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->>>>>>> origin/main +{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false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\ No newline at end of file diff --git a/Team-3749-2024/src/main/deploy/pathplanner/paths/New New Path.path b/Team-3749-2024/src/main/deploy/pathplanner/paths/New New Path.path new file mode 100644 index 00000000..a34eeda1 --- /dev/null +++ b/Team-3749-2024/src/main/deploy/pathplanner/paths/New New Path.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.938021705103239, + "y": 5.5196408968316515 + }, + "prevControl": null, + "nextControl": { + "x": 1.938021705103239, + "y": 5.5196408968316515 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.0, + "y": 6.0 + }, + "prevControl": { + "x": 3.0, + "y": 6.0 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/Team-3749-2024/src/main/deploy/pathplanner/paths/New Path.path b/Team-3749-2024/src/main/deploy/pathplanner/paths/New Path.path index 99eb4f95..bb0f111b 100644 --- a/Team-3749-2024/src/main/deploy/pathplanner/paths/New Path.path +++ b/Team-3749-2024/src/main/deploy/pathplanner/paths/New Path.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 0.8686726496887707, - "y": 4.523190155503746 + "x": 1.764499271395681, + "y": 8.150553689300581 }, "prevControl": null, "nextControl": { - "x": 2.2926540235907087, - "y": 4.836659952389675 + "x": 3.18848064529762, + "y": 8.464023486186507 }, "isLocked": false, "linkedName": null diff --git a/Team-3749-2024/src/main/java/frc/robot/Robot.java b/Team-3749-2024/src/main/java/frc/robot/Robot.java index 0176265f..597dd665 100644 --- a/Team-3749-2024/src/main/java/frc/robot/Robot.java +++ b/Team-3749-2024/src/main/java/frc/robot/Robot.java @@ -5,6 +5,7 @@ package frc.robot; import edu.wpi.first.wpilibj.DataLogManager; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; @@ -12,6 +13,7 @@ // import frc.robot.subsystems.swerve.Swerve; import frc.robot.subsystems.vision.Limelight; import frc.robot.commands.superstructure.SuperStructureCommands; +import frc.robot.commands.swerve.AutoUtils; import frc.robot.subsystems.arm.Arm; import frc.robot.subsystems.swerve.Swerve; @@ -34,11 +36,11 @@ public class Robot extends TimedRobot { public static final Wrist wrist = new Wrist(); public static final Intake intake = new Intake(); public static final Shooter shooter = new Shooter(); - public static final Limelight limelight = new Limelight(); + public static Limelight limelight; + public static SuperStructureStates state = SuperStructureStates.STOW; public static SuperStructureCommands centralCommand = new SuperStructureCommands(); - public static final Led led = new Led(0.05); private Command m_autonomousCommand; @@ -47,6 +49,12 @@ public class Robot extends TimedRobot { @Override public void robotInit() { m_robotContainer = new RobotContainer(); + if (Robot.isReal()) { + limelight = new Limelight(); + + } else { + limelight = null; + } DataLogManager.logNetworkTables(true); DataLogManager.start(); @@ -55,7 +63,10 @@ public void robotInit() { @Override public void robotPeriodic() { CommandScheduler.getInstance().run(); - centralCommand.execute(); + if (DriverStation.isEnabled()) { + + centralCommand.execute(); + } } @@ -65,10 +76,12 @@ public void disabledInit() { } @Override - public void disabledPeriodic() {} + public void disabledPeriodic() { + } @Override - public void disabledExit() {} + public void disabledExit() { + } @Override public void autonomousInit() { @@ -80,17 +93,22 @@ public void autonomousInit() { } @Override - public void autonomousPeriodic() {} + public void autonomousPeriodic() { + } @Override - public void autonomousExit() {} + public void autonomousExit() { + } @Override public void teleopInit() { if (m_autonomousCommand != null) { m_autonomousCommand.cancel(); } - wrist.setBrakeMode(); + wrist.setBrakeMode(); + AutoUtils.getStartVision(0); + state = SuperStructureStates.STOW; + } @@ -100,7 +118,8 @@ public void teleopPeriodic() { } @Override - public void teleopExit() {} + public void teleopExit() { + } @Override