From 4385fdb372b77556d0af8543f2176467089b260c Mon Sep 17 00:00:00 2001 From: John Joseph Date: Sun, 31 Mar 2024 17:58:55 -0400 Subject: [PATCH] slow pivot premove for 4 piece helper, create 1727 synergy auto --- simgui.json | 10 +- .../choreo/4_Piece_Helper_MiddleDown.chor | 41283 ++++++++-------- src/main/deploy/choreo/Synergized_1727.chor | 11882 +++++ .../frc/team449/robot2024/auto/AutoUtil.kt | 157 +- .../auto/routines/FourAndHalfREXSynergize.kt | 48 + .../auto/routines/FourPieceHelper.kt | 19 +- .../robot2024/auto/routines/RoutineChooser.kt | 47 +- .../constants/subsystem/PivotConstants.kt | 2 + .../robot2024/subsystems/pivot/Pivot.kt | 26 + 9 files changed, 32790 insertions(+), 20684 deletions(-) create mode 100644 src/main/deploy/choreo/Synergized_1727.chor create mode 100644 src/main/kotlin/frc/team449/robot2024/auto/routines/FourAndHalfREXSynergize.kt diff --git a/simgui.json b/simgui.json index 7497c6c..612f5d0 100644 --- a/simgui.json +++ b/simgui.json @@ -127,10 +127,7 @@ 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"translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 75 + } + ], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + } + ], + "usesControlIntervalGuessing": false, + "defaultControlIntervalCount": 75, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [], + "isTrajectoryStale": false + } + }, + "splitTrajectoriesAtStopPoints": false, + "usesObstacles": true +} \ No newline at end of file diff --git a/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt b/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt index 34011e3..65b0d7b 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt @@ -165,8 +165,6 @@ object AutoUtil { } fun autoFarIntakeV2(robot: Robot): Command { - var readyShooter = false - return ParallelCommandGroup( SequentialCommandGroup( robot.undertaker.intake(), @@ -243,11 +241,9 @@ object AutoUtil { robot.undertaker.stop().alongWith( robot.feeder.stop() ) - ), - InstantCommand({ readyShooter = true }) + ) ), SequentialCommandGroup( - robot.shooter.rampStop().until { readyShooter }, robot.shooter.shootAnywhere() ), SequentialCommandGroup( @@ -256,23 +252,156 @@ object AutoUtil { ) } + fun autoFarIntakeV2Premove(robot: Robot, angle: Double): Command { + return ParallelCommandGroup( + SequentialCommandGroup( + robot.pivot.moveStow().until { robot.pivot.inTolerance(PivotConstants.AMP_ANGLE) }.andThen( + InstantCommand({ robot.pivot.setVoltage(-0.35) }) + ), + robot.undertaker.intake(), + robot.feeder.slowIntake(), + WaitUntilCommand { !robot.infrared.get() }, + ConditionalCommand( + SequentialCommandGroup( + ParallelCommandGroup( + robot.undertaker.slowIntake(), + robot.feeder.slowIntake(), + ), + WaitUntilCommand { !robot.closeToShooterInfrared.get() } + ), + InstantCommand() + ) { robot.closeToShooterInfrared.get() }, + SequentialCommandGroup( + robot.undertaker.stop(), + robot.feeder.outtake(), + WaitUntilCommand { robot.closeToShooterInfrared.get() }, + robot.undertaker.stop().alongWith( + robot.feeder.stop() + ) + ), + ConditionalCommand( + SequentialCommandGroup( + ParallelCommandGroup( + robot.undertaker.slowIntake(), + robot.feeder.slowIntake(), + ), + WaitUntilCommand { !robot.closeToShooterInfrared.get() } + ), + InstantCommand() + ) { robot.closeToShooterInfrared.get() }, + SequentialCommandGroup( + robot.undertaker.stop(), + robot.feeder.outtake(), + WaitUntilCommand { robot.closeToShooterInfrared.get() }, + robot.undertaker.stop().alongWith( + robot.feeder.stop() + ) + ), + ConditionalCommand( + SequentialCommandGroup( + ParallelCommandGroup( + robot.undertaker.slowIntake(), + robot.feeder.slowIntake(), + ), + WaitUntilCommand { !robot.closeToShooterInfrared.get() } + ), + InstantCommand() + ) { robot.closeToShooterInfrared.get() }, + SequentialCommandGroup( + robot.undertaker.stop(), + robot.feeder.outtake(), + WaitUntilCommand { robot.closeToShooterInfrared.get() }, + robot.undertaker.stop().alongWith( + robot.feeder.stop() + ) + ), + + ParallelCommandGroup( + SequentialCommandGroup( + ConditionalCommand( + SequentialCommandGroup( + ParallelCommandGroup( + robot.undertaker.slowIntake(), + robot.feeder.slowIntake(), + ), + WaitUntilCommand { !robot.closeToShooterInfrared.get() } + ), + InstantCommand() + ) { robot.closeToShooterInfrared.get() }, + SequentialCommandGroup( + robot.undertaker.stop(), + robot.feeder.outtake(), + WaitUntilCommand { robot.closeToShooterInfrared.get() }, + robot.undertaker.stop().alongWith( + robot.feeder.stop() + ) + ), + ConditionalCommand( + SequentialCommandGroup( + ParallelCommandGroup( + robot.undertaker.slowIntake(), + robot.feeder.slowIntake(), + ), + WaitUntilCommand { !robot.closeToShooterInfrared.get() } + ), + InstantCommand() + ) { robot.closeToShooterInfrared.get() }, + SequentialCommandGroup( + robot.undertaker.stop(), + robot.feeder.outtake(), + WaitUntilCommand { robot.closeToShooterInfrared.get() }, + robot.undertaker.stop().alongWith( + robot.feeder.stop() + ) + ), + ConditionalCommand( + SequentialCommandGroup( + ParallelCommandGroup( + robot.undertaker.slowIntake(), + robot.feeder.slowIntake(), + ), + WaitUntilCommand { !robot.closeToShooterInfrared.get() } + ), + InstantCommand() + ) { robot.closeToShooterInfrared.get() }, + SequentialCommandGroup( + robot.undertaker.stop(), + robot.feeder.outtake(), + WaitUntilCommand { robot.closeToShooterInfrared.get() }, + robot.undertaker.stop().alongWith( + robot.feeder.stop() + ) + ) + ) + ), + robot.pivot.moveAngleCmdPremove(angle) + ), + + SequentialCommandGroup( + robot.shooter.shootAnywhere() + ) + ) + } + fun autoFarShootHelperV2(robot: Robot, pose: Translation2d, offset: Double = 0.0): Command { val cmd = SequentialCommandGroup( FunctionalCommand( { - val robotPose = if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) + val robotPose = if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) { Translation2d(FieldConstants.fieldLength - pose.x, pose.y) - else + } else { pose + } val robotToPoint = FieldConstants.SPEAKER_POSE - robotPose RobotConstants.ORTHOGONAL_CONTROLLER.setpoint = robotToPoint.angle.radians + PI }, { - val robotPose = if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) + val robotPose = if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) { Translation2d(FieldConstants.fieldLength - pose.x, pose.y) - else + } else { pose + } robot.shooter.shootPiece( SpinShooterConstants.ANYWHERE_LEFT_SPEED, @@ -299,10 +428,11 @@ object AutoUtil { println( "drive thing: " + - if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) + if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) { abs(MathUtil.angleModulus(robot.drive.heading.radians - robotToPoint.angle.radians + PI)) - else + } else { abs(MathUtil.angleModulus(robot.drive.heading.radians - robotToPoint.angle.radians + PI) - PI) + } ) if (robot.shooter.atSetpoint() && @@ -362,10 +492,11 @@ object AutoUtil { println( "drive thing: " + - if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) + if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) { abs(MathUtil.angleModulus(robot.drive.heading.radians - robotToPoint.angle.radians + PI) - 2 * PI) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD - else + } else { abs(MathUtil.angleModulus(robot.drive.heading.radians - robotToPoint.angle.radians + PI) - PI) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD + } ) if (robot.shooter.atSetpoint() && diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/FourAndHalfREXSynergize.