From e85419906a4616c9d66fb5949b993f2d9f3a5698 Mon Sep 17 00:00:00 2001 From: John Joseph Date: Mon, 25 Mar 2024 21:29:05 -0400 Subject: [PATCH] 6 piece auto --- simgui-ds.json | 4 - simgui.json | 12 +- src/main/deploy/choreo/6_Piece.chor | 10561 ++++++++++++++++ .../frc/team449/robot2024/auto/AutoUtil.kt | 174 +- .../robot2024/auto/routines/RoutineChooser.kt | 7 + .../robot2024/auto/routines/SixPiece.kt | 69 + .../constants/subsystem/PivotConstants.kt | 2 +- .../robot2024/subsystems/pivot/Pivot.kt | 8 +- .../subsystems/shooter/SpinShooter.kt | 6 +- 9 files changed, 10814 insertions(+), 29 deletions(-) create mode 100644 src/main/deploy/choreo/6_Piece.chor create mode 100644 src/main/kotlin/frc/team449/robot2024/auto/routines/SixPiece.kt diff --git a/simgui-ds.json b/simgui-ds.json index 15cec71..69b1a3c 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -92,10 +92,6 @@ "robotJoysticks": [ { "guid": "Keyboard0" - }, - { - "guid": "78696e70757401000000000000000000", - "useGamepad": true } ] } diff --git a/simgui.json b/simgui.json index d8490fd..98bc900 100644 --- a/simgui.json +++ b/simgui.json @@ -181,10 +181,7 @@ "selectable": false, "style": "Hidden" }, - "width": 16.541748046875, - "window": { - "visible": true - } + "width": 16.541748046875 } } }, @@ -317,10 +314,7 @@ "open": true } }, - "open": true, - "shooter": { - "open": true - } + "open": true } }, "Shuffleboard": { @@ -485,7 +479,7 @@ 0.0, 0.8500000238418579 ], - "height": 290, + "height": 338, "series": [ { "color": [ diff --git a/src/main/deploy/choreo/6_Piece.chor b/src/main/deploy/choreo/6_Piece.chor new file mode 100644 index 0000000..e3bad68 --- /dev/null +++ b/src/main/deploy/choreo/6_Piece.chor @@ -0,0 +1,10561 @@ +{ + "version": "v0.3", + "robotConfiguration": { + "mass": 69.14877853621914, + "rotationalInertia": 5, + "motorMaxTorque": 0.8607734806629833, + "motorMaxVelocity": 5150, + "gearing": 6.12, + "wheelbase": 0.5651496948191648, + "trackWidth": 0.5524497016771611, + "bumperLength": 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"velocityY": -0.253293078848171, + "timestamp": 3.624702813816263 + }, + { + "x": 3.043251366637599, + "y": 6.103358791284262, + "heading": 0.17878724621157321, + "angularVelocity": 0.06352834765970655, + "velocityX": -0.8760116235170617, + "velocityY": -0.23240246472777487, + "timestamp": 3.6384402269896916 + }, + { + "x": 3.0323119542888697, + "y": 6.100453787354706, + "heading": 0.17958340390833116, + "angularVelocity": 0.05795543067001217, + "velocityX": -0.7963225834888953, + "velocityY": -0.21146659074857466, + "timestamp": 3.6521776401631203 + }, + { + "x": 3.022467103998717, + "y": 6.097836982628464, + "heading": 0.18030237635910762, + "angularVelocity": 0.05233681492285042, + "velocityX": -0.7166451329613726, + "velocityY": -0.19048744426830055, + "timestamp": 3.665915053336549 + }, + { + "x": 3.0137166630517154, + "y": 6.095508946015371, + "heading": 0.18094356271633844, + "angularVelocity": 0.046674461132974646, + "velocityX": -0.6369787991714881, + "velocityY": -0.16946688461037313, + "timestamp": 3.6796524665099777 + }, + { + "x": 3.0060604848391206, + "y": 6.093470222494029, + "heading": 0.18150638737813238, + "angularVelocity": 0.040970207031595776, + "velocityX": -0.557323137624467, + "velocityY": -0.14840665382844556, + "timestamp": 3.6933898796834064 + }, + { + "x": 2.9994984284997943, + "y": 6.0917213345901695, + "heading": 0.18199029843763975, + "angularVelocity": 0.03522577747340179, + "velocityX": -0.47767772989009055, + "velocityY": -0.1273083863632614, + "timestamp": 3.707127292856835 + }, + { + "x": 2.994030358590609, + "y": 6.090262783735399, + "heading": 0.18239476625731918, + "angularVelocity": 0.029442793528388654, + "velocityX": -0.3980421816090076, + "velocityY": -0.10617361772581156, + "timestamp": 3.7208647060302638 + }, + { + "x": 2.9896561447796803, + "y": 6.0890950515188385, + "heading": 0.18271928215580707, + "angularVelocity": 0.02362278067864957, + "velocityX": -0.31841612068554453, + "velocityY": -0.08500379232224416, + "timestamp": 3.7346021192036924 + }, + { + "x": 2.986375661563594, + "y": 6.0882186008421675, + "heading": 0.18296335719652138, + "angularVelocity": 0.017767176224007183, + "velocityX": -0.23879919564652702, + "velocityY": -0.06380027052032348, + "timestamp": 3.748339532377121 + }, + { + "x": 2.9841887880044915, + "y": 6.08763387698521, + "heading": 0.18312652106836866, + "angularVelocity": 0.011877335986579085, + "velocityX": -0.15919107414819497, + "velocityY": -0.04256433504395698, + "timestamp": 3.76207694555055 + }, + { + "x": 2.983095407485962, + "y": 6.08734130859375, + "heading": 0.18320832105, + "angularVelocity": 0.005954540392624937, + "velocityX": -0.07959144161550274, + "velocityY": -0.02129719677101172, + "timestamp": 3.7758143587239785 + }, + { + "x": 2.983095407485962, + "y": 6.08734130859375, + "heading": 0.18320832105, + "angularVelocity": 3.27900016783816e-22, + "velocityX": 2.5789531799263517e-22, + "velocityY": -8.550090015204245e-22, + "timestamp": 3.789551771897407 + } + ], + "trajectoryWaypoints": [ + { + "timestamp": 0, + "isStopPoint": true, + "x": 2.983095407485962, + "y": 6.08734130859375, + "heading": 0.18320832105, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 70 + }, + { + "timestamp": 0.9480340427359403, + "isStopPoint": false, + "x": 5.53113317489624, + "y": 6.55, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 70 + }, + { + "timestamp": 1.8829487646128473, + "isStopPoint": false, + "x": 7.926737308502197, + "y": 5.752915382385254, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 70 + }, + { + "timestamp": 2.827932849757399, + "isStopPoint": false, + "x": 5.53113317489624, + "y": 6.55, + "heading": 0, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": false, + "controlIntervalCount": 70 + }, + { + "timestamp": 3.789551771897407, + "isStopPoint": true, + "x": 2.983095407485962, + "y": 6.08734130859375, + "heading": 0.18320832105, + "isInitialGuess": false, + "translationConstrained": true, + "headingConstrained": true, + "controlIntervalCount": 70 + } + ], + "constraints": [ + { + "scope": [ + "first" + ], + "type": "StopPoint" + }, + { + "scope": [ + "last" + ], + "type": "StopPoint" + } + ], + "usesControlIntervalGuessing": false, + "defaultControlIntervalCount": 70, + "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 48c0fe0..c9a0fc1 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/AutoUtil.kt @@ -4,12 +4,20 @@ import edu.wpi.first.math.MatBuilder import edu.wpi.first.math.MathUtil import edu.wpi.first.math.Nat import edu.wpi.first.math.kinematics.ChassisSpeeds +import edu.wpi.first.math.util.Units +import edu.wpi.first.wpilibj.DriverStation +import edu.wpi.first.wpilibj.RobotBase import edu.wpi.first.wpilibj2.command.