public void testInit() { @@ -108,8 +127,10 @@ public void testInit() { } @Override - public void testPeriodic() {} + public void testPeriodic() { + } @Override - public void testExit() {} + public void testExit() { + } } \ No newline at end of file diff --git a/Team-3749-2024/src/main/java/frc/robot/RobotContainer.java b/Team-3749-2024/src/main/java/frc/robot/RobotContainer.java index 17a5787c..4269d645 100644 --- a/Team-3749-2024/src/main/java/frc/robot/RobotContainer.java +++ b/Team-3749-2024/src/main/java/frc/robot/RobotContainer.java @@ -49,7 +49,6 @@ public RobotContainer() { RobotController.setBrownoutVoltage(7.0); - Robot.swerve.resetOdometry(new Pose2d(14.6, 5.1, new Rotation2d(Math.PI))); // Robot.swerve.setDefaultCommand(new Teleop(pilot::getLeftX, pilot::getLeftY, // pilot::getRightX, pilot::getRightY)); } @@ -67,7 +66,7 @@ public void initAuto() { } public Command getAutonomousCommand() { - return Autos.get4Piece(); + return Autos.get5Piece(); } } diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Aimbot.java b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Aimbot.java new file mode 100644 index 00000000..e5d9114b --- /dev/null +++ b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Aimbot.java @@ -0,0 +1,104 @@ +package frc.robot.commands.superstructure; + +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.Robot; +import frc.robot.subsystems.arm.ArmSim; +import frc.robot.subsystems.arm.ShootKinematics; +import frc.robot.subsystems.arm.ArmConstants.ArmStates; +import frc.robot.subsystems.intake.IntakeConstants.IntakeStates; +import frc.robot.subsystems.led.LEDConstants.LEDPattern; +import frc.robot.subsystems.shooter.ShooterConstants.ShooterStates; +import frc.robot.subsystems.wrist.WristConstants; +import frc.robot.subsystems.wrist.WristConstants.WristStates; +import frc.robot.utils.UtilityFunctions; + +public class Aimbot implements SuperStructureCommandInterface { + private boolean fullDeployedWrist = false; + private boolean almostDeployedWrist = false; + private boolean subwoofedArm = false; + private boolean staticWrist = false; + + public Aimbot() { + } + + @Override + public void execute() { + + if (Robot.wrist.getState() == WristStates.FULL_DEPLOYED) { + fullDeployedWrist = true; + } + Robot.arm.setGoal(ArmStates.AIMBOT); + Robot.wrist.moveWristToGoal(); + + Robot.arm.moveToGoal(); + + if (Robot.arm.atGoal() && fullDeployedWrist && Robot.shooter.getVelocityRadPerSec()>540){ + Robot.led.setLEDPattern(LEDPattern.BLUE); + } + } + + @Override + public void start(){ + Robot.shooter.setState(ShooterStates.SPOOL); + Robot.intake.setState(IntakeStates.STOP); + Robot.arm.setGoal(ArmStates.SUBWOOFER); + Robot.wrist.setGoal(WristStates.FULL_DEPLOYED); + + } + + @Override + public void reset() { + Robot.intake.setState(IntakeStates.STOP); + Robot.shooter.setState(ShooterStates.STOP); + Robot.wrist.setVoltage(0); + Robot.led.setLEDPattern(LEDPattern.WHITE); + + fullDeployedWrist = false; + staticWrist = false; + almostDeployedWrist = false; + subwoofedArm = false; + } + + private boolean atIntake = false; + + @Override + public void autoExecute() { + // Robot.shooter.setState(ShooterStates.SPOOL); + // Robot.arm.setGoal(ArmStates.SUBWOOFER); + // Robot.wrist.setGoal(WristStates.FULL_DEPLOYED); + + // if (Robot.wrist.getState() == WristStates.FULL_DEPLOYED) { + // fullDeployedWrist = true; + // } + + // if (Robot.arm.getState() == ArmStates.SUBWOOFER) { + // subwoofedArm = true; + // } + + + // if (subwoofedArm && fullDeployedWrist){ + // Robot.led.setLEDPattern(LEDPattern.BLUE); + // Robot.intake.setState(IntakeStates.FEED); + // } + // Robot.wrist.moveWristToGoal(); + // // } + + // Robot.arm.moveToGoal(); + execute(); + + // SmartDashboard.putBoolean("full dep", f ullDeployedWrist); + } + + @Override + public void autoStart(){ + start(); + } + @Override + public void autoReset() { + reset(); + // Robot.intake.setState(IntakeStates.INTAKE); + + atIntake = false; + } +} diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/EmergencyIntake.java