry - photonVisionIOInputsEntry : visionIOInputsMap.entrySet() + final Map.Entry + photonVisionIOInputsEntry : apriltagVisionIOInputsMap.entrySet() ) { - final ReplayVisionRunner.VisionIOApriltagsReplay visionIO = photonVisionIOInputsEntry.getKey(); + final ReplayVisionRunner.VisionIOReplay visionIO = photonVisionIOInputsEntry.getKey(); final VisionIO.VisionIOInputs inputs = photonVisionIOInputsEntry.getValue(); visionIO.periodic(); @@ -81,6 +91,7 @@ public void periodic() { final PhotonPipelineResult result = inputs.latestResult; VisionUtils.correctPipelineResultTimestamp(result); + VisionUtils.updatePoseEstimator( photonPoseEstimatorMap.get(visionIO), result @@ -88,6 +99,33 @@ public void periodic() { estimatedRobotPose -> estimatedRobotPoseMap.put(visionIO, estimatedRobotPose) ); } + + for ( + final Map.Entry + photonVisionIOInputsEntry : noteTrackingVisionIOInputsMap.entrySet() + ) { + final ReplayVisionRunner.VisionIOReplay visionIO = photonVisionIOInputsEntry.getKey(); + final VisionIO.VisionIOInputs inputs = photonVisionIOInputsEntry.getValue(); + + visionIO.periodic(); + visionIO.updateInputs(inputs); + + Logger.processInputs( + String.format("%s/%s", PhotonVision.PhotonLogKey, visionIONames.get(visionIO)), + inputs + ); + + final PhotonPipelineResult pipelineResult = inputs.latestResult; + VisionUtils.correctPipelineResultTimestamp(pipelineResult); + + Logger.recordOutput( + String.format("%s/%s/HasTarget", PhotonVision.PhotonLogKey, visionIONames.get(visionIO)), + pipelineResult.hasTargets() + ); + + final NoteTrackingResult noteTrackingResult = new NoteTrackingResult(inputs.robotToCamera, pipelineResult); + noteTrackingResultMap.put(visionIO, noteTrackingResult); + } } /** @@ -98,12 +136,22 @@ public void periodic() { public void resetRobotPose(final Pose3d robotPose) {} @Override - public Map getApriltagVisionIOInputsMap() { - return visionIOInputsMap; + public Map getApriltagVisionIOInputsMap() { + return apriltagVisionIOInputsMap; + } + + @Override + public Map getNoteTrackingVisionIOInputsMap() { + return noteTrackingVisionIOInputsMap; } @Override public EstimatedRobotPose getEstimatedRobotPose(final VisionIO visionIO) { return estimatedRobotPoseMap.get(visionIO); } + + @Override + public NoteTrackingResult getNoteTrackingResult(final VisionIO visionIO) { + return noteTrackingResultMap.get(visionIO); + } } diff --git a/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java index c15641b..398a294 100644 --- a/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java @@ -7,8 +7,11 @@ import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import frc.robot.constants.Constants; +import frc.robot.constants.SimConstants; import frc.robot.subsystems.drive.Swerve; import frc.robot.subsystems.vision.cameras.TitanCamera; +import frc.robot.subsystems.vision.result.NoteTrackingResult; +import frc.robot.utils.PoseUtils; import frc.robot.utils.closeables.ToClose; import frc.robot.utils.gyro.GyroUtils; import org.littletonrobotics.junction.Logger; @@ -17,6 +20,7 @@ import org.photonvision.PhotonPoseEstimator; import org.photonvision.simulation.PhotonCameraSim; import org.photonvision.simulation.VisionSystemSim; +import org.photonvision.simulation.VisionTargetSim; import org.photonvision.targeting.PhotonPipelineResult; import java.util.HashMap; @@ -24,12 +28,12 @@ public class SimVisionRunner implements PhotonVisionRunner { public static class VisionIOApriltagsSim implements VisionIO { - private final TitanCamera titanCamera; - private final PhotonCamera photonCamera; - private final String cameraName; + public final TitanCamera titanCamera; + public final PhotonCamera photonCamera; + public final String cameraName; - private final double stdDevFactor; - private final Transform3d robotToCamera; + public final double stdDevFactor; + public final Transform3d robotToCamera; public VisionIOApriltagsSim( final