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourAndHalfREXSynergize.kt new file mode 100644 index 0000000..50c2567 --- /dev/null +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourAndHalfREXSynergize.kt @@ -0,0 +1,48 @@ +package frc.team449.robot2024.auto.routines + +import edu.wpi.first.wpilibj2.command.InstantCommand +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 FourAndHalfREXSynergize( + robot: Robot, + isRed: Boolean +) : ChoreoRoutineStructure { + override val routine = + ChoreoRoutine( + drive = robot.drive, + parallelEventMap = hashMapOf( + 0 to AutoUtil.autoIntake(robot), + 1 to AutoUtil.autoIntake(robot), + 2 to AutoUtil.autoIntake(robot), + 3 to AutoUtil.autoIntake(robot) + ), + stopEventMap = hashMapOf( + 0 to AutoUtil.autoShoot(robot), + 1 to AutoUtil.autoShoot(robot), + 2 to AutoUtil.autoShoot(robot), + 3 to AutoUtil.autoShoot(robot), + // TODO: Will this actually pass the note? + 4 to AutoUtil.autoShoot(robot).andThen( + InstantCommand({ robot.drive.stop() }), + robot.undertaker.stop(), + robot.feeder.stop(), + robot.shooter.forceStop() + ) + ), + debug = false, + timeout = 0.0 + ) + + override val trajectory: MutableList = + if (isRed) { + AutoUtil.transformForRed( + ChoreoTrajectory.createTrajectory("Synergized_1727") + ) + } else { + ChoreoTrajectory.createTrajectory("Synergized_1727") + } +} diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceHelper.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceHelper.kt index b966b60..711c772 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceHelper.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceHelper.kt @@ -3,6 +3,7 @@ package frc.team449.robot2024.auto.routines 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.util.Units import edu.wpi.first.wpilibj2.command.InstantCommand import edu.wpi.first.wpilibj2.command.SequentialCommandGroup import edu.wpi.first.wpilibj2.command.WaitCommand @@ -12,7 +13,9 @@ import frc.team449.control.auto.ChoreoTrajectory import frc.team449.robot2024.Robot import frc.team449.robot2024.auto.AutoUtil import frc.team449.robot2024.constants.field.FieldConstants +import frc.team449.robot2024.constants.subsystem.SpinShooterConstants import kotlin.math.PI +import kotlin.math.abs class FourPieceHelper( robot: Robot, @@ -22,24 +25,30 @@ class FourPieceHelper( val speakerPose = if (isRed) FieldConstants.RED_SPEAKER_POSE else FieldConstants.BLUE_SPEAKER_POSE val shot0Pose = Translation2d(1.443, 4.100571155548096) - val shot0Offset = -0.275 // -0.5 + val shot0Offset = -0.085 // -0.5 val shot1Pose = Translation2d(3.075 + 0.25, 2.90) - val shot1Offset = -7.785 // -7.9 + val shot1Offset = -7.725 // -7.9 val shot2Pose = Translation2d(3.25 + 0.25, 2.95) val shot2Offset = -7.175 // -7.2 val shot3Pose = Translation2d(3.165, 3.225) - val shot3Offset = -4.085 // -4.45 + val shot3Offset = -3.725 // -4.45 override val routine = ChoreoRoutine( drive = robot.drive, parallelEventMap = hashMapOf( 0 to AutoUtil.autoFarIntakeV2(robot), - 1 to AutoUtil.autoFarIntakeV2(robot), - 2 to AutoUtil.autoFarIntakeV2(robot) + 1 to AutoUtil.autoFarIntakeV2Premove( + robot, + Units.degreesToRadians(SpinShooterConstants.equation(Units.metersToInches(abs(FieldConstants.BLUE_SPEAKER_POSE.getDistance(shot2Pose)))) + shot2Offset) + ), + 2 to AutoUtil.autoFarIntakeV2Premove( + robot, + Units.degreesToRadians(SpinShooterConstants.equation(Units.metersToInches(abs(FieldConstants.BLUE_SPEAKER_POSE.getDistance(shot3Pose)))) + shot3Offset) + ), ), stopEventMap = hashMapOf( 0 to SequentialCommandGroup( diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt index 4945c90..020ec10 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt @@ -21,14 +21,16 @@ class RoutineChooser(private val robot: Robot) : SendableChooser() { // "BlueSubwoofer5PieceFar" to FivePieceSubwooferFarFirst(robot, false).createCommand(), "RedSubwoofer5PieceFarthy" to FivePieceSubwooferFarthy(robot, true).createCommand(), "BlueSubwoofer5PieceFarthy" to FivePieceSubwooferFarthy(robot, false).createCommand(), - "RedSixPiece" to SixPiece(robot, true).createCommand(), - "BlueSixPiece" to SixPiece(robot, false).createCommand(), - "RedSixPiecePhyreMiddy" to SixPiecePhyreMiddy(robot, true).createCommand(), - "BlueSixPiecePhyreMiddy" to