b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/EmergencyIntake.java index 50fbd640..a67319d9 100644 --- a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/EmergencyIntake.java +++ b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/EmergencyIntake.java @@ -29,38 +29,12 @@ public EmergencyIntake() { @Override public void execute() { - if (Robot.wrist.getState() == WristStates.STOW) { - stowedWrist = true; - } - if (Robot.wrist.getState() == WristStates.FULL_DEPLOYED) { - deployedWrist = true; - } - if (Robot.arm.getState() == ArmStates.STOW) { - stowedArm = true; - } - if (stowedArm && Robot.arm.getPositionRad() > Units.degreesToRadians(15)){ - uppedArm = true; - } - if (!stowedWrist && !deployedWrist) { - Robot.wrist.setGoal(WristStates.STOW); - } - if (!stowedArm) { - Robot.arm.setGoal(ArmStates.STOW); - } - if (stowedArm && !uppedArm){ - Robot.arm.setGoal(Units.degreesToRadians(18.5)); - Robot.wrist.setGoal(WristStates.FULL_DEPLOYED); - } - if (stowedWrist && uppedArm) { - if (!startedRollers) { - startedRollers = true; - Robot.intake.setState(IntakeStates.INTAKE); - Robot.shooter.setState(ShooterStates.INTAKE); - } - } - if (deployedWrist) { + + + + if (Robot.wrist.getPositionRad() > WristConstants.almostDeployedRad) { Robot.arm.setGoal(ArmStates.GROUND_INTAKE); } @@ -90,23 +64,31 @@ public void reset() { @Override public void autoExecute() { // execute(); - Robot.arm.setGoal(ArmConstants.groundIntakepositionRad); - Robot.intake.setState(IntakeStates.INTAKE); - Robot.shooter.setState(ShooterStates.INTAKE); - // System.out.println(atShoot); - + Robot.arm.setGoal(ArmConstants.groundIntakepositionRad - Units.degreesToRadians(1.5)); Robot.arm.moveToGoal(); Robot.wrist.moveWristToGoal(); } + + @Override + public void start() { + Robot.intake.setState(IntakeStates.INTAKE); + Robot.shooter.setState(ShooterStates.INTAKE); + Robot.arm.setGoal(Units.degreesToRadians(18.5)); + Robot.wrist.setGoal(WristStates.FULL_DEPLOYED); + + } + @Override - public void autoStart(){ - start(); + public void autoStart() { + Robot.intake.setState(IntakeStates.INTAKE); + Robot.shooter.setState(ShooterStates.INTAKE); } + @Override public void autoReset() { reset(); atShoot = false; } - + } diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/IntakeSource.java b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/IntakeSource.java new file mode 100644 index 00000000..b1166b99 --- /dev/null +++ b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/IntakeSource.java @@ -0,0 +1,47 @@ +package frc.robot.commands.superstructure; + +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Subsystem; +import frc.robot.Robot; +import frc.robot.subsystems.arm.ArmConstants.ArmStates; +import frc.robot.subsystems.intake.IntakeConstants; +import frc.robot.subsystems.intake.IntakeConstants.IntakeStates; +import frc.robot.subsystems.shooter.ShooterConstants.ShooterStates; +import frc.robot.subsystems.wrist.WristConstants; +import frc.robot.subsystems.wrist.WristConstants.WristStates; +import frc.robot.utils.SuperStructureStates; +import frc.robot.utils.UtilityFunctions; + +public class IntakeSource implements SuperStructureCommandInterface { + + + public IntakeSource() { + } + + @Override + public void execute() { + Robot.arm.moveToGoal(); + Robot.wrist.moveWristToGoal(); + + } + + @Override + public void reset() { + Robot.intake.stop(); + Robot.shooter.stop(); + Robot.wrist.setVoltage(0); + + } + + @Override + public void start() { + Robot.wrist.setGoal(WristStates.STOW); + Robot.arm.setGoal(ArmStates.SOURCE); + Robot.intake.setState(IntakeStates.INTAKE); + Robot.shooter.setState(ShooterStates.INTAKE); + + } + +} diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Pass.java b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Pass.java new file mode 100644 index 00000000..d456eda8 --- /dev/null +++ b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Pass.java @@ -0,0 +1,46 @@ +package frc.robot.commands.superstructure; + +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Subsystem; +import frc.robot.Robot; +import