TitanCamera titanCamera, @@ -62,31 +66,79 @@ public void updateInputs(final VisionIO.VisionIOInputs inputs) { } } + public static class VisionIONoteTrackingSim implements VisionIO { + public final TitanCamera titanCamera; + public final PhotonCamera photonCamera; + public final String cameraName; + + public final Transform3d robotToCamera; + + public VisionIONoteTrackingSim( + final TitanCamera titanCamera, + final VisionSystemSim visionSystemSim + ) { + this.titanCamera = titanCamera; + this.photonCamera = titanCamera.getPhotonCamera(); + this.cameraName = photonCamera.getName(); + + this.robotToCamera = titanCamera.getRobotToCameraTransform(); + + final PhotonCameraSim photonCameraSim = + new PhotonCameraSim(titanCamera.getPhotonCamera(), titanCamera.toSimCameraProperties()); + + photonCameraSim.enableDrawWireframe(true); + photonCameraSim.enableRawStream(true); + photonCameraSim.enableProcessedStream(true); + + ToClose.add(photonCameraSim); + visionSystemSim.addCamera(photonCameraSim, titanCamera.getRobotToCameraTransform()); + } + + @Override + public void updateInputs(final VisionIOInputs inputs) { + inputs.name = cameraName; + inputs.stdDevFactor = -1; + inputs.robotToCamera = robotToCamera; + inputs.latestResult = photonCamera.getLatestResult(); + } + } + private final Swerve swerve; private final SwerveDriveOdometry visionIndependentOdometry; private final VisionSystemSim visionSystemSim; - private final Map visionIOInputsMap; - private final Map photonPoseEstimatorMap; + private final Map apriltagVisionIOInputsMap; + private final Map noteTrackingVisionIOInputsMap; + private final Map photonPoseEstimatorMap; private final Map estimatedRobotPoseMap; + private final Map noteTrackingResultMap; public SimVisionRunner( final Swerve swerve, final SwerveDriveOdometry visionIndependentOdometry, final AprilTagFieldLayout aprilTagFieldLayout, final VisionSystemSim visionSystemSim, - final Map visionIOInputsMap + final Pose2d[] simNotePoses, + final Map apriltagVisionIOInputsMap, + final Map noteTrackingVisionIOInputsMap ) { this.swerve = swerve; this.visionIndependentOdometry = visionIndependentOdometry; this.visionSystemSim = visionSystemSim; this.visionSystemSim.addAprilTags(aprilTagFieldLayout); - this.visionIOInputsMap = visionIOInputsMap; + for (final Pose2d simNotePose : simNotePoses) { + this.visionSystemSim.addVisionTargets("note", new VisionTargetSim( + PoseUtils.note2dTo3d(simNotePose), SimConstants.Vision.NOTE_TARGET_MODEL + )); + } + + this.apriltagVisionIOInputsMap = apriltagVisionIOInputsMap; + this.noteTrackingVisionIOInputsMap = noteTrackingVisionIOInputsMap; - final Map poseEstimatorMap = new HashMap<>(); - for (final SimVisionRunner.VisionIOApriltagsSim visionIOApriltagsSim : visionIOInputsMap.keySet()) { + final Map poseEstimatorMap = new HashMap<>(); + for (final VisionIOApriltagsSim visionIOApriltagsSim : apriltagVisionIOInputsMap.keySet()) { final PhotonPoseEstimator photonPoseEstimator = new PhotonPoseEstimator( aprilTagFieldLayout, Constants.Vision.MULTI_TAG_POSE_STRATEGY, @@ -100,6 +152,7 @@ public SimVisionRunner( this.photonPoseEstimatorMap = poseEstimatorMap; this.estimatedRobotPoseMap = new HashMap<>(); + this.noteTrackingResultMap = new HashMap<>(); } @SuppressWarnings("DuplicatedCode") @@ -125,7 +178,7 @@ public void periodic() { for ( final Map.Entry - photonVisionIOInputsEntry : visionIOInputsMap.entrySet() + photonVisionIOInputsEntry : apriltagVisionIOInputsMap.entrySet() ) { final VisionIOApriltagsSim visionIO = photonVisionIOInputsEntry.getKey(); final VisionIO.VisionIOInputs inputs = photonVisionIOInputsEntry.getValue(); @@ -140,6 +193,7 @@ public void periodic() { final PhotonPipelineResult result = inputs.latestResult; VisionUtils.correctPipelineResultTimestamp(result); + VisionUtils.updatePoseEstimator( photonPoseEstimatorMap.get(visionIO), result @@ -147,6 +201,33 @@ public void