From a9894833296d3301dea1e477369845aef8b52500 Mon Sep 17 00:00:00 2001 From: Max Date: Sat, 2 Mar 2024 01:04:54 -0500 Subject: [PATCH 01/52] Added PhotonVision --- src/main/java/frc/robot/Robot.java | 2 + src/main/java/frc/robot/RobotContainer.java | 5 + .../java/frc/robot/constants/Constants.java | 35 ++ .../frc/robot/constants/FieldConstants.java | 8 + .../drive/OdometryThreadRunner.java | 5 +- .../frc/robot/subsystems/drive/Swerve.java | 15 +- .../subsystems/vision/CameraProperties.java | 131 +++++++ .../robot/subsystems/vision/PhotonVision.java | 323 ++++++++++++++++++ .../vision/PhotonVisionApriltagsReal.java | 170 +++++++++ .../vision/PhotonVisionApriltagsSim.java | 209 ++++++++++++ .../subsystems/vision/PhotonVisionIO.java | 51 +++ .../subsystems/vision/PhotonVisionRunner.java | 13 + .../robot/subsystems/vision/TitanCamera.java | 107 ++++++ .../vision/TitanCameraCalibration.java | 132 +++++++ src/main/java/frc/robot/utils/PoseUtils.java | 17 + .../frc/robot/utils/logging/LogUtils.java | 203 ++++++++++- .../utils/subsystems/VirtualSubsystem.java | 76 +++++ .../robot/subsystems/drive/SwerveTest.java | 6 - vendordeps/photonlib.json | 57 ++++ 19 files changed, 1551 insertions(+), 14 deletions(-) create mode 100644 src/main/java/frc/robot/constants/FieldConstants.java create mode 100644 src/main/java/frc/robot/subsystems/vision/CameraProperties.java create mode 100644 src/main/java/frc/robot/subsystems/vision/PhotonVision.java create mode 100644 src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsReal.java create mode 100644 src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsSim.java create mode 100644 src/main/java/frc/robot/subsystems/vision/PhotonVisionIO.java create mode 100644 src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java create mode 100644 src/main/java/frc/robot/subsystems/vision/TitanCamera.java create mode 100644 src/main/java/frc/robot/subsystems/vision/TitanCameraCalibration.java create mode 100644 src/main/java/frc/robot/utils/PoseUtils.java create mode 100644 src/main/java/frc/robot/utils/subsystems/VirtualSubsystem.java create mode 100644 vendordeps/photonlib.json diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 577b2df..e3ffd14 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler; import frc.robot.constants.Constants; import frc.robot.utils.closeables.ToClose; +import frc.robot.utils.subsystems.VirtualSubsystem; import org.littletonrobotics.junction.LogFileUtil; import org.littletonrobotics.junction.LoggedRobot; import org.littletonrobotics.junction.Logger; @@ -113,6 +114,7 @@ public void robotInit() { @Override public void robotPeriodic() { CommandScheduler.getInstance().run(); + VirtualSubsystem.run(); } @Override diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 584f2c8..c2befe3 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -11,12 +11,15 @@ import frc.robot.constants.HardwareConstants; import frc.robot.constants.RobotMap; import frc.robot.subsystems.drive.Swerve; +import frc.robot.subsystems.vision.PhotonVision; public class RobotContainer { public final PowerDistribution powerDistribution; public final Swerve swerve; + public final PhotonVision photonVision; + public final CommandXboxController driverController; public final CommandXboxController coDriverController; @@ -36,6 +39,8 @@ public RobotContainer() { HardwareConstants.BACK_RIGHT_MODULE ); + this.photonVision = new PhotonVision(Constants.CURRENT_MODE, swerve, swerve.getPoseEstimator()); + this.driverController = new CommandXboxController(RobotMap.MainController); this.coDriverController = new CommandXboxController(RobotMap.CoController); diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 329b9bb..ecfd773 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -1,6 +1,13 @@ package frc.robot.constants; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.Vector; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.numbers.N3; import edu.wpi.first.math.util.Units; +import org.photonvision.PhotonPoseEstimator; public interface Constants { RobotMode CURRENT_MODE = RobotMode.SIM; @@ -45,4 +52,32 @@ interface Modules { double STEER_KS_VOLTS = 0.25; } } + + interface NetworkTables { + boolean USE_STRUCT_AND_PROTOBUF = true; + } + + interface Vision { + PhotonPoseEstimator.PoseStrategy MULTI_TAG_POSE_STRATEGY = + PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR; + + //L = Left, R = Right, F = Forward, B = Backward (Facing) + Transform3d ROBOT_TO_FR_APRILTAG_CAM = new Transform3d( + new Translation3d(Units.inchesToMeters(13.449), Units.inchesToMeters(-13.762), Units.inchesToMeters(7.922)), + new Rotation3d(0, Units.degreesToRadians(-15), Units.degreesToRadians(-70)) + ); + + Transform3d ROBOT_TO_FL_APRILTAG_CAM = new Transform3d( + new Translation3d(Units.inchesToMeters(14.465), Units.inchesToMeters(-11.907), Units.inchesToMeters(9.67)), + new Rotation3d(0, Units.degreesToRadians(-15), Units.degreesToRadians(25)) + ); + + /** + * Standard deviations of the supplied pose estimate (before vision, likely to be solely wheel odometry) + */ + Vector STATE_STD_DEVS = VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(2.5)); + Vector VISION_MEASUREMENT_STD_DEVS = VecBuilder.fill(0.85, 0.85, Units.degreesToRadians(5)); + double MULTI_TAG_MAX_AMBIGUITY = 0.3; + double SINGLE_TAG_MAX_AMBIGUITY = 0.2; + } } diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java new file mode 100644 index 0000000..7a44202 --- /dev/null +++ b/src/main/java/frc/robot/constants/FieldConstants.java @@ -0,0 +1,8 @@ +package frc.robot.constants; + +public class FieldConstants { + public static final double FIELD_LENGTH_X_METERS = 16.54175; + public static final double FIELD_WIDTH_Y_METERS = 8.0137; + public static final double FIELD_WITHIN_BORDER_MARGIN = 0.5; + public static final double FIELD_WITHIN_Z_MARGIN = 0.75; +} diff --git a/src/main/java/frc/robot/subsystems/drive/OdometryThreadRunner.java b/src/main/java/frc/robot/subsystems/drive/OdometryThreadRunner.java index b35436c..19f35b4 100644 --- a/src/main/java/frc/robot/subsystems/drive/OdometryThreadRunner.java +++ b/src/main/java/frc/robot/subsystems/drive/OdometryThreadRunner.java @@ -13,7 +13,10 @@ import org.littletonrobotics.junction.Logger; import java.nio.ByteBuffer; -import java.util.*; +import java.util.ArrayList; +import java.util.HashMap; +import java.util.List; +import java.util.Map; import java.util.concurrent.locks.ReentrantReadWriteLock; import java.util.function.Consumer; diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 33426f2..5c74a4f 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -209,10 +209,12 @@ private SysIdRoutine makeLinearTorqueCurrentSysIdRoutine() { ); } + @SuppressWarnings("unused") public Command linearTorqueCurrentSysIdQuasistaticCommand(final SysIdRoutine.Direction direction) { return linearTorqueCurrentSysIdRoutine.quasistatic(direction); } + @SuppressWarnings("unused") public Command linearTorqueCurrentSysIdDynamicCommand(final SysIdRoutine.Direction direction) { return linearTorqueCurrentSysIdRoutine.dynamic(direction); } @@ -241,10 +243,12 @@ private SysIdRoutine makeAngularVoltageSysIdRoutine() { ); } + @SuppressWarnings("unused") public Command angularVoltageSysIdQuasistaticCommand(final SysIdRoutine.Direction direction) { return angularVoltageSysIdRoutine.quasistatic(direction); } + @SuppressWarnings("unused") public Command angularVoltageSysIdDynamicCommand(final SysIdRoutine.Direction direction) { return angularVoltageSysIdRoutine.dynamic(direction); } @@ -382,14 +386,13 @@ public void setAngle(final Rotation2d angle) { gyro.setAngle(angle); } - //TODO add vision public void zeroRotation() { -// public void zeroRotation(final PhotonVision photonVision) { gyro.zeroRotation(); -// photonVision.resetPosition( -// photonVision.getEstimatedPosition(), -// Rotation2d.fromDegrees(0) -// ); + poseEstimator.resetPosition( + Rotation2d.fromRadians(0), + getModulePositions(), + getEstimatedPosition() + ); } public Command zeroRotationCommand() { diff --git a/src/main/java/frc/robot/subsystems/vision/CameraProperties.java b/src/main/java/frc/robot/subsystems/vision/CameraProperties.java new file mode 100644 index 0000000..c4bf384 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/CameraProperties.java @@ -0,0 +1,131 @@ +package frc.robot.subsystems.vision; + +import java.util.*; +import java.util.stream.Collectors; + +public enum CameraProperties { + SUPER_SHAM( + Resolution.R640x480, 56, 7 + ), + PERFECT_90( + Resolution.R960x720, 90, 80 + ); + + private final List resolutions; + private final double camDiagonalFOVDeg; + private final double avgFPS; + + CameraProperties( + final List resolutions, + final double camDiagonalFOVDeg, + final double avgFPS + ) { + if (resolutions.isEmpty()) { + throw new IllegalArgumentException("Cannot provide a 0-sized resolution list!"); + } + + this.resolutions = resolutions; + this.camDiagonalFOVDeg = camDiagonalFOVDeg; + this.avgFPS = avgFPS; + } + + CameraProperties( + final Resolution resolution, + final double camDiagonalFOVDeg, + final double avgFPS + ) { + this(List.of(resolution), camDiagonalFOVDeg, avgFPS); + } + + @SuppressWarnings("unused") + CameraProperties( + final int camResolutionWidthPx, + final int camResolutionHeightPx, + final double camDiagonalFOVDeg, + final double avgFPS + ) { + this( + Resolution + .getFromWidthHeight(camResolutionWidthPx, camResolutionHeightPx) + .orElseThrow( + () -> new RuntimeException( + String.format( + "Failed to find %s", + Resolution.rawToString( + camResolutionWidthPx, camResolutionHeightPx + ) + ) + ) + ), + camDiagonalFOVDeg, + avgFPS + ); + } + + public double getCamDiagonalFOVDeg() { + return camDiagonalFOVDeg; + } + + public List getResolutions() { + return resolutions; + } + + public Resolution getFirstResolution() { + return resolutions.get(0); + } + + public double getAvgFPS() { + return avgFPS; + } + + public enum Resolution { + R1280x800(1280, 800), + R1280x720(1280, 720), + R800x600(800, 600), + R960x720(960, 720), + R320x240(320, 240), + R640x480(640, 480); + + private final int width; + private final int height; + + private static final Map> resolutionsMap = Arrays.stream(values()) + .collect(Collectors.toUnmodifiableMap( + Resolution::getWidth, + resolution -> new HashMap<>(Map.of(resolution.getHeight(), resolution)), + (existingMap, nextMap) -> { + existingMap.putAll(nextMap); + return existingMap; + } + )); + + Resolution(final int width, final int height) { + this.width = width; + this.height = height; + } + + public static Optional getFromWidthHeight(final int width, final int height) { + final Map heightMap; + return (heightMap = resolutionsMap.get(width)) == null + ? Optional.empty() + : Optional.ofNullable(heightMap.get(height)); + } + + public int getWidth() { + return width; + } + + public int getHeight() { + return height; + } + + public static String rawToString(final int width, final int height) { + return String.format("%s(width=%d, height=%d)", Resolution.class, width, height); + } + + @Override + public String toString() { + return String.format("%s(width=%d, height=%d)", super.toString(), width, height); + } + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java new file mode 100644 index 0000000..1c65d49 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -0,0 +1,323 @@ +package frc.robot.subsystems.vision; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; +import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; +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.Twist2d; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; +import edu.wpi.first.wpilibj.DriverStation; +import frc.robot.constants.Constants; +import frc.robot.subsystems.drive.Swerve; +import frc.robot.utils.PoseUtils; +import frc.robot.utils.gyro.GyroUtils; +import frc.robot.utils.subsystems.VirtualSubsystem; +import org.littletonrobotics.junction.Logger; +import org.photonvision.EstimatedRobotPose; +import org.photonvision.simulation.VisionSystemSim; +import org.photonvision.targeting.PhotonTrackedTarget; + +import java.io.UncheckedIOException; +import java.util.*; +import java.util.stream.Collectors; + +public class PhotonVision extends VirtualSubsystem { + public static final String photonLogKey = "PhotonVision"; + + public static final double TRANSLATION_VELOCITY_TOLERANCE = 0.1; + public static final double ANGULAR_VELOCITY_TOLERANCE = 0.1; + + public static final AprilTagFieldLayout apriltagFieldLayout; + + static { + AprilTagFieldLayout layout; + try { + layout = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField(); + } catch (final UncheckedIOException uncheckedIOException) { + layout = null; + DriverStation.reportError("Failed to load AprilTagFieldLayout", uncheckedIOException.getStackTrace()); + } + + apriltagFieldLayout = layout; + + if (apriltagFieldLayout != null) { + apriltagFieldLayout.setOrigin(AprilTagFieldLayout.OriginPosition.kBlueAllianceWallRightSide); + } + } + + private static PhotonVisionApriltagsReal.IOApriltagsReal makePhotonVisionRealIO(final TitanCamera titanCamera) { + return new PhotonVisionApriltagsReal.IOApriltagsReal(titanCamera, PhotonVision.apriltagFieldLayout); + } + + private static PhotonVisionApriltagsSim.IOApriltagsSim makePhotonVisionSimIO( + final TitanCamera titanCamera, + final VisionSystemSim visionSystemSim + ) { + return new PhotonVisionApriltagsSim.IOApriltagsSim( + titanCamera, PhotonVision.apriltagFieldLayout, visionSystemSim + ); + } + + @SafeVarargs + public static Map makePhotonVisionIOInputsMap( + final T... photonVisionIOs + ) { + return Arrays.stream(photonVisionIOs).collect(Collectors.toMap( + photonVisionIO -> photonVisionIO, + photonVisionIO -> new PhotonVisionIO.PhotonVisionIOInputs() + )); + } + + private final PhotonVisionRunner runner; + private final Map photonVisionIOInputsMap; + + private final Swerve swerve; + private final SwerveDrivePoseEstimator poseEstimator; + private final Map lastStableEstimatedPosesByCamera; + + public PhotonVision( + final Constants.RobotMode robotMode, + final Swerve swerve, + final SwerveDrivePoseEstimator poseEstimator + ) { + this.runner = switch (robotMode) { + case REAL -> new PhotonVisionApriltagsReal( + PhotonVision.makePhotonVisionIOInputsMap( + makePhotonVisionRealIO(TitanCamera.PHOTON_FL_APRILTAG), + makePhotonVisionRealIO(TitanCamera.PHOTON_FR_APRILTAG) + ) + ); + case SIM -> { + final VisionSystemSim visionSystemSim = new VisionSystemSim(PhotonVision.photonLogKey); + yield new PhotonVisionApriltagsSim( + swerve, + new SwerveDriveOdometry( + swerve.getKinematics(), + swerve.getYaw(), + swerve.getModulePositions(), + new Pose2d() + ), + PhotonVision.apriltagFieldLayout, + visionSystemSim, + PhotonVision.makePhotonVisionIOInputsMap( + makePhotonVisionSimIO(TitanCamera.PHOTON_FL_APRILTAG, visionSystemSim), + makePhotonVisionSimIO(TitanCamera.PHOTON_FR_APRILTAG, visionSystemSim) + ) + ); + } + case REPLAY -> new PhotonVisionRunner<>() {}; + }; + + this.swerve = swerve; + this.poseEstimator = poseEstimator; + this.photonVisionIOInputsMap = runner.getPhotonVisionIOInputsMap(); + + this.lastStableEstimatedPosesByCamera = new HashMap<>(); + + final Pose2d estimatedPose = poseEstimator.getEstimatedPosition(); + resetPosition(estimatedPose); + } + + public enum EstimationRejectionReason { + DID_NOT_REJECT(0), + ESTIMATED_POSE_OBJECT_NULL(1), + ESTIMATED_POSE_OR_TIMESTAMP_OR_TARGETS_INVALID(2), + POSE_NOT_IN_FIELD(3), + LAST_ESTIMATED_POSE_TIMESTAMP_INVALID_OR_TOO_CLOSE(4), + POSE_IMPOSSIBLE_VELOCITY(5); + + private final int id; + EstimationRejectionReason(final int id) { + this.id = id; + } + + public int getId() { + return id; + } + + public static boolean wasRejected(final EstimationRejectionReason rejectionReason) { + return rejectionReason != DID_NOT_REJECT; + } + + public boolean wasRejected() { + return wasRejected(this); + } + } + + public EstimationRejectionReason shouldRejectEstimation( + final EstimatedRobotPose lastEstimatedRobotPose, + final EstimatedRobotPose estimatedRobotPose + ) { + if (estimatedRobotPose == null) { + // reject immediately if the estimated pose itself is null + return EstimationRejectionReason.ESTIMATED_POSE_OBJECT_NULL; + } + + if (estimatedRobotPose.estimatedPose == null + || estimatedRobotPose.timestampSeconds == -1 + || estimatedRobotPose.targetsUsed.isEmpty()) { + // reject immediately if null estimatedPose, timestamp is invalid, or no targets used + return EstimationRejectionReason.ESTIMATED_POSE_OR_TIMESTAMP_OR_TARGETS_INVALID; + } + + if (lastEstimatedRobotPose == null) { + // do not reject if there was no last estimation at all (this is different from an invalid last estimation) + // likely, this is the first time we have an estimation, make sure we accept this estimation + return EstimationRejectionReason.DID_NOT_REJECT; + } + + final Pose3d nextEstimatedPosition = estimatedRobotPose.estimatedPose; + + if (!PoseUtils.isInField(nextEstimatedPosition)) { +// reject if pose not within the field + return EstimationRejectionReason.POSE_NOT_IN_FIELD; + } + + final double secondsSinceLastUpdate = + estimatedRobotPose.timestampSeconds - lastEstimatedRobotPose.timestampSeconds; + + 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 + return EstimationRejectionReason.LAST_ESTIMATED_POSE_TIMESTAMP_INVALID_OR_TOO_CLOSE; + } + + final Pose2d nextEstimatedPosition2d = nextEstimatedPosition.toPose2d(); + final Pose2d lastEstimatedPosition2d = lastEstimatedRobotPose.estimatedPose.toPose2d(); + final Twist2d twist2dToNewEstimation = lastEstimatedPosition2d.log(nextEstimatedPosition2d); + + final double xVel = twist2dToNewEstimation.dx / secondsSinceLastUpdate; + final double yVel = twist2dToNewEstimation.dy / secondsSinceLastUpdate; + final double thetaVel = twist2dToNewEstimation.dtheta / secondsSinceLastUpdate; + final double translationVel = Math.hypot(xVel, yVel); + + Logger.recordOutput( + photonLogKey + "/TranslationVel", translationVel + ); + Logger.recordOutput( + photonLogKey + "/ThetaVel", thetaVel + ); + + // assume hypot is positive (>= 0) + if ((translationVel >= Constants.Swerve.ROBOT_MAX_SPEED_MPS + PhotonVision.TRANSLATION_VELOCITY_TOLERANCE) + || (Math.abs(thetaVel) >= Constants.Swerve.ROBOT_MAX_ANGULAR_SPEED_RAD_PER_SEC + + PhotonVision.ANGULAR_VELOCITY_TOLERANCE)) { + // reject sudden pose changes resulting in an impossible velocity (cannot reach) + return EstimationRejectionReason.POSE_IMPOSSIBLE_VELOCITY; + } + + // TODO: more rejection stuff + return EstimationRejectionReason.DID_NOT_REJECT; + } + + private void update() { + for ( + final Map.Entry + photonVisionIOInputsEntry : photonVisionIOInputsMap.entrySet() + ) { + + final PhotonVisionIO photonVisionIO = photonVisionIOInputsEntry.getKey(); + final PhotonVisionIO.PhotonVisionIOInputs photonVisionIOInputs = photonVisionIOInputsEntry.getValue(); + + final EstimatedRobotPose stableEstimatedRobotPose = photonVisionIOInputs.stableEstimatedRobotPose; + final EstimatedRobotPose estimatedRobotPose = photonVisionIOInputs.estimatedRobotPose; + + if (estimatedRobotPose == null) { + // skip the trouble of calling/indexing things if the estimatedRobotPose is null + continue; + } + + final EstimatedRobotPose lastSavedEstimatedPose = lastStableEstimatedPosesByCamera.get(photonVisionIO); + final EstimationRejectionReason rejectionReason = + shouldRejectEstimation(lastSavedEstimatedPose, estimatedRobotPose); + + Logger.recordOutput( + photonLogKey + "/RejectionReason", rejectionReason.getId() + ); + + if (rejectionReason.wasRejected()) { + continue; + } + + lastStableEstimatedPosesByCamera.put(photonVisionIO, stableEstimatedRobotPose); + + // TODO: get better calibrations on cameras or get better cameras + poseEstimator.addVisionMeasurement( + estimatedRobotPose.estimatedPose.toPose2d(), + estimatedRobotPose.timestampSeconds + ); + } + } + + public void logVisionData() { + final Set apriltagIds = new HashSet<>(); + final List estimatedPoses = new ArrayList<>(); + final List apriltagPoses = new ArrayList<>(); + + for (final EstimatedRobotPose estimatedRobotPose : lastStableEstimatedPosesByCamera.values()) { + if (estimatedRobotPose == null) { + continue; + } + + final Set ids = estimatedRobotPose.targetsUsed.stream() + .map(PhotonTrackedTarget::getFiducialId) + .collect(Collectors.toSet()); + + estimatedPoses.add(estimatedRobotPose.estimatedPose); + apriltagIds.addAll(ids); + apriltagPoses.addAll( + ids.stream().map( + id -> apriltagFieldLayout.getTagPose(id).orElse(new Pose3d()) + ).toList() + ); + } + + Logger.recordOutput( + PhotonVision.photonLogKey + "/EstimatedRobotPose3dsByCamera", + estimatedPoses.toArray(Pose3d[]::new) + ); + + Logger.recordOutput( + PhotonVision.photonLogKey + "/EstimatedRobotPose2dsByCamera", + estimatedPoses.stream().map(Pose3d::toPose2d).toArray(Pose2d[]::new) + ); + + Logger.recordOutput( + PhotonVision.photonLogKey + "/ApriltagIds", + apriltagIds.stream().mapToLong(Number::longValue).toArray() + ); + + Logger.recordOutput( + PhotonVision.photonLogKey + "/ApriltagPose3ds", + apriltagPoses.toArray(Pose3d[]::new) + ); + + Logger.recordOutput( + PhotonVision.photonLogKey + "/ApriltagPose2ds", + apriltagPoses.stream().map(Pose3d::toPose2d).toArray(Pose2d[]::new) + ); + } + + @Override + public void periodic() { + runner.periodic(); + + // Update and log PhotonVision results + update(); + logVisionData(); + } + + public void resetPosition(final Pose2d robotPose, final Rotation2d robotYaw) { + poseEstimator.resetPosition(robotYaw, swerve.getModulePositions(), robotPose); + runner.resetRobotPose(GyroUtils.robotPose2dToPose3dWithGyro( + new Pose2d(robotPose.getTranslation(), robotYaw), + GyroUtils.rpyToRotation3d(swerve.getRoll(), swerve.getPitch(), swerve.getYaw()) + )); + } + + public void resetPosition(final Pose2d robotPose) { + resetPosition(robotPose, swerve.getYaw()); + } +} diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsReal.java b/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsReal.java new file mode 100644 index 0000000..1e668f1 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsReal.java @@ -0,0 +1,170 @@ +package frc.robot.subsystems.vision; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.math.geometry.Pose3d; +import frc.robot.constants.Constants; +import frc.robot.utils.closeables.ToClose; +import org.littletonrobotics.junction.Logger; +import org.photonvision.EstimatedRobotPose; +import org.photonvision.PhotonCamera; +import org.photonvision.PhotonPoseEstimator; +import org.photonvision.targeting.PhotonPipelineResult; +import org.photonvision.targeting.PhotonTrackedTarget; + +import java.util.List; +import java.util.Map; +import java.util.Optional; + +public class PhotonVisionApriltagsReal implements PhotonVisionRunner { + public static class IOApriltagsReal implements PhotonVisionIO { + private final PhotonCamera photonCamera; + private final String logKey; + + private final PhotonPoseEstimator poseEstimator; + + private PhotonPipelineResult latestPhotonPipelineResult; + private EstimatedRobotPose estimatedRobotPose; + /** + * A stable {@link EstimatedRobotPose}, this does NOT get set to null after we get + * the estimated pose, thus, it is stable and represents the last estimated pose. + *

+ * Do NOT use this {@link EstimatedRobotPose} to feed into vision adjustments. + */ + private EstimatedRobotPose stableEstimatedRobotPose; + + public IOApriltagsReal( + final TitanCamera titanCamera, + final AprilTagFieldLayout blueSideApriltagFieldLayout + ) { + this.photonCamera = titanCamera.getPhotonCamera(); + this.logKey = String.format("%s_PhotonVisionIOApriltagsReal", photonCamera.getName()); + + this.poseEstimator = new PhotonPoseEstimator( + blueSideApriltagFieldLayout, + Constants.Vision.MULTI_TAG_POSE_STRATEGY, + photonCamera, + titanCamera.getRobotRelativeToCameraTransform() + ); + this.poseEstimator.setMultiTagFallbackStrategy(PhotonPoseEstimator.PoseStrategy.LOWEST_AMBIGUITY); + } + + private void updatePoseEstimator(final PhotonPipelineResult photonPipelineResult) { + final Optional optionalEstimatedRobotPose = poseEstimator.update(photonPipelineResult); + optionalEstimatedRobotPose.ifPresent(estimatedRobotPose -> { + this.estimatedRobotPose = estimatedRobotPose; + this.stableEstimatedRobotPose = estimatedRobotPose; + }); + + this.latestPhotonPipelineResult = photonPipelineResult; + } + + @Override + public void updateInputs(final PhotonVisionIOInputs inputs) { + if (latestPhotonPipelineResult == null) { + inputs.pipelineResultTargets = new double[] {}; + } else { + inputs.pipelineResultTargets = latestPhotonPipelineResult.targets.stream() + .mapToDouble(PhotonTrackedTarget::getFiducialId) + .toArray(); + } + inputs.primaryStrategy = poseEstimator.getPrimaryStrategy().toString(); + + inputs.estimatedRobotPose = getLatestEstimatedPose(); + inputs.stableEstimatedRobotPose = getStableLastEstimatedPose(); + } + + @Override + public void periodic() { + final PhotonPipelineResult photonResult = photonCamera.getLatestResult(); + if (!photonResult.hasTargets()) { + this.stableEstimatedRobotPose = null; + return; + } + + final List targets = photonResult.targets; + final int nTargets = targets.size(); + + if (nTargets == 1) { + // single-tag + final PhotonTrackedTarget firstTarget = targets.get(0); + if (firstTarget.getPoseAmbiguity() <= Constants.Vision.SINGLE_TAG_MAX_AMBIGUITY) { + updatePoseEstimator(photonResult); + } + } else { + // multi-tag + final List filteredTargets = photonResult.getTargets() + .stream() + .filter( + photonTrackedTarget -> + photonTrackedTarget.getPoseAmbiguity() <= Constants.Vision.MULTI_TAG_MAX_AMBIGUITY + ) + .toList(); + + final PhotonPipelineResult filteredPhotonPipelineResult = new PhotonPipelineResult( + photonResult.getLatencyMillis(), filteredTargets + ); + + filteredPhotonPipelineResult.setTimestampSeconds(photonResult.getTimestampSeconds()); + updatePoseEstimator(filteredPhotonPipelineResult); + } + } + + public EstimatedRobotPose getLatestEstimatedPose() { + final EstimatedRobotPose robotPose = estimatedRobotPose; + this.estimatedRobotPose = null; + + return robotPose; + } + + public EstimatedRobotPose getStableLastEstimatedPose() { + return stableEstimatedRobotPose; + } + } + + + private final Map + photonVisionIOInputsMap; + + public PhotonVisionApriltagsReal( + final Map + photonVisionIOInputsMap + ) { + this.photonVisionIOInputsMap = photonVisionIOInputsMap; + } + + @Override + public void periodic() { + if (ToClose.hasClosed()) { + // do not try to update if we've already closed or if we cannot continue running + return; + } + + for ( + final Map.Entry + photonVisionIOInputsEntry : photonVisionIOInputsMap.entrySet() + ) { + final IOApriltagsReal ioApriltagsReal = photonVisionIOInputsEntry.getKey(); + final PhotonVisionIO.PhotonVisionIOInputs ioInputs = photonVisionIOInputsEntry.getValue(); + + ioApriltagsReal.periodic(); + ioApriltagsReal.updateInputs(ioInputs); + + Logger.processInputs( + String.format("%s/%s", PhotonVision.photonLogKey, ioApriltagsReal.logKey), + ioInputs + ); + } + } + + /** + * Reset the simulated robot {@link Pose3d}. + * @param robotPose the new robot {@link Pose3d} + */ + @Override + public void resetRobotPose(final Pose3d robotPose) {} + + @Override + public Map getPhotonVisionIOInputsMap() { + return photonVisionIOInputsMap; + } +} diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsSim.java b/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsSim.java new file mode 100644 index 0000000..612463c --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsSim.java @@ -0,0 +1,209 @@ +package frc.robot.subsystems.vision; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; +import frc.robot.constants.Constants; +import frc.robot.subsystems.drive.Swerve; +import frc.robot.utils.closeables.ToClose; +import frc.robot.utils.gyro.GyroUtils; +import org.littletonrobotics.junction.Logger; +import org.photonvision.EstimatedRobotPose; +import org.photonvision.PhotonCamera; +import org.photonvision.PhotonPoseEstimator; +import org.photonvision.simulation.PhotonCameraSim; +import org.photonvision.simulation.VisionSystemSim; +import org.photonvision.targeting.PhotonPipelineResult; +import org.photonvision.targeting.PhotonTrackedTarget; + +import java.util.List; +import java.util.Map; +import java.util.Optional; + +public class PhotonVisionApriltagsSim implements PhotonVisionRunner { + public static class IOApriltagsSim implements PhotonVisionIO { + private final PhotonCamera photonCamera; + private final String logKey; + + private final PhotonPoseEstimator poseEstimator; + + private PhotonPipelineResult latestPhotonPipelineResult; + private EstimatedRobotPose estimatedRobotPose; + /** + * A stable {@link EstimatedRobotPose}, this does NOT get set to null after we get + * the estimated pose, thus, it is stable and represents the last estimated pose. + *

