diff --git a/build.gradle b/build.gradle index f61ce34..9d2bfe0 100644 --- a/build.gradle +++ b/build.gradle @@ -60,7 +60,7 @@ ktlint { dependencies { compileOnly 'org.jetbrains:annotations:24.0.1' - implementation 'com.github.shueja:Monologue:v1.0.0-beta5' + implementation 'com.github.shueja:Monologue:v1.0.0-beta6' implementation("io.javalin:javalin:5.6.2") implementation("org.slf4j:slf4j-nop:2.0.6") diff --git a/simgui-ds.json b/simgui-ds.json index 15cec71..ed8c12e 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -94,7 +94,6 @@ "guid": "Keyboard0" }, { - "guid": "78696e70757401000000000000000000", "useGamepad": true } ] diff --git a/simgui.json b/simgui.json index 2710dfc..34f8020 100644 --- a/simgui.json +++ b/simgui.json @@ -219,6 +219,9 @@ "Monologuing": { "open": true, "robot": { + "closeToShooterInfrared": { + "open": true + }, "drive": { "boolean[]##v_/Monologuing/robot/drive/2.1 Used Last Vision Estimate?": { "open": true @@ -297,8 +300,7 @@ }, 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+ "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 95 + }, + { + "timestamp": 0.8821351639873358, + "isStopPoint": false, + "x": 2.15, + "y": 6.925, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 95 + }, + { + "timestamp": 1.290009041149192, + "isStopPoint": false, + "x": 2.55, + "y": 6.925, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 95 + }, + { + "timestamp": 2.3978379334169513, + "isStopPoint": true, + "x": 1.345, + "y": 5.558067321777344, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 95 + } + ], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + } + ], + "usesControlIntervalGuessing": false, + "defaultControlIntervalCount": 95, + "usesDefaultFieldObstacles": true, + "circleObstacles": [], + "eventMarkers": [], + "isTrajectoryStale": false + } + }, + "splitTrajectoriesAtStopPoints": false, + "usesObstacles": true +} \ No newline at end of file diff --git a/src/main/kotlin/frc/team449/control/holonomic/SwerveDrive.kt b/src/main/kotlin/frc/team449/control/holonomic/SwerveDrive.kt index 98612b7..8c154be 100644 --- a/src/main/kotlin/frc/team449/control/holonomic/SwerveDrive.kt +++ b/src/main/kotlin/frc/team449/control/holonomic/SwerveDrive.kt @@ -282,27 +282,37 @@ open class SwerveDrive( println(index) } - builder.publishConstString("3.0", "Steering Rot (Std Order FL, FR, BL, BR)") + builder.publishConstString("3.0", "Driving & Steering (Std Order FL, FR, BL, BR)") builder.addDoubleArrayProperty( - "3.1 Current Rotation", - { DoubleArray(modules.size) { index -> modules[index].position.angle.rotations } }, - null - ) - builder.addDoubleArrayProperty( - "3.2 Desired Rotation", - { DoubleArray(modules.size) { index -> modules[index].desiredState.angle.rotations } }, - null - ) - - builder.publishConstString("4.0", "Module Driving Speeds (Std Order FL, FR, BL, BR)") - builder.addDoubleArrayProperty( - "4.1 Desired Speed", - { DoubleArray(modules.size) { index -> modules[index].desiredState.speedMetersPerSecond } }, + "3.1 Current States", + { + doubleArrayOf( + modules[0].state.angle.radians, + modules[0].state.speedMetersPerSecond, + modules[1].state.angle.radians, + modules[1].state.speedMetersPerSecond, + modules[2].state.angle.radians, + modules[2].state.speedMetersPerSecond, + modules[3].state.angle.radians, + modules[3].state.speedMetersPerSecond, + ) + }, null ) builder.addDoubleArrayProperty( - "4.2 Current Speeds", - { DoubleArray(modules.size) { index -> modules[index].state.speedMetersPerSecond } }, + "3.2 Desired States", + { + doubleArrayOf( + modules[0].desiredState.angle.radians, + modules[0].desiredState.speedMetersPerSecond, + modules[1].desiredState.angle.radians, + modules[1].desiredState.speedMetersPerSecond, + modules[2].desiredState.angle.radians, + modules[2].desiredState.speedMetersPerSecond, + modules[3].desiredState.angle.radians, + modules[3].desiredState.speedMetersPerSecond, + ) + }, null ) diff --git a/src/main/kotlin/frc/team449/control/vision/VisionEstimator.kt b/src/main/kotlin/frc/team449/control/vision/VisionEstimator.kt index 35a1034..0c87f65 100644 --- a/src/main/kotlin/frc/team449/control/vision/VisionEstimator.kt +++ b/src/main/kotlin/frc/team449/control/vision/VisionEstimator.kt @@ -2,6 +2,7 @@ package frc.team449.control.vision import edu.wpi.first.apriltag.AprilTag import edu.wpi.first.apriltag.AprilTagFieldLayout +import edu.wpi.first.math.MathUtil import edu.wpi.first.math.Matrix import edu.wpi.first.math.geometry.* import edu.wpi.first.math.numbers.N1 @@ -100,6 +101,7 @@ class VisionEstimator( ) ) } else { + println("getting into single tag") lowestAmbiguityStrategy(result) } } @@ -202,61 +204,43 @@ class VisionEstimator( val bestPose = targetPosition .get() .transformBy( - Transform3d( - lowestAmbiguityTarget.bestCameraToTarget.translation, - Rotation3d( - lowestAmbiguityTarget.bestCameraToTarget.rotation.x, - lowestAmbiguityTarget.bestCameraToTarget.rotation.y, - driveHeading!!.radians + robotToCam.rotation.z - targetPosition.get().rotation.z - ) - ).inverse() + lowestAmbiguityTarget.bestCameraToTarget.inverse() ) .transformBy(robotToCam.inverse()) + println(driveHeading!!.radians) + val altPose = targetPosition .get() .transformBy( - Transform3d( - lowestAmbiguityTarget.alternateCameraToTarget.translation, - Rotation3d( - lowestAmbiguityTarget.alternateCameraToTarget.rotation.x, - lowestAmbiguityTarget.alternateCameraToTarget.rotation.y, - driveHeading!!.radians + robotToCam.rotation.z - targetPosition.get().rotation.z - ) - ).inverse() + lowestAmbiguityTarget.alternateCameraToTarget.inverse() ) .transformBy(robotToCam.inverse()) val usedPose = checkBest(lastPose, bestPose, altPose) ?: bestPose if (usedPose == bestPose) { - val camBestPose = targetPosition - .get() - .transformBy( - Transform3d( - lowestAmbiguityTarget.bestCameraToTarget.translation, - lowestAmbiguityTarget.bestCameraToTarget.rotation - ).inverse() + if (abs( + MathUtil.angleModulus( + MathUtil.angleModulus(bestPose.rotation.z) - + MathUtil.angleModulus(driveHeading!!.radians) + ) ) - .transformBy(robotToCam.inverse()) - - if (abs(camBestPose.rotation.z * (180 / (2 * PI)) - driveHeading!!.degrees) > VisionConstants.SINGLE_TAG_HEADING_MAX_DEV_DEG) { - DriverStation.reportWarning("Best Single Tag Heading over Max Deviation, deviated by ${abs(camBestPose.rotation.z * (180 / (2 * PI)) - driveHeading!!.degrees)}", false) + > VisionConstants.SINGLE_TAG_HEADING_MAX_DEV_RAD + ) { + DriverStation.reportWarning("Best Single Tag Heading over Max Deviation, deviated by ${abs(bestPose.rotation.z * (180 / (2 * PI)) - driveHeading!!.degrees)}", false) return Optional.empty() } } else { - val