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Crerve aim #58

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Crerve aim #58

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e04c93e
swerve aim with offset interpolater, and shuffleboard setup
CrolineCrois Mar 8, 2024
c1dbd64
whatever else died
CrolineCrois Mar 16, 2024
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6 changes: 3 additions & 3 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -320,9 +320,9 @@ private void configureBindings() {
aButton.onTrue(
new ElevatorToZeroCommand(elevatorSubsystem).andThen(// first lower the elevator (should be down)
new IntakePivotSetPositionCommand(intakePivotSubsystem, 1).alongWith(// then extend the intake
new IntakeRollerIntakeCommand(intakeRollerSubsystem, lightBarSubsystem)).andThen(
// intake the note to the color sensor
new IntakePivotSetPositionCommand(intakePivotSubsystem, 0) // stow intake
new IntakeRollerIntakeCommand(intakeRollerSubsystem, lightBarSubsystem)).andThen(
// intake the note to the color sensor
new IntakePivotSetPositionCommand(intakePivotSubsystem, 0) // stow intake
).unless(() -> mechController.getLeftTriggerAxis() > .1) // cancel if try to outtake
)
);
Expand Down
138 changes: 100 additions & 38 deletions src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
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Original file line number Diff line number Diff line change
@@ -1,23 +1,5 @@
package frc.robot.subsystems.swerve;

import static frc.robot.Constants.SwerveConstants.BLUE_SPEAKER_POS;
import static frc.robot.Constants.SwerveConstants.BL_DRIVE;
import static frc.robot.Constants.SwerveConstants.BL_OFFSET;
import static frc.robot.Constants.SwerveConstants.BL_POS;
import static frc.robot.Constants.SwerveConstants.BL_STEER;
import static frc.robot.Constants.SwerveConstants.BR_DRIVE;
import static frc.robot.Constants.SwerveConstants.BR_OFFSET;
import static frc.robot.Constants.SwerveConstants.BR_POS;
import static frc.robot.Constants.SwerveConstants.BR_STEER;
import static frc.robot.Constants.SwerveConstants.FL_DRIVE;
import static frc.robot.Constants.SwerveConstants.FL_OFFSET;
import static frc.robot.Constants.SwerveConstants.FL_POS;
import static frc.robot.Constants.SwerveConstants.FL_STEER;
import static frc.robot.Constants.SwerveConstants.FR_DRIVE;
import static frc.robot.Constants.SwerveConstants.FR_OFFSET;
import static frc.robot.Constants.SwerveConstants.FR_POS;
import static frc.robot.Constants.SwerveConstants.FR_STEER;
import static frc.robot.Constants.SwerveConstants.RED_SPEAKER_POS;
import static frc.robot.Constants.VisionConstants.BACK_LEFT_CAMERA;
import static frc.robot.Constants.VisionConstants.BACK_LEFT_CAMERA_POSE;
import static frc.robot.Constants.VisionConstants.BACK_RIGHT_CAMERA;
Expand Down Expand Up @@ -58,9 +40,14 @@
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.util.GRTUtil;
import frc.robot.vision.ApriltagWrapper;
import frc.robot.Constants.ShooterConstants;
import frc.robot.subsystems.FieldManagementSubsystem;
import static frc.robot.Constants.SwerveConstants.*;
import java.util.Optional;
import java.util.function.BooleanSupplier;

import org.apache.commons.math3.analysis.interpolation.AkimaSplineInterpolator;
import org.apache.commons.math3.analysis.polynomials.PolynomialSplineFunction;
import org.photonvision.EstimatedRobotPose;

