From 0eccdc41ffc8c91465a47eeb4fe80d567cd0ebf1 Mon Sep 17 00:00:00 2001 From: Rakshay N Date: Wed, 28 Feb 2024 10:41:04 -0500 Subject: [PATCH] two piece auto with object detection --- ...Build & Deploy Robot for Debugging.run.xml | 30 +- ...Build & Deploy Robot for Debugging.run.xml | 31 +- .run/Clean.run.xml | 22 - gradlew | 0 src/main/deploy/choreo/2_Piece_Mid_OD.chor | 480 - src/main/deploy/choreo/2_Piece_Sub_OD.chor | 256 + src/main/deploy/choreo/deploy/choreo/1.1.traj | 5228 ++--------- src/main/deploy/choreo/deploy/choreo/1.traj | 5228 ++--------- src/main/deploy/choreo/deploy/choreo/2.1.traj | 7703 ++++++----------- src/main/deploy/choreo/deploy/choreo/2.traj | 7703 ++++++----------- src/main/deploy/choreo/deploy/choreo/3.1.traj | 2686 ++++++ src/main/deploy/choreo/deploy/choreo/3.traj | 2686 ++++++ .../choreo/deploy/choreo/SecondPiece.1.traj | 76 + .../choreo/deploy/choreo/SecondPiece.traj | 76 + .../choreo/deploy/choreo/SecondScore.1.traj | 431 +- .../choreo/deploy/choreo/SecondScore.traj | 431 +- src/main/kotlin/frc/team449/RobotLoop.kt | 10 +- .../frc/team449/robot2024/auto/AutoUtil.kt | 6 +- .../auto/routines/TwoPieceSubwooferOD.kt | 32 + .../{driveAlign => drive}/OrbitAlign.kt | 2 +- .../ProfiledPoseAlign.kt | 2 +- .../subsystems/ControllerBindings.kt | 3 +- .../team449/system/motor/SparkMaxCreator.kt | 2 - 23 files changed, 13020 insertions(+), 20104 deletions(-) mode change 100644 => 100755 gradlew delete mode 100644 src/main/deploy/choreo/2_Piece_Mid_OD.chor create mode 100644 src/main/deploy/choreo/2_Piece_Sub_OD.chor create mode 100644 src/main/deploy/choreo/deploy/choreo/3.1.traj create mode 100644 src/main/deploy/choreo/deploy/choreo/3.traj create mode 100644 src/main/deploy/choreo/deploy/choreo/SecondPiece.1.traj create mode 100644 src/main/deploy/choreo/deploy/choreo/SecondPiece.traj create mode 100644 src/main/kotlin/frc/team449/robot2024/auto/routines/TwoPieceSubwooferOD.kt rename src/main/kotlin/frc/team449/robot2024/commands/{driveAlign => drive}/OrbitAlign.kt (98%) rename src/main/kotlin/frc/team449/robot2024/commands/{driveAlign => drive}/ProfiledPoseAlign.kt (98%) diff --git a/.run/Build & Deploy Robot for Debugging.run.xml b/.run/Build & Deploy Robot for Debugging.run.xml index 2a40583..30a2d0e 100644 --- a/.run/Build & Deploy Robot for Debugging.run.xml +++ b/.run/Build & Deploy Robot for Debugging.run.xml @@ -18,7 +18,7 @@ true true false - false + false @@ -40,7 +40,7 @@ true true false - false + false @@ -62,7 +62,7 @@ true true false - false + false @@ -84,29 +84,7 @@ true true false - false - - - - - - - - true - true - false - false + false \ No newline at end of file diff --git a/.run/Clean Build & Deploy Robot for Debugging.run.xml b/.run/Clean Build & Deploy Robot for Debugging.run.xml index 8a73c3c..c840ea8 100644 --- a/.run/Clean Build & Deploy Robot for Debugging.run.xml +++ b/.run/Clean Build & Deploy Robot for Debugging.run.xml @@ -19,7 +19,7 @@ true true false - false + false @@ -42,7 +42,7 @@ true true false - false + false @@ -65,7 +65,7 @@ true true false - false + false @@ -88,30 +88,7 @@ true true false - false - - - - - - - - true - true - false - false + false \ No newline at end of file diff --git a/.run/Clean.run.xml b/.run/Clean.run.xml index 838828f..bf9d2b3 100644 --- a/.run/Clean.run.xml +++ b/.run/Clean.run.xml @@ -87,26 +87,4 @@ false - - - - - - true - true - false - false - - \ No newline at end of file diff --git a/gradlew b/gradlew old mode 100644 new mode 100755 diff --git a/src/main/deploy/choreo/2_Piece_Mid_OD.chor b/src/main/deploy/choreo/2_Piece_Mid_OD.chor deleted file mode 100644 index be36594..0000000 --- a/src/main/deploy/choreo/2_Piece_Mid_OD.chor +++ /dev/null @@ -1,480 +0,0 @@ -{ - "version": "v0.2.2", - "robotConfiguration": { - "mass": 74.08797700309194, - "rotationalInertia": 6, - "motorMaxTorque": 1.162295081967213, - "motorMaxVelocity": 4800, - "gearing": 6.75, - "wheelbase": 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1.3135496477458565e-36, + "velocityY": 1.2373721438608323e-33, + "timestamp": 0.7989035604949615 } ] } \ No newline at end of file diff --git a/src/main/kotlin/frc/team449/RobotLoop.kt b/src/main/kotlin/frc/team449/RobotLoop.kt index 50485eb..7683d59 100644 --- a/src/main/kotlin/frc/team449/RobotLoop.kt +++ b/src/main/kotlin/frc/team449/RobotLoop.kt @@ -18,6 +18,7 @@ import frc.team449.robot2024.auto.routines.RoutineChooser import frc.team449.robot2024.commands.light.BlairChasing import frc.team449.robot2024.commands.light.BreatheHue import frc.team449.robot2024.commands.light.Rainbow +import frc.team449.robot2024.constants.field.FieldConstants import frc.team449.robot2024.constants.vision.VisionConstants import frc.team449.robot2024.subsystems.ControllerBindings import monologue.Annotations.Log @@ -49,9 +50,12 @@ class RobotLoop : TimedRobot(), Logged { if (RobotBase.isSimulation()) { // Don't complain about joysticks if there aren't going to be any DriverStation.silenceJoystickConnectionWarning(true) -// val instance = NetworkTableInstance.getDefault() -// instance.stopServer() -// instance.startClient4("localhost") + } + + FieldConstants.SPEAKER_POSE = if (DriverStation.getAlliance().get() == DriverStation.Alliance.Blue) { + FieldConstants.BLUE_SPEAKER + } else { + FieldConstants.RED_SPEAKER } println("Generating Auto Routines : ${Timer.getFPGATimestamp()}") diff --git a/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt b/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt index 04ffb54..a8e843b 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt @@ -15,7 +15,6 @@ import frc.team449.robot2024.constants.vision.VisionConstants import org.photonvision.PhotonUtils import kotlin.math.PI - object AutoUtil { fun autoIntake(robot: Robot): Command { @@ -107,14 +106,14 @@ object AutoUtil { Units.degreesToRadians(target.pitch) ) - autoIntakeAway(robot) + autoIntake(robot) robot.drive.set( ChassisSpeeds.fromRobotRelativeSpeeds( -AutoConstants.X_CONTROLLER.calculate(range, 0.0), 0.0, -AutoConstants.ROT_CONTROLLER.calculate(target.yaw, 0.0), - robot.ahrs.heading + robot.drive.pose.rotation ) ) } @@ -127,7 +126,6 @@ object AutoUtil { return cmd } - fun transformForRed(pathGroup: MutableList): MutableList { for (index in 0 until pathGroup.size) { for (time in pathGroup[index].objectiveTimestamps) { diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/TwoPieceSubwooferOD.