+ * Do NOT use this {@link EstimatedRobotPose} to feed into vision adjustments. + */ + private EstimatedRobotPose stableEstimatedRobotPose; + + public IOApriltagsSim( + final TitanCamera titanCamera, + final AprilTagFieldLayout blueSideApriltagFieldLayout, + final VisionSystemSim visionSystemSim + ) { + this.photonCamera = titanCamera.getPhotonCamera(); + this.logKey = String.format("%s_PhotonVisionIOApriltagsSim", photonCamera.getName()); + + this.poseEstimator = new PhotonPoseEstimator( + blueSideApriltagFieldLayout, + Constants.Vision.MULTI_TAG_POSE_STRATEGY, + photonCamera, + titanCamera.getRobotRelativeToCameraTransform() + ); + this.poseEstimator.setMultiTagFallbackStrategy(PhotonPoseEstimator.PoseStrategy.LOWEST_AMBIGUITY); + + final PhotonCameraSim photonCameraSim = + new PhotonCameraSim(titanCamera.getPhotonCamera(), titanCamera.toSimCameraProperties()); + + ToClose.add(photonCameraSim); + visionSystemSim.addCamera(photonCameraSim, titanCamera.getRobotRelativeToCameraTransform()); + } + + private void updatePoseEstimator(final PhotonPipelineResult photonPipelineResult) { + final Optional optionalEstimatedRobotPose = poseEstimator.update(photonPipelineResult); + optionalEstimatedRobotPose.ifPresent(estimatedRobotPose -> { + this.estimatedRobotPose = estimatedRobotPose; + this.stableEstimatedRobotPose = estimatedRobotPose; + }); + + this.latestPhotonPipelineResult = photonPipelineResult; + } + + @Override + public void updateInputs(final PhotonVisionIOInputs inputs) { + if (latestPhotonPipelineResult == null) { + inputs.pipelineResultTargets = new double[] {}; + } else { + inputs.pipelineResultTargets = latestPhotonPipelineResult.targets.stream() + .mapToDouble(PhotonTrackedTarget::getFiducialId) + .toArray(); + } + inputs.primaryStrategy = poseEstimator.getPrimaryStrategy().toString(); + + inputs.estimatedRobotPose = getLatestEstimatedPose(); + inputs.stableEstimatedRobotPose = getStableLastEstimatedPose(); + } + + @Override + public void periodic() { + final PhotonPipelineResult photonResult = photonCamera.getLatestResult(); + if (!photonResult.hasTargets()) { + this.stableEstimatedRobotPose = null; + return; + } + + final List targets = photonResult.targets; + final int nTargets = targets.size(); + + if (nTargets == 1) { + // single-tag + final PhotonTrackedTarget firstTarget = targets.get(0); + if (firstTarget.getPoseAmbiguity() <= Constants.Vision.SINGLE_TAG_MAX_AMBIGUITY) { + updatePoseEstimator(photonResult); + } + } else { + // multi-tag + final List filteredTargets = photonResult.getTargets() + .stream() + .filter( + photonTrackedTarget -> + photonTrackedTarget.getPoseAmbiguity() <= Constants.Vision.MULTI_TAG_MAX_AMBIGUITY + ) + .toList(); + + final PhotonPipelineResult filteredPhotonPipelineResult = new PhotonPipelineResult( + photonResult.getLatencyMillis(), filteredTargets + ); + + filteredPhotonPipelineResult.setTimestampSeconds(photonResult.getTimestampSeconds()); + updatePoseEstimator(filteredPhotonPipelineResult); + } + } + + public EstimatedRobotPose getLatestEstimatedPose() { + final EstimatedRobotPose robotPose = estimatedRobotPose; + this.estimatedRobotPose = null; + + return robotPose; + } + + public EstimatedRobotPose getStableLastEstimatedPose() { + return stableEstimatedRobotPose; + } + } + + + private final Swerve swerve; + private final SwerveDriveOdometry visionIndependentOdometry; + private final Map photonVisionIOInputsMap; + + private final VisionSystemSim visionSystemSim; + + public PhotonVisionApriltagsSim( + final Swerve swerve, + final SwerveDriveOdometry visionIndependentOdometry, + final AprilTagFieldLayout aprilTagFieldLayout, + final VisionSystemSim visionSystemSim, + final Map photonVisionIOInputsMap + ) { + this.swerve = swerve; + this.visionIndependentOdometry = visionIndependentOdometry; + this.photonVisionIOInputsMap = photonVisionIOInputsMap; + + this.visionSystemSim = visionSystemSim; + this.visionSystemSim.addAprilTags(aprilTagFieldLayout); + } + + @Override + public void periodic() { + if (ToClose.hasClosed()) { + // do not try to update if we've already closed or if we cannot continue running + return; + } + + for ( + final Map.Entry + photonVisionIOInputsEntry : photonVisionIOInputsMap.entrySet() + ) { + final IOApriltagsSim ioApriltagsSim = photonVisionIOInputsEntry.getKey(); + final PhotonVisionIO.PhotonVisionIOInputs ioInputs = photonVisionIOInputsEntry.getValue(); + + ioApriltagsSim.periodic(); + ioApriltagsSim.updateInputs(ioInputs); + + Logger.processInputs( + String.format("%s/%s", PhotonVision.photonLogKey, ioApriltagsSim.logKey), + ioInputs + ); + } + + final Pose2d visionIndependentPose = + visionIndependentOdometry.update(swerve.getYaw(), swerve.getModulePositions()); + + visionSystemSim.update( + GyroUtils.robotPose2dToPose3dWithGyro( + visionIndependentPose, + GyroUtils.rpyToRotation3d(swerve.getRoll(), swerve.getPitch(), swerve.getYaw()) + ) + ); + } + + /** + * Reset the simulated robot {@link Pose3d}. + * @param robotPose the new robot {@link Pose3d} + */ + @Override + public void resetRobotPose(final Pose3d robotPose) { + visionSystemSim.resetRobotPose(robotPose); + visionIndependentOdometry.resetPosition( + robotPose.toPose2d().getRotation(), swerve.getModulePositions(), robotPose.toPose2d() + ); + } + + @Override + public Map getPhotonVisionIOInputsMap() { + return photonVisionIOInputsMap; + } +} diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVisionIO.java b/src/main/java/frc/robot/subsystems/vision/PhotonVisionIO.java new file mode 100644 index 0000000..3cbb25e --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVisionIO.java @@ -0,0 +1,51 @@ +package frc.robot.subsystems.vision; + +import frc.robot.constants.Constants; +import frc.robot.utils.logging.LogUtils; +import org.littletonrobotics.junction.LogTable; +import org.littletonrobotics.junction.inputs.LoggableInputs; +import org.photonvision.EstimatedRobotPose; + +public interface PhotonVisionIO { + class PhotonVisionIOInputs implements LoggableInputs { + public double[] pipelineResultTargets = new double[] {}; + public String primaryStrategy = Constants.Vision.MULTI_TAG_POSE_STRATEGY.toString(); + public EstimatedRobotPose estimatedRobotPose; + public EstimatedRobotPose stableEstimatedRobotPose; + + @Override + public void toLog(final LogTable table) { + table.put("PipelineResultTargets", pipelineResultTargets); + table.put("PrimaryStrategy", primaryStrategy); + + LogUtils.serializePhotonVisionEstimatedRobotPose( + table, "EstimatedRobotPose", estimatedRobotPose + ); + LogUtils.serializePhotonVisionEstimatedRobotPose( + table, "StableEstimatedRobotPose", stableEstimatedRobotPose + ); + } + + @Override + public void fromLog(LogTable table) { + this.pipelineResultTargets = table.get("PipelineResultTargets", new double[] {}); + this.primaryStrategy = table.get( + "PrimaryStrategy", Constants.Vision.MULTI_TAG_POSE_STRATEGY.toString() + ); + + this.estimatedRobotPose = + LogUtils.deserializePhotonVisionEstimatedRobotPose(table, "EstimatedRobotPose"); + this.stableEstimatedRobotPose = + LogUtils.deserializePhotonVisionEstimatedRobotPose(table, "StableEstimatedRobotPose"); + } + } + + /** + * Updates the set of loggable inputs. + * @param inputs Logged class of IOInputs + * @see PhotonVisionIOInputs + */ + default void updateInputs(final PhotonVisionIOInputs inputs) {} + + default void periodic() {} +} diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java new file mode 100644 index 0000000..670aa94 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java @@ -0,0 +1,13 @@ +package frc.robot.subsystems.vision; + +import edu.wpi.first.math.geometry.Pose3d; + +import java.util.Map; + +public interface PhotonVisionRunner { + default void periodic() {} + default void resetRobotPose(final Pose3d pose3d) {} + default Map getPhotonVisionIOInputsMap() { + return Map.of(); + } +} diff --git a/src/main/java/frc/robot/subsystems/vision/TitanCamera.java b/src/main/java/frc/robot/subsystems/vision/TitanCamera.java new file mode 100644 index 0000000..bc5e9c6 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/TitanCamera.java @@ -0,0 +1,107 @@ +package frc.robot.subsystems.vision; + +import edu.wpi.first.math.geometry.Transform3d; +import frc.robot.constants.Constants; +import org.photonvision.PhotonCamera; +import org.photonvision.simulation.SimCameraProperties; + +public enum TitanCamera { + //TODO: put real numbers here -> do not use PERFECT_90DEG + PHOTON_FL_APRILTAG( + "FL_Apriltag", + Constants.Vision.ROBOT_TO_FL_APRILTAG_CAM, + CameraProperties.SUPER_SHAM, //TODO: GET FOR NEW CAMERAS + TitanCameraCalibration.fromSimCameraProperties(SimCameraProperties.LL2_640_480()), + false + ), + //TODO: put real numbers here -> do not use PERFECT_90DEG + PHOTON_FR_APRILTAG( + "FR_Apriltag", + Constants.Vision.ROBOT_TO_FR_APRILTAG_CAM, + CameraProperties.SUPER_SHAM, //TODO: GET FOR NEW CAMERAS + TitanCameraCalibration.fromSimCameraProperties(SimCameraProperties.LL2_640_480()), + false + ); + + private final PhotonCamera photonCamera; + private final Transform3d robotRelativeToCameraTransform; + private final CameraProperties cameraProperties; + private final TitanCameraCalibration cameraCalibration; + private final boolean driverCam; + + TitanCamera( + final String photonCameraName, + final Transform3d robotRelativeToCameraTransform, + final CameraProperties cameraProperties, + final TitanCameraCalibration titanCameraCalibration, + final boolean driverCam + ) { + this.photonCamera = new PhotonCamera(photonCameraName); + this.robotRelativeToCameraTransform = robotRelativeToCameraTransform; + this.cameraProperties = cameraProperties; + this.cameraCalibration = titanCameraCalibration; + this.driverCam = driverCam; + + // if it isn't a driverCam, then it should have proper calibration data + if (!driverCam) { + for (final CameraProperties.Resolution resolution : cameraProperties.getResolutions()) { + if (!cameraCalibration.hasResolution(resolution)) { + throw new RuntimeException( + String.format( + "Camera %s(%s) does not have calibration data for specified %s", + photonCameraName, cameraProperties, resolution + ) + ); + } + } + } + + this.photonCamera.setDriverMode(driverCam); + } + + TitanCamera( + final String photonCameraName, + final Transform3d robotRelativeToCameraTransform, + final CameraProperties cameraProperties, + final boolean driverCam + ) { + this( + photonCameraName, + robotRelativeToCameraTransform, + cameraProperties, + TitanCameraCalibration.fromSimCameraProperties(SimCameraProperties.PERFECT_90DEG()), + driverCam + ); + } + + public PhotonCamera getPhotonCamera() { + return photonCamera; + } + + public Transform3d getRobotRelativeToCameraTransform() { + return robotRelativeToCameraTransform; + } + + public CameraProperties getCameraProperties() { + return cameraProperties; + } + + public TitanCameraCalibration getCameraCalibration() { + return cameraCalibration; + } + + public boolean isDriverCam() { + return driverCam; + } + + public SimCameraProperties toSimCameraProperties(final CameraProperties.Resolution resolution) { + final SimCameraProperties simCameraProperties = cameraCalibration.getSimCameraProperties(resolution); + simCameraProperties.setFPS(cameraProperties.getAvgFPS()); + + return simCameraProperties; + } + + public SimCameraProperties toSimCameraProperties() { + return toSimCameraProperties(cameraProperties.getFirstResolution()); + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/vision/TitanCameraCalibration.java b/src/main/java/frc/robot/subsystems/vision/TitanCameraCalibration.java new file mode 100644 index 0000000..399b0e0 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/TitanCameraCalibration.java @@ -0,0 +1,132 @@ +package frc.robot.subsystems.vision; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.numbers.N5; +import org.photonvision.simulation.SimCameraProperties; + +import java.util.HashMap; +import java.util.List; +import java.util.Map; + +@SuppressWarnings("UnusedReturnValue") +public class TitanCameraCalibration { + private final Map cameraPropertiesMap; + + public TitanCameraCalibration(final Map cameraPropertiesMap) { + this.cameraPropertiesMap = cameraPropertiesMap; + } + + public TitanCameraCalibration() { + this(new HashMap<>()); + } + + public static double getPxAvgError(final List pxErrors) { + return pxErrors.stream().mapToDouble(error -> error).average().orElse(0); + } + + public static TitanCameraCalibration fromSimCameraProperties(final SimCameraProperties simCameraProperties) { + final int width = simCameraProperties.getResWidth(); + final int height = simCameraProperties.getResHeight(); + + final CameraProperties.Resolution resolution = + CameraProperties.Resolution + .getFromWidthHeight(width, height) + .orElseThrow(() -> new RuntimeException( + String.format( + "Failed to find resolution of %s", + CameraProperties.Resolution.rawToString(width, height) + ) + )); + + return new TitanCameraCalibration(new HashMap<>(Map.of(resolution, simCameraProperties))); + } + + public SimCameraProperties getOrMake(final CameraProperties.Resolution resolution) { + final SimCameraProperties simCameraProperties = cameraPropertiesMap.get(resolution); + if (simCameraProperties != null) { + return simCameraProperties; + } + + final SimCameraProperties newSimCameraProperties = new SimCameraProperties(); + cameraPropertiesMap.put(resolution, newSimCameraProperties); + + return newSimCameraProperties; + } + + public TitanCameraCalibration withIntrinsics( + final CameraProperties.Resolution resolution, + final Matrix intrinsics + ) { + final SimCameraProperties simCameraProperties = getOrMake(resolution); + simCameraProperties.setCalibration( + resolution.getWidth(), resolution.getHeight(), intrinsics, simCameraProperties.getDistCoeffs() + ); + + return this; + } + + public TitanCameraCalibration withDistortions( + final CameraProperties.Resolution resolution, + final Matrix distortions + ) { + final SimCameraProperties simCameraProperties = getOrMake(resolution); + simCameraProperties.setCalibration( + resolution.getWidth(), resolution.getHeight(), simCameraProperties.getIntrinsics(), distortions + ); + + return this; + } + + public TitanCameraCalibration withIntrinsicsAndDistortions( + final CameraProperties.Resolution resolution, + final Matrix intrinsics, + final Matrix distortions + ) { + withIntrinsics(resolution, intrinsics); + withDistortions(resolution, distortions); + + return this; + } + + public TitanCameraCalibration withPxErrorsAndStdDev( + final CameraProperties.Resolution resolution, + final List pxErrors, + final double pxErrorStdDev + ) { + final SimCameraProperties simCameraProperties = getOrMake(resolution); + simCameraProperties.setCalibError(getPxAvgError(pxErrors), pxErrorStdDev); + + return this; + } + + public TitanCameraCalibration withCalibrations( + final CameraProperties.Resolution resolution, + final Matrix intrinsics, + final Matrix distortions, + final List pxErrors, + final double pxErrorStdDev + ) { + withIntrinsicsAndDistortions(resolution, intrinsics, distortions); + withPxErrorsAndStdDev(resolution, pxErrors, pxErrorStdDev); + + return this; + } + + public boolean hasResolution(final CameraProperties.Resolution resolution) { + return cameraPropertiesMap.containsKey(resolution); + } + + public SimCameraProperties getSimCameraProperties(final CameraProperties.Resolution resolution) { + return cameraPropertiesMap.get(resolution); + } + + public Matrix getIntrinsics(final CameraProperties.Resolution resolution) { + return getSimCameraProperties(resolution).getIntrinsics(); + } + + public Matrix getDistortions(final CameraProperties.Resolution resolution) { + return getSimCameraProperties(resolution).getDistCoeffs(); + } +} diff --git a/src/main/java/frc/robot/utils/PoseUtils.java b/src/main/java/frc/robot/utils/PoseUtils.java new file mode 100644 index 0000000..968fa6f --- /dev/null +++ b/src/main/java/frc/robot/utils/PoseUtils.java @@ -0,0 +1,17 @@ +package frc.robot.utils; + +import edu.wpi.first.math.geometry.Pose3d; +import frc.robot.constants.FieldConstants; + +public class PoseUtils { + private PoseUtils() {} + + public static boolean isInField(final Pose3d pose3d) { + return pose3d.getX() >= -FieldConstants.FIELD_WITHIN_BORDER_MARGIN + && pose3d.getX() <= FieldConstants.FIELD_LENGTH_X_METERS + FieldConstants.FIELD_WITHIN_BORDER_MARGIN + && pose3d.getY() >= -FieldConstants.FIELD_WITHIN_BORDER_MARGIN + && pose3d.getY() <= FieldConstants.FIELD_WIDTH_Y_METERS + FieldConstants.FIELD_WITHIN_BORDER_MARGIN + && pose3d.getZ() >= -FieldConstants.FIELD_WITHIN_Z_MARGIN + && pose3d.getZ() <= FieldConstants.FIELD_WITHIN_Z_MARGIN; + } +} diff --git a/src/main/java/frc/robot/utils/logging/LogUtils.java b/src/main/java/frc/robot/utils/logging/LogUtils.java index 44bc2c2..178f3c4 100644 --- a/src/main/java/frc/robot/utils/logging/LogUtils.java +++ b/src/main/java/frc/robot/utils/logging/LogUtils.java @@ -1,9 +1,210 @@ package frc.robot.utils.logging; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Quaternion; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.trajectory.Trajectory; +import frc.robot.constants.Constants; +import org.littletonrobotics.junction.LogTable; +import org.photonvision.EstimatedRobotPose; +import org.photonvision.PhotonPoseEstimator; +import org.photonvision.common.dataflow.structures.Packet; +import org.photonvision.targeting.PhotonTrackedTarget; + +import java.util.ArrayList; +import java.util.List; + public class LogUtils { public static final double MICRO_TO_MILLI = 1d / 1000; - public static double microsecondsToMilliseconds(final double microseconds) { return microseconds * MICRO_TO_MILLI; } + + public static double[] toDoubleArray(final ChassisSpeeds chassisSpeeds) { + return new double[] { + chassisSpeeds.vxMetersPerSecond, + chassisSpeeds.vyMetersPerSecond, + chassisSpeeds.omegaRadiansPerSecond + }; + } + + public static void serializePhotonVisionEstimatedRobotPose( + final LogTable logTable, + final String prefix, + final EstimatedRobotPose estimatedRobotPose + ) { + if (estimatedRobotPose == null) { + logTable.put(prefix + "_IsNull", true); + return; + } else { + logTable.put(prefix + "_IsNull", false); + } + + LogUtils.serializePose3d(logTable, prefix + "_EstimatedPose", estimatedRobotPose.estimatedPose); + logTable.put(prefix + "_TimestampSeconds", estimatedRobotPose.timestampSeconds); + + final int targetsUsedSize = estimatedRobotPose.targetsUsed.size(); + for (int i = 0; i < targetsUsedSize; i++) { + final PhotonTrackedTarget trackedTarget = estimatedRobotPose.targetsUsed.get(i); + final Packet packet = new Packet(PhotonTrackedTarget.serde.getMaxByteSize()); + + PhotonTrackedTarget.serde.pack(packet, trackedTarget); + LogUtils.serializePhotonVisionPacket(logTable, prefix + "_TargetsUsed_Packet_" + i, packet); + } + + logTable.put(prefix + "_TargetsUsed_Size", targetsUsedSize); + logTable.put(prefix + "_Strategy", estimatedRobotPose.strategy.toString()); + } + + public static EstimatedRobotPose deserializePhotonVisionEstimatedRobotPose( + final LogTable logTable, + final String prefix + ) { + if (logTable.get(prefix + "_IsNull", true)) { + return null; + } + + final Pose3d estimatedPose = LogUtils.deserializePose3d(logTable, prefix + "_EstimatedPose"); + final double timestampSeconds = logTable.get(prefix + "_TimestampSeconds", -1); + + final long targetsUsedSize = logTable.get(prefix + "_TargetsUsed_Size", 0); + final List trackedTargets = new ArrayList<>(); + + for (int i = 0; i < targetsUsedSize; i++) { + final Packet packet = LogUtils.deserializePhotonVisionPacket( + logTable, prefix + "_TargetsUsed_Packet_" + i + ); + + final PhotonTrackedTarget trackedTarget = PhotonTrackedTarget.serde.unpack(packet); + trackedTargets.add(trackedTarget); + } + + final String strategyString = + logTable.get(prefix + "_Strategy", Constants.Vision.MULTI_TAG_POSE_STRATEGY.toString()); + final PhotonPoseEstimator.PoseStrategy strategy = PhotonPoseEstimator.PoseStrategy.valueOf(strategyString); + + return new EstimatedRobotPose( + estimatedPose, + timestampSeconds, + trackedTargets, + strategy + ); + } + + public static void serializePhotonVisionPacket(final LogTable logTable, final String prefix, final Packet packet) { + logTable.put(prefix + "_packetData", packet.getData()); + } + + public static Packet deserializePhotonVisionPacket(final LogTable logTable, final String prefix) { + return new Packet(logTable.get(prefix + "_packetData", new byte[] {})); + } + + public static void serializePose3d(final LogTable logTable, final String prefix, final Pose3d pose3d) { + if (Constants.NetworkTables.USE_STRUCT_AND_PROTOBUF) { + logTable.put(prefix + "_Pose3d", pose3d); + } else { + logTable.put(prefix + "_Pose3d_x", pose3d.getX()); + logTable.put(prefix + "_Pose3d_y", pose3d.getY()); + logTable.put(prefix + "_Pose3d_z", pose3d.getZ()); + logTable.put(prefix + "_Pose3d_rw", pose3d.getRotation().getQuaternion().getW()); + logTable.put(prefix + "_Pose3d_rx", pose3d.getRotation().getQuaternion().getX()); + logTable.put(prefix + "_Pose3d_ry", pose3d.getRotation().getQuaternion().getY()); + logTable.put(prefix + "_Pose3d_rz", pose3d.getRotation().getQuaternion().getZ()); + } + } + + public static Pose3d deserializePose3d(final LogTable logTable, final String prefix) { + if (Constants.NetworkTables.USE_STRUCT_AND_PROTOBUF) { + return logTable.get(prefix + "_Pose3d", new Pose3d()); + } else { + return new Pose3d( + logTable.get(prefix + "_Pose3d_x", 0), + logTable.get(prefix + "_Pose3d_y", 0), + logTable.get(prefix + "_Pose3d_z", 0), + new Rotation3d(new Quaternion( + logTable.get(prefix + "_Pose3d_rw", 1), + logTable.get(prefix + "_Pose3d_rx", 0), + logTable.get(prefix + "_Pose3d_ry", 0), + logTable.get(prefix + "_Pose3d_rz", 0) + )) + ); + } + } + + /** + * Since PathPlanner trajectories seem to have >1k (even up to 2k) states in each trajectory, + * AdvantageScope struggles to log all the states (poses) and it lags out the interface + *

+ * This class reduces the number of states down to a maximum of {@link LoggableTrajectory#MAX_STATES} so that + * it can be properly logged + *

+ * Do NOT rely on this class to provide accurate states - this should ONLY be used for logging purposes + * @see Trajectory + */ + @SuppressWarnings("unused") + public static class LoggableTrajectory extends Trajectory { + public static final double TIME_ACCURACY = 0.1; + public static final int MAX_STATES = 25; + + public LoggableTrajectory(final List states) { + super(states); + } + + /** + * Create a new {@link LoggableTrajectory} from a {@link Trajectory} object. + * @param trajectory the {@link Trajectory} to create from + * @return the new {@link LoggableTrajectory} + * @see Trajectory + */ + public static LoggableTrajectory fromTrajectory(final Trajectory trajectory) { + return new LoggableTrajectory(trajectory.getStates()); + } + + /** + * Return a reduced number of states (a maximum of {@link LoggableTrajectory#MAX_STATES}) + * in this {@link LoggableTrajectory}. + *

+ * To get the entire {@link List} of {@link State}s, + * use {@link LoggableTrajectory#getAllStates()} + *

+ * Do NOT rely on this to report an accurate list of states + * @return the reduced {@link List} of {@link State}s + * @see Trajectory#getStates() + */ + @Override + public List getStates() { + final double totalTime = this.getTotalTimeSeconds(); + final double timeDiffPerReportedState = Math.max(totalTime / MAX_STATES, TIME_ACCURACY); + + final List allStates = super.getStates(); + final List reportedStates = new ArrayList<>(Math.min(allStates.size(), MAX_STATES)); + + // return empty list when there are no states, fast-path if there's only one state + if (allStates.isEmpty()) { + return List.of(); + } else if (allStates.size() == 1) { + return List.of(allStates.get(0)); + } + + State lastState = allStates.get(0); + for (double t = allStates.get(1).timeSeconds; t <= totalTime; t += timeDiffPerReportedState) { + final State nextState = this.sample(t); + if (nextState != lastState) { + reportedStates.add(nextState); + lastState = nextState; + } + } + + return reportedStates; + } + + /** + * Returns all states without any reduction. Equivalent to {@link Trajectory#getStates()} + * @return the list of states + */ + public List getAllStates() { + return super.getStates(); + } + } } diff --git a/src/main/java/frc/robot/utils/subsystems/VirtualSubsystem.java b/src/main/java/frc/robot/utils/subsystems/VirtualSubsystem.java new file mode 100644 index 0000000..02843f3 --- /dev/null +++ b/src/main/java/frc/robot/utils/subsystems/VirtualSubsystem.java @@ -0,0 +1,76 @@ +package frc.robot.utils.subsystems; + +import edu.wpi.first.wpilibj.Notifier; +import frc.robot.constants.Constants; +import frc.robot.utils.closeables.ToClose; + +import java.util.HashMap; +import java.util.HashSet; +import java.util.Set; + +public class VirtualSubsystem { + private static final Set loopPeriodSubsystems = new HashSet<>(); + private static final HashMap subsystemNotifierMap = new HashMap<>(); + + public VirtualSubsystem(final double loopPeriodSeconds) { + if (loopPeriodSeconds != Constants.LOOP_PERIOD_SECONDS) { + final Notifier subsystemNotifier = new Notifier(this::periodic); + ToClose.add(subsystemNotifier); + + subsystemNotifier.startPeriodic(loopPeriodSeconds); + subsystemNotifierMap.put(this, subsystemNotifier); + } else { + loopPeriodSubsystems.add(this); + } + } + + public VirtualSubsystem() { + this(Constants.LOOP_PERIOD_SECONDS); + } + + /** + * Periodic call of the {@link VirtualSubsystem}. + */ + public void periodic() { + throw new IllegalStateException("Non implemented periodic() should not exist!"); + } + + /** + * Runs all virtual subsystems that are bound to the loop cycle + * (has a loop period of {@link Constants#LOOP_PERIOD_SECONDS}). + *