/** The subsystem that controls the swerve drivetrain. */
Expand Down Expand Up @@ -123,13 +110,18 @@ public class SwerveSubsystem extends SubsystemBase {
public final ShuffleboardTab choreoTab;
private final Field2d fieldVisualization;

private final GenericEntry frontLeftSteer;
private final GenericEntry frontRightSteer;
private final GenericEntry backLeftSteer;
private final GenericEntry backRightSteer;
private final GenericEntry robotPosEntry;

private boolean verbose = false;
// private final GenericEntry FLsteer, FLdrive, FRsteer, FRdrive, BLsteer, BLdrive, BRsteer, BRdrive;
// private final GenericEntry FLsteer, FRsteer, BLsteer, BRsteer;
private final GenericEntry robotPos, targetAngle, offsetAngle;

private AkimaSplineInterpolator akima;
private PolynomialSplineFunction offsetSpline;

private double currentDistance;


// private boolean isRed = false; //DriverStation.getAlliance().get() == DriverStation.Alliance.Red;

private BooleanSupplier redSupplier;

Expand Down Expand Up @@ -163,12 +155,23 @@ public SwerveSubsystem(BooleanSupplier redSupplier) {
.withPosition(0, 0)
.withSize(6, 4);

robotPosEntry = choreoTab.add("position", 0.).withPosition(7, 0).getEntry();
robotPos = choreoTab.add("position", 0.).withPosition(0, 0).getEntry();

targetAngle = choreoTab.add("target angle", 0.).withPosition(1,0).getEntry();

frontLeftSteer = choreoTab.add("FLsteer", 0.).withPosition(0, 0).getEntry();
frontRightSteer = choreoTab.add("FRsteer", 0.).withPosition(1, 0).getEntry();
backLeftSteer = choreoTab.add("BLsteer", 0.).withPosition(2, 0).getEntry();
backRightSteer = choreoTab.add("BRsteer", 0.).withPosition(3, 0).getEntry();
offsetAngle = choreoTab.add("offset angle", 0.).withPosition(2, 0).getEntry();

// FLsteer = choreoTab.add("FLsteer", 0.).withPosition(0, 0).getEntry();
// // FLdrive = choreoTab.add("FLdrive", 0.).withPosition(0, 1).getEntry();

// FRsteer = choreoTab.add("FRsteer", 0.).withPosition(1, 0).getEntry();
// // FRdrive = choreoTab.add("FRdrive", 0.).withPosition(1, 1).getEntry();

// BLsteer = choreoTab.add("BLsteer", 0.).withPosition(2, 0).getEntry();
// // BLdrive = choreoTab.add("BLdrive", 0.).withPosition(2, 1).getEntry();

// BRsteer = choreoTab.add("BRsteer", 0.).withPosition(3, 0).getEntry();
// BRdrive = choreoTab.add("BRdrive", 0.).withPosition(3, 1).getEntry();

poseEstimator = new SwerveDrivePoseEstimator(
kinematics,
Expand Down Expand Up @@ -201,18 +204,56 @@ public SwerveSubsystem(BooleanSupplier redSupplier) {
},
this
);

double[] distances = {1, 2, 3, 4, 5, 6, 7, 8};
double[] angles = {Units.degreesToRadians(1),
Units.degreesToRadians(1),
Units.degreesToRadians(1),
Units.degreesToRadians(1),
Units.degreesToRadians(1),
Units.degreesToRadians(1),
Units.degreesToRadians(1),
Units.degreesToRadians(1)};

// X = distances, Y = angles in rads
akima = new AkimaSplineInterpolator();
offsetSpline = akima.interpolate(distances, angles);
}

@Override
public void periodic() {

robotPosEntry.setValue(GRTUtil.twoDecimals(getRobotPosition().getX()));
SwerveModulePosition[] modulePos = getModulePositions();
robotPos.setValue(GRTUtil.twoDecimals(getRobotPosition().getX()));

targetAngle.setValue(GRTUtil.twoDecimals(Math.atan2(getYFromSpeaker(), getXFromSpeaker(redSupplier.getAsBoolean())) + Math.PI));

offsetAngle.setValue(getRobotPosition().getRotation().getRadians() - GRTUtil.twoDecimals(Math.atan2(getYFromSpeaker(), getXFromSpeaker(redSupplier.getAsBoolean())) + Math.PI));
// System.out.println(thetaController.getPositionError());
// System.out.println(" Error " + Util.twoDecimals(frontRightModule.getDriveError()));
// System.out.print(" Setpoint " + Util.twoDecimals(frontRightModule.getDriveSetpoint()));
// System.out.print(" Vel " + Util.twoDecimals(frontRightModule.getDriveVelocity()));