frc.robot.subsystems.arm.ArmConstants.ArmStates; +import frc.robot.subsystems.intake.IntakeConstants; +import frc.robot.subsystems.intake.IntakeConstants.IntakeStates; +import frc.robot.subsystems.led.LEDConstants.LEDPattern; +import frc.robot.subsystems.shooter.ShooterConstants.ShooterStates; +import frc.robot.subsystems.wrist.WristConstants; +import frc.robot.subsystems.wrist.WristConstants.WristStates; +import frc.robot.utils.SuperStructureStates; +import frc.robot.utils.UtilityFunctions; + +public class Pass implements SuperStructureCommandInterface { + public Pass() { + } + + @Override + public void execute() { + + Robot.arm.moveToGoal(); + Robot.wrist.moveWristToGoal(); + + Robot.shooter.setState(ShooterStates.SPOOL); + } + + @Override + public void reset() { + } + + @Override + public void start() { + + Robot.intake.setState(IntakeStates.STOP); + Robot.wrist.setGoal(WristStates.PASS); + Robot.arm.setGoal(ArmStates.STOW); + Robot.shooter.setState(ShooterStates.SPOOL); + + } + +} diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Podium.java b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Podium.java index 196fe205..db6d8b8c 100644 --- a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Podium.java +++ b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Podium.java @@ -39,7 +39,7 @@ public void execute() { Robot.arm.moveToGoal(); - if (podiumedArm && fullDeployedWrist){ + if (podiumedArm && fullDeployedWrist&& Robot.shooter.getVelocityRadPerSec()>540){ Robot.led.setLEDPattern(LEDPattern.BLUE); } @@ -49,6 +49,8 @@ public void execute() { public void reset() { Robot.intake.setState(IntakeStates.STOP); Robot.shooter.setState(ShooterStates.STOP); + Robot.led.setLEDPattern(LEDPattern.WHITE); + Robot.wrist.setVoltage(0); fullDeployedWrist = false; @@ -75,7 +77,7 @@ public void autoExecute() { } - if (podiumedArm && fullDeployedWrist){ + if (podiumedArm && fullDeployedWrist&& Robot.shooter.getVelocityRadPerSec()>540){ Robot.led.setLEDPattern(LEDPattern.BLUE); Robot.intake.setState(IntakeStates.FEED); } diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/ScoreAmp.java b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/ScoreAmp.java index 117075f4..75ff57c2 100644 --- a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/ScoreAmp.java +++ b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/ScoreAmp.java @@ -24,18 +24,9 @@ public ScoreAmp() { @Override public void execute() { - - - - Robot.wrist.setGoal(WristStates.STOW); - Robot.arm.setGoal(ArmStates.AMP); - Robot.arm.moveToGoal(); Robot.wrist.moveWristToGoal(); - - - } @Override @@ -51,4 +42,11 @@ public void reset() { stowedArm = false; } + @Override + public void start() { + Robot.wrist.setGoal(WristStates.FULL_DEPLOYED); + Robot.arm.setGoal(ArmStates.AMP); + + } + } diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/ScoreSubwoofer.java b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/ScoreSubwoofer.java index c422436e..d0e2b7d1 100644 --- a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/ScoreSubwoofer.java +++ b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/ScoreSubwoofer.java @@ -3,6 +3,7 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.Robot; +import frc.robot.subsystems.arm.ArmConstants; import frc.robot.subsystems.arm.ArmSim; import frc.robot.subsystems.arm.ArmConstants.ArmStates; import frc.robot.subsystems.intake.IntakeConstants.IntakeStates; @@ -23,9 +24,6 @@ public ScoreSubwoofer() { @Override public void execute() { - Robot.shooter.setState(ShooterStates.SPOOL); - Robot.arm.setGoal(ArmStates.SUBWOOFER); - Robot.wrist.setGoal(WristStates.FULL_DEPLOYED); if (Robot.wrist.getState() == WristStates.FULL_DEPLOYED) { fullDeployedWrist = true; @@ -39,11 +37,20 @@ public void execute() { Robot.arm.moveToGoal(); - if (subwoofedArm && fullDeployedWrist){ + if (subwoofedArm && fullDeployedWrist&& Robot.shooter.getVelocityRadPerSec()>540){ Robot.led.setLEDPattern(LEDPattern.BLUE); } } + @Override + public void start(){ + Robot.shooter.setState(ShooterStates.SPOOL); + Robot.intake.setState(IntakeStates.STOP); + Robot.arm.setGoal(ArmStates.SUBWOOFER); + Robot.wrist.setGoal(WristStates.FULL_DEPLOYED); + + } + @Override public void reset() { Robot.intake.setState(IntakeStates.STOP); @@ -61,36 +68,31 @@ public void reset() { @Override public void autoExecute() { - // Robot.shooter.setState(ShooterStates.SPOOL); - // Robot.arm.setGoal(ArmStates.SUBWOOFER); - // Robot.wrist.setGoal(WristStates.FULL_DEPLOYED); - - // if (Robot.wrist.getState() == WristStates.FULL_DEPLOYED) { - // fullDeployedWrist = true; - // } + + if (Robot.wrist.getState() == WristStates.FULL_DEPLOYED) { + fullDeployedWrist = true; + } - // if (Robot.arm.getState() == ArmStates.SUBWOOFER) { - // subwoofedArm = true; - // } - + if (Robot.arm.getState() == ArmStates.SUBWOOFER) { + subwoofedArm = true; + } - // if (subwoofedArm && fullDeployedWrist){ - // Robot.led.setLEDPattern(LEDPattern.BLUE); - // Robot.intake.setState(IntakeStates.FEED); - // } - // Robot.wrist.moveWristToGoal(); - // // } + Robot.wrist.moveWristToGoal(); - // Robot.arm.moveToGoal(); - execute(); + Robot.arm.moveToGoal(); - // SmartDashboard.putBoolean("full dep", f ullDeployedWrist); + if (subwoofedArm && fullDeployedWrist&& Robot.shooter.getVelocityRadPerSec()>540){ + Robot.led.setLEDPattern(LEDPattern.BLUE); + } } @Override public void autoStart(){ - start(); - } + Robot.shooter.setState(ShooterStates.SPOOL); + Robot.intake.setState(IntakeStates.STOP); + Robot.arm.setGoal(Units.degreesToRadians(11.5)); + Robot.wrist.setGoal(WristStates.FULL_DEPLOYED); } + @Override public void autoReset() { reset(); diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Stow.java b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Stow.java index 35a9a977..7988e5ac 100644 --- a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Stow.java +++ b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/Stow.java @@ -49,8 +49,11 @@ public void reset() { @Override public void start() { - // Robot.intake.setState(IntakeStates.STOP); - // Robot.shooter.setState(ShooterStates.STOP); + if (!Robot.intake.getHasPiece()){ + + Robot.intake.setState(IntakeStates.STOP); + Robot.shooter.setState(ShooterStates.STOP); + } } } diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/SuperStructureCommands.java b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/SuperStructureCommands.java index ec415cad..547cb5df 100644 --- a/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/SuperStructureCommands.java +++ b/Team-3749-2024/src/main/java/frc/robot/commands/superstructure/SuperStructureCommands.java @@ -19,10 +19,11 @@ public class SuperStructureCommands { private Reset reset = new Reset(); private Climb climb = new Climb(); private ClimbDown climbDown = new ClimbDown(); - + private Aimbot aimbot = new Aimbot(); + private IntakeSource source = new IntakeSource(); + private Pass pass = new Pass(); private SuperStructureCommandInterface currentCommand = stow; - public SuperStructureCommands() { } @@ -45,12 +46,8 @@ private void switchCommands(SuperStructureCommandInterface command) { public void execute() { SmartDashboard.putString("state", Robot.state.name()); SmartDashboard.putString("current command", currentCommand.getClass().getName()); - SuperStructureStates state = Robot.state; switch (Robot.state) { - case STOW: - switchCommands(stow); - break; case GROUND_INTAKE: switchCommands(groundIntake); break; @@ -72,6 +69,18 @@ public void execute() { case PODIUM: switchCommands(podium); break; + case AIMBOT: + switchCommands(aimbot); + break; + case SOURCE: + switchCommands(source); + break; + case PASS: + switchCommands(pass); + break; + default: + switchCommands(stow); + break; } if (DriverStation.isAutonomous()) { currentCommand.autoExecute(); diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/swerve/AlignToAmp.java b/Team-3749-2024/src/main/java/frc/robot/commands/swerve/AlignToAmp.java new file mode 100644 index 00000000..5e2fbe28 --- /dev/null +++ b/Team-3749-2024/src/main/java/frc/robot/commands/swerve/AlignToAmp.java @@ -0,0 +1,112 @@ +package