Should be called in {@link frc.robot.Robot#robotPeriodic()}

+ */ + public static void run() { + for (final VirtualSubsystem subsystem : loopPeriodSubsystems) { + subsystem.periodic(); + } + } + + /** + * Get the {@link VirtualSubsystem}s running on the {@link Constants#LOOP_PERIOD_SECONDS}, this + * returns an internal mutable reference {@link Set}, so it should not be modified. + * @return the {@link Set} of registered {@link VirtualSubsystem}s that run periodically on the loop period + */ + @SuppressWarnings("unused") + public static Set getLoopPeriodSubsystems() { + return loopPeriodSubsystems; + } + + /** + * Get the {@link Notifier} of a registered {@link VirtualSubsystem} that has a + * non-standard loop period != {@link Constants#LOOP_PERIOD_SECONDS} + * @param subsystem the {@link VirtualSubsystem} to get the {@link Notifier} for + * @return the {@link Notifier} associated with the {@link VirtualSubsystem} + */ + @SuppressWarnings("unused") + public static Notifier getNonLoopPeriodNotifier(final VirtualSubsystem subsystem) { + final Notifier notifier = subsystemNotifierMap.get(subsystem); + if (notifier == null) { + throw new RuntimeException( + "Attempted to get Notifier for non-registered or non-notifier VirtualSubsystem!" + ); + } + + return notifier; + } +} diff --git a/src/test/java/frc/robot/subsystems/drive/SwerveTest.java b/src/test/java/frc/robot/subsystems/drive/SwerveTest.java index dced645..d29c48b 100644 --- a/src/test/java/frc/robot/subsystems/drive/SwerveTest.java +++ b/src/test/java/frc/robot/subsystems/drive/SwerveTest.java @@ -37,8 +37,6 @@ public class SwerveTest { @Mock private Gyro gyro; -// @Mock -// private PhotonVision photonVision; private final OdometryThreadRunner odometryThreadRunner = new OdometryThreadRunner(new ReentrantReadWriteLock()); @@ -183,14 +181,10 @@ static Stream angleArgsProvider() { @Test void zeroRotation() { -// doNothing().when(photonVision).resetPosition(any(), any()); -// when(photonVision.getEstimatedPosition()).thenReturn(new Pose2d()); doNothing().when(gyro).zeroRotation(); swerve.zeroRotation(); -// swerve.zeroRotation(photonVision); verify(gyro).zeroRotation(); -// verify(photonVision).resetPosition(new Pose2d(), Rotation2d.fromDegrees(0)); } @Test diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json new file mode 100644 index 0000000..8c56503 --- /dev/null +++ b/vendordeps/photonlib.json @@ -0,0 +1,57 @@ +{ + "fileName": "photonlib.json", + "name": "photonlib", + "version": "v2024.2.8", + "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", + "frcYear": "2024", + "mavenUrls": [ + "https://maven.photonvision.org/repository/internal", + "https://maven.photonvision.org/repository/snapshots" + ], + "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-cpp", + "version": "v2024.2.8", + "libName": "photonlib", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-cpp", + "version": "v2024.2.8", + "libName": "photontargeting", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "javaDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-java", + "version": "v2024.2.8" + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-java", + "version": "v2024.2.8" + } + ] +} \ No newline at end of file From 14bf25b52d435beeb394645cb2fec30a4de374a2 Mon Sep 17 00:00:00 2001 From: Max Date: Sat, 2 Mar 2024 01:33:11 -0500 Subject: [PATCH 02/52] Added STD DEVS to photonvision --- src/main/java/frc/robot/constants/Constants.java | 4 ++-- src/main/java/frc/robot/subsystems/drive/Swerve.java | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index ecfd773..65abac1 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -75,8 +75,8 @@ interface Vision { /** * Standard deviations of the supplied pose estimate (before vision, likely to be solely wheel odometry) */ - Vector STATE_STD_DEVS = VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(2.5)); - Vector VISION_MEASUREMENT_STD_DEVS = VecBuilder.fill(0.85, 0.85, Units.degreesToRadians(5)); + Vector STATE_STD_DEVS = VecBuilder.fill(0.1, 0.1, Units.degreesToRadians(5)); + Vector VISION_MEASUREMENT_STD_DEVS = VecBuilder.fill(0.9, 0.9, Units.degreesToRadians(80)); double MULTI_TAG_MAX_AMBIGUITY = 0.3; double SINGLE_TAG_MAX_AMBIGUITY = 0.2; } diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 5c74a4f..08376f7 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -112,9 +112,9 @@ public Swerve( kinematics, getYaw(), getModulePositions(), - new Pose2d() -// Constants.Vision.STATE_STD_DEVS, -// Constants.Vision.VISION_MEASUREMENT_STD_DEVS + new Pose2d(), + Constants.Vision.STATE_STD_DEVS, + Constants.Vision.VISION_MEASUREMENT_STD_DEVS ); this.linearVoltageSysIdRoutine = makeLinearVoltageSysIdRoutine(); From 06b5fb0b69a2bfa4ffbe6541f53672760dc80739 Mon Sep 17 00:00:00 2001 From: Max Date: Sat, 2 Mar 2024 02:38:37 -0500 Subject: [PATCH 03/52] Added camera transforms --- src/main/java/frc/robot/constants/Constants.java | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 65abac1..8ec8968 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -61,15 +61,15 @@ interface Vision { PhotonPoseEstimator.PoseStrategy MULTI_TAG_POSE_STRATEGY = PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR; - //L = Left, R = Right, F = Forward, B = Backward (Facing) Transform3d ROBOT_TO_FR_APRILTAG_CAM = new Transform3d( - new Translation3d(Units.inchesToMeters(13.449), Units.inchesToMeters(-13.762), Units.inchesToMeters(7.922)), - new Rotation3d(0, Units.degreesToRadians(-15), Units.degreesToRadians(-70)) + new Translation3d(Units.inchesToMeters(11.838), Units.inchesToMeters(-12.861), Units.inchesToMeters(8.947)), + new Rotation3d(7.44802852475369, Units.degreesToRadians(-25), Units.degreesToRadians(-25)) ); - Transform3d ROBOT_TO_FL_APRILTAG_CAM = new Transform3d( - new Translation3d(Units.inchesToMeters(14.465), Units.inchesToMeters(-11.907), Units.inchesToMeters(9.67)), - new Rotation3d(0, Units.degreesToRadians(-15), Units.degreesToRadians(25)) + //L = Left, R = Right, F = Forward, B = Backward (Facing) + Transform3d ROBOT_TO_FL_APRILTAG_CAM = new Transform3d( // X Z Y + new Translation3d(Units.inchesToMeters(11.862), Units.inchesToMeters(12.681), Units.inchesToMeters(8.947)), + new Rotation3d(172.57530061265695, Units.degreesToRadians(-25), Units.degreesToRadians(25)) ); /** From 45d909aac4b22edb781172f0bf23a22976fbf267 Mon Sep 17 00:00:00 2001 From: MqxS Date: Sat, 2 Mar 2024 12:45:57 -0500 Subject: [PATCH 04/52] SysId Swerve. Fix Swerve Gyro Issue --- src/main/java/frc/robot/Robot.java | 3 ++ src/main/java/frc/robot/RobotContainer.java | 10 +++--- .../java/frc/robot/constants/Constants.java | 4 +-- .../robot/constants/HardwareConstants.java | 8 ++--- .../frc/robot/subsystems/drive/Swerve.java | 31 +++++++++++-------- .../drive/SwerveModuleIOTalonFX.java | 28 +++++++++-------- .../java/frc/robot/utils/teleop/Profiler.java | 2 +- 7 files changed, 49 insertions(+), 37 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 577b2df..3b23ac9 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1,6 +1,9 @@ package frc.robot; import com.ctre.phoenix6.SignalLogger; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.livewindow.LiveWindow; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 584f2c8..2276c7f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -39,10 +39,12 @@ public RobotContainer() { this.driverController = new CommandXboxController(RobotMap.MainController); this.coDriverController = new CommandXboxController(RobotMap.CoController); - this.coDriverController.y().whileTrue(swerve.linearVoltageSysIdQuasistaticCommand(SysIdRoutine.Direction.kForward)); - this.coDriverController.a().whileTrue(swerve.linearVoltageSysIdQuasistaticCommand(SysIdRoutine.Direction.kReverse)); - this.coDriverController.b().whileTrue(swerve.linearVoltageSysIdDynamicCommand(SysIdRoutine.Direction.kForward)); - this.coDriverController.x().whileTrue(swerve.linearVoltageSysIdDynamicCommand(SysIdRoutine.Direction.kReverse)); + this.driverController.y().onTrue(swerve.zeroRotationCommand()); + + this.coDriverController.y().whileTrue(swerve.linearTorqueCurrentSysIdQuasistaticCommand(SysIdRoutine.Direction.kForward)); + this.coDriverController.a().whileTrue(swerve.linearTorqueCurrentSysIdQuasistaticCommand(SysIdRoutine.Direction.kReverse)); + this.coDriverController.b().whileTrue(swerve.linearTorqueCurrentSysIdDynamicCommand(SysIdRoutine.Direction.kForward)); + this.coDriverController.x().whileTrue(swerve.linearTorqueCurrentSysIdDynamicCommand(SysIdRoutine.Direction.kReverse)); this.coDriverController.leftBumper().onTrue(Commands.run(SignalLogger::stop)); } diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index f300a2f..c87d3de 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -3,7 +3,7 @@ import edu.wpi.first.math.util.Units; public interface Constants { - RobotMode CURRENT_MODE = RobotMode.SIM; + RobotMode CURRENT_MODE = RobotMode.REAL; double LOOP_PERIOD_SECONDS = 0.02; enum RobotMode { @@ -29,7 +29,7 @@ interface Modules { double TURNER_GEAR_RATIO = 150.0 / 7.0; //TODO: TUNE AT DE - double SLIP_CURRENT_A = 55; + double SLIP_CURRENT_A = 80; double COUPLING_GEAR_RATIO = 50d / 14; double WHEEL_CIRCUMFERENCE_M = 2 * Math.PI * WHEEL_RADIUS_M; diff --git a/src/main/java/frc/robot/constants/HardwareConstants.java b/src/main/java/frc/robot/constants/HardwareConstants.java index 0bcbc95..bbcd8a1 100644 --- a/src/main/java/frc/robot/constants/HardwareConstants.java +++ b/src/main/java/frc/robot/constants/HardwareConstants.java @@ -40,7 +40,7 @@ public SwerveModule create( 1, 2, 3, - 0.320556640625 + -0.138 ); public static final SwerveModuleConstants FRONT_RIGHT_MODULE = new SwerveModuleConstants( @@ -50,7 +50,7 @@ public SwerveModule create( 4, 5, 6, - 0.33251953125 + 0.387 ); public static final SwerveModuleConstants BACK_LEFT_MODULE = new SwerveModuleConstants( @@ -60,7 +60,7 @@ public SwerveModule create( 7, 8, 9, - 0.0478515625 + 0 ); public static final SwerveModuleConstants BACK_RIGHT_MODULE = new SwerveModuleConstants( @@ -70,7 +70,7 @@ public SwerveModule create( 10, 11, 12, - 0.283203125 + -0.425 ); public record GyroConstants( diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 33426f2..019a1b1 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -187,9 +187,9 @@ private SysIdRoutine makeLinearTorqueCurrentSysIdRoutine() { return new SysIdRoutine( new SysIdRoutine.Config( // this is actually amps/sec not volts/sec - Volts.of(2).per(Second), + Volts.of(4).per(Second), // this is actually amps not volts - Volts.of(10), + Volts.of(12), Seconds.of(20), state -> SignalLogger.writeString("state", state.toString()) ), @@ -465,18 +465,23 @@ public void drive(final ChassisSpeeds speeds) { // "mathematically correct" // see https://www.chiefdelphi.com/t/whitepaper-swerve-drive-skew-and-second-order-kinematics/416964/40 // lookahead 4 loop cycles cause uh the goated teams do it and it works so uh - final double dtSeconds = 4 * Constants.LOOP_PERIOD_SECONDS; - final Pose2d desiredDeltaPose = new Pose2d( - speeds.vxMetersPerSecond * dtSeconds, - speeds.vyMetersPerSecond * dtSeconds, - Rotation2d.fromRadians(speeds.omegaRadiansPerSecond * dtSeconds) - ); +// final double dtSeconds = 4 * Constants.LOOP_PERIOD_SECONDS; +// final Pose2d desiredDeltaPose = new Pose2d( +// speeds.vxMetersPerSecond * dtSeconds, +// speeds.vyMetersPerSecond * dtSeconds, +// Rotation2d.fromRadians(speeds.omegaRadiansPerSecond * dtSeconds) +// ); +// +// final Twist2d twist2d = new Pose2d().log(desiredDeltaPose); +// final ChassisSpeeds correctedSpeeds = new ChassisSpeeds( +// twist2d.dx / dtSeconds, +// twist2d.dy / dtSeconds, +// twist2d.dtheta / dtSeconds +// ); - final Twist2d twist2d = new Pose2d().log(desiredDeltaPose); - final ChassisSpeeds correctedSpeeds = new ChassisSpeeds( - twist2d.dx / dtSeconds, - twist2d.dy / dtSeconds, - twist2d.dtheta / dtSeconds + final ChassisSpeeds correctedSpeeds = ChassisSpeeds.discretize( + speeds, + 4 * Constants.LOOP_PERIOD_SECONDS ); drive(kinematics.toSwerveModuleStates(correctedSpeeds)); diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/SwerveModuleIOTalonFX.java index a89e8a4..c82ebef 100644 --- a/src/main/java/frc/robot/subsystems/drive/SwerveModuleIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/drive/SwerveModuleIOTalonFX.java @@ -101,36 +101,38 @@ public void config() { turnEncoder.getConfigurator().apply(canCoderConfiguration); driveTalonFXConfiguration.Slot0 = new Slot0Configs() - .withKP(50) - .withKS(4.796) - .withKA(2.549); + .withKS(3.16) + .withKV(0.16023) + .withKA(3.5602) + .withKP(12.193); driveTalonFXConfiguration.TorqueCurrent.PeakForwardTorqueCurrent = Modules.SLIP_CURRENT_A; driveTalonFXConfiguration.TorqueCurrent.PeakReverseTorqueCurrent = -Modules.SLIP_CURRENT_A; driveTalonFXConfiguration.CurrentLimits.StatorCurrentLimit = Modules.SLIP_CURRENT_A; driveTalonFXConfiguration.CurrentLimits.StatorCurrentLimitEnable = true; + driveTalonFXConfiguration.CurrentLimits.SupplyCurrentLimit = 40; + driveTalonFXConfiguration.CurrentLimits.SupplyCurrentThreshold = 50; + driveTalonFXConfiguration.CurrentLimits.SupplyTimeThreshold = 0.5; + driveTalonFXConfiguration.CurrentLimits.SupplyCurrentLimitEnable = true; driveTalonFXConfiguration.ClosedLoopRamps.TorqueClosedLoopRampPeriod = 0.2; driveTalonFXConfiguration.Feedback.SensorToMechanismRatio = Modules.DRIVER_GEAR_RATIO; driveTalonFXConfiguration.MotorOutput.NeutralMode = NeutralModeValue.Brake; - driveTalonFXConfiguration.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; + driveTalonFXConfiguration.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; driveMotor.getConfigurator().apply(driveTalonFXConfiguration); turnTalonFXConfiguration.Slot0 = new Slot0Configs() .withKP(30) .withKS(0.5); - turnTalonFXConfiguration.TorqueCurrent.PeakForwardTorqueCurrent = 40; - turnTalonFXConfiguration.TorqueCurrent.PeakReverseTorqueCurrent = -40; + turnTalonFXConfiguration.TorqueCurrent.PeakForwardTorqueCurrent = 60; + turnTalonFXConfiguration.TorqueCurrent.PeakReverseTorqueCurrent = -60; + driveTalonFXConfiguration.CurrentLimits.SupplyCurrentLimit = 40; + driveTalonFXConfiguration.CurrentLimits.SupplyCurrentThreshold = 50; + driveTalonFXConfiguration.CurrentLimits.SupplyTimeThreshold = 0.5; + driveTalonFXConfiguration.CurrentLimits.SupplyCurrentLimitEnable = true; turnTalonFXConfiguration.Feedback.FeedbackRemoteSensorID = turnEncoder.getDeviceID(); turnTalonFXConfiguration.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder; turnTalonFXConfiguration.Feedback.RotorToSensorRatio = Modules.TURNER_GEAR_RATIO; turnTalonFXConfiguration.MotorOutput.NeutralMode = NeutralModeValue.Brake; turnTalonFXConfiguration.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; - - turnTalonFXConfiguration.MotionMagic.MotionMagicCruiseVelocity = - 100.0 / Modules.TURNER_GEAR_RATIO; - turnTalonFXConfiguration.MotionMagic.MotionMagicExpo_kV = 0.12 * Modules.TURNER_GEAR_RATIO; - turnTalonFXConfiguration.MotionMagic.MotionMagicExpo_kA = 0.1; - turnTalonFXConfiguration.ClosedLoopGeneral.ContinuousWrap = true; - turnMotor.getConfigurator().apply(turnTalonFXConfiguration); velocityTorqueCurrentFOC.UpdateFreqHz = 0; diff --git a/src/main/java/frc/robot/utils/teleop/Profiler.java b/src/main/java/frc/robot/utils/teleop/Profiler.java index 223b654..40eb605 100644 --- a/src/main/java/frc/robot/utils/teleop/Profiler.java +++ b/src/main/java/frc/robot/utils/teleop/Profiler.java @@ -50,7 +50,7 @@ public double getRotationalSensitivity() { } public enum SwerveSpeed { - FAST(Units.feetToMeters(16.5), 2 * Math.PI), + FAST(Units.feetToMeters(16.5), Math.PI), NORMAL(Units.feetToMeters(12), 0.4 * Math.PI), SLOW(Units.feetToMeters(3), 0.1 * Math.PI); From ee0b42502aab3f72e0fc8eff6301526ee15d421c Mon Sep 17 00:00:00 2001 From: MqxS Date: Sat, 2 Mar 2024 15:37:34 -0500 Subject: [PATCH 05/52] Photonvision works --- src/main/java/frc/robot/constants/Constants.java | 4 ++-- src/main/java/frc/robot/utils/teleop/Profiler.java | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 4542b4b..caac229 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -61,13 +61,13 @@ interface Vision { Transform3d ROBOT_TO_FR_APRILTAG_CAM = new Transform3d( new Translation3d(Units.inchesToMeters(11.838), Units.inchesToMeters(-12.861), Units.inchesToMeters(8.947)), - new Rotation3d(7.44802852475369, Units.degreesToRadians(-25), Units.degreesToRadians(-25)) + new Rotation3d(Units.degreesToRadians(7.44802852475369), Units.degreesToRadians(-25), Units.degreesToRadians(-25)) ); //L = Left, R = Right, F = Forward, B = Backward (Facing) Transform3d ROBOT_TO_FL_APRILTAG_CAM = new Transform3d( // X Z Y new Translation3d(Units.inchesToMeters(11.862), Units.inchesToMeters(12.681), Units.inchesToMeters(8.947)), - new Rotation3d(172.57530061265695, Units.degreesToRadians(-25), Units.degreesToRadians(25)) + new Rotation3d(Units.degreesToRadians(172.57530061265695), Units.degreesToRadians(-25), Units.degreesToRadians(25)) ); /** diff --git a/src/main/java/frc/robot/utils/teleop/Profiler.java b/src/main/java/frc/robot/utils/teleop/Profiler.java index 40eb605..c5ba0ce 100644 --- a/src/main/java/frc/robot/utils/teleop/Profiler.java +++ b/src/main/java/frc/robot/utils/teleop/Profiler.java @@ -51,7 +51,7 @@ public double getRotationalSensitivity() { public enum SwerveSpeed { FAST(Units.feetToMeters(16.5), Math.PI), - NORMAL(Units.feetToMeters(12), 0.4 * Math.PI), + NORMAL(Units.feetToMeters(12), 0.6 * Math.PI), SLOW(Units.feetToMeters(3), 0.1 * Math.PI); final double throttleWeight; From 067710ccb21bbcd18d0ccda4434fed22615e8b90 Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 5 Mar 2024 18:45:02 -0500 Subject: [PATCH 06/52] Fixed Photonvision --- src/main/java/frc/robot/Robot.java | 3 --- src/main/java/frc/robot/RobotContainer.java | 4 +++- src/main/java/frc/robot/subsystems/drive/Swerve.java | 1 - .../java/frc/robot/utils/subsystems/VirtualSubsystem.java | 4 ++-- 4 files changed, 5 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index fd29f91..e3ffd14 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1,9 +1,6 @@ package frc.robot; import com.ctre.phoenix6.SignalLogger; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj.livewindow.LiveWindow; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 220678f..60d7708 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -1,6 +1,7 @@ package frc.robot; import edu.wpi.first.wpilibj.PowerDistribution; +import edu.wpi.first.wpilibj.RobotState; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; @@ -8,11 +9,11 @@ import frc.robot.constants.HardwareConstants; import frc.robot.constants.RobotMap; import frc.robot.subsystems.drive.Swerve; -import frc.robot.subsystems.vision.PhotonVision; import frc.robot.subsystems.intake.Intake; import frc.robot.subsystems.superstructure.Superstructure; import frc.robot.subsystems.superstructure.arm.Arm; import frc.robot.subsystems.superstructure.shooter.Shooter; +import frc.robot.subsystems.vision.PhotonVision; public class RobotContainer { public final PowerDistribution powerDistribution; @@ -36,6 +37,7 @@ public RobotContainer() { PowerDistribution.ModuleType.kRev ); this.powerDistribution.clearStickyFaults(); + this.powerDistribution.setSwitchableChannel(true); this.swerve = new Swerve( Constants.CURRENT_MODE, diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index dddccee..483096b 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -7,7 +7,6 @@ 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.math.geometry.Twist2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; import edu.wpi.first.math.kinematics.SwerveModulePosition; diff --git a/src/main/java/frc/robot/utils/subsystems/VirtualSubsystem.java b/src/main/java/frc/robot/utils/subsystems/VirtualSubsystem.java index 02843f3..544b181 100644 --- a/src/main/java/frc/robot/utils/subsystems/VirtualSubsystem.java +++ b/src/main/java/frc/robot/utils/subsystems/VirtualSubsystem.java @@ -18,9 +18,9 @@ public VirtualSubsystem(final double loopPeriodSeconds) { ToClose.add(subsystemNotifier); subsystemNotifier.startPeriodic(loopPeriodSeconds); - subsystemNotifierMap.put(this, subsystemNotifier); + VirtualSubsystem.subsystemNotifierMap.put(this, subsystemNotifier); } else { - loopPeriodSubsystems.add(this); + VirtualSubsystem.loopPeriodSubsystems.add(this); } } From e246974f55db42466b76d70546c3b262f32f7b42 Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 5 Mar 2024 18:57:14 -0500 Subject: [PATCH 07/52] Removed sham cameras --- src/main/java/frc/robot/constants/Constants.java | 2 +- .../frc/robot/subsystems/vision/CameraProperties.java | 3 --- .../java/frc/robot/subsystems/vision/TitanCamera.java | 8 ++++---- 3 files changed, 5 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 1de48a9..35b9670 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -10,7 +10,7 @@ import org.photonvision.PhotonPoseEstimator; public interface Constants { - RobotMode CURRENT_MODE = RobotMode.REAL; + RobotMode CURRENT_MODE = RobotMode.SIM; double LOOP_PERIOD_SECONDS = 0.02; enum RobotMode { diff --git a/src/main/java/frc/robot/subsystems/vision/CameraProperties.java b/src/main/java/frc/robot/subsystems/vision/CameraProperties.java index c4bf384..4731e05 100644 --- a/src/main/java/frc/robot/subsystems/vision/CameraProperties.java +++ b/src/main/java/frc/robot/subsystems/vision/CameraProperties.java @@ -4,9 +4,6 @@ import java.util.stream.Collectors; public enum CameraProperties { - SUPER_SHAM( - Resolution.R640x480, 56, 7 - ), PERFECT_90( Resolution.R960x720, 90, 80 ); diff --git a/src/main/java/frc/robot/subsystems/vision/TitanCamera.java b/src/main/java/frc/robot/subsystems/vision/TitanCamera.java index bc5e9c6..29ac3ac 100644 --- a/src/main/java/frc/robot/subsystems/vision/TitanCamera.java +++ b/src/main/java/frc/robot/subsystems/vision/TitanCamera.java @@ -10,16 +10,16 @@ public enum TitanCamera { PHOTON_FL_APRILTAG( "FL_Apriltag", Constants.Vision.ROBOT_TO_FL_APRILTAG_CAM, - CameraProperties.SUPER_SHAM, //TODO: GET FOR NEW CAMERAS - TitanCameraCalibration.fromSimCameraProperties(SimCameraProperties.LL2_640_480()), + CameraProperties.PERFECT_90, //TODO: GET FOR NEW CAMERAS + TitanCameraCalibration.fromSimCameraProperties(SimCameraProperties.PERFECT_90DEG()), false ), //TODO: put real numbers here -> do not use PERFECT_90DEG PHOTON_FR_APRILTAG( "FR_Apriltag", Constants.Vision.ROBOT_TO_FR_APRILTAG_CAM, - CameraProperties.SUPER_SHAM, //TODO: GET FOR NEW CAMERAS - TitanCameraCalibration.fromSimCameraProperties(SimCameraProperties.LL2_640_480()), + CameraProperties.PERFECT_90, //TODO: GET FOR NEW CAMERAS + TitanCameraCalibration.fromSimCameraProperties(SimCameraProperties.PERFECT_90DEG()), false ); From e174861e48ee8cd6b8aa39f6c7be773acfb72164 Mon Sep 17 00:00:00 2001 From: "harry.chen" Date: Sat, 13 Apr 2024 08:27:27 -0400 Subject: [PATCH 08/52] 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. --- .../java/frc/robot/constants/Constants.java | 4 +- .../robot/subsystems/vision/PhotonVision.java | 81 +++---- .../vision/PhotonVisionApriltagsReal.java | 165 -------------- .../vision/PhotonVisionApriltagsSim.java | 215 ------------------ .../subsystems/vision/PhotonVisionIO.java | 57 ----- .../subsystems/vision/PhotonVisionRunner.java | 9 +- .../subsystems/vision/RealVisionRunner.java | 112 +++++++++ .../subsystems/vision/SimVisionRunner.java | 158 +++++++++++++ .../frc/robot/subsystems/vision/VisionIO.java | 38 ++++ .../robot/subsystems/vision/VisionUtils.java | 43 ++++ .../frc/robot/utils/logging/LogUtils.java | 201 +++++++++------- 11 files changed, 516 insertions(+), 567 deletions(-) delete mode 100644 src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsReal.java delete mode 100644 src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsSim.java delete mode 100644 src/main/java/frc/robot/subsystems/vision/PhotonVisionIO.java create mode 100644 src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java create mode 100644 src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java create mode 100644 src/main/java/frc/robot/subsystems/vision/VisionIO.java create mode 100644 src/main/java/frc/robot/subsystems/vision/VisionUtils.java diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 4315a77..f2aede1 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -10,7 +10,7 @@ import org.photonvision.PhotonPoseEstimator; public interface Constants { - RobotMode CURRENT_MODE = RobotMode.REAL; + RobotMode CURRENT_MODE = RobotMode.SIM; CompetitionType CURRENT_COMPETITION_TYPE = CompetitionType.TESTING; double LOOP_PERIOD_SECONDS = 0.02; @@ -29,8 +29,6 @@ interface NetworkTables { String AUTO_TABLE = "AutoSelector"; String AUTO_PUBLISHER = "AutoOptions"; String AUTO_SELECTED_SUBSCRIBER = "SelectedAuto"; - - boolean USE_STRUCT_AND_PROTOBUF = true; } interface Vision { diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index b288090..1733be9 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -57,35 +57,22 @@ public class PhotonVision extends VirtualSubsystem { } } - private static PhotonVisionApriltagsReal.IOApriltagsReal makePhotonVisionRealIO(final TitanCamera titanCamera) { - return new PhotonVisionApriltagsReal.IOApriltagsReal(titanCamera, PhotonVision.apriltagFieldLayout); - } - - private static PhotonVisionApriltagsSim.IOApriltagsSim makePhotonVisionSimIO( - final TitanCamera titanCamera, - final VisionSystemSim visionSystemSim - ) { - return new PhotonVisionApriltagsSim.IOApriltagsSim( - titanCamera, PhotonVision.apriltagFieldLayout, visionSystemSim - ); - } - @SafeVarargs - public static Map makePhotonVisionIOInputsMap( - final T... photonVisionIOs + public static Map makeVisionIOInputsMap( + final T... visionIOs ) { - return Arrays.stream(photonVisionIOs).collect(Collectors.toMap( + return Arrays.stream(visionIOs).collect(Collectors.toMap( photonVisionIO -> photonVisionIO, - photonVisionIO -> new PhotonVisionIO.PhotonVisionIOInputs() + photonVisionIO -> new VisionIO.VisionIOInputs() )); } - private final PhotonVisionRunner runner; - private final Map photonVisionIOInputsMap; + private final PhotonVisionRunner runner; + private final Map visionIOInputsMap; private final Swerve swerve; private final SwerveDrivePoseEstimator poseEstimator; - private final Map lastEstimatedRobotPose; + private final Map lastEstimatedRobotPose; public PhotonVision( final Constants.RobotMode robotMode, @@ -93,16 +80,17 @@ public PhotonVision( final SwerveDrivePoseEstimator poseEstimator ) { this.runner = switch (robotMode) { - case REAL -> new PhotonVisionApriltagsReal( - PhotonVision.makePhotonVisionIOInputsMap( - makePhotonVisionRealIO(TitanCamera.PHOTON_FL_APRILTAG), - makePhotonVisionRealIO(TitanCamera.PHOTON_FC_APRILTAG), - makePhotonVisionRealIO(TitanCamera.PHOTON_FR_APRILTAG) + case REAL -> new RealVisionRunner( + PhotonVision.apriltagFieldLayout, + PhotonVision.makeVisionIOInputsMap( + new RealVisionRunner.VisionIOApriltagsReal(TitanCamera.PHOTON_FL_APRILTAG), + new RealVisionRunner.VisionIOApriltagsReal(TitanCamera.PHOTON_FC_APRILTAG), + new RealVisionRunner.VisionIOApriltagsReal(TitanCamera.PHOTON_FR_APRILTAG) ) ); case SIM -> { final VisionSystemSim visionSystemSim = new VisionSystemSim(PhotonVision.PhotonLogKey); - yield new PhotonVisionApriltagsSim( + yield new SimVisionRunner( swerve, new SwerveDriveOdometry( swerve.getKinematics(), @@ -112,18 +100,19 @@ yield new PhotonVisionApriltagsSim( ), PhotonVision.apriltagFieldLayout, visionSystemSim, - PhotonVision.makePhotonVisionIOInputsMap( - makePhotonVisionSimIO(TitanCamera.PHOTON_FL_APRILTAG, visionSystemSim), - makePhotonVisionSimIO(TitanCamera.PHOTON_FR_APRILTAG, visionSystemSim) + 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) ) ); } - case REPLAY -> new PhotonVisionRunner<>() {}; + case REPLAY -> new PhotonVisionRunner() {}; }; this.swerve = swerve; this.poseEstimator = poseEstimator; - this.photonVisionIOInputsMap = runner.getPhotonVisionIOInputsMap(); + this.visionIOInputsMap = runner.getVisionIOInputsMap(); this.lastEstimatedRobotPose = new HashMap<>(); @@ -242,38 +231,33 @@ public Vector calculateStdDevs(final EstimatedRobotPose estimatedRobotPose, private void update() { for ( - final Map.Entry - photonVisionIOInputsEntry : photonVisionIOInputsMap.entrySet() + final Map.Entry + visionIOInputsEntry : visionIOInputsMap.entrySet() ) { + final VisionIO visionIO = visionIOInputsEntry.getKey(); + final VisionIO.VisionIOInputs inputs = visionIOInputsEntry.getValue(); - final PhotonVisionIO photonVisionIO = photonVisionIOInputsEntry.getKey(); - final PhotonVisionIO.PhotonVisionIOInputs photonVisionIOInputs = photonVisionIOInputsEntry.getValue(); - - final EstimatedRobotPose stableEstimatedRobotPose = photonVisionIOInputs.stableEstimatedRobotPose; - final EstimatedRobotPose estimatedRobotPose = photonVisionIOInputs.estimatedRobotPose; - + final EstimatedRobotPose estimatedRobotPose = runner.getEstimatedRobotPose(visionIO); if (estimatedRobotPose == null) { // skip the trouble of calling/indexing things if the estimatedRobotPose is null continue; } - final EstimatedRobotPose lastSavedEstimatedPose = lastEstimatedRobotPose.get(photonVisionIO); + final EstimatedRobotPose lastSavedEstimatedPose = lastEstimatedRobotPose.get(visionIO); final EstimationRejectionReason rejectionReason = shouldRejectEstimation(lastSavedEstimatedPose, estimatedRobotPose); Logger.recordOutput( PhotonLogKey + "/RejectionReason", rejectionReason.getId() ); - if (rejectionReason.wasRejected()) { continue; } - lastEstimatedRobotPose.put(photonVisionIO, stableEstimatedRobotPose); - - final Vector stdDevs = calculateStdDevs(estimatedRobotPose, photonVisionIOInputs.stdDevFactor); - Logger.recordOutput(PhotonLogKey + "/" + photonVisionIOInputs.name + "/StdDevs", stdDevs.getData()); + final Vector stdDevs = calculateStdDevs(estimatedRobotPose, inputs.stdDevFactor); + Logger.recordOutput(PhotonLogKey + "/" + inputs.name + "/StdDevs", stdDevs.getData()); + lastEstimatedRobotPose.put(visionIO, estimatedRobotPose); poseEstimator.addVisionMeasurement( estimatedRobotPose.estimatedPose.toPose2d(), estimatedRobotPose.timestampSeconds, @@ -284,14 +268,13 @@ private void update() { public void updateOutputs() { for ( - final Map.Entry + final Map.Entry estimatedRobotPoseEntry : lastEstimatedRobotPose.entrySet() ) { - final PhotonVisionIO.PhotonVisionIOInputs io = - photonVisionIOInputsMap.get(estimatedRobotPoseEntry.getKey()); + final VisionIO.VisionIOInputs inputs = visionIOInputsMap.get(estimatedRobotPoseEntry.getKey()); final EstimatedRobotPose estimatedRobotPose = estimatedRobotPoseEntry.getValue(); - final String logKey = PhotonVision.PhotonLogKey + "/" + io.name; + final String logKey = PhotonVision.PhotonLogKey + "/" + inputs.name; if (estimatedRobotPose == null) { continue; } diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsReal.java b/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsReal.java deleted file mode 100644 index 57c189f..0000000 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsReal.java +++ /dev/null @@ -1,165 +0,0 @@ -package frc.robot.subsystems.vision; - -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.math.geometry.Pose3d; -import frc.robot.constants.Constants; -import frc.robot.utils.closeables.ToClose; -import org.littletonrobotics.junction.Logger; -import org.photonvision.EstimatedRobotPose; -import org.photonvision.PhotonCamera; -import org.photonvision.PhotonPoseEstimator; -import org.photonvision.targeting.MultiTargetPNPResult; -import org.photonvision.targeting.PhotonPipelineResult; -import org.photonvision.targeting.PhotonTrackedTarget; - -import java.util.Map; -import java.util.Optional; - -@SuppressWarnings("ClassCanBeRecord") -public class PhotonVisionApriltagsReal implements PhotonVisionRunner { - public static class IOApriltagsReal implements PhotonVisionIO { - private final PhotonCamera photonCamera; - private final String cameraName; - - private final double stdDevFactor; - - private final PhotonPoseEstimator poseEstimator; - - private PhotonPipelineResult latestPhotonPipelineResult; - private EstimatedRobotPose estimatedRobotPose; - /** - * A stable {@link EstimatedRobotPose}, this does NOT get set to null after we get - * the estimated pose, thus, it is stable and represents the last estimated pose. - *

- * Do NOT use this {@link EstimatedRobotPose} to feed into vision adjustments. - */ - private EstimatedRobotPose stableEstimatedRobotPose; - - public IOApriltagsReal( - final TitanCamera titanCamera, - final AprilTagFieldLayout blueSideApriltagFieldLayout - ) { - this.photonCamera = titanCamera.getPhotonCamera(); - this.cameraName = photonCamera.getName(); - - this.stdDevFactor = titanCamera.getStdDevFactor(); - - this.poseEstimator = new PhotonPoseEstimator( - blueSideApriltagFieldLayout, - Constants.Vision.MULTI_TAG_POSE_STRATEGY, - photonCamera, - titanCamera.getRobotRelativeToCameraTransform() - ); - this.poseEstimator.setMultiTagFallbackStrategy(PhotonPoseEstimator.PoseStrategy.LOWEST_AMBIGUITY); - } - - private void updatePoseEstimator(final PhotonPipelineResult photonPipelineResult) { - final Optional optionalEstimatedRobotPose = poseEstimator.update(photonPipelineResult); - optionalEstimatedRobotPose.ifPresent(estimatedRobotPose -> { - this.estimatedRobotPose = estimatedRobotPose; - this.stableEstimatedRobotPose = estimatedRobotPose; - }); - - this.latestPhotonPipelineResult = photonPipelineResult; - } - - @SuppressWarnings("DuplicatedCode") - @Override - public void updateInputs(final PhotonVisionIOInputs inputs) { - inputs.name = cameraName; - inputs.stdDevFactor = stdDevFactor; - if (latestPhotonPipelineResult == null) { - inputs.pipelineResultTargets = new double[] {}; - } else { - inputs.pipelineResultTargets = latestPhotonPipelineResult.targets.stream() - .mapToDouble(PhotonTrackedTarget::getFiducialId) - .toArray(); - } - inputs.primaryStrategy = poseEstimator.getPrimaryStrategy().toString(); - - inputs.estimatedRobotPose = getLatestEstimatedPose(); - inputs.stableEstimatedRobotPose = getStableLastEstimatedPose(); - } - - @Override - public void periodic() { - final PhotonPipelineResult photonResult = photonCamera.getLatestResult(); - if (!photonResult.hasTargets()) { - this.stableEstimatedRobotPose = null; - return; - } - - final MultiTargetPNPResult multiTargetPNPResult = photonResult.getMultiTagResult(); - if (multiTargetPNPResult.estimatedPose.isPresent) { - // multi-tag - if (multiTargetPNPResult.estimatedPose.ambiguity <= Constants.Vision.MULTI_TAG_MAX_AMBIGUITY) { - updatePoseEstimator(photonResult); - } - } else { - // single-tag - final PhotonTrackedTarget photonTrackedTarget = photonResult.targets.get(0); - if (photonTrackedTarget.getPoseAmbiguity() <= Constants.Vision.SINGLE_TAG_MAX_AMBIGUITY) { - updatePoseEstimator(photonResult); - } - } - } - - public EstimatedRobotPose getLatestEstimatedPose() { - final EstimatedRobotPose robotPose = estimatedRobotPose; - this.estimatedRobotPose = null; - - return robotPose; - } - - public EstimatedRobotPose getStableLastEstimatedPose() { - return stableEstimatedRobotPose; - } - } - - - private final Map - photonVisionIOInputsMap; - - public PhotonVisionApriltagsReal( - final Map - photonVisionIOInputsMap - ) { - this.photonVisionIOInputsMap = photonVisionIOInputsMap; - } - - @Override - public void periodic() { - if (ToClose.hasClosed()) { - // do not try to update if we've already closed or if we cannot continue running - return; - } - - for ( - final Map.Entry - photonVisionIOInputsEntry : photonVisionIOInputsMap.entrySet() - ) { - final IOApriltagsReal ioApriltagsReal = photonVisionIOInputsEntry.getKey(); - final PhotonVisionIO.PhotonVisionIOInputs ioInputs = photonVisionIOInputsEntry.getValue(); - - ioApriltagsReal.periodic(); - ioApriltagsReal.updateInputs(ioInputs); - - Logger.processInputs( - String.format("%s/%s", PhotonVision.PhotonLogKey, ioApriltagsReal.cameraName), - ioInputs - ); - } - } - - /** - * Reset the simulated robot {@link Pose3d}. - * @param robotPose the new robot {@link Pose3d} - */ - @Override - public void resetRobotPose(final Pose3d robotPose) {} - - @Override - public Map getPhotonVisionIOInputsMap() { - return photonVisionIOInputsMap; - } -} diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsSim.java b/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsSim.java deleted file mode 100644 index 9bf0aaf..0000000 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVisionApriltagsSim.java +++ /dev/null @@ -1,215 +0,0 @@ -package frc.robot.subsystems.vision; - -import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.kinematics.SwerveDriveOdometry; -import frc.robot.constants.Constants; -import frc.robot.subsystems.drive.Swerve; -import frc.robot.utils.closeables.ToClose; -import frc.robot.utils.gyro.GyroUtils; -import org.littletonrobotics.junction.Logger; -import org.photonvision.EstimatedRobotPose; -import org.photonvision.PhotonCamera; -import org.photonvision.PhotonPoseEstimator; -import org.photonvision.simulation.PhotonCameraSim; -import org.photonvision.simulation.VisionSystemSim; -import org.photonvision.targeting.PhotonPipelineResult; -import org.photonvision.targeting.PhotonTrackedTarget; - -import java.util.List; -import java.util.Map; -import java.util.Optional; - -public class PhotonVisionApriltagsSim implements PhotonVisionRunner { - public static class IOApriltagsSim implements PhotonVisionIO { - private final PhotonCamera photonCamera; - private final String cameraName; - - private final PhotonPoseEstimator poseEstimator; - - private PhotonPipelineResult latestPhotonPipelineResult; - private EstimatedRobotPose estimatedRobotPose; - /** - * A stable {@link EstimatedRobotPose}, this does NOT get set to null after we get - * the estimated pose, thus, it is stable and represents the last estimated pose. - *