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/TwoPieceSubwooferOD.kt new file mode 100644 index 0000000..75fc2c3 --- /dev/null +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/TwoPieceSubwooferOD.kt @@ -0,0 +1,32 @@ +package frc.team449.robot2024.auto.routines + +import frc.team449.control.auto.ChoreoRoutine +import frc.team449.control.auto.ChoreoRoutineStructure +import frc.team449.control.auto.ChoreoTrajectory +import frc.team449.robot2024.Robot +import frc.team449.robot2024.auto.AutoUtil + +class TwoPieceSubwooferOD( + robot: Robot, + isRed: Boolean +) : ChoreoRoutineStructure { + override val routine: ChoreoRoutine = ChoreoRoutine( + drive = robot.drive, + parallelEventMap = hashMapOf(), + stopEventMap = hashMapOf( + 0 to AutoUtil.detectPiece(robot), + 1 to AutoUtil.autoShoot(robot) + ), + timeout = 0.25, + debug = false + ) + + override val trajectory: MutableList = + if (isRed) { + AutoUtil.transformForRed( + ChoreoTrajectory.createTrajectory("2_Piece_Sub_OD") + ) + } else { + ChoreoTrajectory.createTrajectory("2_Piece_Sub_OD") + } +} diff --git a/src/main/kotlin/frc/team449/robot2024/commands/driveAlign/OrbitAlign.kt b/src/main/kotlin/frc/team449/robot2024/commands/drive/OrbitAlign.kt similarity index 98% rename from src/main/kotlin/frc/team449/robot2024/commands/driveAlign/OrbitAlign.kt rename to src/main/kotlin/frc/team449/robot2024/commands/drive/OrbitAlign.kt index 0b3c6fd..e063811 100644 --- a/src/main/kotlin/frc/team449/robot2024/commands/driveAlign/OrbitAlign.kt +++ b/src/main/kotlin/frc/team449/robot2024/commands/drive/OrbitAlign.kt @@ -1,4 +1,4 @@ -package frc.team449.robot2024.commands.driveAlign +package frc.team449.robot2024.commands.drive import edu.wpi.first.math.MathUtil import edu.wpi.first.math.controller.PIDController diff --git a/src/main/kotlin/frc/team449/robot2024/commands/driveAlign/ProfiledPoseAlign.kt b/src/main/kotlin/frc/team449/robot2024/commands/drive/ProfiledPoseAlign.kt similarity index 98% rename from src/main/kotlin/frc/team449/robot2024/commands/driveAlign/ProfiledPoseAlign.kt rename to src/main/kotlin/frc/team449/robot2024/commands/drive/ProfiledPoseAlign.kt index 3adfe9a..cf870f4 100644 --- a/src/main/kotlin/frc/team449/robot2024/commands/driveAlign/ProfiledPoseAlign.kt +++ b/src/main/kotlin/frc/team449/robot2024/commands/drive/ProfiledPoseAlign.kt @@ -1,4 +1,4 @@ -package frc.team449.robot2024.commands.driveAlign +package frc.team449.robot2024.commands.drive import edu.wpi.first.math.controller.PIDController import edu.wpi.first.math.geometry.Pose2d diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt index eda7a8d..ca7f88f 100644 --- a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt +++ b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt @@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Mechanism import frc.team449.control.holonomic.SwerveSim import frc.team449.robot2024.Robot import frc.team449.robot2024.auto.AutoUtil -import frc.team449.robot2024.commands.driveAlign.OrbitAlign +import frc.team449.robot2024.commands.drive.OrbitAlign import frc.team449.robot2024.constants.RobotConstants import frc.team449.robot2024.constants.field.FieldConstants import kotlin.jvm.optionals.getOrNull @@ -122,7 +122,6 @@ class ControllerBindings( AutoUtil.detectPiece(robot) ) - mechanismController.y().onTrue( robot.pivot.moveAmp() ) diff --git a/src/main/kotlin/frc/team449/system/motor/SparkMaxCreator.kt b/src/main/kotlin/frc/team449/system/motor/SparkMaxCreator.kt index 722cd1f..d7e7d5e 100644 --- a/src/main/kotlin/frc/team449/system/motor/SparkMaxCreator.kt +++ b/src/main/kotlin/frc/team449/system/motor/SparkMaxCreator.kt @@ -10,8 +10,6 @@ import frc.team449.system.encoder.EncoderCreator * @param name The motor's name * @param id The motor's CAN ID */ - -// TODO: Test if disabling voltage compensation helps reduce brownouts fun createSparkMax( name: String, id: Int,