camAltPose = targetPosition - .get() - .transformBy( - Transform3d( - lowestAmbiguityTarget.alternateCameraToTarget.translation, - lowestAmbiguityTarget.alternateCameraToTarget.rotation - ).inverse() + if (abs( + MathUtil.angleModulus( + MathUtil.angleModulus(altPose.rotation.z) - + MathUtil.angleModulus(driveHeading!!.radians) + ) ) - .transformBy(robotToCam.inverse()) - - if (abs(camAltPose.rotation.z * (180 / (2 * PI)) - driveHeading!!.degrees) > VisionConstants.SINGLE_TAG_HEADING_MAX_DEV_DEG) { - DriverStation.reportWarning("Alt Single Tag Heading over Max Deviation, deviated by ${abs(camAltPose.rotation.z * (180 / (2 * PI)) - driveHeading!!.degrees)}", false) + > VisionConstants.SINGLE_TAG_HEADING_MAX_DEV_RAD + ) { + DriverStation.reportWarning("Alt Single Tag Heading over Max Deviation, deviated by ${abs(altPose.rotation.z * (180 / (2 * PI)) - driveHeading!!.degrees)}", false) return Optional.empty() } } diff --git a/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt b/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt index da98464..da24cbb 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt @@ -21,7 +21,7 @@ object AutoUtil { WaitUntilCommand { !robot.infrared.get() }, robot.undertaker.stop(), robot.feeder.outtake(), - WaitCommand(0.10), + WaitCommand(0.075), robot.feeder.stop(), ), robot.shooter.shootSubwoofer() @@ -66,6 +66,7 @@ object AutoUtil { WaitUntilCommand { robot.shooter.atAutoSetpoint() }.withTimeout(AutoConstants.AUTO_SPINUP_TIMEOUT_SECONDS), robot.feeder.autoShootIntake(), robot.undertaker.intake(), + WaitUntilCommand { !robot.infrared.get() || !robot.closeToShooterInfrared.get() }, WaitUntilCommand { robot.infrared.get() && robot.closeToShooterInfrared.get() } .withTimeout(AutoConstants.AUTO_SHOOT_TIMEOUT_SECONDS) ), diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt index 176a905..0789410 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt @@ -34,9 +34,9 @@ class Experimental3PieceMid( override val trajectory: MutableList = if (isRed) { AutoUtil.transformForRed( - ChoreoTrajectory.createTrajectory("3_Piece_Mid") + ChoreoTrajectory.createTrajectory("3_Piece_Mid_ADJUSTED") ) } else { - ChoreoTrajectory.createTrajectory("3_Piece_Mid") + ChoreoTrajectory.createTrajectory("3_Piece_Mid_ADJUSTED") } } diff --git a/src/main/kotlin/frc/team449/robot2024/commands/AutoAim.kt b/src/main/kotlin/frc/team449/robot2024/commands/AutoAim.kt index 8769b58..fd20cbe 100644 --- a/src/main/kotlin/frc/team449/robot2024/commands/AutoAim.kt +++ b/src/main/kotlin/frc/team449/robot2024/commands/AutoAim.kt @@ -4,7 +4,6 @@ import edu.wpi.first.wpilibj2.command.Command import edu.wpi.first.wpilibj2.command.SequentialCommandGroup import edu.wpi.first.wpilibj2.command.WaitUntilCommand import frc.team449.robot2024.Robot -import frc.team449.robot2024.commands.driveAlign.OrbitAlign import frc.team449.robot2024.constants.field.FieldConstants import frc.team449.robot2024.constants.subsystem.SpinShooterConstants import kotlin.math.abs @@ -27,13 +26,11 @@ class AutoAim( robot.shooter.shootSubwoofer() robot.pivot.moveToAngle(shootingMap.get(getDistanceToSpeaker())) - - val fieldToRobot = robot.drive.pose.translation val robotToPoint = FieldConstants.SPEAKER_POSE - fieldToRobot robot.driveCommand.snapToAngle(robotToPoint.angle.radians) - if (robot.mechController.