- * Do NOT use this {@link EstimatedRobotPose} to feed into vision adjustments. - */ - private EstimatedRobotPose stableEstimatedRobotPose; - - public IOApriltagsSim( - final TitanCamera titanCamera, - final AprilTagFieldLayout blueSideApriltagFieldLayout, - final VisionSystemSim visionSystemSim - ) { - this.photonCamera = titanCamera.getPhotonCamera(); - this.cameraName = photonCamera.getName(); - - this.poseEstimator = new PhotonPoseEstimator( - blueSideApriltagFieldLayout, - Constants.Vision.MULTI_TAG_POSE_STRATEGY, - photonCamera, - titanCamera.getRobotRelativeToCameraTransform() - ); - this.poseEstimator.setMultiTagFallbackStrategy(PhotonPoseEstimator.PoseStrategy.LOWEST_AMBIGUITY); - - 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.getRobotRelativeToCameraTransform()); - } - - private void updatePoseEstimator(final PhotonPipelineResult photonPipelineResult) { - final Optional optionalEstimatedRobotPose = poseEstimator.update(photonPipelineResult); - optionalEstimatedRobotPose.ifPresent(estimatedRobotPose -> { - this.estimatedRobotPose = estimatedRobotPose; - this.stableEstimatedRobotPose = estimatedRobotPose; - }); - - this.latestPhotonPipelineResult = photonPipelineResult; - } - - @SuppressWarnings("DuplicatedCode") - @Override - public void updateInputs(final PhotonVisionIOInputs inputs) { - inputs.name = cameraName; - if (latestPhotonPipelineResult == null) { - inputs.pipelineResultTargets = new double[] {}; - } else { - inputs.pipelineResultTargets = latestPhotonPipelineResult.targets.stream() - .mapToDouble(PhotonTrackedTarget::getFiducialId) - .toArray(); - } - inputs.primaryStrategy = poseEstimator.getPrimaryStrategy().toString(); - - inputs.estimatedRobotPose = getLatestEstimatedPose(); - inputs.stableEstimatedRobotPose = getStableLastEstimatedPose(); - } - - @Override - public void periodic() { - final PhotonPipelineResult photonResult = photonCamera.getLatestResult(); - if (!photonResult.hasTargets()) { - this.stableEstimatedRobotPose = null; - return; - } - - final List targets = photonResult.targets; - final int nTargets = targets.size(); - - if (nTargets == 1) { - // single-tag - final PhotonTrackedTarget firstTarget = targets.get(0); - if (firstTarget.getPoseAmbiguity() <= Constants.Vision.SINGLE_TAG_MAX_AMBIGUITY) { - updatePoseEstimator(photonResult); - } - } else { - // multi-tag - final List filteredTargets = photonResult.getTargets() - .stream() - .filter( - photonTrackedTarget -> - photonTrackedTarget.getPoseAmbiguity() <= Constants.Vision.MULTI_TAG_MAX_AMBIGUITY - ) - .toList(); - - final PhotonPipelineResult filteredPhotonPipelineResult = new PhotonPipelineResult( - photonResult.getLatencyMillis(), filteredTargets - ); - - filteredPhotonPipelineResult.setTimestampSeconds(photonResult.getTimestampSeconds()); - updatePoseEstimator(filteredPhotonPipelineResult); - } - } - - public EstimatedRobotPose getLatestEstimatedPose() { - final EstimatedRobotPose robotPose = estimatedRobotPose; - this.estimatedRobotPose = null; - - return robotPose; - } - - public EstimatedRobotPose getStableLastEstimatedPose() { - return stableEstimatedRobotPose; - } - } - - - private final Swerve swerve; - private final SwerveDriveOdometry visionIndependentOdometry; - private final Map photonVisionIOInputsMap; - - private final VisionSystemSim visionSystemSim; - - public PhotonVisionApriltagsSim( - final Swerve swerve, - final SwerveDriveOdometry visionIndependentOdometry, - final AprilTagFieldLayout aprilTagFieldLayout, - final VisionSystemSim visionSystemSim, - final Map photonVisionIOInputsMap - ) { - this.swerve = swerve; - this.visionIndependentOdometry = visionIndependentOdometry; - this.photonVisionIOInputsMap = photonVisionIOInputsMap; - - this.visionSystemSim = visionSystemSim; - this.visionSystemSim.addAprilTags(aprilTagFieldLayout); - } - - @Override - public void periodic() { - if (ToClose.hasClosed()) { - // do not try to update if we've already closed or if we cannot continue running - return; - } - - for ( - final Map.Entry - photonVisionIOInputsEntry : photonVisionIOInputsMap.entrySet() - ) { - final IOApriltagsSim ioApriltagsSim = photonVisionIOInputsEntry.getKey(); - final PhotonVisionIO.PhotonVisionIOInputs ioInputs = photonVisionIOInputsEntry.getValue(); - - ioApriltagsSim.periodic(); - ioApriltagsSim.updateInputs(ioInputs); - - Logger.processInputs( - String.format("%s/%s", PhotonVision.PhotonLogKey, ioApriltagsSim.cameraName), - ioInputs - ); - } - - final Pose2d visionIndependentPose = - visionIndependentOdometry.update(swerve.getYaw(), swerve.getModulePositions()); - - visionSystemSim.update( - GyroUtils.robotPose2dToPose3dWithGyro( - visionIndependentPose, - GyroUtils.rpyToRotation3d(swerve.getRoll(), swerve.getPitch(), swerve.getYaw()) - ) - ); - } - - /** - * Reset the simulated robot {@link Pose3d}. - * @param robotPose the new robot {@link Pose3d} - */ - @Override - public void resetRobotPose(final Pose3d robotPose) { - visionSystemSim.resetRobotPose(robotPose); - visionIndependentOdometry.resetPosition( - robotPose.toPose2d().getRotation(), swerve.getModulePositions(), robotPose.toPose2d() - ); - } - - @Override - public Map getPhotonVisionIOInputsMap() { - return photonVisionIOInputsMap; - } -} diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVisionIO.java b/src/main/java/frc/robot/subsystems/vision/PhotonVisionIO.java deleted file mode 100644 index 00820e6..0000000 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVisionIO.java +++ /dev/null @@ -1,57 +0,0 @@ -package frc.robot.subsystems.vision; - -import frc.robot.constants.Constants; -import frc.robot.utils.logging.LogUtils; -import org.littletonrobotics.junction.LogTable; -import org.littletonrobotics.junction.inputs.LoggableInputs; -import org.photonvision.EstimatedRobotPose; - -public interface PhotonVisionIO { - class PhotonVisionIOInputs implements LoggableInputs { - public String name = ""; - public double stdDevFactor = 1.0; - public double[] pipelineResultTargets = new double[] {}; - public String primaryStrategy = Constants.Vision.MULTI_TAG_POSE_STRATEGY.toString(); - public EstimatedRobotPose estimatedRobotPose; - public EstimatedRobotPose stableEstimatedRobotPose; - - @Override - public void toLog(final LogTable table) { - table.put("Name", name); - table.put("StdDevFactor", stdDevFactor); - table.put("PipelineResultTargets", pipelineResultTargets); - table.put("PrimaryStrategy", primaryStrategy); - - LogUtils.serializePhotonVisionEstimatedRobotPose( - table, "EstimatedRobotPose", estimatedRobotPose - ); - LogUtils.serializePhotonVisionEstimatedRobotPose( - table, "StableEstimatedRobotPose", stableEstimatedRobotPose - ); - } - - @Override - public void fromLog(LogTable table) { - this.name = table.get("Name", "unknown"); - this.stdDevFactor = table.get("StdDevFactor", Constants.Vision.VISION_CAMERA_DEFAULT_STD_DEV_FACTOR); - this.pipelineResultTargets = table.get("PipelineResultTargets", new double[] {}); - this.primaryStrategy = table.get( - "PrimaryStrategy", Constants.Vision.MULTI_TAG_POSE_STRATEGY.toString() - ); - - this.estimatedRobotPose = - LogUtils.deserializePhotonVisionEstimatedRobotPose(table, "EstimatedRobotPose"); - this.stableEstimatedRobotPose = - LogUtils.deserializePhotonVisionEstimatedRobotPose(table, "StableEstimatedRobotPose"); - } - } - - /** - * Updates the set of loggable inputs. - * @param inputs Logged class of IOInputs - * @see PhotonVisionIOInputs - */ - default void updateInputs(final PhotonVisionIOInputs inputs) {} - - default void periodic() {} -} diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java index 670aa94..969b7e1 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java @@ -1,13 +1,18 @@ package frc.robot.subsystems.vision; import edu.wpi.first.math.geometry.Pose3d; +import org.photonvision.EstimatedRobotPose; import java.util.Map; -public interface PhotonVisionRunner { +public interface PhotonVisionRunner { default void periodic() {} default void resetRobotPose(final Pose3d pose3d) {} - default Map getPhotonVisionIOInputsMap() { + default Map getVisionIOInputsMap() { 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 new file mode 100644 index 0000000..413ee6a --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java @@ -0,0 +1,112 @@ +package frc.robot.subsystems.vision; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.math.geometry.Pose3d; +import frc.robot.constants.Constants; +import frc.robot.utils.closeables.ToClose; +import org.littletonrobotics.junction.Logger; +import org.photonvision.EstimatedRobotPose; +import org.photonvision.PhotonCamera; +import org.photonvision.PhotonPoseEstimator; + +import java.util.HashMap; +import java.util.Map; + +public class RealVisionRunner implements PhotonVisionRunner { + public static class VisionIOApriltagsReal implements VisionIO { + private final TitanCamera titanCamera; + private final PhotonCamera photonCamera; + private final String cameraName; + private final double stdDevFactor; + + public VisionIOApriltagsReal(final TitanCamera titanCamera) { + this.titanCamera = titanCamera; + this.photonCamera = titanCamera.getPhotonCamera(); + this.stdDevFactor = titanCamera.getStdDevFactor(); + this.cameraName = photonCamera.getName(); + } + + @Override + public void updateInputs(final VisionIO.VisionIOInputs inputs) { + inputs.name = cameraName; + inputs.stdDevFactor = stdDevFactor; + inputs.latestResult = photonCamera.getLatestResult(); + } + } + + private final Map visionIOInputsMap; + private final Map photonPoseEstimatorMap; + + private final Map estimatedRobotPoseMap; + + public RealVisionRunner( + final AprilTagFieldLayout aprilTagFieldLayout, + final Map photonVisionIOInputsMap + ) { + this.visionIOInputsMap = photonVisionIOInputsMap; + + final Map poseEstimatorMap = new HashMap<>(); + for (final VisionIOApriltagsReal visionIOApriltagsReal : visionIOInputsMap.keySet()) { + final PhotonPoseEstimator photonPoseEstimator = new PhotonPoseEstimator( + aprilTagFieldLayout, + Constants.Vision.MULTI_TAG_POSE_STRATEGY, + visionIOApriltagsReal.photonCamera, + visionIOApriltagsReal.titanCamera.getRobotRelativeToCameraTransform() + ); + photonPoseEstimator.setMultiTagFallbackStrategy(PhotonPoseEstimator.PoseStrategy.LOWEST_AMBIGUITY); + + poseEstimatorMap.put(visionIOApriltagsReal, photonPoseEstimator); + } + + this.photonPoseEstimatorMap = poseEstimatorMap; + this.estimatedRobotPoseMap = new HashMap<>(); + } + + @SuppressWarnings("DuplicatedCode") + @Override + public void periodic() { + if (ToClose.hasClosed()) { + return; + } + + for ( + final Map.Entry + visionIOInputsEntry : visionIOInputsMap.entrySet() + ) { + final VisionIOApriltagsReal visionIO = visionIOInputsEntry.getKey(); + final VisionIO.VisionIOInputs inputs = visionIOInputsEntry.getValue(); + + visionIO.periodic(); + visionIO.updateInputs(inputs); + + Logger.processInputs( + String.format("%s/%s", PhotonVision.PhotonLogKey, inputs.name), + inputs + ); + + VisionUtils.updatePoseEstimator( + photonPoseEstimatorMap.get(visionIO), + inputs.latestResult + ).ifPresent( + estimatedRobotPose -> estimatedRobotPoseMap.put(visionIO, estimatedRobotPose) + ); + } + } + + /** + * Reset the simulated robot {@link Pose3d}. + * @param robotPose the new robot {@link Pose3d} + */ + @Override + public void resetRobotPose(final Pose3d robotPose) {} + + @Override + public Map getVisionIOInputsMap() { + return visionIOInputsMap; + } + + @Override + public EstimatedRobotPose getEstimatedRobotPose(final VisionIO visionIO) { + return estimatedRobotPoseMap.get(visionIO); + } +} diff --git a/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java new file mode 100644 index 0000000..e634097 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java @@ -0,0 +1,158 @@ +package frc.robot.subsystems.vision; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; +import frc.robot.constants.Constants; +import frc.robot.subsystems.drive.Swerve; +import frc.robot.utils.closeables.ToClose; +import frc.robot.utils.gyro.GyroUtils; +import org.littletonrobotics.junction.Logger; +import org.photonvision.EstimatedRobotPose; +import org.photonvision.PhotonCamera; +import org.photonvision.PhotonPoseEstimator; +import org.photonvision.simulation.PhotonCameraSim; +import org.photonvision.simulation.VisionSystemSim; + +import java.util.HashMap; +import java.util.Map; + +public class SimVisionRunner implements PhotonVisionRunner { + public static class VisionIOApriltagsSim implements VisionIO { + private final TitanCamera titanCamera; + private final PhotonCamera photonCamera; + private final String cameraName; + private final double stdDevFactor; + + public VisionIOApriltagsSim( + final TitanCamera titanCamera, + final VisionSystemSim visionSystemSim + ) { + this.titanCamera = titanCamera; + this.photonCamera = titanCamera.getPhotonCamera(); + this.stdDevFactor = titanCamera.getStdDevFactor(); + this.cameraName = photonCamera.getName(); + + 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.getRobotRelativeToCameraTransform()); + } + + @Override + public void updateInputs(final VisionIO.VisionIOInputs inputs) { + inputs.name = cameraName; + inputs.stdDevFactor = stdDevFactor; + 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 estimatedRobotPoseMap; + + public SimVisionRunner( + final Swerve swerve, + final SwerveDriveOdometry visionIndependentOdometry, + final AprilTagFieldLayout aprilTagFieldLayout, + final VisionSystemSim visionSystemSim, + final Map visionIOInputsMap + ) { + this.swerve = swerve; + this.visionIndependentOdometry = visionIndependentOdometry; + this.visionSystemSim = visionSystemSim; + this.visionSystemSim.addAprilTags(aprilTagFieldLayout); + + this.visionIOInputsMap = visionIOInputsMap; + + final Map poseEstimatorMap = new HashMap<>(); + for (final SimVisionRunner.VisionIOApriltagsSim visionIOApriltagsSim : visionIOInputsMap.keySet()) { + final PhotonPoseEstimator photonPoseEstimator = new PhotonPoseEstimator( + aprilTagFieldLayout, + Constants.Vision.MULTI_TAG_POSE_STRATEGY, + visionIOApriltagsSim.photonCamera, + visionIOApriltagsSim.titanCamera.getRobotRelativeToCameraTransform() + ); + photonPoseEstimator.setMultiTagFallbackStrategy(PhotonPoseEstimator.PoseStrategy.LOWEST_AMBIGUITY); + + poseEstimatorMap.put(visionIOApriltagsSim, photonPoseEstimator); + } + + this.photonPoseEstimatorMap = poseEstimatorMap; + this.estimatedRobotPoseMap = new HashMap<>(); + } + + @SuppressWarnings("DuplicatedCode") + @Override + public void periodic() { + if (ToClose.hasClosed()) { + return; + } + + final Pose2d visionIndependentPose = + visionIndependentOdometry.update(swerve.getYaw(), swerve.getModulePositions()); + + visionSystemSim.update( + GyroUtils.robotPose2dToPose3dWithGyro( + visionIndependentPose, + GyroUtils.rpyToRotation3d(swerve.getRoll(), swerve.getPitch(), swerve.getYaw()) + ) + ); + + for ( + final Map.Entry + photonVisionIOInputsEntry : visionIOInputsMap.entrySet() + ) { + final VisionIOApriltagsSim 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 + ); + + VisionUtils.updatePoseEstimator( + photonPoseEstimatorMap.get(visionIO), + inputs.latestResult + ).ifPresent( + estimatedRobotPose -> estimatedRobotPoseMap.put(visionIO, estimatedRobotPose) + ); + } + } + + /** + * Reset the simulated robot {@link Pose3d}. + * @param robotPose the new robot {@link Pose3d} + */ + @Override + public void resetRobotPose(final Pose3d robotPose) { + visionSystemSim.resetRobotPose(robotPose); + visionIndependentOdometry.resetPosition( + robotPose.toPose2d().getRotation(), swerve.getModulePositions(), robotPose.toPose2d() + ); + } + + @Override + public Map getVisionIOInputsMap() { + return visionIOInputsMap; + } + + @Override + public EstimatedRobotPose getEstimatedRobotPose(final VisionIO visionIO) { + return estimatedRobotPoseMap.get(visionIO); + } +} diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIO.java b/src/main/java/frc/robot/subsystems/vision/VisionIO.java new file mode 100644 index 0000000..c8ef18c --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/VisionIO.java @@ -0,0 +1,38 @@ +package frc.robot.subsystems.vision; + +import frc.robot.constants.Constants; +import frc.robot.utils.logging.LogUtils; +import org.littletonrobotics.junction.LogTable; +import org.littletonrobotics.junction.inputs.LoggableInputs; +import org.photonvision.targeting.PhotonPipelineResult; + +public interface VisionIO { + class VisionIOInputs implements LoggableInputs { + public String name = ""; + public double stdDevFactor = 1.0; + public PhotonPipelineResult latestResult; + + @Override + public void toLog(final LogTable table) { + table.put("Name", name); + table.put("StdDevFactor", stdDevFactor); + LogUtils.serializePhotonPipelineResult(table, "LatestResult", latestResult); + } + + @Override + public void fromLog(final LogTable table) { + this.name = table.get("Name", "unknown"); + this.stdDevFactor = table.get("StdDevFactor", Constants.Vision.VISION_CAMERA_DEFAULT_STD_DEV_FACTOR); + this.latestResult = LogUtils.deserializePhotonPipelineResult(table, "LatestResult"); + } + } + + /** + * Updates the set of loggable inputs. + * @param inputs Logged class of IOInputs + * @see VisionIOInputs + */ + default void updateInputs(final VisionIOInputs inputs) {} + + default void periodic() {} +} diff --git a/src/main/java/frc/robot/subsystems/vision/VisionUtils.java b/src/main/java/frc/robot/subsystems/vision/VisionUtils.java new file mode 100644 index 0000000..faf38bd --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/VisionUtils.java @@ -0,0 +1,43 @@ +package frc.robot.subsystems.vision; + +import frc.robot.constants.Constants; +import org.photonvision.EstimatedRobotPose; +import org.photonvision.PhotonPoseEstimator; +import org.photonvision.targeting.MultiTargetPNPResult; +import org.photonvision.targeting.PhotonPipelineResult; +import org.photonvision.targeting.PhotonTrackedTarget; + +import java.util.Optional; + +public class VisionUtils { + public static Optional updatePoseEstimator( + final PhotonPoseEstimator photonPoseEstimator, + final PhotonPipelineResult photonPipelineResult + ) { + if (!photonPipelineResult.hasTargets()) { + return Optional.empty(); + } + + final int nTargets = photonPipelineResult.targets.size(); + final MultiTargetPNPResult multiTargetPNPResult = photonPipelineResult.getMultiTagResult(); + if (multiTargetPNPResult.estimatedPose.isPresent) { + // multi-tag + // TODO: use ambiguity to disambiguate using PNP alternate here instead + if (multiTargetPNPResult.estimatedPose.ambiguity > Constants.Vision.MULTI_TAG_MAX_AMBIGUITY) { + return Optional.empty(); + } + } else if (nTargets == 1) { + // single-tag + // TODO: use ambiguity to disambiguate using altCameraToTarget here instead + final PhotonTrackedTarget photonTrackedTarget = photonPipelineResult.targets.get(0); + if (photonTrackedTarget.getPoseAmbiguity() > Constants.Vision.SINGLE_TAG_MAX_AMBIGUITY) { + return Optional.empty(); + } + } else { + // no estimate + return Optional.empty(); + } + + return photonPoseEstimator.update(photonPipelineResult); + } +} diff --git a/src/main/java/frc/robot/utils/logging/LogUtils.java b/src/main/java/frc/robot/utils/logging/LogUtils.java index 1068802..13602f9 100644 --- a/src/main/java/frc/robot/utils/logging/LogUtils.java +++ b/src/main/java/frc/robot/utils/logging/LogUtils.java @@ -1,17 +1,16 @@ package frc.robot.utils.logging; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Quaternion; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.trajectory.Trajectory; -import frc.robot.constants.Constants; +import edu.wpi.first.util.struct.Struct; import org.littletonrobotics.junction.LogTable; -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; +import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; +import java.nio.ByteBuffer; import java.util.ArrayList; import java.util.List; @@ -21,115 +20,165 @@ public static double microsecondsToMilliseconds(final double microseconds) { return microseconds * MICRO_TO_MILLI; } - public static double[] toDoubleArray(final ChassisSpeeds chassisSpeeds) { - return new double[] { - chassisSpeeds.vxMetersPerSecond, - chassisSpeeds.vyMetersPerSecond, - chassisSpeeds.omegaRadiansPerSecond - }; - } - - public static void serializePhotonVisionEstimatedRobotPose( + public static void serializePhotonPipelineResult( final LogTable logTable, final String prefix, - final EstimatedRobotPose estimatedRobotPose + final PhotonPipelineResult photonPipelineResult ) { - if (estimatedRobotPose == null) { - logTable.put(prefix + "/IsNull", true); + if (photonPipelineResult == null) { + logTable.put(prefix + "/IsPresent", false); return; } else { - logTable.put(prefix + "/IsNull", false); + logTable.put(prefix + "/IsPresent", false); } - LogUtils.serializePose3d(logTable, prefix + "/EstimatedPose", estimatedRobotPose.estimatedPose); - logTable.put(prefix + "/TimestampSeconds", estimatedRobotPose.timestampSeconds); + final int targetsUsedSize = photonPipelineResult.targets.size(); + logTable.put(prefix + "/Targets/Size", targetsUsedSize); - final int targetsUsedSize = estimatedRobotPose.targetsUsed.size(); for (int i = 0; i < targetsUsedSize; i++) { - final PhotonTrackedTarget trackedTarget = estimatedRobotPose.targetsUsed.get(i); + final PhotonTrackedTarget trackedTarget = photonPipelineResult.targets.get(i); final Packet packet = new Packet(PhotonTrackedTarget.serde.getMaxByteSize()); PhotonTrackedTarget.serde.pack(packet, trackedTarget); - LogUtils.serializePhotonVisionPacket(logTable, prefix + "/TargetsUsed/Packet" + i, packet); + LogUtils.serializePhotonVisionPacket(logTable, prefix + "/Targets/Packet" + i, packet); } - logTable.put(prefix + "/TargetsUsed/Size", targetsUsedSize); - logTable.put(prefix + "/Strategy", estimatedRobotPose.strategy.toString()); + logTable.put(prefix + "/LatencyMillis", photonPipelineResult.getLatencyMillis()); + logTable.put(prefix + "/TimestampSeconds", photonPipelineResult.getTimestampSeconds()); + + LogUtils.serializeMultiTargetPNPResult( + logTable, + prefix + "/MultiTagResult", + photonPipelineResult.getMultiTagResult() + ); } - public static EstimatedRobotPose deserializePhotonVisionEstimatedRobotPose( - final LogTable logTable, - final String prefix - ) { - if (logTable.get(prefix + "/IsNull", true)) { + public static PhotonPipelineResult deserializePhotonPipelineResult(final LogTable logTable, final String prefix) { + if (logTable.get(prefix + "/IsPresent", false)) { return null; } - final Pose3d estimatedPose = LogUtils.deserializePose3d(logTable, prefix + "/EstimatedPose"); - final double timestampSeconds = logTable.get(prefix + "/TimestampSeconds", -1); - - final long targetsUsedSize = logTable.get(prefix + "/TargetsUsed/Size", 0); + final long targetsUsedSize = logTable.get(prefix + "/Targets/Size", 0); final List trackedTargets = new ArrayList<>(); - for (int i = 0; i < targetsUsedSize; i++) { final Packet packet = LogUtils.deserializePhotonVisionPacket( - logTable, prefix + "/TargetsUsed/Packet" + i + logTable, prefix + "/Targets/Packet" + i ); final PhotonTrackedTarget trackedTarget = PhotonTrackedTarget.serde.unpack(packet); trackedTargets.add(trackedTarget); } - final String strategyString = - logTable.get(prefix + "/Strategy", Constants.Vision.MULTI_TAG_POSE_STRATEGY.toString()); - final PhotonPoseEstimator.PoseStrategy strategy = PhotonPoseEstimator.PoseStrategy.valueOf(strategyString); + final double latencyMillis = logTable.get(prefix + "/LatencyMillis", 0); + final double timestampSeconds = logTable.get(prefix + "/TimestampSeconds", -1); + + final MultiTargetPNPResult multiTargetPNPResult = + LogUtils.deserializeMultiTargetPNPResult(logTable, prefix + "/MultiTagResult"); - return new EstimatedRobotPose( - estimatedPose, - timestampSeconds, + final PhotonPipelineResult result = new PhotonPipelineResult( + latencyMillis, trackedTargets, - strategy + multiTargetPNPResult ); - } + result.setTimestampSeconds(timestampSeconds); - public static void serializePhotonVisionPacket(final LogTable logTable, final String prefix, final Packet packet) { - logTable.put(prefix + "/packetData", packet.getData()); + return result; } - public static Packet deserializePhotonVisionPacket(final LogTable logTable, final String prefix) { - return new Packet(logTable.get(prefix + "/packetData", new byte[] {})); + public static final PNPResultStruct PNPResultStruct = new PNPResultStruct(); + public static class PNPResultStruct implements Struct { + @Override + public Class getTypeClass() { + return PNPResult.class; + } + + @Override + public String getTypeString() { + return "struct:PNPResult"; + } + + @Override + public int getSize() { + return kSizeBool + + Transform3d.struct.getSize() + + kSizeDouble + + Transform3d.struct.getSize() + + kSizeDouble + + kSizeDouble; + } + + @Override + public String getSchema() { + return "bool isPresent;Transform3d best;double bestReprojErr;Transform3d alt;double altReprojErr;double ambiguity"; + } + + @Override + public Struct[] getNested() { + return new Struct[]{Transform3d.struct}; + } + + @Override + public PNPResult unpack(final ByteBuffer bb) { + final boolean isPresent = bb.get() != 0; + if (!isPresent) { + return new PNPResult(); + } + + final Transform3d best = Transform3d.struct.unpack(bb); + final double bestReprojErr = bb.getDouble(); + final Transform3d alt = Transform3d.struct.unpack(bb); + final double altReprojErr = bb.getDouble(); + final double ambiguity = bb.getDouble(); + + return new PNPResult(best, alt, ambiguity, bestReprojErr, altReprojErr); + } + + @Override + public void pack(final ByteBuffer bb, final PNPResult value) { + bb.put((byte)(value.isPresent ? 1 : 0)); + Transform3d.struct.pack(bb, value.best); + bb.putDouble(value.bestReprojErr); + Transform3d.struct.pack(bb, value.alt); + bb.putDouble(value.altReprojErr); + bb.putDouble(value.ambiguity); + } } - public static void serializePose3d(final LogTable logTable, final String prefix, final Pose3d pose3d) { - if (Constants.NetworkTables.USE_STRUCT_AND_PROTOBUF) { - logTable.put(prefix + "/Pose3d", pose3d); - } else { - logTable.put(prefix + "/Pose3d/x", pose3d.getX()); - logTable.put(prefix + "/Pose3d/y", pose3d.getY()); - logTable.put(prefix + "/Pose3d/z", pose3d.getZ()); - logTable.put(prefix + "/Pose3d/rw", pose3d.getRotation().getQuaternion().getW()); - logTable.put(prefix + "/Pose3d/rx", pose3d.getRotation().getQuaternion().getX()); - logTable.put(prefix + "/Pose3d/ry", pose3d.getRotation().getQuaternion().getY()); - logTable.put(prefix + "/Pose3d/rz", pose3d.getRotation().getQuaternion().getZ()); + public static void serializeMultiTargetPNPResult( + final LogTable logTable, + final String prefix, + final MultiTargetPNPResult multiTargetPNPResult + ) { + logTable.put(prefix + "/PNPResult", PNPResultStruct, multiTargetPNPResult.estimatedPose); + + final int nFiducialsUsed = multiTargetPNPResult.fiducialIDsUsed.size(); + final int[] fiducialIDsUsed = new int[nFiducialsUsed]; + for (int i = 0; i < nFiducialsUsed; i++) { + fiducialIDsUsed[i] = multiTargetPNPResult.fiducialIDsUsed.get(i); } + + logTable.put(prefix + "/FiducialIDsUsed", fiducialIDsUsed); } - public static Pose3d deserializePose3d(final LogTable logTable, final String prefix) { - if (Constants.NetworkTables.USE_STRUCT_AND_PROTOBUF) { - return logTable.get(prefix + "/Pose3d", new Pose3d()); - } else { - return new Pose3d( - logTable.get(prefix + "/Pose3d/x", 0), - logTable.get(prefix + "/Pose3d/y", 0), - logTable.get(prefix + "/Pose3d/z", 0), - new Rotation3d(new Quaternion( - logTable.get(prefix + "/Pose3d/rw", 1), - logTable.get(prefix + "/Pose3d/rx", 0), - logTable.get(prefix + "/Pose3d/ry", 0), - logTable.get(prefix + "/Pose3d/rz", 0) - )) - ); + private static final PNPResult DefaultPNPResult = new PNPResult(); + public static MultiTargetPNPResult deserializeMultiTargetPNPResult(final LogTable logTable, final String prefix) { + final PNPResult pnpResult = logTable.get(prefix + "/PNPResult", PNPResultStruct, DefaultPNPResult); + + final int[] fiducialIDsUsed = logTable.get(prefix + "/FiducialIDsUsed", new int[0]); + final List fiducialIDs = new ArrayList<>(); + for (final int id : fiducialIDsUsed) { + fiducialIDs.add(id); } + + return new MultiTargetPNPResult(pnpResult, fiducialIDs); + } + + public static void serializePhotonVisionPacket(final LogTable logTable, final String prefix, final Packet packet) { + logTable.put(prefix + "/packetData", packet.getData()); + } + + public static Packet deserializePhotonVisionPacket(final LogTable logTable, final String prefix) { + return new Packet(logTable.get(prefix + "/packetData", new byte[] {})); } /** From b04a0a2761d5a015dd0f3196b07d8e1555c2114b Mon Sep 17 00:00:00 2001 From: "harry.chen" Date: Sat, 13 Apr 2024 14:23:41 -0400 Subject: [PATCH 09/52] Initial pass at note tracking, no functionality yet, just logging detected note poses. --- .../robot/subsystems/vision/PhotonVision.java | 77 ++++++++----- .../subsystems/vision/PhotonVisionRunner.java | 7 +- .../subsystems/vision/RealVisionRunner.java | 100 +++++++++++++---- .../subsystems/vision/SimVisionRunner.java | 20 +++- .../frc/robot/subsystems/vision/VisionIO.java | 4 + .../robot/subsystems/vision/VisionUtils.java | 12 +++ .../{ => cameras}/CameraProperties.java | 3 +- .../vision/{ => cameras}/TitanCamera.java | 22 ++-- .../{ => cameras}/TitanCameraCalibration.java | 2 +- .../vision/result/NoteTrackingResult.java | 102 ++++++++++++++++++ 10 files changed, 285 insertions(+), 64 deletions(-) rename src/main/java/frc/robot/subsystems/vision/{ => cameras}/CameraProperties.java (97%) rename src/main/java/frc/robot/subsystems/vision/{ => cameras}/TitanCamera.java (93%) rename src/main/java/frc/robot/subsystems/vision/{ => cameras}/TitanCameraCalibration.java (99%) create mode 100644 src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index 1733be9..1238cbd 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -15,6 +15,8 @@ import frc.robot.constants.Constants; import frc.robot.subsystems.drive.Swerve; import frc.robot.subsystems.drive.constants.SwerveConstants; +import frc.robot.subsystems.vision.cameras.TitanCamera; +import frc.robot.subsystems.vision.result.NoteTrackingResult; import frc.robot.utils.PoseUtils; import frc.robot.utils.gyro.GyroUtils; import frc.robot.utils.subsystems.VirtualSubsystem; @@ -24,14 +26,11 @@ import org.photonvision.targeting.PhotonTrackedTarget; import java.io.UncheckedIOException; -import java.util.Arrays; -import java.util.HashMap; -import java.util.List; -import java.util.Map; +import java.util.*; import java.util.stream.Collectors; public class PhotonVision extends VirtualSubsystem { - public static final String PhotonLogKey = "PhotonVision"; + public static final String PhotonLogKey = "Vision"; public static final double TranslationalVelocityTolerance = 1; public static final double AngularVelocityTolerance = 1; @@ -83,9 +82,12 @@ public PhotonVision( case REAL -> new RealVisionRunner( PhotonVision.apriltagFieldLayout, PhotonVision.makeVisionIOInputsMap( - new RealVisionRunner.VisionIOApriltagsReal(TitanCamera.PHOTON_FL_APRILTAG), - new RealVisionRunner.VisionIOApriltagsReal(TitanCamera.PHOTON_FC_APRILTAG), - new RealVisionRunner.VisionIOApriltagsReal(TitanCamera.PHOTON_FR_APRILTAG) + new RealVisionRunner.VisionIOApriltagReal(TitanCamera.PHOTON_FL_APRILTAG), + new RealVisionRunner.VisionIOApriltagReal(TitanCamera.PHOTON_FC_APRILTAG), + new RealVisionRunner.VisionIOApriltagReal(TitanCamera.PHOTON_FR_APRILTAG) + ), + PhotonVision.makeVisionIOInputsMap( +// new RealVisionRunner.VisionIONoteTrackingReal(TitanCamera.PHOTON_BC_NOTE_TRACKING) ) ); case SIM -> { @@ -112,7 +114,7 @@ yield new SimVisionRunner( this.swerve = swerve; this.poseEstimator = poseEstimator; - this.visionIOInputsMap = runner.getVisionIOInputsMap(); + this.visionIOInputsMap = runner.getApriltagVisionIOInputsMap(); this.lastEstimatedRobotPose = new HashMap<>(); @@ -238,31 +240,48 @@ private void update() { final VisionIO.VisionIOInputs inputs = visionIOInputsEntry.getValue(); final EstimatedRobotPose estimatedRobotPose = runner.getEstimatedRobotPose(visionIO); - if (estimatedRobotPose == null) { - // skip the trouble of calling/indexing things if the estimatedRobotPose is null - continue; + if (estimatedRobotPose != null) { + final EstimatedRobotPose lastEstimatedPose = lastEstimatedRobotPose.get(visionIO); + final EstimationRejectionReason rejectionReason = + shouldRejectEstimation(lastEstimatedPose, estimatedRobotPose); + + Logger.recordOutput( + PhotonLogKey + "/RejectionReason", rejectionReason.getId() + ); + if (rejectionReason.wasRejected()) { + continue; + } + + final Vector stdDevs = calculateStdDevs(estimatedRobotPose, inputs.stdDevFactor); + Logger.recordOutput(PhotonLogKey + "/" + inputs.name + "/StdDevs", stdDevs.getData()); + + lastEstimatedRobotPose.put(visionIO, estimatedRobotPose); + poseEstimator.addVisionMeasurement( + estimatedRobotPose.estimatedPose.toPose2d(), + estimatedRobotPose.timestampSeconds, + stdDevs + ); } - final EstimatedRobotPose lastSavedEstimatedPose = lastEstimatedRobotPose.get(visionIO); - final EstimationRejectionReason rejectionReason = - shouldRejectEstimation(lastSavedEstimatedPose, estimatedRobotPose); + final NoteTrackingResult noteTrackingResult = runner.getNoteTrackingResult(visionIO); + if (noteTrackingResult != null) { + Logger.recordOutput(PhotonLogKey + "/NoteTracking/HasTargets", noteTrackingResult.hasTargets); + final Optional optionalBestNotePose = noteTrackingResult + .getBestNotePose(timestamp -> Optional.of(swerve.getPose())); - Logger.recordOutput( - PhotonLogKey + "/RejectionReason", rejectionReason.getId() - ); - if (rejectionReason.wasRejected()) { - continue; - } + Logger.recordOutput(PhotonLogKey + "/NoteTracking/HasBestNotePose", optionalBestNotePose.isPresent()); + Logger.recordOutput( + PhotonLogKey + "/NoteTracking/BestNotePose", + optionalBestNotePose.orElseGet(Pose2d::new) + ); - final Vector stdDevs = calculateStdDevs(estimatedRobotPose, inputs.stdDevFactor); - Logger.recordOutput(PhotonLogKey + "/" + inputs.name + "/StdDevs", stdDevs.getData()); + final Pose2d[] notePoses = noteTrackingResult + .getNotePoses(timestamp -> Optional.of(swerve.getPose())); - lastEstimatedRobotPose.put(visionIO, estimatedRobotPose); - poseEstimator.addVisionMeasurement( - estimatedRobotPose.estimatedPose.toPose2d(), - estimatedRobotPose.timestampSeconds, - stdDevs - ); + Logger.recordOutput(PhotonLogKey + "/NoteTracking/NotePoses", notePoses); + } else { + Logger.recordOutput(PhotonLogKey + "/NoteTracking/HasTargets", false); + } } } diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java index 969b7e1..a669c5d 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVisionRunner.java @@ -1,6 +1,7 @@ package frc.robot.subsystems.vision; import edu.wpi.first.math.geometry.Pose3d; +import frc.robot.subsystems.vision.result.NoteTrackingResult; import org.photonvision.EstimatedRobotPose; import java.util.Map; @@ -8,11 +9,15 @@ public interface PhotonVisionRunner { default void periodic() {} default void resetRobotPose(final Pose3d pose3d) {} - default Map getVisionIOInputsMap() { + default Map getApriltagVisionIOInputsMap() { return Map.of(); } default EstimatedRobotPose getEstimatedRobotPose(final VisionIO visionIO) { return null; } + + default NoteTrackingResult getNoteTrackingResult(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 413ee6a..4d355c1 100644 --- a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java @@ -1,65 +1,98 @@ package frc.robot.subsystems.vision; import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.util.Units; 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; import org.photonvision.PhotonCamera; import org.photonvision.PhotonPoseEstimator; +import org.photonvision.targeting.PhotonPipelineResult; import java.util.HashMap; import java.util.Map; public class RealVisionRunner implements PhotonVisionRunner { - public static class VisionIOApriltagsReal implements VisionIO { + public static class VisionIOApriltagReal implements VisionIO { private final TitanCamera titanCamera; private final PhotonCamera photonCamera; private final String cameraName; + private final double stdDevFactor; + private final Transform3d robotToCamera; - public VisionIOApriltagsReal(final TitanCamera titanCamera) { + public VisionIOApriltagReal(final TitanCamera titanCamera) { this.titanCamera = titanCamera; this.photonCamera = titanCamera.getPhotonCamera(); - this.stdDevFactor = titanCamera.getStdDevFactor(); this.cameraName = photonCamera.getName(); + + this.stdDevFactor = titanCamera.getStdDevFactor(); + this.robotToCamera = titanCamera.getRobotToCameraTransform(); } @Override public void updateInputs(final VisionIO.VisionIOInputs inputs) { inputs.name = cameraName; inputs.stdDevFactor = stdDevFactor; + inputs.robotToCamera = robotToCamera; + inputs.latestResult = photonCamera.getLatestResult(); + } + } + + public static class VisionIONoteTrackingReal implements VisionIO { + public static final double NOTE_HEIGHT_Z = Units.inchesToMeters(1); + + private final PhotonCamera photonCamera; + private final String cameraName; + + public VisionIONoteTrackingReal(final TitanCamera titanCamera) { + this.photonCamera = titanCamera.getPhotonCamera(); + this.cameraName = photonCamera.getName(); + } + + @Override + public void updateInputs(VisionIOInputs inputs) { + inputs.name = cameraName; + inputs.stdDevFactor = -1; inputs.latestResult = photonCamera.getLatestResult(); } } - 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 RealVisionRunner( final AprilTagFieldLayout aprilTagFieldLayout, - final Map photonVisionIOInputsMap + final Map apriltagVisionIOInputsMap, + final Map noteTrackingVisionIOInputsMap ) { - this.visionIOInputsMap = photonVisionIOInputsMap; + this.apriltagVisionIOInputsMap = apriltagVisionIOInputsMap; + this.noteTrackingVisionIOInputsMap = noteTrackingVisionIOInputsMap; - final Map poseEstimatorMap = new HashMap<>(); - for (final VisionIOApriltagsReal visionIOApriltagsReal : visionIOInputsMap.keySet()) { + final Map poseEstimatorMap = new HashMap<>(); + for (final VisionIOApriltagReal visionIOApriltagReal : apriltagVisionIOInputsMap.keySet()) { final PhotonPoseEstimator photonPoseEstimator = new PhotonPoseEstimator( aprilTagFieldLayout, Constants.Vision.MULTI_TAG_POSE_STRATEGY, - visionIOApriltagsReal.photonCamera, - visionIOApriltagsReal.titanCamera.getRobotRelativeToCameraTransform() + visionIOApriltagReal.photonCamera, + visionIOApriltagReal.titanCamera.getRobotToCameraTransform() ); photonPoseEstimator.setMultiTagFallbackStrategy(PhotonPoseEstimator.PoseStrategy.LOWEST_AMBIGUITY); - poseEstimatorMap.put(visionIOApriltagsReal, photonPoseEstimator); + poseEstimatorMap.put(visionIOApriltagReal, photonPoseEstimator); } this.photonPoseEstimatorMap = poseEstimatorMap; this.estimatedRobotPoseMap = new HashMap<>(); + this.noteTrackingResultMap = new HashMap<>(); } @SuppressWarnings("DuplicatedCode") @@ -70,10 +103,10 @@ public void periodic() { } for ( - final Map.Entry - visionIOInputsEntry : visionIOInputsMap.entrySet() + final Map.Entry + visionIOInputsEntry : apriltagVisionIOInputsMap.entrySet() ) { - final VisionIOApriltagsReal visionIO = visionIOInputsEntry.getKey(); + final VisionIOApriltagReal visionIO = visionIOInputsEntry.getKey(); final VisionIO.VisionIOInputs inputs = visionIOInputsEntry.getValue(); visionIO.periodic(); @@ -84,13 +117,37 @@ public void periodic() { inputs ); + final PhotonPipelineResult result = inputs.latestResult; + VisionUtils.correctPipelineResultTimestamp(result); VisionUtils.updatePoseEstimator( photonPoseEstimatorMap.get(visionIO), - inputs.latestResult + result ).ifPresent( estimatedRobotPose -> estimatedRobotPoseMap.put(visionIO, estimatedRobotPose) ); } + + for ( + final Map.Entry + visionIOInputsEntry : noteTrackingVisionIOInputsMap.entrySet() + ) { + final VisionIONoteTrackingReal visionIO = visionIOInputsEntry.getKey(); + final VisionIO.VisionIOInputs inputs = visionIOInputsEntry.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); + + final NoteTrackingResult noteTrackingResult = new NoteTrackingResult(inputs.robotToCamera, pipelineResult); + noteTrackingResultMap.put(visionIO, noteTrackingResult); + } } /** @@ -101,12 +158,17 @@ public void periodic() { public void resetRobotPose(final Pose3d robotPose) {} @Override - public Map getVisionIOInputsMap() { - return visionIOInputsMap; + public Map getApriltagVisionIOInputsMap() { + return apriltagVisionIOInputsMap; } @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 e634097..378d5dc 100644 --- a/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java @@ -3,9 +3,11 @@ import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import frc.robot.constants.Constants; import frc.robot.subsystems.drive.Swerve; +import frc.robot.subsystems.vision.cameras.TitanCamera; import frc.robot.utils.closeables.ToClose; import frc.robot.utils.gyro.GyroUtils; import org.littletonrobotics.junction.Logger; @@ -14,6 +16,7 @@ import org.photonvision.PhotonPoseEstimator; import org.photonvision.simulation.PhotonCameraSim; import org.photonvision.simulation.VisionSystemSim; +import org.photonvision.targeting.PhotonPipelineResult; import java.util.HashMap; import java.util.Map; @@ -23,7 +26,9 @@ public static class VisionIOApriltagsSim implements VisionIO { private final TitanCamera titanCamera; private final PhotonCamera photonCamera; private final String cameraName; + private final double stdDevFactor; + private final Transform3d robotToCamera; public VisionIOApriltagsSim( final TitanCamera titanCamera, @@ -31,9 +36,11 @@ public VisionIOApriltagsSim( ) { this.titanCamera = titanCamera; this.photonCamera = titanCamera.getPhotonCamera(); - this.stdDevFactor = titanCamera.getStdDevFactor(); this.cameraName = photonCamera.getName(); + this.stdDevFactor = titanCamera.getStdDevFactor(); + this.robotToCamera = titanCamera.getRobotToCameraTransform(); + final PhotonCameraSim photonCameraSim = new PhotonCameraSim(titanCamera.getPhotonCamera(), titanCamera.toSimCameraProperties()); @@ -42,13 +49,14 @@ public VisionIOApriltagsSim( photonCameraSim.enableProcessedStream(true); ToClose.add(photonCameraSim); - visionSystemSim.addCamera(photonCameraSim, titanCamera.getRobotRelativeToCameraTransform()); + visionSystemSim.addCamera(photonCameraSim, titanCamera.getRobotToCameraTransform()); } @Override public void updateInputs(final VisionIO.VisionIOInputs inputs) { inputs.name = cameraName; inputs.stdDevFactor = stdDevFactor; + inputs.robotToCamera = robotToCamera; inputs.latestResult = photonCamera.getLatestResult(); } } @@ -82,7 +90,7 @@ public SimVisionRunner( aprilTagFieldLayout, Constants.Vision.MULTI_TAG_POSE_STRATEGY, visionIOApriltagsSim.photonCamera, - visionIOApriltagsSim.titanCamera.getRobotRelativeToCameraTransform() + visionIOApriltagsSim.titanCamera.getRobotToCameraTransform() ); photonPoseEstimator.setMultiTagFallbackStrategy(PhotonPoseEstimator.PoseStrategy.LOWEST_AMBIGUITY); @@ -125,9 +133,11 @@ public void periodic() { inputs ); + final PhotonPipelineResult result = inputs.latestResult; + VisionUtils.correctPipelineResultTimestamp(result); VisionUtils.updatePoseEstimator( photonPoseEstimatorMap.get(visionIO), - inputs.latestResult + result ).ifPresent( estimatedRobotPose -> estimatedRobotPoseMap.put(visionIO, estimatedRobotPose) ); @@ -147,7 +157,7 @@ public void resetRobotPose(final Pose3d robotPose) { } @Override - public Map getVisionIOInputsMap() { + public Map getApriltagVisionIOInputsMap() { return visionIOInputsMap; } diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIO.java b/src/main/java/frc/robot/subsystems/vision/VisionIO.java index c8ef18c..ed4c28b 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIO.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIO.java @@ -1,5 +1,6 @@ package frc.robot.subsystems.vision; +import edu.wpi.first.math.geometry.Transform3d; import frc.robot.constants.Constants; import frc.robot.utils.logging.LogUtils; import org.littletonrobotics.junction.LogTable; @@ -10,12 +11,14 @@ public interface VisionIO { class VisionIOInputs implements LoggableInputs { public String name = ""; public double stdDevFactor = 1.0; + public Transform3d robotToCamera; public PhotonPipelineResult latestResult; @Override public void toLog(final LogTable table) { table.put("Name", name); table.put("StdDevFactor", stdDevFactor); + table.put("RobotToCamera", robotToCamera); LogUtils.serializePhotonPipelineResult(table, "LatestResult", latestResult); } @@ -23,6 +26,7 @@ public void toLog(final LogTable table) { public void fromLog(final LogTable table) { this.name = table.get("Name", "unknown"); this.stdDevFactor = table.get("StdDevFactor", Constants.Vision.VISION_CAMERA_DEFAULT_STD_DEV_FACTOR); + this.robotToCamera = table.get("RobotToCamera", new Transform3d()); this.latestResult = LogUtils.deserializePhotonPipelineResult(table, "LatestResult"); } } diff --git a/src/main/java/frc/robot/subsystems/vision/VisionUtils.java b/src/main/java/frc/robot/subsystems/vision/VisionUtils.java index faf38bd..6fa0f00 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionUtils.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionUtils.java @@ -1,5 +1,7 @@ package frc.robot.subsystems.vision; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.Timer; import frc.robot.constants.Constants; import org.photonvision.EstimatedRobotPose; import org.photonvision.PhotonPoseEstimator; @@ -10,6 +12,16 @@ import java.util.Optional; public class VisionUtils { + public static void correctPipelineResultTimestamp(final PhotonPipelineResult photonPipelineResult) { + final double currentTimestamp = Timer.getFPGATimestamp(); + if (photonPipelineResult.getTimestampSeconds() > currentTimestamp) { + // if result in the future, use alternative timestamp calculated from latency instead + photonPipelineResult.setTimestampSeconds( + currentTimestamp - Units.millisecondsToSeconds(photonPipelineResult.getLatencyMillis()) + ); + } + } + public static Optional updatePoseEstimator( final PhotonPoseEstimator photonPoseEstimator, final PhotonPipelineResult photonPipelineResult diff --git a/src/main/java/frc/robot/subsystems/vision/CameraProperties.java b/src/main/java/frc/robot/subsystems/vision/cameras/CameraProperties.java similarity index 97% rename from src/main/java/frc/robot/subsystems/vision/CameraProperties.java rename to src/main/java/frc/robot/subsystems/vision/cameras/CameraProperties.java index adfb334..3238260 100644 --- a/src/main/java/frc/robot/subsystems/vision/CameraProperties.java +++ b/src/main/java/frc/robot/subsystems/vision/cameras/CameraProperties.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems.vision; +package frc.robot.subsystems.vision.cameras; import java.util.*; import java.util.stream.Collectors; @@ -6,6 +6,7 @@ public enum CameraProperties { PERFECT_90(Resolution.R960x720, 90), ARDUCAM_OV9281(Resolution.R640x480, 72.2), + ARDUCAM_OV9782(Resolution.R640x480, 82.4), SEE3CAM_24CUG(Resolution.R1920x1080, 128.2); private final List resolutions; diff --git a/src/main/java/frc/robot/subsystems/vision/TitanCamera.java b/src/main/java/frc/robot/subsystems/vision/cameras/TitanCamera.java similarity index 93% rename from src/main/java/frc/robot/subsystems/vision/TitanCamera.java rename to src/main/java/frc/robot/subsystems/vision/cameras/TitanCamera.java index fb2bf20..04cf26d 100644 --- a/src/main/java/frc/robot/subsystems/vision/TitanCamera.java +++ b/src/main/java/frc/robot/subsystems/vision/cameras/TitanCamera.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems.vision; +package frc.robot.subsystems.vision.cameras; import edu.wpi.first.math.MatBuilder; import edu.wpi.first.math.Nat; @@ -141,10 +141,16 @@ public enum TitanCamera { 3 ), false + ), + PHOTON_BC_NOTE_TRACKING( + "Photon_BC", + new Transform3d(), // TODO: get transform + CameraProperties.ARDUCAM_OV9782, + false ); private final PhotonCamera photonCamera; - private final Transform3d robotRelativeToCameraTransform; + private final Transform3d robotToCameraTransform; private final CameraProperties cameraProperties; private final double stdDevFactor; private final TitanCameraCalibration cameraCalibration; @@ -152,14 +158,14 @@ public enum TitanCamera { TitanCamera( final String photonCameraName, - final Transform3d robotRelativeToCameraTransform, + final Transform3d robotToCameraTransform, final CameraProperties cameraProperties, final double stdDevFactor, final TitanCameraCalibration titanCameraCalibration, final boolean driverCam ) { this.photonCamera = new PhotonCamera(photonCameraName); - this.robotRelativeToCameraTransform = robotRelativeToCameraTransform; + this.robotToCameraTransform = robotToCameraTransform; this.cameraProperties = cameraProperties; this.stdDevFactor = stdDevFactor; this.cameraCalibration = titanCameraCalibration; @@ -184,13 +190,13 @@ public enum TitanCamera { TitanCamera( final String photonCameraName, - final Transform3d robotRelativeToCameraTransform, + final Transform3d robotToCameraTransform, final CameraProperties cameraProperties, final boolean driverCam ) { this( photonCameraName, - robotRelativeToCameraTransform, + robotToCameraTransform, cameraProperties, 1.0, TitanCameraCalibration.fromSimCameraProperties(SimCameraProperties.PERFECT_90DEG()), @@ -202,8 +208,8 @@ public PhotonCamera getPhotonCamera() { return photonCamera; } - public Transform3d getRobotRelativeToCameraTransform() { - return robotRelativeToCameraTransform; + public Transform3d getRobotToCameraTransform() { + return robotToCameraTransform; } public CameraProperties getCameraProperties() { diff --git a/src/main/java/frc/robot/subsystems/vision/TitanCameraCalibration.java b/src/main/java/frc/robot/subsystems/vision/cameras/TitanCameraCalibration.java similarity index 99% rename from src/main/java/frc/robot/subsystems/vision/TitanCameraCalibration.java rename to src/main/java/frc/robot/subsystems/vision/cameras/TitanCameraCalibration.java index b0f7e76..9951b3c 100644 --- a/src/main/java/frc/robot/subsystems/vision/TitanCameraCalibration.java +++ b/src/main/java/frc/robot/subsystems/vision/cameras/TitanCameraCalibration.