frc.robot.commands.swerve; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.HolonomicDriveController; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.controller.ProfiledPIDController; +import edu.wpi.first.math.filter.SlewRateLimiter; +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.kinematics.ChassisSpeeds; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Robot; +import frc.robot.subsystems.arm.ShootKinematics; +import frc.robot.subsystems.swerve.Swerve; +import frc.robot.subsystems.swerve.SwerveConstants; +import frc.robot.subsystems.swerve.SwerveConstants.DriveConstants; +import frc.robot.utils.AutoConstants; +import frc.robot.utils.MiscConstants; +import frc.robot.utils.MiscConstants.*; +import java.sql.Driver; +import java.util.function.Supplier; + +import com.pathplanner.lib.util.GeometryUtil; + +import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints; + +/*** + * @author Noah Simon + * @author Raadwan Masum + * @author Rohin Sood + * Default command to control the SwervedriveSubsystem with joysticks + */ + +public class AlignToAmp extends Command { + + private final Swerve swerve; + + private final PIDController xController = new PIDController(2.5, 0, 0); + private final PIDController yController = new PIDController(2.5, 0, 0); + private final PIDController turnController = new PIDController(5, 0, 0.15); + + + public AlignToAmp() { + this.swerve = Robot.swerve; + + addRequirements(swerve); + turnController.enableContinuousInput(0, 2 * Math.PI); + turnController.setTolerance((Units.degreesToRadians(2.5))); + xController.setTolerance(0.05); + yController.setTolerance(0.05); + + } + + @Override + public void initialize() { + } + + @Override + public void execute() { + + + // for the entirety of comp, this block of code meant nothing + Pose2d currentPose = Robot.swerve.getPose(); + + double currentRotationRad = currentPose.getRotation().getRadians(); + double desiredRotationRad = Math.PI/2; + while (desiredRotationRad < 0) { + desiredRotationRad += 2 * Math.PI; + } + while (desiredRotationRad >= 2 * Math.PI) { + desiredRotationRad -= 2 * Math.PI; + } + while (currentRotationRad < 0) { + currentRotationRad += 2 * Math.PI; + } + while (currentRotationRad >= 2 * Math.PI) { + currentRotationRad -= 2 * Math.PI; + } + + Translation2d desiredCords = new Translation2d(1.76,7.73); + + if (MiscConstants.isRedAlliance()){ + desiredCords = GeometryUtil.flipFieldPosition(desiredCords); + } + + double turningSpeed = turnController.calculate(currentRotationRad, desiredRotationRad); + double xSpeed = xController.calculate(currentPose.getX(), desiredCords.getX()); + double ySpeed = yController.calculate(currentPose.getY(), desiredCords.getY()); + + ChassisSpeeds chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds( + xSpeed, + ySpeed, + turningSpeed, + swerve.getRotation2d()); // set chassis speeds + swerve.setChassisSpeeds(chassisSpeeds); + } + + @Override + public void end(boolean interrupted) { + swerve.stopModules(); + } + + @Override + public boolean isFinished() { + return false; + } +} diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/swerve/AutoUtils.java b/Team-3749-2024/src/main/java/frc/robot/commands/swerve/AutoUtils.java index 2418765f..1b728fb2 100644 --- a/Team-3749-2024/src/main/java/frc/robot/commands/swerve/AutoUtils.java +++ b/Team-3749-2024/src/main/java/frc/robot/commands/swerve/AutoUtils.java @@ -89,7 +89,7 @@ public static Command getChoreoAutoPath( SmartDashboard.putNumber("pose theta after", fieldStartingPose.getRotation().getDegrees()); } - + // Robot.swerve.resetGyro();; Robot.swerve.resetOdometry(fieldStartingPose); PathPlannerPath path = PathPlannerPath.fromChoreoTrajectory(autoPathName); Command cmd = AutoBuilder.followPath(path); @@ -168,12 +168,20 @@ public static Command getCycle(double wait) { Commands.runOnce(() -> Robot.state = SuperStructureStates.GROUND_INTAKE))); } - public static Command getSubwooferShot(double wait) { + public static Command getShoot(double wait) { + System.out.println("subwoofer"); + return new SequentialCommandGroup( + new