periodic() { estimatedRobotPose -> estimatedRobotPoseMap.put(visionIO, estimatedRobotPose) ); } + + for ( + final Map.Entry + photonVisionIOInputsEntry : noteTrackingVisionIOInputsMap.entrySet() + ) { + final VisionIONoteTrackingSim visionIO = photonVisionIOInputsEntry.getKey(); + final VisionIO.VisionIOInputs inputs = photonVisionIOInputsEntry.getValue(); + + visionIO.periodic(); + visionIO.updateInputs(inputs); + + Logger.processInputs( + String.format("%s/%s", PhotonVision.PhotonLogKey, inputs.name), + inputs + ); + + final PhotonPipelineResult pipelineResult = inputs.latestResult; + VisionUtils.correctPipelineResultTimestamp(pipelineResult); + + Logger.recordOutput( + String.format("%s/%s/HasTarget", PhotonVision.PhotonLogKey, inputs.name), + pipelineResult.hasTargets() + ); + + final NoteTrackingResult noteTrackingResult = new NoteTrackingResult(inputs.robotToCamera, pipelineResult); + noteTrackingResultMap.put(visionIO, noteTrackingResult); + } } /** @@ -163,11 +244,21 @@ public void resetRobotPose(final Pose3d robotPose) { @Override public Map getApriltagVisionIOInputsMap() { - return visionIOInputsMap; + return apriltagVisionIOInputsMap; + } + + @Override + public Map getNoteTrackingVisionIOInputsMap() { + return noteTrackingVisionIOInputsMap; } @Override public EstimatedRobotPose getEstimatedRobotPose(final VisionIO visionIO) { return estimatedRobotPoseMap.get(visionIO); } + + @Override + public NoteTrackingResult getNoteTrackingResult(final VisionIO visionIO) { + return noteTrackingResultMap.get(visionIO); + } } diff --git a/src/main/java/frc/robot/subsystems/vision/cameras/CameraProperties.java b/src/main/java/frc/robot/subsystems/vision/cameras/CameraProperties.java index 3238260..65d9589 100644 --- a/src/main/java/frc/robot/subsystems/vision/cameras/CameraProperties.java +++ b/src/main/java/frc/robot/subsystems/vision/cameras/CameraProperties.java @@ -6,7 +6,7 @@ public enum CameraProperties { PERFECT_90(Resolution.R960x720, 90), ARDUCAM_OV9281(Resolution.R640x480, 72.2), - ARDUCAM_OV9782(Resolution.R640x480, 82.4), + ARDUCAM_OV9782(Resolution.R1280x800, 79.37), SEE3CAM_24CUG(Resolution.R1920x1080, 128.2); private final List resolutions; diff --git a/src/main/java/frc/robot/subsystems/vision/cameras/TitanCamera.java b/src/main/java/frc/robot/subsystems/vision/cameras/TitanCamera.java index d7e9a93..79a8b29 100644 --- a/src/main/java/frc/robot/subsystems/vision/cameras/TitanCamera.java +++ b/src/main/java/frc/robot/subsystems/vision/cameras/TitanCamera.java @@ -147,7 +147,7 @@ public enum TitanCamera { ), PHOTON_BC_NOTE_TRACKING( "BC_NoteTracking", - new Transform3d(), // TODO: get transform + Constants.Vision.ROBOT_TO_REAR_NOTE, CameraProperties.ARDUCAM_OV9782, false ); @@ -204,7 +204,7 @@ public enum TitanCamera { cameraProperties, 1.0, false, - TitanCameraCalibration.fromSimCameraProperties(SimCameraProperties.PERFECT_90DEG()), + TitanCameraCalibration.perfect(cameraProperties), driverCam ); } diff --git a/src/main/java/frc/robot/subsystems/vision/cameras/TitanCameraCalibration.java b/src/main/java/frc/robot/subsystems/vision/cameras/TitanCameraCalibration.java index 7b5746a..424a74b 100644 --- a/src/main/java/frc/robot/subsystems/vision/cameras/TitanCameraCalibration.java +++ b/src/main/java/frc/robot/subsystems/vision/cameras/TitanCameraCalibration.java @@ -1,6 +1,7 @@ package frc.robot.subsystems.vision.cameras; import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; import edu.wpi.first.math.numbers.N5; @@ -22,6 +23,23 @@ public TitanCameraCalibration() { this(new HashMap<>()); } + public static TitanCameraCalibration perfect(final CameraProperties cameraProperties) { + final List resolutions = cameraProperties.getResolutions(); + final Map cameraPropertiesMap = new HashMap<>(); + + for (final CameraProperties.Resolution resolution : resolutions) { + final SimCameraProperties simCameraProperties = new SimCameraProperties(); + simCameraProperties.setCalibration( + resolution.getWidth(), + resolution.getHeight(), + Rotation2d.fromDegrees(cameraProperties.getCamDiagonalFOVDeg()) + ); + cameraPropertiesMap.put(resolution, simCameraProperties); + } + + return new TitanCameraCalibration(cameraPropertiesMap); + } + public static TitanCameraCalibration fromSimCameraProperties(final SimCameraProperties simCameraProperties) { final int width = simCameraProperties.getResWidth(); final int height = simCameraProperties.getResHeight(); diff --git a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java index 7e8d138..570c9dc 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -2,7 +2,8 @@ import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.util.Units; -import frc.robot.subsystems.vision.RealVisionRunner; +import edu.wpi.first.wpilibj.Timer; +import frc.robot.constants.Constants; import org.photonvision.PhotonUtils; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; @@ -11,7 +12,8 @@ import java.util.function.Function; public class NoteTrackingResult { - private static final double DistanceOffsetMeters = Units.inchesToMeters(0); + private static final double DistanceOffsetMeters = Units.inchesToMeters(0); //Bounding box Offset (Selected in PV) + private static final double AllowableTimestampTimeout = 1; private final Transform3d robotToCamera; @@ -23,10 +25,11 @@ public class NoteTrackingResult { public final Rotation2d bestTargetPitch; public final double bestTargetDistance; - public NoteTrackingResult(final Transform3d robotToCamera, final PhotonPipelineResult result) { + public NoteTrackingResult(final Transform3d robotToCamera, final PhotonPipelineResult pipelineResult) { this.robotToCamera = robotToCamera; - this.pipelineResult = result; - if (result == null || !result.hasTargets()) { + this.pipelineResult = pipelineResult; + + if (pipelineResult == null || !pipelineResult.hasTargets()) { this.hasTargets = false; this.bestTarget = null; this.bestTargetYaw = new Rotation2d(); @@ -46,6 +49,10 @@ public Optional getBestNotePose(final Function> return Optional.empty(); } + if (Timer.getFPGATimestamp() - pipelineResult.getTimestampSeconds() > AllowableTimestampTimeout) { + return Optional.empty(); + } + final Optional optionalRobotPose = timestampedRobotPoseFunction.apply(pipelineResult.getTimestampSeconds()); return optionalRobotPose.map(pose2d -> getNotePose(pose2d, robotToCamera, bestTarget)); } @@ -60,6 +67,10 @@ public Pose2d[] getNotePoses(final Function> timestampe return new Pose2d[]{}; } + if (Timer.getFPGATimestamp() - pipelineResult.getTimestampSeconds() > AllowableTimestampTimeout) { + return new Pose2d[]{}; + } + final int nTargets = pipelineResult.targets.size(); final Pose2d robotPose = optionalRobotPose.get(); final Pose2d[] notePoses = new Pose2d[nTargets]; @@ -81,10 +92,10 @@ public static Rotation2d getTargetPitch(final PhotonTrackedTarget trackedTarget) public static double getNoteDistance(final Transform3d robotToCamera, final PhotonTrackedTarget trackedTarget) { return PhotonUtils.calculateDistanceToTargetMeters( robotToCamera.getZ(), - RealVisionRunner.VisionIONoteTrackingReal.NOTE_HEIGHT_Z, - -robotToCamera.getRotation().getY(), // CCW+ convert to CW+ - Units.degreesToRadians(trackedTarget.getPitch()) // doesn't need negative, PhotonUtils expects CW+ - ) + DistanceOffsetMeters; + Constants.Vision.NOTE_HEIGHT_Z, + -robotToCamera.getRotation().getY(), //Convert CCW+ to CW+ + Units.degreesToRadians(trackedTarget.getPitch()) + ) / Math.cos(Units.degreesToRadians(trackedTarget.getYaw())) + DistanceOffsetMeters; } public static Pose2d getNotePose( @@ -92,11 +103,19 @@ public static Pose2d getNotePose( final Transform3d robotToCamera, final PhotonTrackedTarget trackedTarget ) { - final Transform2d robotToNote = new Transform2d( - new