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems.vision; +package frc.robot.subsystems.vision.cameras; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.numbers.N1; diff --git a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java new file mode 100644 index 0000000..7e8d138 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -0,0 +1,102 @@ +package frc.robot.subsystems.vision.result; + +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.util.Units; +import frc.robot.subsystems.vision.RealVisionRunner; +import org.photonvision.PhotonUtils; +import org.photonvision.targeting.PhotonPipelineResult; +import org.photonvision.targeting.PhotonTrackedTarget; + +import java.util.Optional; +import java.util.function.Function; + +public class NoteTrackingResult { + private static final double DistanceOffsetMeters = Units.inchesToMeters(0); + + private final Transform3d robotToCamera; + + public final PhotonPipelineResult pipelineResult; + public final boolean hasTargets; + + public final PhotonTrackedTarget bestTarget; + public final Rotation2d bestTargetYaw; + public final Rotation2d bestTargetPitch; + public final double bestTargetDistance; + + public NoteTrackingResult(final Transform3d robotToCamera, final PhotonPipelineResult result) { + this.robotToCamera = robotToCamera; + this.pipelineResult = result; + if (result == null || !result.hasTargets()) { + this.hasTargets = false; + this.bestTarget = null; + this.bestTargetYaw = new Rotation2d(); + this.bestTargetPitch = new Rotation2d(); + this.bestTargetDistance = 0; + } else { + this.hasTargets = true; + this.bestTarget = pipelineResult.getBestTarget(); + this.bestTargetYaw = getTargetYaw(bestTarget); + this.bestTargetPitch = getTargetPitch(bestTarget); + this.bestTargetDistance = getNoteDistance(robotToCamera, bestTarget); + } + } + + public Optional getBestNotePose(final Function> timestampedRobotPoseFunction) { + if (!hasTargets) { + return Optional.empty(); + } + + final Optional optionalRobotPose = timestampedRobotPoseFunction.apply(pipelineResult.getTimestampSeconds()); + return optionalRobotPose.map(pose2d -> getNotePose(pose2d, robotToCamera, bestTarget)); + } + + public Pose2d[] getNotePoses(final Function> timestampedRobotPoseFunction) { + if (!hasTargets) { + return new Pose2d[]{}; + } + + final Optional optionalRobotPose = timestampedRobotPoseFunction.apply(pipelineResult.getTimestampSeconds()); + if (optionalRobotPose.isEmpty()) { + return new Pose2d[]{}; + } + + final int nTargets = pipelineResult.targets.size(); + final Pose2d robotPose = optionalRobotPose.get(); + final Pose2d[] notePoses = new Pose2d[nTargets]; + for (int i = 0; i < nTargets; i++) { + notePoses[i] = getNotePose(robotPose, robotToCamera, pipelineResult.targets.get(i)); + } + + return notePoses; + } + + public static Rotation2d getTargetYaw(final PhotonTrackedTarget trackedTarget) { + return Rotation2d.fromDegrees(-trackedTarget.getYaw()); + } + + public static Rotation2d getTargetPitch(final PhotonTrackedTarget trackedTarget) { + return Rotation2d.fromDegrees(-trackedTarget.getPitch()); + } + + 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; + } + + public static Pose2d getNotePose( + final Pose2d poseAtTimestamp, + final Transform3d robotToCamera, + final PhotonTrackedTarget trackedTarget + ) { + final Transform2d robotToNote = new Transform2d( + new Translation2d(getNoteDistance(robotToCamera, trackedTarget), getTargetYaw(trackedTarget)), + getTargetYaw(trackedTarget) + ); + + return poseAtTimestamp.transformBy(robotToNote); + } +} From 661c0393eccf04b76886869cc9a5c7b58a7d96b2 Mon Sep 17 00:00:00 2001 From: MqxS Date: Wed, 24 Jul 2024 12:03:13 -0400 Subject: [PATCH 10/52] Added note tracking vision IO Inputs --- .../robot/subsystems/vision/PhotonVision.java | 17 +++++++++++++---- .../subsystems/vision/PhotonVisionRunner.java | 5 +++++ .../subsystems/vision/RealVisionRunner.java | 5 +++++ .../vision/result/NoteTrackingResult.java | 7 ++++--- 4 files changed, 27 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index 246a0a8..e86d5b5 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -67,7 +67,8 @@ 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; @@ -121,7 +122,8 @@ yield new SimVisionRunner( this.swerve = swerve; this.poseEstimator = poseEstimator; - this.visionIOInputsMap = runner.getApriltagVisionIOInputsMap(); + this.aprilTagVisionIOInputsMap = runner.getApriltagVisionIOInputsMap(); + this.noteTrackingVisionIOInputsMap = runner.getNoteTrackingVisionIOInputsMap(); this.lastEstimatedRobotPose = new HashMap<>(); @@ -240,7 +242,7 @@ 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(); @@ -268,6 +270,13 @@ private void update() { stdDevs ); } + } + + for ( + final Map.Entry + visionIOInputsEntry : noteTrackingVisionIOInputsMap.entrySet() + ) { + final VisionIO visionIO = visionIOInputsEntry.getKey(); final NoteTrackingResult noteTrackingResult = runner.getNoteTrackingResult(visionIO); if (noteTrackingResult != null) { @@ -296,7 +305,7 @@ 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; 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..08d4921 100644 --- a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java @@ -170,6 +170,11 @@ 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/result/NoteTrackingResult.java b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java index 7e8d138..07a04f9 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -23,10 +23,11 @@ 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(); From 6b61d1fa21a2e69e7b3f16fb0c688120c25d5f51 Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 30 Jul 2024 13:01:30 -0400 Subject: [PATCH 11/52] Drive to Maybe Pose Autonomote Note Tracking!! --- src/main/java/frc/robot/Robot.java | 8 +++- src/main/java/frc/robot/auto/Autos.java | 44 ++++++++++++++----- .../frc/robot/subsystems/drive/Swerve.java | 20 +++++++++ .../robot/subsystems/vision/PhotonVision.java | 44 ++++++++++++++++--- 4 files changed, 97 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 878ef1d..c78e243 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -81,7 +81,7 @@ public class Robot extends LoggedRobot { 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", @@ -468,6 +468,12 @@ public void configureAutos() { autos.walton(), Constants.CompetitionType.TESTING )); + + autoChooser.addAutoOption(new AutoOption( + "FollowNote", + autos.followNote(), + Constants.CompetitionType.TESTING + )); } @SuppressWarnings("RedundantSuppression") diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index 4f1c977..b500a89 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; @@ -18,6 +19,9 @@ 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 jdk.jfr.Event; +import org.opencv.photo.Photo; import java.util.*; import java.util.function.DoubleSupplier; @@ -33,6 +37,7 @@ 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 +46,14 @@ 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; } @@ -190,7 +197,7 @@ public EventLoop doNothing() { return doNothingEventLoop; } - + public EventLoop sourceSpeaker0() { final Timer timer = new Timer(); final AutoTriggers autoTriggers = new AutoTriggers("SourceSpeaker0", swerve::getPose, timer::get); @@ -794,17 +801,17 @@ 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( @@ -1220,4 +1227,17 @@ 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( + swerve.driveToMaybePose(() -> photonVision.getBestNotePose(swerve::getPose)) + ) + ); + + return eventLoop; + } } diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index bf6555a..e09f3d9 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -45,6 +45,7 @@ import frc.robot.utils.teleop.Profiler; import org.littletonrobotics.junction.Logger; +import java.util.Optional; import java.util.concurrent.locks.ReentrantReadWriteLock; import java.util.function.BooleanSupplier; import java.util.function.Consumer; @@ -612,6 +613,25 @@ public Command driveToPose(final Supplier poseSupplier) { ).finallyDo(() -> holonomicControllerActive = false); } + public Command driveToMaybePose(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/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index e86d5b5..efc01ca 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -26,7 +26,9 @@ import org.photonvision.targeting.PhotonTrackedTarget; import java.io.UncheckedIOException; +import java.lang.reflect.Array; import java.util.*; +import java.util.function.Supplier; import java.util.stream.Collectors; public class PhotonVision extends VirtualSubsystem { @@ -126,7 +128,6 @@ yield new SimVisionRunner( this.noteTrackingVisionIOInputsMap = runner.getNoteTrackingVisionIOInputsMap(); this.lastEstimatedRobotPose = new HashMap<>(); - final Pose2d estimatedPose = poseEstimator.getEstimatedPosition(); resetPosition(estimatedPose); } @@ -192,8 +193,8 @@ 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; // } @@ -272,7 +273,7 @@ private void update() { } } - for ( + for ( final Map.Entry visionIOInputsEntry : noteTrackingVisionIOInputsMap.entrySet() ) { @@ -290,10 +291,10 @@ private void update() { optionalBestNotePose.orElseGet(Pose2d::new) ); - final Pose2d[] notePoses = noteTrackingResult + final Pose2d[] notePose2ds = noteTrackingResult .getNotePoses(timestamp -> Optional.of(swerve.getPose())); - Logger.recordOutput(PhotonLogKey + "/NoteTracking/NotePoses", notePoses); + Logger.recordOutput(PhotonLogKey + "/NoteTracking/NotePoses", notePose2ds); } else { Logger.recordOutput(PhotonLogKey + "/NoteTracking/HasTargets", false); } @@ -359,4 +360,35 @@ public void resetPosition(final Pose2d robotPose, final Rotation2d robotYaw) { public void resetPosition(final Pose2d robotPose) { resetPosition(robotPose, swerve.getYaw()); } + + 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(timestamp -> Optional.of(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)); + } } From 02dc19958831ae94d15464c5e2dd0dfc1adbfc6b Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 30 Jul 2024 13:01:30 -0400 Subject: [PATCH 12/52] Drive to Maybe Pose Autonomous Note Tracking!! --- src/main/java/frc/robot/Robot.java | 8 +++- src/main/java/frc/robot/auto/Autos.java | 44 ++++++++++++++----- .../frc/robot/subsystems/drive/Swerve.java | 20 +++++++++ .../robot/subsystems/vision/PhotonVision.java | 44 ++++++++++++++++--- 4 files changed, 97 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 878ef1d..c78e243 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -81,7 +81,7 @@ public class Robot extends LoggedRobot { 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", @@ -468,6 +468,12 @@ public void configureAutos() { autos.walton(), Constants.CompetitionType.TESTING )); + + autoChooser.addAutoOption(new AutoOption( + "FollowNote", + autos.followNote(), + Constants.CompetitionType.TESTING + )); } @SuppressWarnings("RedundantSuppression") diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index 4f1c977..b500a89 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; @@ -18,6 +19,9 @@ 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 jdk.jfr.Event; +import org.opencv.photo.Photo; import java.util.*; import java.util.function.DoubleSupplier; @@ -33,6 +37,7 @@ 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 +46,14 @@ 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; } @@ -190,7 +197,7 @@ public EventLoop doNothing() { return doNothingEventLoop; } - + public EventLoop sourceSpeaker0() { final Timer timer = new Timer(); final AutoTriggers autoTriggers = new AutoTriggers("SourceSpeaker0", swerve::getPose, timer::get); @@ -794,17 +801,17 @@ 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( @@ -1220,4 +1227,17 @@ 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( + swerve.driveToMaybePose(() -> photonVision.getBestNotePose(swerve::getPose)) + ) + ); + + return eventLoop; + } } diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index bf6555a..e09f3d9 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -45,6 +45,7 @@ import frc.robot.utils.teleop.Profiler; import org.littletonrobotics.junction.Logger; +import java.util.Optional; import java.util.concurrent.locks.ReentrantReadWriteLock; import java.util.function.BooleanSupplier; import java.util.function.Consumer; @@ -612,6 +613,25 @@ public Command driveToPose(final Supplier poseSupplier) { ).finallyDo(() -> holonomicControllerActive = false); } + public Command driveToMaybePose(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/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index e86d5b5..efc01ca 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -26,7 +26,9 @@ import org.photonvision.targeting.PhotonTrackedTarget; import java.io.UncheckedIOException; +import java.lang.reflect.Array; import java.util.*; +import java.util.function.Supplier; import java.util.stream.Collectors; public class PhotonVision extends VirtualSubsystem { @@ -126,7 +128,6 @@ yield new SimVisionRunner( this.noteTrackingVisionIOInputsMap = runner.getNoteTrackingVisionIOInputsMap(); this.lastEstimatedRobotPose = new HashMap<>(); - final Pose2d estimatedPose = poseEstimator.getEstimatedPosition(); resetPosition(estimatedPose); } @@ -192,8 +193,8 @@ 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; // } @@ -272,7 +273,7 @@ private void update() { } } - for ( + for ( final Map.Entry visionIOInputsEntry : noteTrackingVisionIOInputsMap.entrySet() ) { @@ -290,10 +291,10 @@ private void update() { optionalBestNotePose.orElseGet(Pose2d::new) ); - final Pose2d[] notePoses = noteTrackingResult + final Pose2d[] notePose2ds = noteTrackingResult .getNotePoses(timestamp -> Optional.of(swerve.getPose())); - Logger.recordOutput(PhotonLogKey + "/NoteTracking/NotePoses", notePoses); + Logger.recordOutput(PhotonLogKey + "/NoteTracking/NotePoses", notePose2ds); } else { Logger.recordOutput(PhotonLogKey + "/NoteTracking/HasTargets", false); } @@ -359,4 +360,35 @@ public void resetPosition(final Pose2d robotPose, final Rotation2d robotYaw) { public void resetPosition(final Pose2d robotPose) { resetPosition(robotPose, swerve.getYaw()); } + + 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(timestamp -> Optional.of(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)); + } } From 02e80e816125cea77b7a97ecbd51fed6103ce751 Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 30 Jul 2024 13:34:47 -0400 Subject: [PATCH 13/52] better name --- src/main/java/frc/robot/auto/Autos.java | 5 +---- src/main/java/frc/robot/subsystems/drive/Swerve.java | 2 +- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index b500a89..49ea824 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -4,7 +4,6 @@ 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; @@ -20,8 +19,6 @@ import frc.robot.subsystems.superstructure.ShotParameters; import frc.robot.subsystems.superstructure.Superstructure; import frc.robot.subsystems.vision.PhotonVision; -import jdk.jfr.Event; -import org.opencv.photo.Photo; import java.util.*; import java.util.function.DoubleSupplier; @@ -1234,7 +1231,7 @@ public EventLoop followNote() { trigger.whileTrue( Commands.repeatingSequence( - swerve.driveToMaybePose(() -> photonVision.getBestNotePose(swerve::getPose)) + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)) ) ); diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index e09f3d9..914b22e 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -613,7 +613,7 @@ public Command driveToPose(final Supplier poseSupplier) { ).finallyDo(() -> holonomicControllerActive = false); } - public Command driveToMaybePose(final Supplier> poseSupplier) { + public Command driveToOptionalPose(final Supplier> poseSupplier) { return Commands.sequence( runOnce(() -> { holonomicControllerActive = true; From dd02897dd1c2cd91840ffb1a1d72d44fc3ed44f8 Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 30 Jul 2024 13:52:10 -0400 Subject: [PATCH 14/52] Fixed logs being overwritten --- src/main/java/frc/robot/auto/AutoChooser.java | 5 ++++- src/main/java/frc/robot/auto/Autos.java | 3 ++- .../robot/subsystems/vision/PhotonVision.java | 20 +++++++++---------- .../subsystems/vision/RealVisionRunner.java | 3 ++- .../frc/robot/utils/logging/LogUtils.java | 5 ----- 5 files changed, 18 insertions(+), 18 deletions(-) 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 49ea824..175ab9b 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -20,7 +20,8 @@ import frc.robot.subsystems.superstructure.Superstructure; import frc.robot.subsystems.vision.PhotonVision; -import java.util.*; +import java.util.List; +import java.util.Set; import java.util.function.DoubleSupplier; import java.util.function.Supplier; diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index efc01ca..ddb520e 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -26,7 +26,6 @@ import org.photonvision.targeting.PhotonTrackedTarget; import java.io.UncheckedIOException; -import java.lang.reflect.Array; import java.util.*; import java.util.function.Supplier; import java.util.stream.Collectors; @@ -247,6 +246,7 @@ private void update() { ) { final VisionIO visionIO = visionIOInputsEntry.getKey(); final VisionIO.VisionIOInputs inputs = visionIOInputsEntry.getValue(); + final String logKey = PhotonLogKey + "/" + inputs.name; final EstimatedRobotPose estimatedRobotPose = runner.getEstimatedRobotPose(visionIO); if (estimatedRobotPose != null) { @@ -254,15 +254,13 @@ 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( @@ -278,25 +276,27 @@ private void update() { visionIOInputsEntry : noteTrackingVisionIOInputsMap.entrySet() ) { final VisionIO visionIO = visionIOInputsEntry.getKey(); + final VisionIO.VisionIOInputs inputs = visionIOInputsEntry.getValue(); + final String logKey = PhotonLogKey + "/" + inputs.name; 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())); - Logger.recordOutput(PhotonLogKey + "/NoteTracking/HasBestNotePose", optionalBestNotePose.isPresent()); + Logger.recordOutput(logKey + "/HasBestNotePose", optionalBestNotePose.isPresent()); Logger.recordOutput( - PhotonLogKey + "/NoteTracking/BestNotePose", + logKey + "/BestNotePose", optionalBestNotePose.orElseGet(Pose2d::new) ); final Pose2d[] notePose2ds = noteTrackingResult .getNotePoses(timestamp -> Optional.of(swerve.getPose())); - Logger.recordOutput(PhotonLogKey + "/NoteTracking/NotePoses", notePose2ds); + Logger.recordOutput(logKey + "/NotePoses", notePose2ds); } else { - Logger.recordOutput(PhotonLogKey + "/NoteTracking/HasTargets", false); + Logger.recordOutput(logKey + "/HasTargets", false); } } } diff --git a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java index 08d4921..f0a2f36 100644 --- a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java @@ -1,7 +1,8 @@ package frc.robot.subsystems.vision; import edu.wpi.first.apriltag.AprilTagFieldLayout; -import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.util.Units; import frc.robot.constants.Constants; import frc.robot.subsystems.vision.cameras.TitanCamera; 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; From 302d7297f3833c22b694cde5bf098962fbd5f7f6 Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 30 Jul 2024 14:33:19 -0400 Subject: [PATCH 15/52] auto note track --- choreo.chor | 64861 ++++++++++++++-- .../deploy/choreo/AltSourceCenter0_1_2.1.traj | 1778 +- .../deploy/choreo/AltSourceCenter0_1_2.2.traj | 1694 +- .../deploy/choreo/AltSourceCenter0_1_2.3.traj | 1694 +- .../deploy/choreo/AltSourceCenter0_1_2.traj | 5138 +- .../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 | 1778 +- src/main/deploy/choreo/AmpCenter2_3.2.traj | 644 +- src/main/deploy/choreo/AmpCenter2_3.traj | 2408 +- 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 +- src/main/deploy/choreo/AmpCenter3_4.1.traj | 1624 +- src/main/deploy/choreo/AmpCenter3_4.2.traj | 574 +- src/main/deploy/choreo/AmpCenter3_4.traj | 2184 +- src/main/deploy/choreo/AmpCenter4_2_1.1.traj | 952 +- src/main/deploy/choreo/AmpCenter4_2_1.2.traj | 714 +- src/main/deploy/choreo/AmpCenter4_2_1.3.traj | 1820 +- src/main/deploy/choreo/AmpCenter4_2_1.traj | 3458 +- src/main/deploy/choreo/AmpCenter4_3.1.traj | 952 +- src/main/deploy/choreo/AmpCenter4_3.2.traj | 1652 +- src/main/deploy/choreo/AmpCenter4_3.traj | 2590 +- src/main/deploy/choreo/AmpCenter4_3_2.1.traj | 952 +- src/main/deploy/choreo/AmpCenter4_3_2.2.traj | 546 +- src/main/deploy/choreo/AmpCenter4_3_2.3.traj | 630 +- src/main/deploy/choreo/AmpCenter4_3_2.traj | 2100 +- src/main/deploy/choreo/AmpSpeaker2.1.traj | 518 +- src/main/deploy/choreo/AmpSpeaker2.traj | 518 +- .../deploy/choreo/AmpSpeaker2Center2_3.1.traj | 266 +- .../deploy/choreo/AmpSpeaker2Center2_3.2.traj | 1960 +- .../deploy/choreo/AmpSpeaker2Center2_3.3.traj | 602 +- .../deploy/choreo/AmpSpeaker2Center2_3.traj | 2800 +- .../choreo/AmpSpeaker2Center4_3_2.1.traj | 1722 +- .../choreo/AmpSpeaker2Center4_3_2.2.traj | 546 +- .../choreo/AmpSpeaker2Center4_3_2.3.traj | 616 +- .../deploy/choreo/AmpSpeaker2Center4_3_2.traj | 2856 +- src/main/deploy/choreo/Note.1.traj | 803 + src/main/deploy/choreo/Note.traj | 803 + .../deploy/choreo/SourceCenter0_1_2.1.traj | 1358 +- .../deploy/choreo/SourceCenter0_1_2.2.traj | 1736 +- .../deploy/choreo/SourceCenter0_1_2.3.traj | 1722 +- src/main/deploy/choreo/SourceCenter0_1_2.traj | 4788 +- src/main/deploy/choreo/SourceCenter1_0.1.traj | 1890 +- src/main/deploy/choreo/SourceCenter1_0.2.traj | 1582 +- src/main/deploy/choreo/SourceCenter1_0.traj | 3458 +- .../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 | 504 +- src/main/deploy/choreo/SourceMobility.traj | 504 +- src/main/deploy/choreo/SourceSpeaker0.1.traj | 546 +- src/main/deploy/choreo/SourceSpeaker0.traj | 546 +- .../choreo/SourceSpeaker0Center1.1.traj | 504 +- .../choreo/SourceSpeaker0Center1.2.traj | 2058 +- .../deploy/choreo/SourceSpeaker0Center1.traj | 2548 +- .../choreo/SourceSpeaker0Center1_2.1.traj | 434 +- .../choreo/SourceSpeaker0Center1_2.2.traj | 1988 +- .../choreo/SourceSpeaker0Center1_2.3.traj | 2044 +- .../choreo/SourceSpeaker0Center1_2.traj | 4438 +- 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 | 252 +- src/main/deploy/choreo/Speaker2_1_0.2.traj | 574 +- src/main/deploy/choreo/Speaker2_1_0.3.traj | 392 +- src/main/deploy/choreo/Speaker2_1_0.traj | 1190 +- src/main/deploy/choreo/Walton.1.traj | 2828 +- src/main/deploy/choreo/Walton.traj | 2828 +- src/main/java/frc/robot/auto/Autos.java | 33 + 89 files changed, 181073 insertions(+), 13765 deletions(-) create mode 100644 src/main/deploy/choreo/Note.1.traj create mode 100644 src/main/deploy/choreo/Note.traj diff --git a/choreo.chor b/choreo.chor index 0064732..84baca7 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, @@ -60,7 +60,19 @@ "angularVelocity": 1.189446680628619e-25, "velocityX": -9.878033753371689e-25, "velocityY": 1.443300667828419e-23, - "timestamp": 0 + "timestamp": 0, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 0.8016918144360435, @@ -69,7 +81,19 @@ "angularVelocity": 0.2644375896255093, "velocityX": 0.2586933651822189, "velocityY": -0.04786254013447211, - "timestamp": 0.04790491626082478 + "timestamp": 0.04790491626082478, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 0.826478699830869, @@ -78,7 +102,19 @@ "angularVelocity": 0.5276238690034649, "velocityX": 0.5174184056573634, "velocityY": -0.09548967343476243, - "timestamp": 0.09580983252164955 + "timestamp": 0.09580983252164955, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 0.8636626550886547, @@ -87,7 +123,19 @@ "angularVelocity": 0.7865979196642036, "velocityX": 0.7762033244215001, "velocityY": -0.14285023471425615, - "timestamp": 0.14371474878247434 + "timestamp": 0.14371474878247434, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 0.9132480099438546, @@ -96,7 +144,19 @@ "angularVelocity": 1.0384256159635743, "velocityX": 1.0350786250251585, "velocityY": -0.18990388609507228, - "timestamp": 0.1916196650432991 + "timestamp": 0.1916196650432991, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 0.9752406829682517, @@ -105,7 +165,19 @@ "angularVelocity": 1.2803468044939463, "velocityX": 1.2940774739458807, "velocityY": -0.23659285029798524, - "timestamp": 0.23952458130412388 + "timestamp": 0.23952458130412388, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 1.0496484043330818, @@ -114,7 +186,19 @@ "angularVelocity": 1.5099346416968935, "velocityX": 1.5532376877501939, "velocityY": -0.2828245795161443, - "timestamp": 0.2874294975649487 + "timestamp": 0.2874294975649487, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 1.1364812175224241, @@ -123,7 +207,19 @@ "angularVelocity": 1.725195437858723, "velocityX": 1.8126075561132244, "velocityY": -0.3284359928226613, - "timestamp": 0.33533441382577345 + "timestamp": 0.33533441382577345, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 1.2357526886490138, @@ -132,7 +228,19 @@ "angularVelocity": 1.9244595807652192, "velocityX": 2.0722606127958336, "velocityY": -0.373114865457523, - "timestamp": 0.3832393300865982 + "timestamp": 0.3832393300865982, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 1.3474829445976941, @@ -141,7 +249,19 @@ "angularVelocity": 2.10568748206819, "velocityX": 2.3323338118440655, "velocityY": -0.41619929626749413, - "timestamp": 0.431144246347423 + "timestamp": 0.431144246347423, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 1.471707230165472, @@ -150,7 +270,19 @@ "angularVelocity": 2.2637456149878115, "velocityX": 2.593142734900567, "velocityY": -0.4560130578168572, - "timestamp": 0.47904916260824776 + "timestamp": 0.47904916260824776, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 1.608506764863741, @@ -159,7 +291,19 @@ "angularVelocity": 2.375556124837641, "velocityX": 2.855647089610716, "velocityY": -0.48624727646007926, - "timestamp": 0.5269540788690725 + "timestamp": 0.5269540788690725, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 1.7560297107386746, @@ -168,7 +312,19 @@ "angularVelocity": 1.7349318673399323, "velocityX": 3.0794949117899493, "velocityY": -0.366440602670083, - "timestamp": 0.5748589951298974 + "timestamp": 0.5748589951298974, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 1.8916003892298858, @@ -177,7 +333,19 @@ "angularVelocity": 1.4106393888707527, "velocityX": 2.829995104324541, "velocityY": -0.2895073467854553, - "timestamp": 0.6227639113907222 + "timestamp": 0.6227639113907222, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 2.01497746381873, @@ -186,7 +354,19 @@ "angularVelocity": 1.151801089849812, "velocityX": 2.5754574732392985, "velocityY": -0.22589382357377724, - "timestamp": 0.670668827651547 + "timestamp": 0.670668827651547, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 2.1260977165270813, @@ -195,7 +375,19 @@ "angularVelocity": 0.9109927964164798, "velocityX": 2.3196001868230405, "velocityY": -0.16637924992617312, - "timestamp": 0.7185737439123718 + "timestamp": 0.7185737439123718, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 2.2249324321746826, @@ -204,7 +396,19 @@ "angularVelocity": 0.6781753438988153, "velocityX": 2.063143480086309, "velocityY": -0.108842862661419, - "timestamp": 0.7664786601731967 + "timestamp": 0.7664786601731967, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 2.333173519727, @@ -213,7 +417,19 @@ "angularVelocity": 0.3795459264682508, "velocityX": 1.7272004790841753, "velocityY": -0.03509888310681359, - "timestamp": 0.8291471742588985 + "timestamp": 0.8291471742588985, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 2.4200499110283014, @@ -222,7 +438,19 @@ "angularVelocity": 0.15199926252109872, "velocityX": 1.3862845253119356, "velocityY": 0.016997937578557522, - "timestamp": 0.8918156883446003 + "timestamp": 0.8918156883446003, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ] }, { "x": 2.485417249312661, @@ -231,7 +459,19 @@ "angularVelocity": -0.031282898171445514, "velocityX": 1.0430650740332992, "velocityY": 0.05522720711163202, - "timestamp": 0.9544842024303022 + "timestamp": 0.9544842024303022, + "moduleForcesX": [ + 0, + 0, + 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[ + 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/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index 175ab9b..3ed7862 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.Rotation3d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Timer; @@ -1238,4 +1239,36 @@ public EventLoop followNote() { return eventLoop; } + + public EventLoop driveAndNoteDetect() { + final String trajectoryName = "Note"; + final Timer timer = new Timer(); + final AutoTriggers autoTriggers = new AutoTriggers(trajectoryName, swerve::getPose, timer::get); + + autoTriggers.autoEnabled().whileTrue(preloadSubwooferAndFollow0(autoTriggers.trajectories, timer)); + + autoTriggers.atTime(1.8).onTrue( + Commands.parallel( + intake.intakeCommand(), + Commands.sequence( + Commands.waitUntil(noteState.hasNote), + shootCommands.readySuperstructureForShot().asProxy() + ) + ).withName("Intake0") + ); + + + autoTriggers.atTime(5.17).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") + ); + + return autoTriggers.eventLoop; + } } From 130fbb7b8516eb22d3b0a5c9d1365a9dca571e37 Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 30 Jul 2024 15:04:12 -0400 Subject: [PATCH 16/52] my computer is too laggy to run so i gotta sim on laptop --- choreo.chor | 106693 +++++++-------- .../deploy/choreo/AltSourceCenter0_1_2.1.traj | 3990 +- .../deploy/choreo/AltSourceCenter0_1_2.2.traj | 4756 +- .../deploy/choreo/AltSourceCenter0_1_2.3.traj | 4819 +- .../deploy/choreo/AltSourceCenter0_1_2.traj | 11537 +- src/main/deploy/choreo/AmpCenter2_3.1.traj | 3826 +- src/main/deploy/choreo/AmpCenter2_3.2.traj | 1792 +- src/main/deploy/choreo/AmpCenter2_3.traj | 5248 +- .../deploy/choreo/AmpCenter3_2Note.1.traj | 1076 + .../deploy/choreo/AmpCenter3_2Note.2.traj | 467 + .../deploy/choreo/AmpCenter3_2Note.3.traj | 1559 + src/main/deploy/choreo/AmpCenter3_2Note.traj | 1517 + src/main/deploy/choreo/AmpCenter3_4.1.traj | 3552 +- src/main/deploy/choreo/AmpCenter3_4.2.traj | 1582 +- src/main/deploy/choreo/AmpCenter3_4.traj | 4814 +- src/main/deploy/choreo/AmpCenter4_2_1.1.traj | 2102 +- src/main/deploy/choreo/AmpCenter4_2_1.2.traj | 1608 +- src/main/deploy/choreo/AmpCenter4_2_1.3.traj | 4700 +- src/main/deploy/choreo/AmpCenter4_2_1.traj | 7454 +- src/main/deploy/choreo/AmpCenter4_3.1.traj | 2098 +- src/main/deploy/choreo/AmpCenter4_3.2.traj | 4479 +- src/main/deploy/choreo/AmpCenter4_3.traj | 5653 +- src/main/deploy/choreo/AmpCenter4_3_2.1.traj | 2106 +- src/main/deploy/choreo/AmpCenter4_3_2.2.traj | 1536 +- src/main/deploy/choreo/AmpCenter4_3_2.3.traj | 1784 +- src/main/deploy/choreo/AmpCenter4_3_2.traj | 4704 +- src/main/deploy/choreo/AmpSpeaker2.1.traj | 1114 +- src/main/deploy/choreo/AmpSpeaker2.traj | 1114 +- .../deploy/choreo/AmpSpeaker2Center2_3.1.traj | 561 +- .../deploy/choreo/AmpSpeaker2Center2_3.2.traj | 5161 +- .../deploy/choreo/AmpSpeaker2Center2_3.3.traj | 1637 +- .../deploy/choreo/AmpSpeaker2Center2_3.traj | 5997 +- .../choreo/AmpSpeaker2Center4_3_2.1.traj | 3335 +- .../choreo/AmpSpeaker2Center4_3_2.2.traj | 1536 +- .../choreo/AmpSpeaker2Center4_3_2.3.traj | 1742 +- .../deploy/choreo/AmpSpeaker2Center4_3_2.traj | 5899 +- src/main/deploy/choreo/Note.1.traj | 803 - src/main/deploy/choreo/Note.traj | 803 - .../deploy/choreo/SourceCenter0_1_2.1.traj | 3047 +- .../deploy/choreo/SourceCenter0_1_2.2.traj | 4886 +- .../deploy/choreo/SourceCenter0_1_2.3.traj | 4882 +- src/main/deploy/choreo/SourceCenter0_1_2.traj | 10741 +- src/main/deploy/choreo/SourceCenter1_0.1.traj | 4096 +- src/main/deploy/choreo/SourceCenter1_0.2.traj | 4574 +- src/main/deploy/choreo/SourceCenter1_0.traj | 7668 +- src/main/deploy/choreo/SourceMobility.1.traj | 1096 +- src/main/deploy/choreo/SourceMobility.traj | 1096 +- src/main/deploy/choreo/SourceSpeaker0.1.traj | 1204 +- src/main/deploy/choreo/SourceSpeaker0.traj | 1204 +- .../choreo/SourceSpeaker0Center1.1.traj | 1086 +- .../choreo/SourceSpeaker0Center1.2.traj | 5518 +- .../deploy/choreo/SourceSpeaker0Center1.traj | 5482 +- .../choreo/SourceSpeaker0Center1_2.1.traj | 928 +- .../choreo/SourceSpeaker0Center1_2.2.traj | 5367 +- .../choreo/SourceSpeaker0Center1_2.3.traj | 4751 +- .../choreo/SourceSpeaker0Center1_2.traj | 9612 +- src/main/deploy/choreo/Speaker2_1_0.1.traj | 533 +- src/main/deploy/choreo/Speaker2_1_0.2.traj | 1575 +- src/main/deploy/choreo/Speaker2_1_0.3.traj | 857 +- src/main/deploy/choreo/Speaker2_1_0.traj | 2615 +- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/auto/Autos.java | 18 +- 62 files changed, 148714 insertions(+), 159278 deletions(-) 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.3.traj create mode 100644 src/main/deploy/choreo/AmpCenter3_2Note.traj delete mode 100644 src/main/deploy/choreo/Note.1.traj delete mode 100644 src/main/deploy/choreo/Note.traj diff --git a/choreo.chor b/choreo.chor index 84baca7..21fc811 100644 --- a/choreo.chor +++ b/choreo.chor @@ -57,10 +57,9 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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.Rotation3d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.DriverStation; @@ -1241,15 +1242,22 @@ public EventLoop followNote() { } public EventLoop driveAndNoteDetect() { - final String trajectoryName = "Note"; + final String trajectoryName = "AmpCenter3_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(1.8).onTrue( + autoTriggers.atTime(2.1).onTrue( Commands.parallel( intake.intakeCommand(), + Commands.sequence( + Commands.runOnce(timer::stop), + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it +// swerve.driveToPose(() -> new Pose2d(8.282, 5.787, Rotation2d.fromRadians(2.458))), + swerve.driveToPose(() -> autoTriggers.trajectories.get(1).getInitialPose()), + Commands.runOnce(timer::start) + ), Commands.sequence( Commands.waitUntil(noteState.hasNote), shootCommands.readySuperstructureForShot().asProxy() @@ -1257,15 +1265,13 @@ public EventLoop driveAndNoteDetect() { ).withName("Intake0") ); - - autoTriggers.atTime(5.17).onTrue( + autoTriggers.atTime(4.3).onTrue( Commands.sequence( shootCommands.deferredStopAimAndShoot() .onlyIf(noteState.hasNote) .withName("Shoot0") .asProxy(), - superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy(), - followPath(autoTriggers.trajectories.get(1), timer).asProxy() + superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy() ).withName("Shoot0AndFollow1") ); From d324b10d35804225cfd680167dc55ceec42f5628 Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 30 Jul 2024 15:24:31 -0400 Subject: [PATCH 17/52] stuff --- choreo.chor | 2 +- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/auto/Autos.java | 8 +++----- 3 files changed, 5 insertions(+), 7 deletions(-) diff --git a/choreo.chor b/choreo.chor index 21fc811..c1c761f 100644 --- a/choreo.chor +++ b/choreo.chor @@ -96603,7 +96603,7 @@ { "x": 7.536985397338867, "y": 6.441191673278809, - "heading": -3.8249282780835907, + "heading": 2.2351541783925906, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index b197420..c78e243 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -85,7 +85,7 @@ public class Robot extends LoggedRobot { public final AutoChooser autoChooser = new AutoChooser<>( new AutoOption( "DoNothing", - autos.driveAndNoteDetect(), + autos.doNothing(), Constants.CompetitionType.COMPETITION ) ); diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index dedca05..031e363 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -1252,11 +1252,9 @@ public EventLoop driveAndNoteDetect() { Commands.parallel( intake.intakeCommand(), Commands.sequence( - Commands.runOnce(timer::stop), - swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it -// swerve.driveToPose(() -> new Pose2d(8.282, 5.787, Rotation2d.fromRadians(2.458))), - swerve.driveToPose(() -> autoTriggers.trajectories.get(1).getInitialPose()), - Commands.runOnce(timer::start) +// swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it + swerve.driveToPose(() -> new Pose2d(8.282, 5.787, Rotation2d.fromRadians(2.458))), + swerve.driveToPose(() -> autoTriggers.trajectories.get(1).getInitialPose()) ), Commands.sequence( Commands.waitUntil(noteState.hasNote), From 62266a9b58c47b0ba4d55405e85e6f79fdc34d80 Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 30 Jul 2024 16:45:48 -0400 Subject: [PATCH 18/52] photonvision is disabled. janky note detection auto --- src/main/java/frc/robot/Robot.java | 6 +++--- src/main/java/frc/robot/auto/Autos.java | 9 ++++++-- .../frc/robot/subsystems/drive/Swerve.java | 21 +++++++++++++++++++ .../HolonomicDriveWithPIDController.java | 5 +++++ 4 files changed, 36 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index c78e243..4041cd5 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -77,7 +77,7 @@ public class Robot extends LoggedRobot { public final Superstructure superstructure = new Superstructure(arm, shooter); @SuppressWarnings("unused") - public final PhotonVision photonVision = new PhotonVision(Constants.CURRENT_MODE, swerve, swerve.getPoseEstimator()); + public final PhotonVision photonVision = new PhotonVision(Constants.RobotMode.REAL, swerve, swerve.getPoseEstimator()); public final NoteState noteState = new NoteState(Constants.CURRENT_MODE, intake); public final ShootCommands shootCommands = new ShootCommands(swerve, intake, superstructure, noteState); @@ -214,13 +214,13 @@ 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() ) diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index 031e363..87554f6 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -1248,13 +1248,18 @@ public EventLoop driveAndNoteDetect() { autoTriggers.autoEnabled().whileTrue(preloadSubwooferAndFollow0(autoTriggers.trajectories, timer)); + final ChoreoTrajectory nextTrajectory = autoTriggers.trajectories.get(1); autoTriggers.atTime(2.1).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), Commands.sequence( // swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it swerve.driveToPose(() -> new Pose2d(8.282, 5.787, Rotation2d.fromRadians(2.458))), - swerve.driveToPose(() -> autoTriggers.trajectories.get(1).getInitialPose()) + swerve.driveToPose( + nextTrajectory::getInitialPose, + new Pose2d(1.5, 1.5, Rotation2d.fromDegrees(6)) + ), + followPath(nextTrajectory, timer).asProxy() ), Commands.sequence( Commands.waitUntil(noteState.hasNote), diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 914b22e..a187693 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -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; @@ -613,6 +614,26 @@ 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(() -> { 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..036cf36 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.getX() * 1.5); + } + /** * Calculates the next output of the holonomic drive controller * From 518c48b57c13e946d550a9e72148d832644d43d4 Mon Sep 17 00:00:00 2001 From: MqxS Date: Wed, 31 Jul 2024 15:00:35 -0400 Subject: [PATCH 19/52] getX() replaced with getY() --- .../deploy/choreo/AmpCenter3_2Note.3.traj | 1559 ----------------- src/main/java/frc/robot/Robot.java | 8 +- .../HolonomicDriveWithPIDController.java | 2 +- 3 files changed, 4 insertions(+), 1565 deletions(-) delete mode 100644 src/main/deploy/choreo/AmpCenter3_2Note.3.traj diff --git a/src/main/deploy/choreo/AmpCenter3_2Note.3.traj b/src/main/deploy/choreo/AmpCenter3_2Note.3.traj deleted file mode 100644 index 5b585be..0000000 --- a/src/main/deploy/choreo/AmpCenter3_2Note.3.traj +++ /dev/null @@ -1,1559 +0,0 @@ -{ - "samples": [ - { - 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1.9828505635967286 - ], - "timestamp": 3.3404948418834994 - }, - { - "x": 4.375594615936279, - "y": 6.433798313140869, - "heading": -2.8501357072226208, - "angularVelocity": -2.4992050545893342e-20, - "velocityX": -8.066072426052887e-20, - "velocityY": 6.797682812171586e-19, - "moduleForcesX": [ - 80.98614096328929, - 80.62819157130883, - 81.67204150863836, - 81.69510049777976 - ], - "moduleForcesY": [ - 10.830017292273837, - 13.377906923710528, - -2.5473589469370737, - 2.487865922260961 - ], - "timestamp": 3.372061096960735 - } - ], - "eventMarkers": [] -} \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 4041cd5..f7cede0 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -85,7 +85,7 @@ public class Robot extends LoggedRobot { public final AutoChooser autoChooser = new AutoChooser<>( new AutoOption( "DoNothing", - autos.doNothing(), + autos.driveAndNoteDetect(), Constants.CompetitionType.COMPETITION ) ); @@ -99,10 +99,8 @@ 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() { 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 036cf36..5cfe01f 100644 --- a/src/main/java/frc/robot/subsystems/drive/trajectory/HolonomicDriveWithPIDController.java +++ b/src/main/java/frc/robot/subsystems/drive/trajectory/HolonomicDriveWithPIDController.java @@ -63,7 +63,7 @@ public boolean atReference() { public void setTolerance(final Pose2d poseTolerance) { this.xController.setTolerance(poseTolerance.getX(), poseTolerance.getX() * 1.5); - this.yController.setTolerance(poseTolerance.getY(), poseTolerance.getX() * 1.5); + this.yController.setTolerance(poseTolerance.getY(), poseTolerance.getY() * 1.5); } /** From 5b7214ea8808a61158bdbd6d6bc4d8e0d3a3813c Mon Sep 17 00:00:00 2001 From: MqxS Date: Wed, 31 Jul 2024 15:07:23 -0400 Subject: [PATCH 20/52] Stole from 254 --- build.gradle | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index 0beeef4..b1681d1 100644 --- a/build.gradle +++ b/build.gradle @@ -1,3 +1,5 @@ +import groovy.json.JsonSlurper + plugins { id "java" id "edu.wpi.first.GradleRIO" version "2024.3.2" @@ -15,6 +17,8 @@ java { def ROBOT_MAIN_CLASS = "frc.robot.Main" +final MAX_JAVA_HEAP_SIZE_MB = 100; + repositories { mavenLocal() mavenCentral() @@ -55,6 +59,15 @@ deploy { // getTargetTypeClass is a shortcut to get the class type using a string frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + jvmArgs.add("-XX:+UnlockExperimentalVMOptions") + + // Set the minimum heap size to the maximum heap size to avoid resizing + jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M") + jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M") + jvmArgs.add("-XX:GCTimeRatio=5") + jvmArgs.add("-XX:+UseSerialGC") + jvmArgs.add("-XX:MaxGCPauseMillis=50") + jvmArgs.add("-XX:+AlwaysPreTouch") } // Static files artifact @@ -102,7 +115,7 @@ dependencies { testImplementation "org.mockito:mockito-core:5.4.0" testImplementation 'org.mockito:mockito-junit-jupiter:5.4.0' - def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) + def akitJson = new JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version" } From 1c704b19b0cf82de2961d521ef67a967dff86253 Mon Sep 17 00:00:00 2001 From: MqxS Date: Thu, 1 Aug 2024 09:56:20 -0500 Subject: [PATCH 21/52] random translation for note tracking camera --- src/main/java/frc/robot/constants/Constants.java | 7 ++++++- src/main/java/frc/robot/constants/RobotMap.java | 1 - .../frc/robot/subsystems/vision/cameras/TitanCamera.java | 2 +- 3 files changed, 7 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index f2aede1..da202c6 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -10,7 +10,7 @@ import org.photonvision.PhotonPoseEstimator; public interface Constants { - RobotMode CURRENT_MODE = RobotMode.SIM; + RobotMode CURRENT_MODE = RobotMode.REAL; CompetitionType CURRENT_COMPETITION_TYPE = CompetitionType.TESTING; double LOOP_PERIOD_SECONDS = 0.02; @@ -50,6 +50,11 @@ interface Vision { new Rotation3d(0, Units.degreesToRadians(-25), Units.degreesToRadians(-20)) ); + Transform3d ROBOT_TO_REAR_NOTED = new Transform3d( + new Translation3d(Units.inchesToMeters(-14), Units.inchesToMeters(0), Units.inchesToMeters(12)), + new Rotation3d(0, Units.degreesToRadians(-25), Units.degreesToRadians(0)) + ); + /** * Standard deviations of the supplied pose estimate (before vision, likely to be solely wheel odometry) */ 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/subsystems/vision/cameras/TitanCamera.java b/src/main/java/frc/robot/subsystems/vision/cameras/TitanCamera.java index d7e9a93..bfb18c2 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_NOTED, // TODO: get transform CameraProperties.ARDUCAM_OV9782, false ); From 89866e7615ad2270d0596946de9f709100a0d20f Mon Sep 17 00:00:00 2001 From: MqxS Date: Fri, 9 Aug 2024 16:44:38 -0400 Subject: [PATCH 22/52] changed note pose calculation --- .../vision/result/NoteTrackingResult.java | 31 ++++++++++++++++--- 1 file changed, 27 insertions(+), 4 deletions(-) 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 07a04f9..87a93a8 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -1,8 +1,10 @@ package frc.robot.subsystems.vision.result; +import edu.wpi.first.math.ComputerVisionUtil; import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.util.Units; import frc.robot.subsystems.vision.RealVisionRunner; +import frc.robot.subsystems.vision.VisionUtils; import org.photonvision.PhotonUtils; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; @@ -93,11 +95,32 @@ 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 estimatedTranslation = PhotonUtils.estimateCameraToTargetTranslation( + getNoteDistance(robotToCamera, trackedTarget), + targetYaw + ); + + final Transform2d estimatedTransform = new Transform2d(estimatedTranslation, targetYaw); + + return poseAtTimestamp.transformBy(estimatedTransform); + } + + //todo: see what this does. no idea if it'll work but maybe + public static Pose2d getNotePose2( + final Pose2d poseAtTimestamp, + final Transform3d robotToCamera, + final PhotonTrackedTarget trackedTarget + ) { + final Transform3d bestTransform = trackedTarget.getBestCameraToTarget(); + + final Transform2d estimatedTransform = new Transform2d( + bestTransform.getX(), + bestTransform.getY(), + bestTransform.getRotation().toRotation2d() ); - return poseAtTimestamp.transformBy(robotToNote); + return poseAtTimestamp.transformBy(estimatedTransform); } } From 7dcf9e1c119ea71f44f409c7f5270c95869ee7a2 Mon Sep 17 00:00:00 2001 From: MqxS Date: Sat, 17 Aug 2024 13:04:55 -0400 Subject: [PATCH 23/52] it works :) --- src/main/java/frc/robot/auto/Autos.java | 15 +++++++++--- .../java/frc/robot/constants/Constants.java | 4 ++-- .../superstructure/shooter/Shooter.java | 2 +- .../vision/result/NoteTrackingResult.java | 24 ++++--------------- 4 files changed, 19 insertions(+), 26 deletions(-) diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index 87554f6..3b77941 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -1234,7 +1234,16 @@ public EventLoop followNote() { trigger.whileTrue( Commands.repeatingSequence( - swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)) + 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() + ) + ) ) ); @@ -1253,8 +1262,8 @@ public EventLoop driveAndNoteDetect() { Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( -// swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it - swerve.driveToPose(() -> new Pose2d(8.282, 5.787, Rotation2d.fromRadians(2.458))), + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it +// swerve.driveToPose(() -> new Pose2d(8.282, 5.787, Rotation2d.fromRadians(2.458))), swerve.driveToPose( nextTrajectory::getInitialPose, new Pose2d(1.5, 1.5, Rotation2d.fromDegrees(6)) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index da202c6..f3acf56 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -51,8 +51,8 @@ interface Vision { ); Transform3d ROBOT_TO_REAR_NOTED = new Transform3d( - new Translation3d(Units.inchesToMeters(-14), Units.inchesToMeters(0), Units.inchesToMeters(12)), - new Rotation3d(0, Units.degreesToRadians(-25), Units.degreesToRadians(0)) + new Translation3d(Units.inchesToMeters(-14), Units.inchesToMeters(0), Units.inchesToMeters(16)), + new Rotation3d(0, Units.degreesToRadians(25), Units.degreesToRadians(180)) ); /** 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..8440dcf 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), 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 87a93a8..23622a9 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -1,10 +1,11 @@ package frc.robot.subsystems.vision.result; -import edu.wpi.first.math.ComputerVisionUtil; import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.util.Units; import frc.robot.subsystems.vision.RealVisionRunner; -import frc.robot.subsystems.vision.VisionUtils; +import frc.robot.subsystems.vision.cameras.CameraProperties; +import frc.robot.subsystems.vision.cameras.TitanCamera; +import org.littletonrobotics.junction.Logger; import org.photonvision.PhotonUtils; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; @@ -98,7 +99,7 @@ public static Pose2d getNotePose( final Rotation2d targetYaw = getTargetYaw(trackedTarget); final Translation2d estimatedTranslation = PhotonUtils.estimateCameraToTargetTranslation( - getNoteDistance(robotToCamera, trackedTarget), + -getNoteDistance(robotToCamera, trackedTarget), targetYaw ); @@ -106,21 +107,4 @@ public static Pose2d getNotePose( return poseAtTimestamp.transformBy(estimatedTransform); } - - //todo: see what this does. no idea if it'll work but maybe - public static Pose2d getNotePose2( - final Pose2d poseAtTimestamp, - final Transform3d robotToCamera, - final PhotonTrackedTarget trackedTarget - ) { - final Transform3d bestTransform = trackedTarget.getBestCameraToTarget(); - - final Transform2d estimatedTransform = new Transform2d( - bestTransform.getX(), - bestTransform.getY(), - bestTransform.getRotation().toRotation2d() - ); - - return poseAtTimestamp.transformBy(estimatedTransform); - } } From 2b2005d6fffa6473f6be3abb0a82c356adf00368 Mon Sep 17 00:00:00 2001 From: Max Date: Mon, 19 Aug 2024 11:35:58 -0400 Subject: [PATCH 24/52] Test adding two translations together on real robot. --- .../vision/result/NoteTrackingResult.java | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) 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 23622a9..0fe87d8 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -3,9 +3,6 @@ import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.util.Units; import frc.robot.subsystems.vision.RealVisionRunner; -import frc.robot.subsystems.vision.cameras.CameraProperties; -import frc.robot.subsystems.vision.cameras.TitanCamera; -import org.littletonrobotics.junction.Logger; import org.photonvision.PhotonUtils; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; @@ -14,7 +11,7 @@ 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 final Transform3d robotToCamera; @@ -98,12 +95,12 @@ public static Pose2d getNotePose( ) { final Rotation2d targetYaw = getTargetYaw(trackedTarget); - final Translation2d estimatedTranslation = PhotonUtils.estimateCameraToTargetTranslation( - -getNoteDistance(robotToCamera, trackedTarget), + final Translation2d estimatedTargetTranslation = new Translation2d( + getNoteDistance(robotToCamera, trackedTarget), targetYaw - ); + ).plus(robotToCamera.getTranslation().toTranslation2d()); - final Transform2d estimatedTransform = new Transform2d(estimatedTranslation, targetYaw); + final Transform2d estimatedTransform = new Transform2d(estimatedTargetTranslation, targetYaw); return poseAtTimestamp.transformBy(estimatedTransform); } From ebcc46823c7a8c9279e12c5ff81fcd4c2c8b5157 Mon Sep 17 00:00:00 2001 From: MqxS Date: Mon, 19 Aug 2024 20:38:26 -0400 Subject: [PATCH 25/52] i wanna make teleop assist --- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/constants/Constants.java | 2 +- src/main/java/frc/robot/subsystems/drive/Swerve.java | 2 -- 3 files changed, 2 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index f7cede0..1672258 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -77,7 +77,7 @@ public class Robot extends LoggedRobot { public final Superstructure superstructure = new Superstructure(arm, shooter); @SuppressWarnings("unused") - public final PhotonVision photonVision = new PhotonVision(Constants.RobotMode.REAL, swerve, swerve.getPoseEstimator()); + 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); diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index f3acf56..9023b55 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -10,7 +10,7 @@ import org.photonvision.PhotonPoseEstimator; public interface Constants { - RobotMode CURRENT_MODE = RobotMode.REAL; + RobotMode CURRENT_MODE = RobotMode.SIM; CompetitionType CURRENT_COMPETITION_TYPE = CompetitionType.TESTING; double LOOP_PERIOD_SECONDS = 0.02; diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index a187693..f0e397c 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -632,8 +632,6 @@ public Command driveToPose(final Supplier poseSupplier, final Pose2d pos }); } - - public Command driveToOptionalPose(final Supplier> poseSupplier) { return Commands.sequence( runOnce(() -> { From c8dc06622a9b90a4c401af179db5adb997b6fd9f Mon Sep 17 00:00:00 2001 From: Max Date: Tue, 20 Aug 2024 20:02:00 -0400 Subject: [PATCH 26/52] probably not working teleop note lineup assist. --- src/main/java/frc/robot/Robot.java | 14 ++- .../java/frc/robot/constants/Constants.java | 2 +- .../frc/robot/subsystems/drive/Swerve.java | 89 +++++++++++++++++-- 3 files changed, 96 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index f7cede0..85485fa 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1,6 +1,8 @@ package frc.robot; import com.ctre.phoenix6.SignalLogger; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.PowerDistribution; @@ -476,8 +478,18 @@ public void configureAutos() { @SuppressWarnings("RedundantSuppression") public void configureButtonBindings(final EventLoop teleopEventLoop) { + //noinspection SuspiciousNameCombination this.driverController.leftTrigger(0.5, teleopEventLoop) - .whileTrue(intake.intakeCommand()); + .whileTrue(Commands.parallel( + intake.intakeCommand(), + swerve.teleopDriveAndAssistLineup( + driverController::getLeftY, + driverController::getLeftX, + driverController::getRightX, + IsRedAlliance, + new Pose2d(5, 5, Rotation2d.fromDegrees(0)) + ) + )); // 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( diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index f3acf56..9023b55 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -10,7 +10,7 @@ import org.photonvision.PhotonPoseEstimator; public interface Constants { - RobotMode CURRENT_MODE = RobotMode.REAL; + RobotMode CURRENT_MODE = RobotMode.SIM; CompetitionType CURRENT_COMPETITION_TYPE = CompetitionType.TESTING; double LOOP_PERIOD_SECONDS = 0.02; diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index a187693..b557f7c 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -475,9 +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 ) { @@ -485,15 +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); @@ -545,6 +545,81 @@ public Command teleopDriveCommand( }); } + public Command teleopDriveAndAssistLineup( + final DoubleSupplier xSpeedSupplier, + final DoubleSupplier ySpeedSupplier, + final DoubleSupplier rotSupplier, + final BooleanSupplier invertYaw, + final Optional optionalLineupPose + ) { + return 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 + ); + + if (optionalLineupPose.isPresent()) { + final Pose2d lineupPose = optionalLineupPose.get(); + + Logger.recordOutput(LogKey + "/LastLineupPose", lineupPose); + + final Pose2d robotRelativeLineupPose = lineupPose.relativeTo(getPose()); + final Translation2d robotRelativeLineupTranslation = robotRelativeLineupPose.getTranslation(); + + final Translation2d joyStickUnitVector = translationInput.div(translationInput.getNorm()); + final Translation2d lineupUnitVector = robotRelativeLineupTranslation + .div(robotRelativeLineupTranslation.getNorm()); + final double dotProduct = MathUtil.clamp( + joyStickUnitVector.getX() * lineupUnitVector.getX() + + joyStickUnitVector.getY() * lineupUnitVector.getY(), + 0, + 1 + ); + + final Translation2d assistedSpeeds = joyStickUnitVector.interpolate(lineupUnitVector, dotProduct); + + 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, From 28727c8bc87af82780406413aaadd653cb32c634 Mon Sep 17 00:00:00 2001 From: Max Date: Tue, 20 Aug 2024 20:02:58 -0400 Subject: [PATCH 27/52] i cooked :( --- src/main/java/frc/robot/Robot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index cd5c397..ffd1a3a 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -487,7 +487,7 @@ public void configureButtonBindings(final EventLoop teleopEventLoop) { driverController::getLeftX, driverController::getRightX, IsRedAlliance, - new Pose2d(5, 5, Rotation2d.fromDegrees(0)) + Optional.of(new Pose2d(5, 5, Rotation2d.fromDegrees(0))) ) )); // TODO: this doesn't rumble early enough, or as early as we'd like it to From 7f1d2bacf0859aa1c54b1fa1e68f6e8a221a18c3 Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 20 Aug 2024 20:15:01 -0400 Subject: [PATCH 28/52] this kinda sucks :| --- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/subsystems/drive/Swerve.java | 4 ++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index ffd1a3a..25d80bf 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -79,7 +79,7 @@ public class Robot extends LoggedRobot { public final Superstructure superstructure = new Superstructure(arm, shooter); @SuppressWarnings("unused") - public final PhotonVision photonVision = new PhotonVision(Constants.CURRENT_MODE, swerve, swerve.getPoseEstimator()); + public final PhotonVision photonVision = new PhotonVision(Constants.RobotMode.REAL, swerve, swerve.getPoseEstimator()); public final NoteState noteState = new NoteState(Constants.CURRENT_MODE, intake); public final ShootCommands shootCommands = new ShootCommands(swerve, intake, superstructure, noteState); diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index ab8fd98..5415038 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -587,6 +587,8 @@ public Command teleopDriveAndAssistLineup( final Translation2d assistedSpeeds = joyStickUnitVector.interpolate(lineupUnitVector, dotProduct); + Logger.recordOutput("AssistedSpeeds", assistedSpeeds); + drive( assistedSpeeds.getX() * swerveSpeed.getTranslationSpeed() @@ -601,6 +603,8 @@ public Command teleopDriveAndAssistLineup( invertYaw.getAsBoolean() ); } else { + Logger.recordOutput("AssistedSpeeds", "not running"); + drive( translationInput.getX() * swerveSpeed.getTranslationSpeed() From f657602335c2376347c09a80bb3c590747bb417c Mon Sep 17 00:00:00 2001 From: MqxS Date: Wed, 21 Aug 2024 00:18:50 -0400 Subject: [PATCH 29/52] Added way to disable PV. Line up to note seems to work. Need to make it assist rotation. --- src/main/java/frc/robot/Robot.java | 6 +-- .../java/frc/robot/constants/Constants.java | 3 +- .../frc/robot/subsystems/drive/Swerve.java | 50 +++++++++++++------ .../robot/subsystems/drive/SwerveModule.java | 2 +- .../java/frc/robot/subsystems/gyro/Gyro.java | 2 +- .../frc/robot/subsystems/intake/Intake.java | 2 +- .../subsystems/superstructure/arm/Arm.java | 2 +- .../superstructure/shooter/Shooter.java | 2 +- .../robot/subsystems/vision/PhotonVision.java | 1 + 9 files changed, 45 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 25d80bf..7c7ceb9 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -79,7 +79,7 @@ public class Robot extends LoggedRobot { public final Superstructure superstructure = new Superstructure(arm, shooter); @SuppressWarnings("unused") - public final PhotonVision photonVision = new PhotonVision(Constants.RobotMode.REAL, swerve, swerve.getPoseEstimator()); + public final PhotonVision photonVision = new PhotonVision(Constants.RobotMode.DISABLED, swerve, swerve.getPoseEstimator()); public final NoteState noteState = new NoteState(Constants.CURRENT_MODE, intake); public final ShootCommands shootCommands = new ShootCommands(swerve, intake, superstructure, noteState); @@ -481,13 +481,13 @@ public void configureButtonBindings(final EventLoop teleopEventLoop) { //noinspection SuspiciousNameCombination this.driverController.leftTrigger(0.5, teleopEventLoop) .whileTrue(Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), swerve.teleopDriveAndAssistLineup( driverController::getLeftY, driverController::getLeftX, driverController::getRightX, IsRedAlliance, - Optional.of(new Pose2d(5, 5, Rotation2d.fromDegrees(0))) + () -> photonVision.getBestNotePose(swerve::getPose) ) )); // TODO: this doesn't rumble early enough, or as early as we'd like it to diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 9023b55..531121c 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -17,7 +17,8 @@ public interface Constants { enum RobotMode { REAL, SIM, - REPLAY + REPLAY, + DISABLED } enum CompetitionType { diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 5415038..ab2be64 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -16,6 +16,7 @@ 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.Transform2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; @@ -550,7 +551,7 @@ public Command teleopDriveAndAssistLineup( final DoubleSupplier ySpeedSupplier, final DoubleSupplier rotSupplier, final BooleanSupplier invertYaw, - final Optional optionalLineupPose + final Supplier> optionalLineupPoseSupplier ) { return run(() -> { final Profiler.DriverProfile driverProfile = Profiler.getDriverProfile(); @@ -567,27 +568,48 @@ public Command teleopDriveAndAssistLineup( 0.01 ); + final Optional optionalLineupPose = optionalLineupPoseSupplier.get(); + if (optionalLineupPose.isPresent()) { + final Pose2d robotPose = getPose(); final Pose2d lineupPose = optionalLineupPose.get(); - Logger.recordOutput(LogKey + "/LastLineupPose", lineupPose); + Logger.recordOutput(LogKey + "/NoteLineUp/LastLineupPose", lineupPose); - final Pose2d robotRelativeLineupPose = lineupPose.relativeTo(getPose()); + final Pose2d robotRelativeLineupPose = lineupPose.relativeTo(robotPose); final Translation2d robotRelativeLineupTranslation = robotRelativeLineupPose.getTranslation(); - final Translation2d joyStickUnitVector = translationInput.div(translationInput.getNorm()); + 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 = MathUtil.clamp( - joyStickUnitVector.getX() * lineupUnitVector.getX() - + joyStickUnitVector.getY() * lineupUnitVector.getY(), - 0, - 1 - ); + 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); + final Translation2d assistedSpeeds = joyStickUnitVector + .interpolate(lineupUnitVector, dotProduct) + .times(robotRelativeJoysticks.getNorm()) + .rotateBy(robotPose + .getRotation() + .rotateBy(Rotation2d.fromDegrees(invertYaw.getAsBoolean() ? 180 : 0)) + ); - Logger.recordOutput("AssistedSpeeds", assistedSpeeds); + Logger.recordOutput(LogKey + "/NoteLineUp/AssistedSpeeds", assistedSpeeds); drive( assistedSpeeds.getX() @@ -603,8 +625,6 @@ public Command teleopDriveAndAssistLineup( invertYaw.getAsBoolean() ); } else { - Logger.recordOutput("AssistedSpeeds", "not running"); - drive( translationInput.getX() * swerveSpeed.getTranslationSpeed() @@ -619,8 +639,6 @@ public Command teleopDriveAndAssistLineup( invertYaw.getAsBoolean() ); } - - }); } 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/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/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/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 8440dcf..4fd15af 100644 --- a/src/main/java/frc/robot/subsystems/superstructure/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/superstructure/shooter/Shooter.java @@ -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(); diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index ddb520e..f42090b 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -119,6 +119,7 @@ yield new SimVisionRunner( new ReplayVisionRunner.VisionIOApriltagsReplay(TitanCamera.PHOTON_FR_APRILTAG) ) ); + case DISABLED -> new PhotonVisionRunner() {}; }; this.swerve = swerve; From 767382a6d471831d4a36028c045030c514f0b99b Mon Sep 17 00:00:00 2001 From: MqxS Date: Wed, 2 Oct 2024 19:51:07 -0400 Subject: [PATCH 30/52] Got note assist during teleop working. Added timestamp check to note tracking camera. --- src/main/java/frc/robot/Robot.java | 30 +-- .../java/frc/robot/constants/Constants.java | 2 +- .../frc/robot/subsystems/drive/Swerve.java | 201 ++++++++++-------- .../superstructure/shooter/Shooter.java | 4 +- .../superstructure/shooter/ShooterIOReal.java | 8 +- .../vision/result/NoteTrackingResult.java | 13 +- 6 files changed, 146 insertions(+), 112 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 7c7ceb9..db697cc 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -79,7 +79,7 @@ public class Robot extends LoggedRobot { public final Superstructure superstructure = new Superstructure(arm, shooter); @SuppressWarnings("unused") - public final PhotonVision photonVision = new PhotonVision(Constants.RobotMode.DISABLED, swerve, swerve.getPoseEstimator()); + 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); @@ -319,20 +319,20 @@ 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 diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 531121c..5c89702 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -10,7 +10,7 @@ import org.photonvision.PhotonPoseEstimator; public interface Constants { - RobotMode CURRENT_MODE = RobotMode.SIM; + RobotMode CURRENT_MODE = RobotMode.REAL; CompetitionType CURRENT_COMPETITION_TYPE = CompetitionType.TESTING; double LOOP_PERIOD_SECONDS = 0.02; diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index ab2be64..06dde8f 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -14,10 +14,7 @@ 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.Transform2d; -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; @@ -47,6 +44,8 @@ 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; @@ -319,8 +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( @@ -329,7 +328,7 @@ public void periodic() { Logger.recordOutput(OdometryLogKey + "/Robot2d", getPose()); Logger.recordOutput(OdometryLogKey + "/Robot3d", GyroUtils.robotPose2dToPose3dWithGyro( getPose(), - GyroUtils.rpyToRotation3d(getRoll(), getPitch(), getYaw()) + new Rotation3d(getRoll().getRadians(), getPitch().getRadians(), getYaw().getRadians()) )); Logger.recordOutput(LogKey + "/HeadingController/Active", headingControllerActive); @@ -411,10 +410,10 @@ public Command resetPoseCommand(final Pose2d robotPose) { public ChassisSpeeds getRobotRelativeSpeeds() { return kinematics.toChassisSpeeds( - frontLeft.getState(), - frontRight.getState(), - backLeft.getState(), - backRight.getState() + frontLeft.getState(), + frontRight.getState(), + backLeft.getState(), + backRight.getState() ); } @@ -553,93 +552,117 @@ public Command teleopDriveAndAssistLineup( final BooleanSupplier invertYaw, final Supplier> optionalLineupPoseSupplier ) { - return run(() -> { - final Profiler.DriverProfile driverProfile = Profiler.getDriverProfile(); - final Profiler.SwerveSpeed swerveSpeed = Profiler.getSwerveSpeed(); + final AtomicBoolean continuousTracking = new AtomicBoolean(true); + final AtomicReference steadyNotePose = new AtomicReference<>(); - 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(); + return Commands.sequence( + runOnce(() -> { + headingControllerActive = true; + headingController.reset(); + continuousTracking.set(true); + steadyNotePose.set(new Pose2d()); + }), + run(() -> { + final Profiler.DriverProfile driverProfile = Profiler.getDriverProfile(); + final Profiler.SwerveSpeed swerveSpeed = Profiler.getSwerveSpeed(); - if (optionalLineupPose.isPresent()) { - final Pose2d robotPose = getPose(); - final Pose2d lineupPose = optionalLineupPose.get(); + final Translation2d translationInput = ControllerUtils.calculateLinearVelocity( + -xSpeedSupplier.getAsDouble(), + -ySpeedSupplier.getAsDouble(), + 0.01 + ); - Logger.recordOutput(LogKey + "/NoteLineUp/LastLineupPose", lineupPose); + final double rotationInput = ControllerUtils.getStickSquaredInput( + -rotSupplier.getAsDouble(), + 0.01 + ); - final Pose2d robotRelativeLineupPose = lineupPose.relativeTo(robotPose); - final Translation2d robotRelativeLineupTranslation = robotRelativeLineupPose.getTranslation(); + final Optional optionalLineupPose = optionalLineupPoseSupplier.get(); + + final Pose2d lineupPose; + if (optionalLineupPose.isPresent()) { + final Pose2d robotPose = getPose(); + if (continuousTracking.get()) { + lineupPose = optionalLineupPose.get(); + } else { + lineupPose = steadyNotePose.get(); + } + + Logger.recordOutput(LogKey + "/NoteLineUp/LastLineupPose", lineupPose); + + 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 robotRelativeJoysticks = translationInput - .rotateBy( - robotPose + final Translation2d assistedSpeeds = joyStickUnitVector + .interpolate(lineupUnitVector, dotProduct) + .times(robotRelativeJoysticks.getNorm()) + .rotateBy(robotPose .getRotation() .rotateBy(Rotation2d.fromDegrees(invertYaw.getAsBoolean() ? 180 : 0)) - .unaryMinus() + ); + + Logger.recordOutput(LogKey + "/NoteLineUp/AssistedSpeeds", assistedSpeeds); + + this.headingTarget = lineupPose.getRotation(); + + final double noteDistance = robotPose.minus(lineupPose).getTranslation().getNorm(); + Logger.recordOutput(LogKey + "/NoteLineUp/NoteDistance", noteDistance); + + if (continuousTracking.get() && noteDistance < 0.8) { + continuousTracking.set(false); + steadyNotePose.set(lineupPose); + } + + drive( + assistedSpeeds.getX() + * swerveSpeed.getTranslationSpeed() + * driverProfile.getTranslationSensitivity(), + assistedSpeeds.getY() + * swerveSpeed.getTranslationSpeed() + * driverProfile.getTranslationSensitivity(), + headingController.calculate(getYaw().getRadians(), headingTarget.getRadians()), + true, + invertYaw.getAsBoolean() ); - 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)) + } else { + drive( + translationInput.getX() + * swerveSpeed.getTranslationSpeed() + * driverProfile.getTranslationSensitivity(), + translationInput.getY() + * swerveSpeed.getTranslationSpeed() + * driverProfile.getTranslationSensitivity(), + rotationInput + * swerveSpeed.getRotationSpeed() + * driverProfile.getRotationalSensitivity(), + true, + invertYaw.getAsBoolean() ); - - 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() - ); - } - }); + } + }) + ).finallyDo(() -> headingControllerActive = false); } public Command teleopFacingAngleCommand( 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 4fd15af..ad05a69 100644 --- a/src/main/java/frc/robot/subsystems/superstructure/shooter/Shooter.java +++ b/src/main/java/frc/robot/subsystems/superstructure/shooter/Shooter.java @@ -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/result/NoteTrackingResult.java b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java index 0fe87d8..d044bc0 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -2,6 +2,7 @@ import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.Timer; import frc.robot.subsystems.vision.RealVisionRunner; import org.photonvision.PhotonUtils; import org.photonvision.targeting.PhotonPipelineResult; @@ -12,6 +13,7 @@ public class NoteTrackingResult { private static final double DistanceOffsetMeters = Units.inchesToMeters(0); //Bounding box Offset (Selected in PV) + private static final double TimestampAllowableTimeout = 2; private final Transform3d robotToCamera; @@ -47,6 +49,10 @@ public Optional getBestNotePose(final Function> return Optional.empty(); } + if (Timer.getFPGATimestamp() - pipelineResult.getTimestampSeconds() > TimestampAllowableTimeout) { + return Optional.empty(); + } + final Optional optionalRobotPose = timestampedRobotPoseFunction.apply(pipelineResult.getTimestampSeconds()); return optionalRobotPose.map(pose2d -> getNotePose(pose2d, robotToCamera, bestTarget)); } @@ -61,6 +67,10 @@ public Pose2d[] getNotePoses(final Function> timestampe return new Pose2d[]{}; } + if (Timer.getFPGATimestamp() - pipelineResult.getTimestampSeconds() > TimestampAllowableTimeout) { + return new Pose2d[]{}; + } + final int nTargets = pipelineResult.targets.size(); final Pose2d robotPose = optionalRobotPose.get(); final Pose2d[] notePoses = new Pose2d[nTargets]; @@ -98,7 +108,8 @@ public static Pose2d getNotePose( final Translation2d estimatedTargetTranslation = new Translation2d( getNoteDistance(robotToCamera, trackedTarget), targetYaw - ).plus(robotToCamera.getTranslation().toTranslation2d()); + ).rotateBy(robotToCamera.getRotation().toRotation2d()) + .plus(robotToCamera.getTranslation().toTranslation2d()); final Transform2d estimatedTransform = new Transform2d(estimatedTargetTranslation, targetYaw); From f343f4af78959bb84545733d7609413a266f9af8 Mon Sep 17 00:00:00 2001 From: MqxS Date: Thu, 3 Oct 2024 16:29:46 -0400 Subject: [PATCH 31/52] Reordered teleop note align code. --- .../frc/robot/subsystems/drive/Swerve.java | 18 +++++++----------- .../subsystems/vision/RealVisionRunner.java | 7 ++++--- .../vision/result/NoteTrackingResult.java | 6 +++--- 3 files changed, 14 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 06dde8f..7ebd416 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -587,9 +587,15 @@ public Command teleopDriveAndAssistLineup( } 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(); @@ -606,7 +612,6 @@ public Command teleopDriveAndAssistLineup( final double dotProduct = joyStickUnitVector.getX() * lineupUnitVector.getX() + joyStickUnitVector.getY() * lineupUnitVector.getY(); - Logger.recordOutput(LogKey + "/NoteLineUp/JoyStickUnitVector", robotPose.transformBy( new Transform2d(joyStickUnitVector, Rotation2d.fromDegrees(0)) )); @@ -626,15 +631,6 @@ public Command teleopDriveAndAssistLineup( Logger.recordOutput(LogKey + "/NoteLineUp/AssistedSpeeds", assistedSpeeds); this.headingTarget = lineupPose.getRotation(); - - final double noteDistance = robotPose.minus(lineupPose).getTranslation().getNorm(); - Logger.recordOutput(LogKey + "/NoteLineUp/NoteDistance", noteDistance); - - if (continuousTracking.get() && noteDistance < 0.8) { - continuousTracking.set(false); - steadyNotePose.set(lineupPose); - } - drive( assistedSpeeds.getX() * swerveSpeed.getTranslationSpeed() diff --git a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java index f0a2f36..eaba10d 100644 --- a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java @@ -150,9 +150,10 @@ 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); 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 d044bc0..bf565b0 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -13,7 +13,7 @@ public class NoteTrackingResult { private static final double DistanceOffsetMeters = Units.inchesToMeters(0); //Bounding box Offset (Selected in PV) - private static final double TimestampAllowableTimeout = 2; + private static final double AllowableTimestampTimeout = 1; private final Transform3d robotToCamera; @@ -49,7 +49,7 @@ public Optional getBestNotePose(final Function> return Optional.empty(); } - if (Timer.getFPGATimestamp() - pipelineResult.getTimestampSeconds() > TimestampAllowableTimeout) { + if (Timer.getFPGATimestamp() - pipelineResult.getTimestampSeconds() > AllowableTimestampTimeout) { return Optional.empty(); } @@ -67,7 +67,7 @@ public Pose2d[] getNotePoses(final Function> timestampe return new Pose2d[]{}; } - if (Timer.getFPGATimestamp() - pipelineResult.getTimestampSeconds() > TimestampAllowableTimeout) { + if (Timer.getFPGATimestamp() - pipelineResult.getTimestampSeconds() > AllowableTimestampTimeout) { return new Pose2d[]{}; } From 93f28b2933c8c51908aad9fb38fcb227e64f3cf5 Mon Sep 17 00:00:00 2001 From: MqxS Date: Thu, 3 Oct 2024 16:32:06 -0400 Subject: [PATCH 32/52] Moved lineup pose into inner optional present scope for autoalign --- src/main/java/frc/robot/subsystems/drive/Swerve.java | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 7ebd416..e558f18 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -572,16 +572,11 @@ public Command teleopDriveAndAssistLineup( 0.01 ); - final double rotationInput = ControllerUtils.getStickSquaredInput( - -rotSupplier.getAsDouble(), - 0.01 - ); - final Optional optionalLineupPose = optionalLineupPoseSupplier.get(); - final Pose2d lineupPose; if (optionalLineupPose.isPresent()) { final Pose2d robotPose = getPose(); + final Pose2d lineupPose; if (continuousTracking.get()) { lineupPose = optionalLineupPose.get(); } else { @@ -643,6 +638,11 @@ public Command teleopDriveAndAssistLineup( invertYaw.getAsBoolean() ); } else { + final double rotationInput = ControllerUtils.getStickSquaredInput( + -rotSupplier.getAsDouble(), + 0.01 + ); + drive( translationInput.getX() * swerveSpeed.getTranslationSpeed() From cba035b6d37758652aeb16042bb64b8e17e06d74 Mon Sep 17 00:00:00 2001 From: MqxS Date: Sun, 6 Oct 2024 16:07:58 -0400 Subject: [PATCH 33/52] Tried note tracking auto. Added rumble to both controllers on note pickup. Disabled auto align to note in teleop. --- choreo.chor | 7072 +++++++++++++++++ .../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/AmpCenter3_2Note (1).1.traj | 1076 +++ .../deploy/choreo/AmpCenter3_2Note (1).2.traj | 467 ++ src/main/java/frc/robot/Robot.java | 47 +- src/main/java/frc/robot/auto/Autos.java | 97 + 12 files changed, 22320 insertions(+), 19 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 diff --git a/choreo.chor b/choreo.chor index c1c761f..38b2d93 100644 --- a/choreo.chor +++ b/choreo.chor @@ -98237,6 +98237,7078 @@ "circleObstacles": [], "eventMarkers": [], "isTrajectoryStale": true + }, + "AltSourceCenter0_1_2NOTE": { + "waypoints": [ + { + "x": 0.7773116230964661, + "y": 4.400476455688477, + "heading": 2.1112159505881243, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 26 + }, + { + "x": 2.551356077194214, + "y": 1.7890828847885132, + "heading": 0, + "isInitialGuess": false, + 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"velocityX": 1.9874276892332052e-23, + "velocityY": 4.137289084810899e-24, + "moduleForcesX": [ + 81.77249444018372, + 81.73120215174744, + 81.26633468686168, + 81.64733575239714 + ], + "moduleForcesY": [ + -0.553500901163006, + 2.8646265781281213, + -9.118550227559494, + -4.702736994264224 + ], + "timestamp": 1.5462320761384527 + } + ], + "eventMarkers": [] +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index db697cc..de8edcf 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -461,43 +461,52 @@ public void configureAutos() { autos.sourceSpeaker0Center1_2(), Constants.CompetitionType.TESTING )); - - autoChooser.addAutoOption(new AutoOption( "Walton", autos.walton(), Constants.CompetitionType.TESTING )); - autoChooser.addAutoOption(new AutoOption( "FollowNote", - autos.followNote(), + autos.AltSourceCenter0_1_2NOTE(), Constants.CompetitionType.TESTING )); + } @SuppressWarnings("RedundantSuppression") public void configureButtonBindings(final EventLoop teleopEventLoop) { //noinspection SuspiciousNameCombination +// this.driverController.leftTrigger(0.5, teleopEventLoop) +// .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(Commands.parallel( - intake.intakeCommand().asProxy(), - swerve.teleopDriveAndAssistLineup( - driverController::getLeftY, - driverController::getLeftX, - driverController::getRightX, - IsRedAlliance, - () -> photonVision.getBestNotePose(swerve::getPose) - ) - )); + .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 + 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/Autos.java b/src/main/java/frc/robot/auto/Autos.java index 3b77941..ed4238e 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -1289,4 +1289,101 @@ public EventLoop driveAndNoteDetect() { 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; + } } From 21402182c8905ab8eb8be77b012a479add5ae27a Mon Sep 17 00:00:00 2001 From: MqxS Date: Sun, 6 Oct 2024 17:48:59 -0400 Subject: [PATCH 34/52] post de --- src/main/java/frc/robot/auto/Autos.java | 10 ++++---- .../frc/robot/subsystems/drive/Swerve.java | 24 +++++++++++++++++-- 2 files changed, 27 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index ed4238e..229bb0f 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -1236,7 +1236,7 @@ public EventLoop followNote() { Commands.repeatingSequence( Commands.parallel( superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy(), - swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), + swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), Commands.repeatingSequence( intake.intakeCommand().asProxy(), superstructure.toInstantGoal(Superstructure.Goal.EJECT).asProxy(), @@ -1262,7 +1262,7 @@ public EventLoop driveAndNoteDetect() { Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it + swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it // swerve.driveToPose(() -> new Pose2d(8.282, 5.787, Rotation2d.fromRadians(2.458))), swerve.driveToPose( nextTrajectory::getInitialPose, @@ -1301,7 +1301,7 @@ public EventLoop AltSourceCenter0_1_2NOTE() { Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)) + swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)) .until(noteState.hasNote), swerve.driveToPose( autoTriggers.trajectories.get(0)::getFinalPose, @@ -1331,7 +1331,7 @@ public EventLoop AltSourceCenter0_1_2NOTE() { Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it + swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it swerve.driveToPose( autoTriggers.trajectories.get(2)::getInitialPose, new Pose2d(1.5, 1.5, Rotation2d.fromDegrees(6)) @@ -1360,7 +1360,7 @@ public EventLoop AltSourceCenter0_1_2NOTE() { Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it + swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it swerve.driveToPose( autoTriggers.trajectories.get(2)::getInitialPose, new Pose2d(1.5, 1.5, Rotation2d.fromDegrees(6)) diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index e558f18..3c1cfb8 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -748,16 +748,36 @@ public Command driveToPose(final Supplier poseSupplier, final Pose2d pos }); } - public Command driveToOptionalPose(final Supplier> poseSupplier) { + public Command driveToNotePose(final Supplier> poseSupplier) { + final AtomicBoolean continuousTracking = new AtomicBoolean(true); + final AtomicReference steadyNotePose = new AtomicReference<>(); + return Commands.sequence( runOnce(() -> { holonomicControllerActive = true; holonomicDriveWithPIDController.reset(getPose(), getRobotRelativeSpeeds()); + continuousTracking.set(true); + steadyNotePose.set(new Pose2d()); }), run(() -> { final Optional pose = poseSupplier.get(); if (pose.isPresent()) { - this.holonomicPoseTarget = pose.get(); + final Pose2d lineupPose; + if (continuousTracking.get()) { + lineupPose = pose.get(); + } else { + lineupPose = steadyNotePose.get(); + } + Logger.recordOutput(LogKey + "/NoteLineUp/LastLineupPose", lineupPose); + + final double noteDistance = getPose().minus(lineupPose).getTranslation().getNorm(); + if (continuousTracking.get() && noteDistance < 0.8) { + continuousTracking.set(false); + steadyNotePose.set(lineupPose); + } + Logger.recordOutput(LogKey + "/NoteLineUp/NoteDistance", noteDistance); + + this.holonomicPoseTarget = lineupPose; drive(holonomicDriveWithPIDController.calculate(getPose(), holonomicPoseTarget)); } else { stop(); From 05eaeab7b295c3fac739bbb1e32cfbc453721081 Mon Sep 17 00:00:00 2001 From: MqxS Date: Mon, 7 Oct 2024 16:51:57 -0400 Subject: [PATCH 35/52] Removed assisted rotation from teleopAssitedLineup --- .../frc/robot/subsystems/drive/Swerve.java | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 3c1cfb8..2853e75 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -557,8 +557,6 @@ public Command teleopDriveAndAssistLineup( return Commands.sequence( runOnce(() -> { - headingControllerActive = true; - headingController.reset(); continuousTracking.set(true); steadyNotePose.set(new Pose2d()); }), @@ -571,9 +569,12 @@ public Command teleopDriveAndAssistLineup( -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; @@ -625,7 +626,6 @@ public Command teleopDriveAndAssistLineup( Logger.recordOutput(LogKey + "/NoteLineUp/AssistedSpeeds", assistedSpeeds); - this.headingTarget = lineupPose.getRotation(); drive( assistedSpeeds.getX() * swerveSpeed.getTranslationSpeed() @@ -633,16 +633,13 @@ public Command teleopDriveAndAssistLineup( assistedSpeeds.getY() * swerveSpeed.getTranslationSpeed() * driverProfile.getTranslationSensitivity(), - headingController.calculate(getYaw().getRadians(), headingTarget.getRadians()), + rotationInput + * swerveSpeed.getRotationSpeed() + * driverProfile.getRotationalSensitivity(), true, invertYaw.getAsBoolean() ); } else { - final double rotationInput = ControllerUtils.getStickSquaredInput( - -rotSupplier.getAsDouble(), - 0.01 - ); - drive( translationInput.getX() * swerveSpeed.getTranslationSpeed() @@ -658,7 +655,7 @@ public Command teleopDriveAndAssistLineup( ); } }) - ).finallyDo(() -> headingControllerActive = false); + ); } public Command teleopFacingAngleCommand( From bab8094bd3e271d4253fb832650c53e7aed36554 Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 8 Oct 2024 20:05:19 -0400 Subject: [PATCH 36/52] note tracking failures. --- choreo.chor | 21 +++++---------- .../java/frc/robot/constants/Constants.java | 4 +-- .../robot/subsystems/vision/PhotonVision.java | 13 +++++++-- .../subsystems/vision/RealVisionRunner.java | 2 +- .../vision/cameras/CameraProperties.java | 2 +- .../vision/result/NoteTrackingResult.java | 27 ++++++++++++++----- 6 files changed, 42 insertions(+), 27 deletions(-) diff --git a/choreo.chor b/choreo.chor index 38b2d93..507c4aa 100644 --- a/choreo.chor +++ b/choreo.chor @@ -105250,51 +105250,44 @@ "scope": [ "first" ], - "type": "StopPoint", - "direction": 0 + "type": "StopPoint" }, { "scope": [ "last" ], - "type": "StopPoint", - "direction": 0 + "type": "StopPoint" }, { "scope": [ 9 ], - "type": "StopPoint", - "direction": 0 + "type": "StopPoint" }, { "scope": [ 5 ], - "type": "StopPoint", - "direction": 0 + "type": "StopPoint" }, { "scope": [ 7 ], - "type": "StopPoint", - "direction": 0 + "type": "StopPoint" }, { "scope": [ 11 ], - "type": "StopPoint", - "direction": 0 + "type": "StopPoint" }, { "scope": [ 3, 2 ], - "type": "StraightLine", - "direction": 0 + "type": "StraightLine" }, { "scope": [ diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 5c89702..cdffbba 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -52,8 +52,8 @@ interface Vision { ); Transform3d ROBOT_TO_REAR_NOTED = new Transform3d( - new Translation3d(Units.inchesToMeters(-14), Units.inchesToMeters(0), Units.inchesToMeters(16)), - new Rotation3d(0, Units.degreesToRadians(25), Units.degreesToRadians(180)) + new Translation3d(Units.inchesToMeters(-16), Units.inchesToMeters(0), Units.inchesToMeters(14)), + new Rotation3d(0, Units.degreesToRadians(21), Units.degreesToRadians(180)) ); /** diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index 87fcbc2..0c844af 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -286,13 +286,22 @@ private void update() { Logger.recordOutput(logKey + "/HasBestNotePose", optionalBestNotePose.isPresent()); Logger.recordOutput( logKey + "/BestNotePose", - optionalBestNotePose.orElseGet(Pose2d::new) + new Pose3d(optionalBestNotePose.orElseGet(Pose2d::new)) + ); + Logger.recordOutput( + "NoteCameraPose", + new Pose3d(swerve.getPose()).transformBy(Constants.Vision.ROBOT_TO_REAR_NOTED) ); final Pose2d[] notePose2ds = noteTrackingResult .getNotePoses(timestamp -> Optional.of(swerve.getPose())); - Logger.recordOutput(logKey + "/NotePoses", notePose2ds); + final Pose3d[] notePose3ds = new Pose3d[notePose2ds.length]; + for (int i = 0; i < notePose2ds.length; i++) { + notePose3ds[i] = new Pose3d(notePose2ds[i]); + } + + Logger.recordOutput(logKey + "/NotePoses", notePose3ds); } else { Logger.recordOutput(logKey + "/HasTargets", false); } diff --git a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java index eaba10d..a40ad91 100644 --- a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java @@ -45,7 +45,7 @@ public void updateInputs(final VisionIO.VisionIOInputs inputs) { } public static class VisionIONoteTrackingReal implements VisionIO { - public static final double NOTE_HEIGHT_Z = Units.inchesToMeters(1); + public static final double NOTE_HEIGHT_Z = Units.inchesToMeters(2); private final PhotonCamera photonCamera; private final String cameraName; 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/result/NoteTrackingResult.java b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java index bf565b0..dada50f 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -4,6 +4,7 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Timer; import frc.robot.subsystems.vision.RealVisionRunner; +import org.littletonrobotics.junction.Logger; import org.photonvision.PhotonUtils; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; @@ -90,12 +91,16 @@ 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; +// 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; + Logger.recordOutput("funkypitch", Units.degreesToRadians(trackedTarget.getPitch())); + + return (robotToCamera.getZ() - RealVisionRunner.VisionIONoteTrackingReal.NOTE_HEIGHT_Z) + / Math.tan(robotToCamera.getRotation().getY() - Units.degreesToRadians(trackedTarget.getPitch())); } public static Pose2d getNotePose( @@ -111,7 +116,15 @@ public static Pose2d getNotePose( ).rotateBy(robotToCamera.getRotation().toRotation2d()) .plus(robotToCamera.getTranslation().toTranslation2d()); - final Transform2d estimatedTransform = new Transform2d(estimatedTargetTranslation, targetYaw); + final Transform2d estimatedTransform = new Transform2d( + estimatedTargetTranslation, + targetYaw + ); + + Logger.recordOutput( + "NoteDist", + getNoteDistance(robotToCamera, trackedTarget) + ); return poseAtTimestamp.transformBy(estimatedTransform); } From 74c488a74348323b116f718fc418edcef1add850 Mon Sep 17 00:00:00 2001 From: MqxS Date: Wed, 9 Oct 2024 13:27:05 -0400 Subject: [PATCH 37/52] allegedly this solves the problems. --- .../vision/result/NoteTrackingResult.java | 18 +++--------------- 1 file changed, 3 insertions(+), 15 deletions(-) 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 dada50f..880c1c9 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -91,16 +91,9 @@ 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; - Logger.recordOutput("funkypitch", Units.degreesToRadians(trackedTarget.getPitch())); - - return (robotToCamera.getZ() - RealVisionRunner.VisionIONoteTrackingReal.NOTE_HEIGHT_Z) - / Math.tan(robotToCamera.getRotation().getY() - Units.degreesToRadians(trackedTarget.getPitch())); + return ((robotToCamera.getZ() - RealVisionRunner.VisionIONoteTrackingReal.NOTE_HEIGHT_Z) + / Math.tan(robotToCamera.getRotation().getY() - Units.degreesToRadians(trackedTarget.getPitch()))) + / Math.cos(trackedTarget.getYaw()); } public static Pose2d getNotePose( @@ -121,11 +114,6 @@ public static Pose2d getNotePose( targetYaw ); - Logger.recordOutput( - "NoteDist", - getNoteDistance(robotToCamera, trackedTarget) - ); - return poseAtTimestamp.transformBy(estimatedTransform); } } From ecb87b324450796e575c6fc4c42b4ab73ff8b521 Mon Sep 17 00:00:00 2001 From: MqxS Date: Wed, 9 Oct 2024 13:32:03 -0400 Subject: [PATCH 38/52] added distance offset --- .../robot/subsystems/vision/result/NoteTrackingResult.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 880c1c9..2a38904 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -91,9 +91,9 @@ public static Rotation2d getTargetPitch(final PhotonTrackedTarget trackedTarget) } public static double getNoteDistance(final Transform3d robotToCamera, final PhotonTrackedTarget trackedTarget) { - return ((robotToCamera.getZ() - RealVisionRunner.VisionIONoteTrackingReal.NOTE_HEIGHT_Z) + return (((robotToCamera.getZ() - RealVisionRunner.VisionIONoteTrackingReal.NOTE_HEIGHT_Z) / Math.tan(robotToCamera.getRotation().getY() - Units.degreesToRadians(trackedTarget.getPitch()))) - / Math.cos(trackedTarget.getYaw()); + / Math.cos(trackedTarget.getYaw())) + DistanceOffsetMeters; } public static Pose2d getNotePose( From e0a22c6b64292401d8db8bfefbf53966c9a5f30f Mon Sep 17 00:00:00 2001 From: MqxS Date: Thu, 10 Oct 2024 17:12:56 -0400 Subject: [PATCH 39/52] workingish note distance --- choreo.chor | 2060 ++++++++--------- .../deploy/choreo/AmpCenter3_2Note.1.traj | 1449 ++++++------ .../deploy/choreo/AmpCenter3_2Note.2.traj | 601 ++--- src/main/deploy/choreo/AmpCenter3_2Note.traj | 2022 ++++++++-------- .../vision/result/NoteTrackingResult.java | 2 +- 5 files changed, 2748 insertions(+), 3386 deletions(-) diff --git a/choreo.chor b/choreo.chor index 507c4aa..4015732 100644 --- a/choreo.chor +++ b/choreo.chor @@ -96598,16 +96598,16 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 20 + "controlIntervalCount": 15 }, { - "x": 7.536985397338867, - "y": 6.441191673278809, - "heading": 2.2351541783925906, + "x": 6.979370594024658, + "y": 7.253139019012451, + "heading": -3.143185307179586, "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 21 + "controlIntervalCount": 16 }, { "x": 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a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java index 2a38904..c98b1fa 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -93,7 +93,7 @@ public static Rotation2d getTargetPitch(final PhotonTrackedTarget trackedTarget) public static double getNoteDistance(final Transform3d robotToCamera, final PhotonTrackedTarget trackedTarget) { return (((robotToCamera.getZ() - RealVisionRunner.VisionIONoteTrackingReal.NOTE_HEIGHT_Z) / Math.tan(robotToCamera.getRotation().getY() - Units.degreesToRadians(trackedTarget.getPitch()))) - / Math.cos(trackedTarget.getYaw())) + DistanceOffsetMeters; + / Math.cos(Units.degreesToRadians(trackedTarget.getYaw()))); } public static Pose2d getNotePose( From 5bc437517a8ad004e7534f2a1bd97e935b0a044d Mon Sep 17 00:00:00 2001 From: MqxS Date: Thu, 10 Oct 2024 19:12:05 -0400 Subject: [PATCH 40/52] =?UTF-8?q?idk=20why=20it=20wont=20get=20the=20flipp?= =?UTF-8?q?ed=20one=20=F0=9F=98=AD=F0=9F=98=AD=F0=9F=98=AD=F0=9F=98=AD?= =?UTF-8?q?=F0=9F=98=AD=F0=9F=98=AD=F0=9F=98=AD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- choreo.chor | 1777 ++++++++--------- .../deploy/choreo/AmpCenter3_2Note.1.traj | 1304 ++++++------ .../deploy/choreo/AmpCenter3_2Note.2.traj | 467 ++--- src/main/deploy/choreo/AmpCenter3_2Note.traj | 1745 ++++++++-------- src/main/java/frc/robot/Robot.java | 10 +- src/main/java/frc/robot/auto/Autos.java | 28 +- .../frc/robot/subsystems/drive/Swerve.java | 25 +- 7 files changed, 2454 insertions(+), 2902 deletions(-) diff --git a/choreo.chor b/choreo.chor index 4015732..c63efc1 100644 --- a/choreo.chor +++ b/choreo.chor @@ -96598,16 +96598,16 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 15 + 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"moduleForcesY": [ - 21.67109105068741, - 21.7646152104948, - 18.832317947974236, - 19.066442080744554 + 50.66567224323307, + 49.42172991664544, + 48.31923416616002, + 47.14540247285709 ], - "timestamp": 3.9960912929540875 + "timestamp": 3.378884145165061 } ], "eventMarkers": [] diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index de8edcf..13e2ce5 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -467,11 +467,15 @@ public void configureAutos() { Constants.CompetitionType.TESTING )); autoChooser.addAutoOption(new AutoOption( - "FollowNote", + "FollowNoteAmp", + autos.driveAndNoteDetect(), + Constants.CompetitionType.TESTING + )); + autoChooser.addAutoOption(new AutoOption( + "FollowNoteSource", autos.AltSourceCenter0_1_2NOTE(), Constants.CompetitionType.TESTING )); - } @SuppressWarnings("RedundantSuppression") @@ -493,7 +497,7 @@ public void configureButtonBindings(final EventLoop teleopEventLoop) { // TODO: this doesn't rumble early enough, or as early as we'd like it to // not sure if we're hardware limited or its behind by a few cycles and we can speed it up - this.noteState.hasNote.onTrue( + this.noteState.hasNote.and(teleopEnabled).onTrue( Commands.parallel( ControllerUtils.rumbleForDurationCommand( driverController.getHID(), diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index 229bb0f..df66704 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -21,6 +21,7 @@ import frc.robot.subsystems.superstructure.ShotParameters; import frc.robot.subsystems.superstructure.Superstructure; import frc.robot.subsystems.vision.PhotonVision; +import org.littletonrobotics.junction.Logger; import java.util.List; import java.util.Set; @@ -1236,7 +1237,7 @@ public EventLoop followNote() { Commands.repeatingSequence( Commands.parallel( superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy(), - swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), Commands.repeatingSequence( intake.intakeCommand().asProxy(), superstructure.toInstantGoal(Superstructure.Goal.EJECT).asProxy(), @@ -1246,7 +1247,6 @@ public EventLoop followNote() { ) ) ); - return eventLoop; } @@ -1257,18 +1257,19 @@ public EventLoop driveAndNoteDetect() { autoTriggers.autoEnabled().whileTrue(preloadSubwooferAndFollow0(autoTriggers.trajectories, timer)); - final ChoreoTrajectory nextTrajectory = autoTriggers.trajectories.get(1); - autoTriggers.atTime(2.1).onTrue( + autoTriggers.atTime(2.23).onTrue( Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it -// swerve.driveToPose(() -> new Pose2d(8.282, 5.787, Rotation2d.fromRadians(2.458))), + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)) + .until(noteState.hasNote), swerve.driveToPose( - nextTrajectory::getInitialPose, - new Pose2d(1.5, 1.5, Rotation2d.fromDegrees(6)) + Robot.IsRedAlliance.getAsBoolean() + ? autoTriggers.trajectories.get(1)::getFlippedInitialPose + : autoTriggers.trajectories.get(1)::getInitialPose, + new Pose2d(1, 1, Rotation2d.fromDegrees(6)) ), - followPath(nextTrajectory, timer).asProxy() + followPath(autoTriggers.trajectories.get(1), timer) ), Commands.sequence( Commands.waitUntil(noteState.hasNote), @@ -1277,7 +1278,7 @@ public EventLoop driveAndNoteDetect() { ).withName("Intake0") ); - autoTriggers.atTime(4.3).onTrue( + autoTriggers.atTime(3.37).onTrue( Commands.sequence( shootCommands.deferredStopAimAndShoot() .onlyIf(noteState.hasNote) @@ -1286,7 +1287,6 @@ public EventLoop driveAndNoteDetect() { superstructure.toInstantGoal(Superstructure.Goal.IDLE).asProxy() ).withName("Shoot0AndFollow1") ); - return autoTriggers.eventLoop; } @@ -1301,7 +1301,7 @@ public EventLoop AltSourceCenter0_1_2NOTE() { Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)) + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)) .until(noteState.hasNote), swerve.driveToPose( autoTriggers.trajectories.get(0)::getFinalPose, @@ -1331,7 +1331,7 @@ public EventLoop AltSourceCenter0_1_2NOTE() { Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it swerve.driveToPose( autoTriggers.trajectories.get(2)::getInitialPose, new Pose2d(1.5, 1.5, Rotation2d.fromDegrees(6)) @@ -1360,7 +1360,7 @@ public EventLoop AltSourceCenter0_1_2NOTE() { Commands.parallel( intake.intakeCommand().asProxy(), Commands.sequence( - swerve.driveToNotePose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it + swerve.driveToOptionalPose(() -> photonVision.getBestNotePose(swerve::getPose)), //idk if this will intake it swerve.driveToPose( autoTriggers.trajectories.get(2)::getInitialPose, new Pose2d(1.5, 1.5, Rotation2d.fromDegrees(6)) diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 2853e75..12737c3 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -745,36 +745,16 @@ public Command driveToPose(final Supplier poseSupplier, final Pose2d pos }); } - public Command driveToNotePose(final Supplier> poseSupplier) { - final AtomicBoolean continuousTracking = new AtomicBoolean(true); - final AtomicReference steadyNotePose = new AtomicReference<>(); - + public Command driveToOptionalPose(final Supplier> poseSupplier) { return Commands.sequence( runOnce(() -> { holonomicControllerActive = true; holonomicDriveWithPIDController.reset(getPose(), getRobotRelativeSpeeds()); - continuousTracking.set(true); - steadyNotePose.set(new Pose2d()); }), run(() -> { final Optional pose = poseSupplier.get(); if (pose.isPresent()) { - final Pose2d lineupPose; - if (continuousTracking.get()) { - lineupPose = pose.get(); - } else { - lineupPose = steadyNotePose.get(); - } - Logger.recordOutput(LogKey + "/NoteLineUp/LastLineupPose", lineupPose); - - final double noteDistance = getPose().minus(lineupPose).getTranslation().getNorm(); - if (continuousTracking.get() && noteDistance < 0.8) { - continuousTracking.set(false); - steadyNotePose.set(lineupPose); - } - Logger.recordOutput(LogKey + "/NoteLineUp/NoteDistance", noteDistance); - - this.holonomicPoseTarget = lineupPose; + this.holonomicPoseTarget = pose.get(); drive(holonomicDriveWithPIDController.calculate(getPose(), holonomicPoseTarget)); } else { stop(); @@ -784,6 +764,7 @@ public Command driveToNotePose(final Supplier> poseSupplier) { ).finallyDo(() -> holonomicControllerActive = false); } + public void stop() { drive(new ChassisSpeeds()); } From d936f1ac8ac7d9eba26986ac53444eeea086c280 Mon Sep 17 00:00:00 2001 From: MqxS Date: Thu, 10 Oct 2024 19:12:29 -0400 Subject: [PATCH 41/52] extra auto path --- .../deploy/choreo/AmpCenter3_2Note.3.traj | 1160 +++++++++++++++++ 1 file changed, 1160 insertions(+) create mode 100644 src/main/deploy/choreo/AmpCenter3_2Note.3.traj diff --git a/src/main/deploy/choreo/AmpCenter3_2Note.3.traj b/src/main/deploy/choreo/AmpCenter3_2Note.3.traj new file mode 100644 index 0000000..e8d564e --- /dev/null +++ b/src/main/deploy/choreo/AmpCenter3_2Note.3.traj @@ -0,0 +1,1160 @@ +{ + "samples": [ + { + "x": 4.255588054656982, + "y": 6.553804874420166, + "heading": -2.849446278206812, + "angularVelocity": 1.580971393008612e-21, + "velocityX": 4.2856869675282915e-20, + "velocityY": 6.946183659415047e-20, + "moduleForcesX": [ + 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+ "y": 0.3130781054496765, + "heading": 5.912931073624316e-23, + "angularVelocity": -4.06745853766001e-22, + "velocityX": 3.0227509428420954e-20, + "velocityY": 3.2482203754265897e-20, + "moduleForcesX": [ + -73.55706160548914, + -79.41797370270552, + -53.427807131470836, + -70.51513944077647 + ], + "moduleForcesY": [ + 35.6772963089639, + 19.53724454416127, + 61.90518047816161, + 41.43992500030397 + ], + "timestamp": 3.9356658286754502 + } + ], + "eventMarkers": [] +} \ No newline at end of file From 442e7284c9989357cd3f987ab3c37edd315717e9 Mon Sep 17 00:00:00 2001 From: MqxS Date: Thu, 10 Oct 2024 22:44:26 -0400 Subject: [PATCH 42/52] Goated changes sim --- choreo.chor | 35 ++ src/main/java/frc/robot/Robot.java | 3 - src/main/java/frc/robot/auto/Autos.java | 2 - .../java/frc/robot/constants/Constants.java | 9 +- .../frc/robot/constants/FieldConstants.java | 8 + .../frc/robot/constants/SimConstants.java | 6 + .../frc/robot/subsystems/drive/Swerve.java | 6 +- .../drive/estimator/PoseEstimator.java | 349 ++++++++++++++++++ .../estimator/SwerveDrivePoseEstimator.java | 140 +++++++ .../robot/subsystems/gyro/GyroIOPigeon2.java | 1 - .../robot/subsystems/vision/PhotonVision.java | 15 +- .../subsystems/vision/RealVisionRunner.java | 3 - .../subsystems/vision/SimVisionRunner.java | 116 +++++- .../vision/cameras/TitanCamera.java | 4 +- .../cameras/TitanCameraCalibration.java | 18 + .../vision/result/NoteTrackingResult.java | 13 +- src/main/java/frc/robot/utils/PoseUtils.java | 9 + .../java/frc/robot/utils/gyro/GyroUtils.java | 5 +- vendordeps/AdvantageKit.json | 10 +- vendordeps/ChoreoLib.json | 6 +- vendordeps/Phoenix6.json | 48 +-- 21 files changed, 733 insertions(+), 73 deletions(-) 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 c63efc1..48dfb10 100644 --- a/choreo.chor +++ b/choreo.chor @@ -104945,6 +104945,41 @@ "circleObstacles": [], "eventMarkers": [], "isTrajectoryStale": false + }, + "New Path": { + "waypoints": [ + { + "x": 8.274157524108887, + "y": 7.469854831695557, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "trajectory": [], + "trajectoryWaypoints": [], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + } + ], + "usesControlIntervalGuessing": true, + "defaultControlIntervalCount": 40, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [], + "isTrajectoryStale": true } }, "splitTrajectoriesAtStopPoints": true, diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 13e2ce5..75e9e9c 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1,8 +1,6 @@ package frc.robot; import com.ctre.phoenix6.SignalLogger; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.PowerDistribution; @@ -13,7 +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; diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index df66704..c0c9345 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -5,7 +5,6 @@ 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.Rotation3d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Timer; @@ -21,7 +20,6 @@ import frc.robot.subsystems.superstructure.ShotParameters; import frc.robot.subsystems.superstructure.Superstructure; import frc.robot.subsystems.vision.PhotonVision; -import org.littletonrobotics.junction.Logger; import java.util.List; import java.util.Set; diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index cdffbba..070b3d4 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -10,7 +10,7 @@ import org.photonvision.PhotonPoseEstimator; public interface Constants { - RobotMode CURRENT_MODE = RobotMode.REAL; + RobotMode CURRENT_MODE = RobotMode.SIM; CompetitionType CURRENT_COMPETITION_TYPE = CompetitionType.TESTING; double LOOP_PERIOD_SECONDS = 0.02; @@ -40,22 +40,21 @@ 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_NOTED = new Transform3d( + Transform3d ROBOT_TO_REAR_NOTE = new Transform3d( new Translation3d(Units.inchesToMeters(-16), Units.inchesToMeters(0), Units.inchesToMeters(14)), new Rotation3d(0, Units.degreesToRadians(21), 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/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/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 12737c3..93dd6f0 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -13,7 +13,6 @@ 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.*; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.SwerveDriveKinematics; @@ -34,6 +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; @@ -360,6 +360,10 @@ public Pose2d getPose() { return poseEstimator.getEstimatedPosition(); } + public Optional getPose(final double atTimestamp) { + return poseEstimator.sampleAt(atTimestamp); + } + public Gyro getGyro() { return gyro; } 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..1fc1833 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/estimator/PoseEstimator.java @@ -0,0 +1,349 @@ +// 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..6909c3f --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/estimator/SwerveDrivePoseEstimator.java @@ -0,0 +1,140 @@ +// 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 edu.wpi.first.math.kinematics.SwerveDriveOdometry}. + * + *