SixPiecePhyreMiddy(robot, false).createCommand(), - "RedSixPiecePhyreFarthy" to SixPiecePhyreFarthy(robot, true).createCommand(), - "BlueSixPiecePhyreFarthy" to SixPiecePhyreFarthy(robot, false).createCommand(), +// "RedSixPiece" to SixPiece(robot, true).createCommand(), +// "BlueSixPiece" to SixPiece(robot, false).createCommand(), +// "RedSixPiecePhyreMiddy" to SixPiecePhyreMiddy(robot, true).createCommand(), +// "BlueSixPiecePhyreMiddy" to SixPiecePhyreMiddy(robot, false).createCommand(), +// "RedSixPiecePhyreFarthy" to SixPiecePhyreFarthy(robot, true).createCommand(), +// "BlueSixPiecePhyreFarthy" to SixPiecePhyreFarthy(robot, false).createCommand(), "RedFourPieceHelper" to FourPieceHelper(robot, true).createCommand(), - "BlueFourPieceHelper" to FourPieceHelper(robot, false).createCommand() + "BlueFourPieceHelper" to FourPieceHelper(robot, false).createCommand(), + "RedREXSynergize" to FourAndHalfREXSynergize(robot, true).createCommand(), + "BlueREXSynergize" to FourAndHalfREXSynergize(robot, false).createCommand() ) } @@ -70,24 +72,29 @@ class RoutineChooser(private val robot: Robot) : SendableChooser() { // if (isRed) "Red3PieceMid" else "Blue3PieceMid" // ) - this.addOption( - "6 Piece", - if (isRed) "RedSixPiece" else "BlueSixPiece" - ) - - this.addOption( - "6 Piece Phyre Farthy", - if (isRed) "RedSixPiecePhyreFarthy" else "BlueSixPiecePhyreFarthy" - ) +// this.addOption( +// "6 Piece", +// if (isRed) "RedSixPiece" else "BlueSixPiece" +// ) +// +// this.addOption( +// "6 Piece Phyre Farthy", +// if (isRed) "RedSixPiecePhyreFarthy" else "BlueSixPiecePhyreFarthy" +// ) +// +// this.addOption( +// "6 Piece Phyre Middy", +// if (isRed) "RedSixPiecePhyreMiddy" else "BlueSixPiecePhyreMiddy" +// ) this.addOption( - "6 Piece Phyre Middy", - if (isRed) "RedSixPiecePhyreMiddy" else "BlueSixPiecePhyreMiddy" + "4 Piece Helper Centerline", + if (isRed) "RedFourPieceHelper" else "BlueFourPieceHelper" ) this.addOption( - "4 Piece Helper Centerline", - if (isRed) "RedFourPieceHelper" else "BlueFourPieceHelper" + "4.5 Piece REX Synergy", + if (isRed) "RedREXSynergize" else "BlueREXSynergize" ) } } diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt index ebfac76..e9c1039 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt @@ -68,6 +68,8 @@ object PivotConstants { const val SLOW_ACCEL = 0.5804 * 22.5 // this some fire, actual value is 10.157 + const val PREMOVE_ACCEL = 5.0 + val MIN_ANGLE = Units.degreesToRadians(0.0) val MAX_ANGLE = Units.degreesToRadians(105.0) val AMP_ANGLE = Units.degreesToRadians(89.0) // 95.0 at blacksburg diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt index 00dbf02..1dd088a 100644 --- a/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt +++ b/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt @@ -44,6 +44,13 @@ open class Pivot( ) ) + private val premoveProfile = TrapezoidProfile( + TrapezoidProfile.Constraints( + PivotConstants.MAX_VELOCITY, + PivotConstants.PREMOVE_ACCEL + ) + ) + open val positionSupplier: Supplier = Supplier { encoder.position } @@ -179,6 +186,12 @@ open class Pivot( } } + fun moveAngleCmdPremove(angle: Double): Command { + return this.run { + moveToAnglePremove(angle) + } + } + fun inTolerance(): Boolean { return abs(positionSupplier.get() - lastProfileReference.position) < PivotConstants.MAX_POS_ERROR && abs(velocitySupplier.get()) < PivotConstants.MAX_VEL_ERROR @@ -238,6 +251,19 @@ open class Pivot( motor.setVoltage(getSlowVoltage()) } + fun moveToAnglePremove(goal: Double) { + lastProfileReference = premoveProfile.calculate(RobotConstants.LOOP_TIME, lastProfileReference, TrapezoidProfile.State(goal, 0.0)) + + correct() + slowPredict() + + motor.setVoltage(getSlowVoltage()) + } + + fun setVoltage(voltage: Double) { + motor.setVoltage(voltage) + } + fun moveToAngleFast(goal: Double) { lastProfileReference = profile.calculate(RobotConstants.LOOP_TIME, lastProfileReference, TrapezoidProfile.State(goal, 0.0))