* import frc.team449.control.auto.ChoreoTrajectory import frc.team449.robot2024.Robot +import frc.team449.robot2024.constants.RobotConstants import frc.team449.robot2024.constants.auto.AutoConstants import frc.team449.robot2024.constants.field.FieldConstants +import frc.team449.robot2024.constants.subsystem.PivotConstants +import frc.team449.robot2024.constants.subsystem.SpinShooterConstants +import kotlin.jvm.optionals.getOrNull import kotlin.math.PI +import kotlin.math.abs object AutoUtil { @@ -38,19 +46,163 @@ object AutoUtil { } fun autoShoot(robot: Robot): Command { - return ParallelDeadlineGroup( - SequentialCommandGroup( - WaitUntilCommand { robot.shooter.atAutoSetpoint() }.withTimeout(AutoConstants.AUTO_SPINUP_TIMEOUT_SECONDS), - robot.feeder.autoShootIntake(), - robot.undertaker.intake(), + return ConditionalCommand( + ParallelDeadlineGroup( + SequentialCommandGroup( + WaitUntilCommand { robot.shooter.atAutoSetpoint() }.withTimeout(AutoConstants.AUTO_SPINUP_TIMEOUT_SECONDS), + robot.feeder.autoShootIntake(), + robot.undertaker.intake(), + SequentialCommandGroup( + WaitUntilCommand { !robot.infrared.get() || !robot.closeToShooterInfrared.get() }, + WaitUntilCommand { robot.infrared.get() && robot.closeToShooterInfrared.get() } + ).withTimeout(AutoConstants.AUTO_SHOOT_TIMEOUT_SECONDS) + ), + robot.shooter.shootSubwoofer(), + InstantCommand({ robot.drive.set(ChassisSpeeds()) }) + ).andThen(PrintCommand("!!!!!!!!!!!!!!FINISHED AUTO SHOOT!!!!!!!!!!!")), + ParallelDeadlineGroup( + SequentialCommandGroup( + WaitUntilCommand { robot.shooter.atAutoSetpoint() }.withTimeout(AutoConstants.AUTO_SPINUP_TIMEOUT_SECONDS), + robot.feeder.autoShootIntake(), + robot.undertaker.intake(), + SequentialCommandGroup( + WaitUntilCommand { !robot.infrared.get() || !robot.closeToShooterInfrared.get() }, + WaitUntilCommand { robot.infrared.get() && robot.closeToShooterInfrared.get() } + ).withTimeout(AutoConstants.AUTO_SHOOT_TIMEOUT_SECONDS) + ), + robot.shooter.shootSubwoofer(), + InstantCommand({ robot.drive.set(ChassisSpeeds()) }) + ).andThen(PrintCommand("!!!!!!!!!!!!!!FINISHED AUTO SHOOT!!!!!!!!!!!")).withTimeout(0.95) + ) { RobotBase.isReal() } + } + + fun autoFarIntake(robot: Robot, angle: Double): Command { + return ConditionalCommand( + ParallelCommandGroup( SequentialCommandGroup( - WaitUntilCommand { !robot.infrared.get() || !robot.closeToShooterInfrared.get() }, - WaitUntilCommand { robot.infrared.get() && robot.closeToShooterInfrared.get() } - ).withTimeout(AutoConstants.AUTO_SHOOT_TIMEOUT_SECONDS) + robot.undertaker.intake(), + robot.feeder.intake(), + WaitUntilCommand { !robot.infrared.get() }, + robot.undertaker.stop(), + ConditionalCommand( + SequentialCommandGroup( + robot.feeder.outtake(), + WaitUntilCommand { !robot.closeToShooterInfrared.get() }, + robot.feeder.stop() + ), + SequentialCommandGroup( + robot.feeder.outtake(), + WaitCommand(0.05), + robot.feeder.stop() + ) + ) { !robot.closeToShooterInfrared.get() } + ), + robot.shooter.shootAnywhere(), + SequentialCommandGroup( + robot.pivot.moveStow().until { !robot.infrared.get() }, + robot.pivot.moveAngleCmd(angle) + ) ), - robot.shooter.shootSubwoofer(), - InstantCommand({ robot.drive.set(ChassisSpeeds()) }) - ).andThen(PrintCommand("!!!!!!!!!!!!!!FINISHED AUTO SHOOT!!!!!!!!!!!")) + ParallelCommandGroup( + SequentialCommandGroup( + robot.undertaker.intake(), + robot.feeder.intake(), + WaitCommand(1.0), + robot.undertaker.stop(), + ConditionalCommand( + SequentialCommandGroup( + robot.feeder.outtake(), + WaitUntilCommand { !robot.closeToShooterInfrared.get() }, + robot.feeder.stop() + ), + SequentialCommandGroup( + robot.feeder.outtake(), + WaitCommand(0.05), + robot.feeder.stop() + ) + ) { !robot.closeToShooterInfrared.get() } + ), + robot.shooter.shootAnywhere(), + SequentialCommandGroup( + robot.pivot.moveStow().withTimeout(1.85), + robot.pivot.moveAngleCmd(angle) + ) + ) + ) { RobotBase.isReal() } + } + fun autoFarShoot(robot: Robot): Command { + val cmd = ConditionalCommand( + FunctionalCommand( + { }, + { + robot.shooter.shootPiece( + SpinShooterConstants.ANYWHERE_LEFT_SPEED, + SpinShooterConstants.ANYWHERE_RIGHT_SPEED + ) + + val distance = Units.metersToInches(abs(FieldConstants.SPEAKER_POSE.getDistance(robot.drive.pose.translation))) + + val angle = Units.degreesToRadians(SpinShooterConstants.equation(distance)) + + robot.pivot.moveToAngleSlow(MathUtil.clamp(angle, PivotConstants.MIN_ANGLE, PivotConstants.MAX_ANGLE)) + + val fieldToRobot = robot.drive.pose.translation + val robotToPoint = FieldConstants.SPEAKER_POSE - fieldToRobot + + robot.driveCommand.snapToAngle(robotToPoint.angle.radians + if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) PI else 0.0) + + if (robot.shooter.atSetpoint() && + abs((robot.drive.heading - robotToPoint.angle).radians) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && + robot.pivot.inTolerance() + ) { + robot.feeder.intakeVoltage() + robot.undertaker.intakeVoltage() + } + }, + { }, + { robot.infrared.get() && robot.closeToShooterInfrared.get() }, + robot.shooter, + robot.pivot, + robot.feeder, + robot.undertaker + ), + FunctionalCommand( + { }, + { + robot.shooter.shootPiece( + SpinShooterConstants.ANYWHERE_LEFT_SPEED, + SpinShooterConstants.ANYWHERE_RIGHT_SPEED + ) + + val distance = Units.metersToInches(abs(FieldConstants.SPEAKER_POSE.getDistance(robot.drive.pose.translation))) + + val angle = Units.degreesToRadians(SpinShooterConstants.equation(distance)) + + robot.pivot.moveToAngleSlow(MathUtil.clamp(angle, PivotConstants.MIN_ANGLE, PivotConstants.MAX_ANGLE)) + + val fieldToRobot = robot.drive.pose.translation + val robotToPoint = FieldConstants.SPEAKER_POSE - fieldToRobot + + robot.driveCommand.snapToAngle(robotToPoint.angle.radians + if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) PI else 0.0) + + if (robot.shooter.atSetpoint() && + abs((robot.drive.heading - robotToPoint.angle).radians) < RobotConstants.SNAP_TO_ANGLE_TOLERANCE_RAD && + robot.pivot.inTolerance() + ) { + robot.feeder.intakeVoltage() + robot.undertaker.intakeVoltage() + } + }, + { }, + { false }, + robot.shooter, + robot.pivot, + robot.feeder, + robot.undertaker + ).withTimeout(0.40) + ) { RobotBase.isReal() } + cmd.name = "auto aiming" + return cmd } fun transformForRed(pathGroup: MutableList): MutableList { 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 047a31f..0485631 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt @@ -21,6 +21,8 @@ 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() ) } @@ -61,5 +63,10 @@ class RoutineChooser(private val robot: Robot) : SendableChooser() { "3 Piece Mid", if (isRed) "Red3PieceMid" else "Blue3PieceMid" ) + + this.addOption( + "6 Piece", + if (isRed) "RedSixPiece" else "BlueSixPiece" + ) } } diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/SixPiece.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/SixPiece.kt new file mode 100644 index 0000000..d3949f9 --- /dev/null +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/SixPiece.kt @@ -0,0 +1,69 @@ +package frc.team449.robot2024.auto.routines + +import edu.wpi.first.math.geometry.Translation2d +import edu.wpi.first.math.util.Units +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 +import frc.team449.robot2024.constants.field.FieldConstants +import frc.team449.robot2024.constants.subsystem.SpinShooterConstants +import kotlin.math.abs + +class SixPiece( + robot: Robot, + isRed: Boolean +) : ChoreoRoutineStructure { + + override val routine = + ChoreoRoutine( + drive = robot.drive, + parallelEventMap = hashMapOf( + 0 to