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[#29] - added base code for pathfinding to a point and auton
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| { | ||
| "version": 1.0, | ||
| "waypoints": [ | ||
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| ], | ||
| "rotationTargets": [], | ||
| "constraintZones": [], | ||
| "eventMarkers": [], | ||
| "globalConstraints": { | ||
| "maxVelocity": 3.0, | ||
| "maxAcceleration": 3.0, | ||
| "maxAngularVelocity": 540.0, | ||
| "maxAngularAcceleration": 720.0 | ||
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| "velocity": 0 | ||
| }, | ||
| "useDefaultConstraints": true | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| // 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.command; | ||
|
|
||
| import com.pathplanner.lib.auto.AutoBuilder; | ||
| import com.pathplanner.lib.path.PathConstraints; | ||
| import com.pathplanner.lib.path.PathPlannerPath; | ||
| import com.pathplanner.lib.path.PathPoint; | ||
|
|
||
| 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.DriverStation.Alliance; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.Constants.AutonomousConstants; | ||
| import frc.robot.Constants.PathFindingConstants; | ||
| import frc.robot.subsystems.Swerve; | ||
| import frc.thunder.filter.XboxControllerFilter; | ||
|
|
||
| public class PathFindToAuton extends Command { | ||
|
|
||
| private Swerve drivetrain; | ||
| private XboxControllerFilter controller; // Driver Controller | ||
| private AutoBuilder autoBuilder; | ||
| private Command pathFindCommand; | ||
| private PathPlannerPath autonPath; | ||
|
|
||
| /* | ||
| * Pathfinds to a specific pose given | ||
| * @param pathfindingPose The pose to pathfind to | ||
| * @param drivetrain The drivetrain subsystem | ||
| * @param controller The driver controller | ||
| */ | ||
| public PathFindToAuton(PathPlannerPath autonPath, Swerve drivetrain, XboxControllerFilter controller) { | ||
| this.drivetrain = drivetrain; | ||
| this.controller = controller; | ||
| this.autonPath = autonPath; | ||
| autoBuilder = new AutoBuilder(); | ||
|
|
||
| addRequirements(drivetrain); | ||
| } | ||
|
|
||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| pathFindCommand = autoBuilder.pathfindThenFollowPath( | ||
| autonPath, AutonomousConstants.PATH_CONSTRAINTS); | ||
| pathFindCommand.schedule(); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
|
|
||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| pathFindCommand.cancel(); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| if (pathFindCommand.isFinished()) { | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,72 @@ | ||
| // 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.command; | ||
|
|
||
| import com.pathplanner.lib.auto.AutoBuilder; | ||
|
|
||
| import edu.wpi.first.math.geometry.Pose2d; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.Constants.AutonomousConstants; | ||
| import frc.robot.subsystems.Swerve; | ||
| import frc.thunder.filter.XboxControllerFilter; | ||
|
|
||
| public class PathToPose extends Command { | ||
|
|
||
| private Swerve drivetrain; | ||
| private XboxControllerFilter controller; // Driver Controller | ||
| private Pose2d pathfindingPose; | ||
| private AutoBuilder autoBuilder; | ||
| Command pathFindCommand; | ||
|
|
||
| /* | ||
| * Pathfinds to a specific pose given | ||
| * @param pathfindingPose The pose to pathfind to | ||
| * @param drivetrain The drivetrain subsystem | ||
| * @param controller The driver controller | ||
| */ | ||
| public PathToPose(Pose2d pathfindingPose, Swerve drivetrain, XboxControllerFilter controller) { | ||
| this.drivetrain = drivetrain; | ||
| this.controller = controller; | ||
| this.pathfindingPose = pathfindingPose; | ||
|
|
||
| autoBuilder = new AutoBuilder(); | ||
|
|
||
| addRequirements(drivetrain); | ||
| } | ||
|
|
||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| pathFindCommand = autoBuilder.pathfindToPose( | ||
| pathfindingPose, AutonomousConstants.PATH_CONSTRAINTS | ||
| ); | ||
| pathFindCommand.schedule(); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| if (controller.getYButton()) { | ||
| end(true); | ||
| } | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| if (interrupted) { | ||
| pathFindCommand.cancel(); | ||
| } | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| if (pathFindCommand.isFinished()) { | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
| } |