{@link edu.wpi.first.math.estimator.SwerveDrivePoseEstimator#update} should be called every robot loop. + * + *

{@link edu.wpi.first.math.estimator.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/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/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index 0c844af..3da60ba 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -4,14 +4,15 @@ 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 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; @@ -101,10 +102,14 @@ 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) ) ); } @@ -290,15 +295,15 @@ private void update() { ); Logger.recordOutput( "NoteCameraPose", - new Pose3d(swerve.getPose()).transformBy(Constants.Vision.ROBOT_TO_REAR_NOTED) + new Pose3d(swerve.getPose()).transformBy(Constants.Vision.ROBOT_TO_REAR_NOTE) ); final Pose2d[] notePose2ds = noteTrackingResult - .getNotePoses(timestamp -> Optional.of(swerve.getPose())); + .getNotePoses(swerve::getPose); final Pose3d[] notePose3ds = new Pose3d[notePose2ds.length]; for (int i = 0; i < notePose2ds.length; i++) { - notePose3ds[i] = new Pose3d(notePose2ds[i]); + notePose3ds[i] = PoseUtils.note2dTo3d(notePose2ds[i]); } Logger.recordOutput(logKey + "/NotePoses", notePose3ds); @@ -378,7 +383,7 @@ public List getNotePoses() { final NoteTrackingResult noteTrackingResult = runner.getNoteTrackingResult(visionIO); if (noteTrackingResult != null) { notePoses.addAll(Arrays.asList(noteTrackingResult - .getNotePoses(timestamp -> Optional.of(swerve.getPose())))); + .getNotePoses(swerve::getPose))); } } return notePoses; diff --git a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java index a40ad91..f12dec9 100644 --- a/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/RealVisionRunner.java @@ -3,7 +3,6 @@ import edu.wpi.first.apriltag.AprilTagFieldLayout; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.util.Units; import frc.robot.constants.Constants; import frc.robot.subsystems.vision.cameras.TitanCamera; import frc.robot.subsystems.vision.result.NoteTrackingResult; @@ -45,8 +44,6 @@ public void updateInputs(final VisionIO.VisionIOInputs inputs) { } public static class VisionIONoteTrackingReal implements VisionIO { - public static final double NOTE_HEIGHT_Z = Units.inchesToMeters(2); - private final PhotonCamera photonCamera; private final String cameraName; diff --git a/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java b/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java index c15641b..4934c21 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(); @@ -147,6 +200,33 @@ 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 +243,21 @@ 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/TitanCamera.java b/src/main/java/frc/robot/subsystems/vision/cameras/TitanCamera.java index bfb18c2..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", - Constants.Vision.ROBOT_TO_REAR_NOTED, // 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 c98b1fa..fc7b333 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -3,8 +3,7 @@ import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Timer; -import frc.robot.subsystems.vision.RealVisionRunner; -import org.littletonrobotics.junction.Logger; +import frc.robot.constants.Constants; import org.photonvision.PhotonUtils; import org.photonvision.targeting.PhotonPipelineResult; import org.photonvision.targeting.PhotonTrackedTarget; @@ -13,6 +12,7 @@ import java.util.function.Function; public class NoteTrackingResult { + private static final double NoteTargetLocationHeight = Units.inchesToMeters(0); //Bounding box Offset (Selected in PV) private static final double DistanceOffsetMeters = Units.inchesToMeters(0); //Bounding box Offset (Selected in PV) private static final double AllowableTimestampTimeout = 1; @@ -91,9 +91,12 @@ public static Rotation2d getTargetPitch(final PhotonTrackedTarget trackedTarget) } public static double getNoteDistance(final Transform3d robotToCamera, final PhotonTrackedTarget trackedTarget) { - return (((robotToCamera.getZ() - RealVisionRunner.VisionIONoteTrackingReal.NOTE_HEIGHT_Z) - / Math.tan(robotToCamera.getRotation().getY() - Units.degreesToRadians(trackedTarget.getPitch()))) - / Math.cos(Units.degreesToRadians(trackedTarget.getYaw()))); + return PhotonUtils.calculateDistanceToTargetMeters( + robotToCamera.getZ(), + NoteTargetLocationHeight, + -robotToCamera.getRotation().getY(), //Convert CCW+ to CW+ + Units.degreesToRadians(trackedTarget.getPitch()) + ) / Math.cos(Units.degreesToRadians(trackedTarget.getYaw())) + DistanceOffsetMeters; } public static Pose2d getNotePose( 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/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, From 8ce80a3d4a3a54b17c157caa262178ff9c2ba3e1 Mon Sep 17 00:00:00 2001 From: MqxS Date: Fri, 11 Oct 2024 09:57:22 -0400 Subject: [PATCH 43/52] maybe PV replay? --- .../robot/subsystems/vision/PhotonVision.java | 9 ++- .../subsystems/vision/ReplayVisionRunner.java | 78 +++++++++++++++---- .../subsystems/vision/SimVisionRunner.java | 1 + 3 files changed, 70 insertions(+), 18 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index 3da60ba..f8066a0 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -116,9 +116,12 @@ yield new SimVisionRunner( 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() {}; 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 4934c21..398a294 100644 --- a/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java +++ b/src/main/java/frc/robot/subsystems/vision/SimVisionRunner.java @@ -193,6 +193,7 @@ public void periodic() { final PhotonPipelineResult result = inputs.latestResult; VisionUtils.correctPipelineResultTimestamp(result); + VisionUtils.updatePoseEstimator( photonPoseEstimatorMap.get(visionIO), result From 95a93bec80a4b70f0f2143dcaad78c5dc01d4aef Mon Sep 17 00:00:00 2001 From: MqxS Date: Fri, 11 Oct 2024 15:47:01 -0400 Subject: [PATCH 44/52] some auto position reset stuff --- src/main/java/frc/robot/auto/Autos.java | 6 +- .../frc/robot/subsystems/drive/Swerve.java | 6 +- .../drive/estimator/PoseEstimator.java | 15 +- .../estimator/SwerveDrivePoseEstimator.java | 219 +++++++++--------- .../robot/subsystems/vision/PhotonVision.java | 21 +- .../robot/subsystems/drive/SwerveTest.java | 2 +- 6 files changed, 147 insertions(+), 122 deletions(-) diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index c0c9345..0dd0a40 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -20,6 +20,7 @@ import frc.robot.subsystems.superstructure.ShotParameters; import frc.robot.subsystems.superstructure.Superstructure; import frc.robot.subsystems.vision.PhotonVision; +import org.littletonrobotics.junction.Logger; import java.util.List; import java.util.Set; @@ -146,7 +147,7 @@ private Command followPath(final ChoreoTrajectory choreoTrajectory, final Timer } private Command resetPose(final ChoreoTrajectory trajectory) { - return Commands.defer(() -> swerve.resetPoseCommand( + return Commands.defer(() -> photonVision.resetPoseCommand( Robot.IsRedAlliance.getAsBoolean() ? trajectory.getFlippedInitialPose() : trajectory.getInitialPose() @@ -1255,6 +1256,9 @@ public EventLoop driveAndNoteDetect() { autoTriggers.autoEnabled().whileTrue(preloadSubwooferAndFollow0(autoTriggers.trajectories, timer)); + Logger.recordOutput("OInitial pose", autoTriggers.trajectories.get(0).getInitialPose()); + Logger.recordOutput("Initial pose", autoTriggers.trajectories.get(0).getFlippedInitialPose()); + autoTriggers.atTime(2.23).onTrue( Commands.parallel( intake.intakeCommand().asProxy(), diff --git a/src/main/java/frc/robot/subsystems/drive/Swerve.java b/src/main/java/frc/robot/subsystems/drive/Swerve.java index 93dd6f0..21e9b93 100644 --- a/src/main/java/frc/robot/subsystems/drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drive/Swerve.java @@ -404,14 +404,10 @@ 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(), diff --git a/src/main/java/frc/robot/subsystems/drive/estimator/PoseEstimator.java b/src/main/java/frc/robot/subsystems/drive/estimator/PoseEstimator.java index 1fc1833..bbb63d4 100644 --- a/src/main/java/frc/robot/subsystems/drive/estimator/PoseEstimator.java +++ b/src/main/java/frc/robot/subsystems/drive/estimator/PoseEstimator.java @@ -67,7 +67,8 @@ public PoseEstimator( Kinematics kinematics, Odometry odometry, Matrix stateStdDevs, - Matrix visionMeasurementStdDevs) { + Matrix visionMeasurementStdDevs + ) { m_kinematics = kinematics; m_odometry = odometry; @@ -175,7 +176,11 @@ public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampS // 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)); + 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( @@ -226,7 +231,8 @@ public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampS public void addVisionMeasurement( Pose2d visionRobotPoseMeters, double timestampSeconds, - Matrix visionMeasurementStdDevs) { + Matrix visionMeasurementStdDevs + ) { setVisionMeasurementStdDevs(visionMeasurementStdDevs); addVisionMeasurement(visionRobotPoseMeters, timestampSeconds); } @@ -256,7 +262,8 @@ public Pose2d updateWithTime(double currentTimeSeconds, Rotation2d gyroAngle, T m_odometry.update(gyroAngle, wheelPositions); m_poseBuffer.addSample( currentTimeSeconds, - new InterpolationRecord(getEstimatedPosition(), gyroAngle, wheelPositions.copy())); + new InterpolationRecord(getEstimatedPosition(), gyroAngle, wheelPositions.copy()) + ); return getEstimatedPosition(); } diff --git a/src/main/java/frc/robot/subsystems/drive/estimator/SwerveDrivePoseEstimator.java b/src/main/java/frc/robot/subsystems/drive/estimator/SwerveDrivePoseEstimator.java index 6909c3f..95433d7 100644 --- a/src/main/java/frc/robot/subsystems/drive/estimator/SwerveDrivePoseEstimator.java +++ b/src/main/java/frc/robot/subsystems/drive/estimator/SwerveDrivePoseEstimator.java @@ -17,124 +17,129 @@ /** * 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 edu.wpi.first.math.kinematics.SwerveDriveOdometry}. + * drop-in replacement for {@link SwerveDriveOdometry}. * - *