// System.out.println(frontLeftModule.getDriveSetpoint());

// if (crimer.advanceIfElapsed(.1)){
// //System.out.println("BR : " + backRightModule.getRawAngle());
// System.out.println("BL : " + backLeftModule.getRawAngle());
// }

// SwerveModulePosition[] modulePos = getModulePositions();

frontLeftSteer.setValue(GRTUtil.twoDecimals(modulePos[0].angle.getDegrees()));
frontRightSteer.setValue(GRTUtil.twoDecimals(modulePos[1].angle.getDegrees()));
backLeftSteer.setValue(GRTUtil.twoDecimals(modulePos[2].angle.getDegrees()));
backRightSteer.setValue(GRTUtil.twoDecimals(modulePos[3].angle.getDegrees()));
// FLsteer.setValue(GRTUtil.twoDecimals(modulePos[0].angle.getDegrees()));
// // FLdrive.setValue(Util.twoDecimals(modulePos[0].distanceMeters));

// FRsteer.setValue(GRTUtil.twoDecimals(modulePos[1].angle.getDegrees()));
// // FRdrive.setValue(Util.twoDecimals(modulePos[1].distanceMeters));

// BLsteer.setValue(GRTUtil.twoDecimals(modulePos[2].angle.getDegrees()));
// // BLdrive.setValue(Util.twoDecimals(modulePos[2].distanceMeters));

// BRsteer.setValue(GRTUtil.twoDecimals(modulePos[3].angle.getDegrees()));
// BRdrive.setValue(Util.twoDecimals(modulePos[3].distanceMeters));

for (ApriltagWrapper apriltagWrapper : apriltagWrappers) {
Optional<EstimatedRobotPose> visionEstimate = apriltagWrapper.getRobotPose(
Expand Down Expand Up @@ -410,8 +451,27 @@ public void setSwerveAimDrivePowers(double xPower, double yPower) {
setDrivePowersWithHeadingLock(xPower, yPower, Rotation2d.fromRadians(shootAngleRadians));
}

/**
* Gets the correct angle to aim the swerve at to point at the speaker.
public double getShootingDistance() {
Pose2d currentField = getRobotPosition();
//System.out.println("Angle of shooter" + Math.atan(speakerHeight/distance));

if (redSupplier.getAsBoolean()) { //true = red
double xLength = Math.pow(currentField.getX() - ShooterConstants.RED_X, 2);
double yLength = Math.pow(currentField.getY() - ShooterConstants.RED_Y, 2);
currentDistance = Math.sqrt(xLength + yLength);

} else {
double xLength = Math.pow(currentField.getX() - ShooterConstants.BLUE_X, 2);
double yLength = Math.pow(currentField.getY() - ShooterConstants.BLUE_Y, 2);

currentDistance = Math.sqrt(xLength + yLength);
}

return MathUtil.clamp(currentDistance, ShooterConstants.MIN_SHOOTER_DISTANCE, ShooterConstants.MAX_SHOOTER_DISTANCE);
}


/** Gets the correct angle to aim the swerve at to point at the speaker.
*
* @param isRed Whether the team is red or not.
* @return The angle to point at.
Expand All @@ -422,7 +482,9 @@ public double getShootAngle(boolean isRed) {

double rawAngle = Math.atan2(yDistance, xDistance) + Math.PI;

return rawAngle + ANGLE_OFFSET_FOR_AUTO_AIM;
/* atan2() returns a value from -PI to PI, so the angle must be offset by 180 deg if the speaker is in
the negative x direction (such as when the robot is on the field and aiming at the blue speaker). */
return rawAngle + offsetSpline.value(getShootingDistance());
}

/**
Expand Down
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