Translation2d(getNoteDistance(robotToCamera, trackedTarget), getTargetYaw(trackedTarget)), - getTargetYaw(trackedTarget) + final Rotation2d targetYaw = getTargetYaw(trackedTarget); + + final Translation2d estimatedTargetTranslation = new Translation2d( + getNoteDistance(robotToCamera, trackedTarget), + targetYaw + ).rotateBy(robotToCamera.getRotation().toRotation2d()) + .plus(robotToCamera.getTranslation().toTranslation2d()); + + final Transform2d estimatedTransform = new Transform2d( + estimatedTargetTranslation, + targetYaw ); - return poseAtTimestamp.transformBy(robotToNote); + return poseAtTimestamp.transformBy(estimatedTransform); } } diff --git a/src/main/java/frc/robot/utils/PoseUtils.java b/src/main/java/frc/robot/utils/PoseUtils.java index 985c9ef..8ba629a 100644 --- a/src/main/java/frc/robot/utils/PoseUtils.java +++ b/src/main/java/frc/robot/utils/PoseUtils.java @@ -3,6 +3,8 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import frc.robot.constants.Constants; import frc.robot.constants.FieldConstants; public class PoseUtils { @@ -21,6 +23,13 @@ public static Pose2d flip(final Pose2d pose2d) { ); } + public static Pose3d note2dTo3d(final Pose2d pose2d) { + return new Pose3d( + pose2d.getX(), pose2d.getY(), Constants.Vision.NOTE_HEIGHT_Z*0.5, + new Rotation3d(0, 0, pose2d.getRotation().getRadians()) + ); + } + public static boolean isInField(final Pose3d pose3d) { return pose3d.getX() >= -FIELD_WITHIN_BORDER_MARGIN && pose3d.getX() <= FieldConstants.FIELD_LENGTH_X_METERS + FIELD_WITHIN_BORDER_MARGIN diff --git a/src/main/java/frc/robot/utils/gyro/GyroUtils.java b/src/main/java/frc/robot/utils/gyro/GyroUtils.java index 79cd060..915c2a1 100644 --- a/src/main/java/frc/robot/utils/gyro/GyroUtils.java +++ b/src/main/java/frc/robot/utils/gyro/GyroUtils.java @@ -1,6 +1,9 @@ package frc.robot.utils.gyro; -import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Twist3d; import frc.robot.subsystems.drive.constants.SwerveConstants; public class GyroUtils { diff --git a/src/main/java/frc/robot/utils/logging/LogUtils.java b/src/main/java/frc/robot/utils/logging/LogUtils.java index 72aa07d..e1bb976 100644 --- a/src/main/java/frc/robot/utils/logging/LogUtils.java +++ b/src/main/java/frc/robot/utils/logging/LogUtils.java @@ -3,13 +3,8 @@ import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.trajectory.Trajectory; import edu.wpi.first.util.struct.Struct; -import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Subsystem; -import frc.robot.constants.Constants; import org.littletonrobotics.junction.LogTable; -import org.littletonrobotics.junction.Logger; -import org.photonvision.EstimatedRobotPose; -import org.photonvision.PhotonPoseEstimator; import org.photonvision.common.dataflow.structures.Packet; import org.photonvision.targeting.MultiTargetPNPResult; import org.photonvision.targeting.PNPResult; diff --git a/src/test/java/frc/robot/subsystems/drive/SwerveTest.java b/src/test/java/frc/robot/subsystems/drive/SwerveTest.java index e1e17f6..461e299 100644 --- a/src/test/java/frc/robot/subsystems/drive/SwerveTest.java +++ b/src/test/java/frc/robot/subsystems/drive/SwerveTest.java @@ -2,7 +2,6 @@ import com.ctre.phoenix6.signals.NeutralModeValue; import edu.wpi.first.hal.HAL; -import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; @@ -11,6 +10,7 @@ import edu.wpi.first.math.kinematics.SwerveModuleState; import frc.robot.constants.Constants; import frc.robot.subsystems.drive.constants.SwerveConstants; +import frc.robot.subsystems.drive.estimator.SwerveDrivePoseEstimator; import frc.robot.subsystems.gyro.Gyro; import org.junit.jupiter.api.BeforeAll; import org.junit.jupiter.api.BeforeEach; diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index d4bf7dd..63dacbb 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,7 +1,7 @@ { "fileName": "AdvantageKit.json", "name": "AdvantageKit", - "version": "3.2.0", + "version": "3.2.1", "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", "frcYear": "2024", "mavenUrls": [], @@ -10,24 +10,24 @@ { "groupId": "org.littletonrobotics.akit.junction", "artifactId": "wpilib-shim", - "version": "3.2.0" + "version": "3.2.1" }, { "groupId": "org.littletonrobotics.akit.junction", "artifactId": "junction-core", - "version": "3.2.0" + "version": "3.2.1" }, { "groupId": "org.littletonrobotics.akit.conduit", "artifactId": "conduit-api", - "version": "3.2.0" + "version": "3.2.1" } ], "jniDependencies": [ { "groupId": "org.littletonrobotics.akit.conduit", "artifactId": "conduit-wpilibio", - "version": "3.2.0", + "version": "3.2.1", "skipInvalidPlatforms": false, "isJar": false, "validPlatforms": [ diff --git a/vendordeps/ChoreoLib.json b/vendordeps/ChoreoLib.json index 0f21a0f..a5f886a 100644 --- a/vendordeps/ChoreoLib.json +++ b/vendordeps/ChoreoLib.json @@ -1,7 +1,7 @@ { "fileName": "ChoreoLib.json", "name": "ChoreoLib", - "version": "2024.2.2", + "version": "2024.2.3", "uuid": "287cff6e-1b60-4412-8059-f6834fb30e30", "frcYear": "2024", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "com.choreo.lib", "artifactId": "ChoreoLib-java", - "version": "2024.2.2" + "version": "2024.2.3" }, { "groupId": "com.google.code.gson", @@ -25,7 +25,7 @@ { "groupId": "com.choreo.lib", "artifactId": "ChoreoLib-cpp", - "version": "2024.2.2", + "version": "2024.2.3", "libName": "ChoreoLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json index 2b7d172..0322385 100644 --- a/vendordeps/Phoenix6.json +++ b/vendordeps/Phoenix6.json @@ -1,7 +1,7 @@ { "fileName": "Phoenix6.json", "name": "CTRE-Phoenix (v6)", - "version": "24.2.0", + "version": "24.3.0", "frcYear": 2024, "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "24.2.0" + "version": "24.3.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "24.2.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -39,7 +39,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "24.2.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -52,7 +52,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "24.2.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -65,7 +65,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "24.2.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -78,7 +78,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "24.2.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -91,7 +91,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "24.2.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -104,7 +104,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "24.2.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -117,7 +117,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "24.2.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -130,7 +130,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "24.2.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -143,7 +143,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "24.2.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -158,7 +158,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -173,7 +173,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -188,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -203,7 +203,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -218,7 +218,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -233,7 +233,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_SimTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -248,7 +248,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -263,7 +263,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -278,7 +278,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -293,7 +293,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -308,7 +308,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -323,7 +323,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "24.2.0", + "version": "24.3.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true,