().asBoolean && + if ( // robot.mechController. && abs(robot.drive.currentSpeeds.vxMetersPerSecond) <= 0.1 && abs(robot.drive.currentSpeeds.vyMetersPerSecond) <= 0.1 && abs(robot.drive.currentSpeeds.omegaRadiansPerSecond) <= 0.1 ) { SequentialCommandGroup( diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt index 64c79e3..6c2e7b3 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/ShooterConstants.kt @@ -9,7 +9,8 @@ object ShooterConstants { const val RIGHT_MOTOR_INVERTED = true const val LEFT_MOTOR_ID = 46 const val LEFT_MOTOR_INVERTED_RELATIVE_TO_RIGHT = true - const val CURRENT_LIMIT = 100 + const val CURRENT_LIMIT = 85 + const val SECONDARY_CURRENT_LIMIT = 150.0 const val BRAKE_MODE = false val SUBWOOFER_SPEED = Units.rotationsPerMinuteToRadiansPerSecond(4000.0) diff --git a/src/main/kotlin/frc/team449/robot2024/constants/vision/VisionConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/vision/VisionConstants.kt index 3389bb3..8867ce4 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/vision/VisionConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/vision/VisionConstants.kt @@ -50,9 +50,9 @@ object VisionConstants { /** Filtering Constants */ const val MAX_AMBIGUITY = 0.325 - const val MAX_DISTANCE_SINGLE_TAG = 3.0 - const val MAX_DISTANCE_MULTI_TAG = 5.0 - const val SINGLE_TAG_HEADING_MAX_DEV_DEG = 5.0 + const val MAX_DISTANCE_SINGLE_TAG = 4.5 + const val MAX_DISTANCE_MULTI_TAG = 6.0 + val SINGLE_TAG_HEADING_MAX_DEV_RAD = Units.radiansToDegrees(5.0) var MAX_HEIGHT_ERR_METERS = 0.75 const val NUM_TAG_FACTOR = 2.0 diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt index 27b5692..94a2b78 100644 --- a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt +++ b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt @@ -82,7 +82,7 @@ open class Shooter( } private fun getVoltage(): Double { - val voltage = MathUtil.clamp( + return MathUtil.clamp( controller.getU(0) + feedforward.getUff(0) - observer.getXhat(1) + @@ -90,8 +90,6 @@ open class Shooter( -ShooterConstants.MAX_VOLTAGE, ShooterConstants.MAX_VOLTAGE ) - - return voltage } fun hold(): Command { @@ -241,6 +239,7 @@ open class Shooter( ), inverted = ShooterConstants.RIGHT_MOTOR_INVERTED, currentLimit = ShooterConstants.CURRENT_LIMIT, + secondaryCurrentLimit = ShooterConstants.SECONDARY_CURRENT_LIMIT, enableBrakeMode = ShooterConstants.BRAKE_MODE, slaveSparks = mapOf(Pair(ShooterConstants.LEFT_MOTOR_ID, ShooterConstants.LEFT_MOTOR_INVERTED_RELATIVE_TO_RIGHT)) ) diff --git a/src/main/kotlin/frc/team449/system/motor/SparkMaxCreator.kt b/src/main/kotlin/frc/team449/system/motor/SparkMaxCreator.kt index 722cd1f..0e049b8 100644 --- a/src/main/kotlin/frc/team449/system/motor/SparkMaxCreator.kt +++ b/src/main/kotlin/frc/team449/system/motor/SparkMaxCreator.kt @@ -19,6 +19,7 @@ fun createSparkMax( enableBrakeMode: Boolean = true, inverted: Boolean = false, currentLimit: Int = 0, + secondaryCurrentLimit: Double = 0.0, enableVoltageComp: Boolean = false, slaveSparks: Map = mapOf(), controlFrameRateMillis: Int = -1, @@ -67,6 +68,10 @@ fun createSparkMax( motor.setSmartCurrentLimit(currentLimit) } + if (secondaryCurrentLimit > 0) { + motor.setSecondaryCurrentLimit(secondaryCurrentLimit) + } + if (enableVoltageComp) { motor.enableVoltageCompensation(RobotController.getBatteryVoltage()) } else {