{@link edu.wpi.first.math.estimator.SwerveDrivePoseEstimator#update} should be called every robot loop. + *

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

{@link edu.wpi.first.math.estimator.SwerveDrivePoseEstimator#addVisionMeasurement} can be called as infrequently as you + *

{@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; + 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); + /** + * 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)); + } - m_numModules = modulePositions.length; - } + /** + * 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); - /** - * 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); - } + m_numModules = modulePositions.length; + } - /** - * 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)); - } + /** + * 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 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)); - } + /** + * 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)); + } - @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"); + /** + * 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)); } - return super.updateWithTime(currentTimeSeconds, gyroAngle, wheelPositions); - } + @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/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index f8066a0..985d3a0 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -8,6 +8,7 @@ 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; @@ -28,6 +29,8 @@ 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"; @@ -254,6 +257,11 @@ private void update() { 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) { final EstimatedRobotPose lastEstimatedPose = lastEstimatedRobotPose.get(visionIO); @@ -285,6 +293,11 @@ private void update() { 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(logKey + "/HasTargets", noteTrackingResult.hasTargets); @@ -296,10 +309,6 @@ private void update() { logKey + "/BestNotePose", new Pose3d(optionalBestNotePose.orElseGet(Pose2d::new)) ); - Logger.recordOutput( - "NoteCameraPose", - new Pose3d(swerve.getPose()).transformBy(Constants.Vision.ROBOT_TO_REAR_NOTE) - ); final Pose2d[] notePose2ds = noteTrackingResult .getNotePoses(swerve::getPose); @@ -380,6 +389,10 @@ 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()) { 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; From f8ed1c2af845b2355f994cf42ce29b9c2f059304 Mon Sep 17 00:00:00 2001 From: MqxS Date: Fri, 11 Oct 2024 16:39:51 -0400 Subject: [PATCH 45/52] seems to work okay. --- src/main/java/frc/robot/constants/Constants.java | 4 ++-- src/main/java/frc/robot/subsystems/vision/PhotonVision.java | 2 +- .../robot/subsystems/vision/result/NoteTrackingResult.java | 3 +-- 3 files changed, 4 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 070b3d4..22ca444 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -10,7 +10,7 @@ import org.photonvision.PhotonPoseEstimator; public interface Constants { - RobotMode CURRENT_MODE = RobotMode.SIM; + RobotMode CURRENT_MODE = RobotMode.REAL; CompetitionType CURRENT_COMPETITION_TYPE = CompetitionType.TESTING; double LOOP_PERIOD_SECONDS = 0.02; @@ -50,7 +50,7 @@ interface Vision { ); Transform3d ROBOT_TO_REAR_NOTE = new Transform3d( new Translation3d(Units.inchesToMeters(-16), Units.inchesToMeters(0), Units.inchesToMeters(14)), - new Rotation3d(0, Units.degreesToRadians(21), Units.degreesToRadians(180)) + new Rotation3d(0, Units.degreesToRadians(22), Units.degreesToRadians(180)) ); double NOTE_HEIGHT_Z = Units.inchesToMeters(2); diff --git a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java index 985d3a0..32c4c0d 100644 --- a/src/main/java/frc/robot/subsystems/vision/PhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/PhotonVision.java @@ -302,7 +302,7 @@ private void update() { if (noteTrackingResult != null) { Logger.recordOutput(logKey + "/HasTargets", noteTrackingResult.hasTargets); final Optional optionalBestNotePose = noteTrackingResult - .getBestNotePose(timestamp -> Optional.of(swerve.getPose())); + .getBestNotePose(swerve::getPose); Logger.recordOutput(logKey + "/HasBestNotePose", optionalBestNotePose.isPresent()); Logger.recordOutput( 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 fc7b333..570c9dc 100644 --- a/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java +++ b/src/main/java/frc/robot/subsystems/vision/result/NoteTrackingResult.java @@ -12,7 +12,6 @@ import java.util.function.Function; public class NoteTrackingResult { - private static final double NoteTargetLocationHeight = Units.inchesToMeters(0); //Bounding box Offset (Selected in PV) private static final double DistanceOffsetMeters = Units.inchesToMeters(0); //Bounding box Offset (Selected in PV) private static final double AllowableTimestampTimeout = 1; @@ -93,7 +92,7 @@ public static Rotation2d getTargetPitch(final PhotonTrackedTarget trackedTarget) public static double getNoteDistance(final Transform3d robotToCamera, final PhotonTrackedTarget trackedTarget) { return PhotonUtils.calculateDistanceToTargetMeters( robotToCamera.getZ(), - NoteTargetLocationHeight, + Constants.Vision.NOTE_HEIGHT_Z, -robotToCamera.getRotation().getY(), //Convert CCW+ to CW+ Units.degreesToRadians(trackedTarget.getPitch()) ) / Math.cos(Units.degreesToRadians(trackedTarget.getYaw())) + DistanceOffsetMeters; From 5dfb70ec1ef75af0ae2628232cd6e4662ac54473 Mon Sep 17 00:00:00 2001 From: MqxS Date: Fri, 11 Oct 2024 18:26:04 -0400 Subject: [PATCH 46/52] =?UTF-8?q?Removed=20mega=20cooked=20autos.=20Gave?= =?UTF-8?q?=20up=20on=20note=20tracking=20=F0=9F=98=AD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- choreo.chor | 4168 ++++++++--------- .../deploy/choreo/AmpCenter3_2Note.1.traj | 1283 ++--- .../deploy/choreo/AmpCenter3_2Note.2.traj | 446 +- src/main/deploy/choreo/AmpCenter3_2Note.traj | 1703 +++---- src/main/deploy/choreo/Speaker2_1_0.1.traj | 478 +- src/main/deploy/choreo/Speaker2_1_0.2.traj | 1135 ++--- src/main/deploy/choreo/Speaker2_1_0.3.traj | 782 ++-- src/main/deploy/choreo/Speaker2_1_0.traj | 2349 +++++----- src/main/java/frc/robot/Robot.java | 48 +- src/main/java/frc/robot/auto/Autos.java | 36 +- .../java/frc/robot/constants/Constants.java | 2 +- 11 files changed, 6197 insertions(+), 6233 deletions(-) diff --git a/choreo.chor 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+ -53.57367826031327, + -55.04827921190737 ], - "timestamp": 5.590484783527259 + "timestamp": 6.044978284584656 } ], "eventMarkers": [] diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 75e9e9c..440ec99 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -354,12 +354,12 @@ 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", @@ -463,34 +463,34 @@ public void configureAutos() { 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 - )); +// 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(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()); + .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 diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index 0dd0a40..ca5753e 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -24,6 +24,7 @@ import java.util.List; import java.util.Set; +import java.util.concurrent.atomic.AtomicReference; import java.util.function.DoubleSupplier; import java.util.function.Supplier; @@ -392,45 +393,39 @@ public EventLoop speaker2_1_0() { ).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(), 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(), 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") ); @@ -1253,22 +1248,19 @@ 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)); - Logger.recordOutput("OInitial pose", autoTriggers.trajectories.get(0).getInitialPose()); - Logger.recordOutput("Initial pose", autoTriggers.trajectories.get(0).getFlippedInitialPose()); - - autoTriggers.atTime(2.23).onTrue( + 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( - Robot.IsRedAlliance.getAsBoolean() - ? autoTriggers.trajectories.get(1)::getFlippedInitialPose - : autoTriggers.trajectories.get(1)::getInitialPose, + preNoteTrackPose::get, new Pose2d(1, 1, Rotation2d.fromDegrees(6)) ), followPath(autoTriggers.trajectories.get(1), timer) @@ -1280,7 +1272,7 @@ public EventLoop driveAndNoteDetect() { ).withName("Intake0") ); - autoTriggers.atTime(3.37).onTrue( + autoTriggers.atTime(3.76).onTrue( Commands.sequence( shootCommands.deferredStopAimAndShoot() .onlyIf(noteState.hasNote) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 22ca444..3a86fb2 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -11,7 +11,7 @@ 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 { From f29a35076ae83468c67afedd08354d3af06ff7eb Mon Sep 17 00:00:00 2001 From: MqxS Date: Fri, 18 Oct 2024 23:52:47 -0400 Subject: [PATCH 47/52] READY FOR GRITS DAY 2 --- src/main/java/frc/robot/Robot.java | 1 - src/main/java/frc/robot/auto/Autos.java | 44 +++++++++---------- .../superstructure/ShotParameters.java | 2 +- 3 files changed, 23 insertions(+), 24 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 440ec99..c1c2781 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -75,7 +75,6 @@ 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); diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index ca5753e..bcee514 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -339,7 +339,7 @@ public EventLoop ampSpeaker2Center2_3() { autoTriggers.atTime(0.4).onTrue( Commands.sequence( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ) ); @@ -353,7 +353,7 @@ public EventLoop ampSpeaker2Center2_3() { autoTriggers.atTime(3).onTrue( Commands.sequence( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ) ); @@ -366,7 +366,7 @@ public EventLoop ampSpeaker2Center2_3() { autoTriggers.atTime(7).onTrue( Commands.sequence( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ) ); @@ -388,7 +388,7 @@ public EventLoop speaker2_1_0() { autoTriggers.atTime(0.4).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -403,7 +403,7 @@ public EventLoop speaker2_1_0() { autoTriggers.atTime(2.3).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -418,7 +418,7 @@ public EventLoop speaker2_1_0() { autoTriggers.atTime(4.6).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake2") ); @@ -451,7 +451,7 @@ public EventLoop sourceCenter1_0() { autoTriggers.atTime(1.7).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -465,7 +465,7 @@ public EventLoop sourceCenter1_0() { autoTriggers.atTime(6).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -487,7 +487,7 @@ public EventLoop ampCenter3_2() { autoTriggers.atTime(2).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -501,7 +501,7 @@ public EventLoop ampCenter3_2() { autoTriggers.atTime(6).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -523,7 +523,7 @@ public EventLoop ampCenter2_3() { autoTriggers.atTime(2).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -537,7 +537,7 @@ public EventLoop ampCenter2_3() { autoTriggers.atTime(5.85).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -559,7 +559,7 @@ public EventLoop ampCenter4_3() { autoTriggers.atTime(1.8).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -576,7 +576,7 @@ public EventLoop ampCenter4_3() { autoTriggers.atTime(5).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -601,7 +601,7 @@ public EventLoop ampCenter3_4() { autoTriggers.atTime(1.8).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -618,7 +618,7 @@ public EventLoop ampCenter3_4() { autoTriggers.atTime(5.2).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -1034,7 +1034,7 @@ public EventLoop sourceCenter0_1_2() { autoTriggers.atTime(1.6).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake0") ); @@ -1052,7 +1052,7 @@ public EventLoop sourceCenter0_1_2() { autoTriggers.atTime(6).onTrue( Commands.parallel( - intake.intakeCommand(), + intake.intakeCommand().asProxy(), shootCommands.readySuperstructureForShot() ).withName("Intake1") ); @@ -1096,7 +1096,7 @@ 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() @@ -1117,7 +1117,7 @@ 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() @@ -1164,7 +1164,7 @@ 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() @@ -1185,7 +1185,7 @@ 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() diff --git a/src/main/java/frc/robot/subsystems/superstructure/ShotParameters.java b/src/main/java/frc/robot/subsystems/superstructure/ShotParameters.java index e4d9236..8030858 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, From 5207c8766ef8ed149fd40691a5ba2c927697a08d Mon Sep 17 00:00:00 2001 From: MqxS Date: Sat, 19 Oct 2024 01:13:49 -0400 Subject: [PATCH 48/52] added goated auto v2 --- choreo.chor | 4461 +++++++++++++++++ .../deploy/choreo/AmpCenter3_2Note.3.traj | 1160 ----- .../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 +++++++++++++++ src/main/java/frc/robot/Robot.java | 5 + src/main/java/frc/robot/auto/Autos.java | 68 + .../java/frc/robot/constants/Constants.java | 2 +- 9 files changed, 12871 insertions(+), 1161 deletions(-) delete mode 100644 src/main/deploy/choreo/AmpCenter3_2Note.3.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 diff --git a/choreo.chor b/choreo.chor index 9871fba..b2722c6 100644 --- a/choreo.chor +++ b/choreo.chor @@ -104951,6 +104951,4467 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], + "isTrajectoryStale": true + }, + "NorthSourceCenter0_1_2": { + "waypoints": [ + { + "x": 0.7773116230964661, + "y": 4.400476455688477, + "heading": 2.1112159505881243, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 14 + }, + { + "x": 1.5153143405914307, + "y": 3.4070112705230713, + "heading": 2.8438434280859584, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 26 + }, + { + "x": 8.160870552062988, + "y": 0.7545124888420105, + "heading": 2.8438434280859584, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 17 + }, + { + "x": 5.432404041290283, + "y": 1.803275227546692, + "heading": 2.4077918665965594, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 13 + }, + { + "x": 3.601590394973755, + "y": 2.7399706840515137, + "heading": 2.4305492979694385, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 18 + }, + { + "x": 5.347249984741211, + "y": 1.7039287090301514, + "heading": 3.510629549380405, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 15 + }, + { + "x": 8.191938400268555, + "y": 2.4033961296081543, + "heading": 3.510629549380405, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 20 + }, + { + "x": 5.432404041290283, + "y": 1.7039287090301514, + "heading": 2.4077918665965594, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 13 + }, + { + "x": 3.402897357940674, + "y": 2.7541630268096924, + "heading": 2.4077918665965594, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 16 + }, + { + "x": 4.907287120819092, + "y": 3.776012420654297, + "heading": 3.14, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 16 + }, + { + "x": 8.123697280883789, + "y": 4.1144328117370605, + "heading": 3.14, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 15 + }, + { + "x": 5.460788726806641, + "y": 4.130821228027344, + "heading": 2.9211809883108653, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 13 + }, + { + "x": 3.6299750804901123, + "y": 5.152670860290527, + "heading": 2.9211809883108653, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 40 + } + ], + "trajectory": [ + { + "x": 0.7773116230964661, + "y": 4.400476455688477, + "heading": 2.1112159505881243, + "angularVelocity": -3.3616519198122473e-18, + "velocityX": 3.2846488001207482e-18, + "velocityY": -1.9409569932342144e-18, + "moduleForcesX": [ + 0, + 0, + 0, + 0 + ], + "moduleForcesY": [ + 0, + 0, + 0, + 0 + ], + "timestamp": 0 + }, + { + "x": 0.783405480933945, + "y": 4.390303149717133, + "heading": 2.121139010150357, + "angularVelocity": 0.21339222726900306, + "velocityX": 0.1310464669132488, + "velocityY": -0.21877369638861657, + "moduleForcesX": [ + 35.30487661113055, + 32.40646998351087, + 48.57674810988329, + 50.65452943442087 + ], + "moduleForcesY": [ + -73.74608558450578, + -75.03882640617981, + -65.7662597795505, + -64.14886362919336 + ], + "timestamp": 0.046501504245155166 + }, + { + "x": 0.795714719561428, + "y": 4.3700245572433145, + "heading": 2.140609677235371, + "angularVelocity": 0.41871047831840963, + "velocityX": 0.26470624611606486, + "velocityY": -0.43608465582263944, + "moduleForcesX": [ + 36.45752991870064, + 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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(), diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index bcee514..f05cb1d 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -1155,6 +1155,74 @@ 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() + ) + ).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(12.78).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(); diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 3a86fb2..f3609cf 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -10,7 +10,7 @@ import org.photonvision.PhotonPoseEstimator; public interface Constants { - RobotMode CURRENT_MODE = RobotMode.REAL; + RobotMode CURRENT_MODE = RobotMode.SIM; CompetitionType CURRENT_COMPETITION_TYPE = CompetitionType.COMPETITION; double LOOP_PERIOD_SECONDS = 0.02; From 4f9378ceb310a90af8c451a4e1044d2cab92d96e Mon Sep 17 00:00:00 2001 From: MqxS Date: Sat, 19 Oct 2024 01:14:16 -0400 Subject: [PATCH 49/52] i hate this variable. changed from sim to real. --- src/main/java/frc/robot/constants/Constants.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index f3609cf..3a86fb2 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -10,7 +10,7 @@ import org.photonvision.PhotonPoseEstimator; public interface Constants { - RobotMode CURRENT_MODE = RobotMode.SIM; + RobotMode CURRENT_MODE = RobotMode.REAL; CompetitionType CURRENT_COMPETITION_TYPE = CompetitionType.COMPETITION; double LOOP_PERIOD_SECONDS = 0.02; From 73de7610d2ea485456fc3789cf89d16ec38c2b19 Mon Sep 17 00:00:00 2001 From: MqxS Date: Sat, 19 Oct 2024 10:17:03 -0400 Subject: [PATCH 50/52] qual 47 and whatever next is --- choreo.chor | 2 +- .../frc/robot/subsystems/superstructure/ShotParameters.java | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/choreo.chor b/choreo.chor index b2722c6..05bf706 100644 --- a/choreo.chor +++ b/choreo.chor @@ -73364,7 +73364,7 @@ "usesDefaultFieldObstacles": true, "circleObstacles": [], "eventMarkers": [], - "isTrajectoryStale": false + "isTrajectoryStale": true }, "AltSourceCenter0_1_2": { "waypoints": [ diff --git a/src/main/java/frc/robot/subsystems/superstructure/ShotParameters.java b/src/main/java/frc/robot/subsystems/superstructure/ShotParameters.java index 8030858..009339f 100644 --- a/src/main/java/frc/robot/subsystems/superstructure/ShotParameters.java +++ b/src/main/java/frc/robot/subsystems/superstructure/ShotParameters.java @@ -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, From 582c5a4c0ae716ac6375168fb0e2fe5df0c5a333 Mon Sep 17 00:00:00 2001 From: MqxS Date: Fri, 25 Oct 2024 15:55:25 -0400 Subject: [PATCH 51/52] grits --- choreo.chor | 3715 ++++++++++++++++++++++ src/main/deploy/choreo/FightNorth.1.traj | 2231 +++++++++++++ src/main/deploy/choreo/FightNorth.2.traj | 1265 ++++++++ src/main/deploy/choreo/FightNorth.traj | 3470 ++++++++++++++++++++ src/main/java/frc/robot/Robot.java | 5 + src/main/java/frc/robot/auto/Autos.java | 58 +- 6 files changed, 10740 insertions(+), 4 deletions(-) create mode 100644 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a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -142,9 +142,12 @@ 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) { @@ -1210,7 +1213,54 @@ public EventLoop northSourceCenter0_1_2() { ).withName("Intake2") ); - autoTriggers.atTime(12.78).onTrue( + 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) From 71fbd29de7e5b83e059efdd5fdddf9de6cd70d0b Mon Sep 17 00:00:00 2001 From: MqxS Date: Tue, 5 Nov 2024 14:43:14 -0500 Subject: [PATCH 52/52] 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. --- src/main/java/frc/robot/Robot.java | 6 ++---- src/main/java/frc/robot/auto/Autos.java | 2 +- src/main/java/frc/robot/state/NoteState.java | 7 ++++++- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 4a55444..72b55c7 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -165,10 +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 -> { diff --git a/src/main/java/frc/robot/auto/Autos.java b/src/main/java/frc/robot/auto/Autos.java index 2a9fbaf..d27d5d3 100644 --- a/src/main/java/frc/robot/auto/Autos.java +++ b/src/main/java/frc/robot/auto/Autos.java @@ -1192,7 +1192,7 @@ public EventLoop northSourceCenter0_1_2() { Commands.sequence( Commands.waitUntil(noteState.hasNote), shootCommands.readySuperstructureForShot().asProxy() - ) + ).withTimeout(3) ).withName("Intake1") ); 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),