AutoUtil.autoFarIntake( + robot, + Units.degreesToRadians(SpinShooterConstants.equation(Units.metersToInches(abs(FieldConstants.BLUE_SPEAKER_POSE.getDistance(Translation2d(2.146901845932007, 4.836400508880615)))))) + ), + 1 to AutoUtil.autoFarIntake( + robot, + Units.degreesToRadians(SpinShooterConstants.equation(Units.metersToInches(abs(FieldConstants.BLUE_SPEAKER_POSE.getDistance(Translation2d(2.55, 5.525)))))) + ), + 2 to AutoUtil.autoFarIntake( + robot, + Units.degreesToRadians(SpinShooterConstants.equation(Units.metersToInches(abs(FieldConstants.BLUE_SPEAKER_POSE.getDistance(Translation2d(2.633739948272705, 6.8354172706604)))))) + ), + 3 to AutoUtil.autoFarIntake( + robot, + Units.degreesToRadians(SpinShooterConstants.equation(Units.metersToInches(abs(FieldConstants.BLUE_SPEAKER_POSE.getDistance(Translation2d(2.983095407485962, 6.08734130859375)))))) + ), + 4 to AutoUtil.autoFarIntake( + robot, + Units.degreesToRadians(SpinShooterConstants.equation(Units.metersToInches(abs(FieldConstants.BLUE_SPEAKER_POSE.getDistance(Translation2d(2.983095407485962, 6.08734130859375)))))) + ) + ), + stopEventMap = hashMapOf( + 0 to AutoUtil.autoShoot(robot), + 1 to AutoUtil.autoFarShoot(robot), + 2 to AutoUtil.autoFarShoot(robot), + 3 to AutoUtil.autoFarShoot(robot), + 4 to AutoUtil.autoFarShoot(robot), + 5 to AutoUtil.autoFarShoot(robot).andThen( + robot.undertaker.stop(), + robot.feeder.stop(), + robot.shooter.forceStop(), + robot.pivot.moveStow() + ) + ), + debug = false, + timeout = 0.0 + ) + + override val trajectory: MutableList = + if (isRed) { + AutoUtil.transformForRed( + ChoreoTrajectory.createTrajectory("6_Piece") + ) + } else { + ChoreoTrajectory.createTrajectory("6_Piece") + } +} 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 f3563fa..16c6b26 100644 --- a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt +++ b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/PivotConstants.kt @@ -67,7 +67,7 @@ object PivotConstants { 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 - val CLIMB_ANGLE = Units.degreesToRadians(65.0) + val CLIMB_ANGLE = Units.degreesToRadians(60.0) val STOW_ANGLE = Units.degreesToRadians(-2.0) // IS THIS CORRECT??? 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 3449398..f96e87c 100644 --- a/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt +++ b/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt @@ -53,7 +53,7 @@ open class Pivot( open val velocitySupplier: Supplier = Supplier { encoder.velocity } - private var lastProfileReference = TrapezoidProfile.State( + var lastProfileReference = TrapezoidProfile.State( PivotConstants.STOW_ANGLE, 0.0 ) @@ -142,6 +142,12 @@ open class Pivot( } } + fun moveAngleCmd(angle: Double): Command { + return this.run { + moveToAngleSlow(angle) + } + } + fun autoAngle(): Command { return this.run { moveToAngle(PivotConstants.AUTO_ANGLE) diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt index 19f2dbb..ad50126 100644 --- a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt +++ b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt @@ -371,7 +371,7 @@ open class SpinShooter( return cmd } - private fun shootPiece(rightSpeed: Double, leftSpeed: Double) { + fun shootPiece(rightSpeed: Double, leftSpeed: Double) { if (DriverStation.isDisabled()) { correct() } else { @@ -522,8 +522,8 @@ open class SpinShooter( ) val rightPlantSim = LinearSystemId.identifyVelocitySystem( - SpinShooterConstants.RIGHT_KV - 0.0075, - SpinShooterConstants.RIGHT_KA - 0.0015 + SpinShooterConstants.RIGHT_KV, + SpinShooterConstants.RIGHT_KA ) val leftObserver = KalmanFilter(