WaitCommand(wait), + Commands.runOnce(() -> Robot.state = SuperStructureStates.AIMBOT), + getFeed(0.85)); + } + + public static Command getFirstShot(double wait) { System.out.println("subwoofer"); return new SequentialCommandGroup( new WaitCommand(wait), Commands.runOnce(() -> Robot.state = SuperStructureStates.SUBWOOFER), - getFeed(1.7)); + getFeed(2)); } public static Command getPodiumShot(double wait) { @@ -210,4 +218,15 @@ public static Command getStow(double wait) { Commands.runOnce(() -> Robot.shooter.setState(ShooterStates.STOP), Robot.shooter)); } + public static Command getStopVision(double wait) { + System.out.println("stop vision"); + return Commands.runOnce(() -> Robot.swerve.setUtilizeVision(false)); + + } + + public static Command getStartVision(double wait) { + System.out.println("start vision"); + return new SequentialCommandGroup(new WaitCommand(wait), Commands.runOnce(() -> Robot.swerve.setUtilizeVision(true))); + + } } diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/swerve/Autos.java b/Team-3749-2024/src/main/java/frc/robot/commands/swerve/Autos.java index 65036585..5fcf42d2 100644 --- a/Team-3749-2024/src/main/java/frc/robot/commands/swerve/Autos.java +++ b/Team-3749-2024/src/main/java/frc/robot/commands/swerve/Autos.java @@ -18,92 +18,141 @@ public class Autos { - public static Command getStraightLine() { - return AutoUtils.getAutoPath( - "straight line", - new Pose2d(4, 5, new Rotation2d())); - } - - public static Command getTaxi() { - return new SequentialCommandGroup( - NamedCommands.getCommand("shoot_subwoofer"), - AutoUtils.getChoreoAutoPath( - "taxi", - new Pose2d( - 0.7623372673988342, - 4.4742279052734375, - Rotation2d.fromRadians(-1.0465789848978129)))); - } - - public static Command get4Piece() { - Pose2d startingPos = new Pose2d( - new Translation2d(1.318, 5.436), - Rotation2d.fromRadians(0)); - - return new SequentialCommandGroup( - // AutoUtils.getCycle(0), - AutoUtils.getSubwooferShot(0), - - new ParallelCommandGroup( - // AutoUtils.getChoreoAutoPath("middle-speaker-3xwing_speaker", startingPos), - AutoUtils.getintake(0.5) - // AutoUtils.getSubwooferShot(2.5), - // AutoUtils.getintake(3.3), - // AutoUtils.getSubwooferShot(5.7), - // AutoUtils.getintake(7.3), - // AutoUtils.getSubwooferShot(9.7), - // AutoUtils.getStow(12) - ) - ); - } - - public static Command get4PieceNoRotation() { - Pose2d startingPos = new Pose2d( - new Translation2d(1.318, 5.436), - Rotation2d.fromRadians(0)); - - return new SequentialCommandGroup( - AutoUtils.getCycle(0), - new ParallelCommandGroup( - AutoUtils.getChoreoAutoPath("no rotation", startingPos), - AutoUtils.getCycle(3.5), - AutoUtils.getCycle(10), - AutoUtils.getCycle(15))); - } - - public static Command get4PieceNoCommands() { - return AutoUtils.getChoreoAutoPath( - "no rotation", - new Pose2d(new Translation2d(1.318, 5.436), Rotation2d.fromRadians(0))); - } - - public static Command getTroll() { - return new SequentialCommandGroup( - AutoUtils.getCycle(0), - Commands.run(() -> Robot.state = SuperStructureStates.STOW), - AutoUtils.getChoreoAutoPath( - "top-speaker-troll", - new Pose2d( - 0.7535725831985474, - 4.482047080993652, - new Rotation2d(-1.0074806999559232)))); - } - - public static Command getBottomRun() { - return new SequentialCommandGroup( - AutoUtils.getCycle(0), - new WaitCommand(6), - AutoUtils.getChoreoAutoPath( - "bottom-speaker", - new Pose2d( - 0.7692505121231079, - 4.479482650756836, - new Rotation2d(-1.0356489717435746)))); - } - - public static Command getTestPath() { - return AutoUtils.getChoreoAutoPath("testPath", new Pose2d()); - } + public static Command getStraightLine() { + return AutoUtils.getAutoPath( + "straight line", + new Pose2d(4, 5, new Rotation2d())); + } + + public static Command getTaxi() { + return new SequentialCommandGroup( + NamedCommands.getCommand("shoot_subwoofer"), + AutoUtils.getChoreoAutoPath( + "taxi", + new Pose2d( + 0.7623372673988342, + 4.4742279052734375, + Rotation2d.fromRadians(-1.0465789848978129)))); + } + + public static Command get4Piece() { + Pose2d startingPos = new Pose2d( + new Translation2d(1.318, 5.436), + Rotation2d.fromRadians(0)); + + return new SequentialCommandGroup( + AutoUtils.getFirstShot(0), + + new ParallelCommandGroup( + AutoUtils.getChoreoAutoPath("4 piece", startingPos), + AutoUtils.getintake(0.3), + AutoUtils.getShoot(1.85), + AutoUtils.getStopVision(1.9), + AutoUtils.getintake(3.5), + AutoUtils.getShoot(5.35), + AutoUtils.getintake(6.5), + AutoUtils.getShoot(8.75), + AutoUtils.getStartVision(9.7), + // AutoUtils.getStow(9.4), + AutoUtils.getintake(10.3), + AutoUtils.getStow(12.75))); + } + + + + public static Command get5Piece() { + Pose2d startingPos = new Pose2d( + new Translation2d(1.318, 5.436), + Rotation2d.fromRadians(0)); + + return new SequentialCommandGroup( + AutoUtils.getFirstShot(0), + + new ParallelCommandGroup( + AutoUtils.getChoreoAutoPath("5 piece", startingPos), + AutoUtils.getintake(0.3), + AutoUtils.getShoot(1.85), + AutoUtils.getStopVision(1.9), + AutoUtils.getintake(3.5), + AutoUtils.getShoot(5.47), + AutoUtils.getintake(6.65), + AutoUtils.getShoot(8.45), + // AutoUtils.getStartVision(9.4), + // AutoUtils.getStow(9.4), + AutoUtils.getintake(9.6), + AutoUtils.getStow(12.4), + + AutoUtils.getStartVision(10))); + } + + + public static Command getSource(){ + Pose2d startingPos = new Pose2d( + new Translation2d(0.762, 4.484), + Rotation2d.fromRadians(-0.991)); + + return new SequentialCommandGroup( + AutoUtils.getFirstShot(0), + + new ParallelCommandGroup( + AutoUtils.getChoreoAutoPath("Source", startingPos), + + AutoUtils.getintake(2), + AutoUtils.getStartVision(0), + AutoUtils.getShoot(5.7), + AutoUtils.getintake(8), + AutoUtils.getShoot(12.15), + AutoUtils.getStow(13.6) + )); + } + + public static Command get4PieceNoRotation() { + Pose2d startingPos = new Pose2d( + new Translation2d(1.318, 5.436), + Rotation2d.fromRadians(0)); + + return new SequentialCommandGroup( + AutoUtils.getCycle(0), + new ParallelCommandGroup( + AutoUtils.getChoreoAutoPath("no rotation", startingPos), + AutoUtils.getCycle(3.5), + AutoUtils.getCycle(10), + AutoUtils.getCycle(15))); + } + + public static Command get4PieceNoCommands() { + return AutoUtils.getChoreoAutoPath( + "no rotation", + new Pose2d(new Translation2d(1.318, 5.436), Rotation2d.fromRadians(0))); + } + + public static Command getTroll() { + return new SequentialCommandGroup( + AutoUtils.getCycle(0), + Commands.run(() -> Robot.state = SuperStructureStates.STOW), + AutoUtils.getChoreoAutoPath( + "top-speaker-troll", + new Pose2d( + 0.7535725831985474, + 4.482047080993652, + new Rotation2d(-1.0074806999559232)))); + } + + public static Command getBottomRun() { + return new SequentialCommandGroup( + AutoUtils.getCycle(0), + new WaitCommand(6), + AutoUtils.getChoreoAutoPath( + "bottom-speaker", + new Pose2d( + 0.7692505121231079, + 4.479482650756836, + new Rotation2d(-1.0356489717435746)))); + } + + public static Command getTestPath() { + return AutoUtils.getChoreoAutoPath("testPath", new Pose2d()); + } } // public static Command getSide() { // // return AutoUtils.getCycle(0); diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/swerve/SwerveTeleop.java b/Team-3749-2024/src/main/java/frc/robot/commands/swerve/SwerveTeleop.java index 14e497da..f4cc0153 100644 --- a/Team-3749-2024/src/main/java/frc/robot/commands/swerve/SwerveTeleop.java +++ b/Team-3749-2024/src/main/java/frc/robot/commands/swerve/SwerveTeleop.java @@ -94,15 +94,15 @@ public void execute() { swerve.getRotation2d() ); - // if (MiscConstants.isRedAlliance()) { - // chassisSpeeds = - // ChassisSpeeds.fromFieldRelativeSpeeds( - // ySpeed, - // xSpeed, - // turningSpeed, - // swerve.getRotation2d().plus(new Rotation2d(Math.PI)) - // ); - // } + if (MiscConstants.isRedAlliance()) { + chassisSpeeds = + ChassisSpeeds.fromFieldRelativeSpeeds( + -ySpeed, + -xSpeed, + turningSpeed, + swerve.getRotation2d()) + ; + } // set chassis speeds swerve.setChassisSpeeds(chassisSpeeds); diff --git a/Team-3749-2024/src/main/java/frc/robot/commands/swerve/SwerveTeleopShoot.java b/Team-3749-2024/src/main/java/frc/robot/commands/swerve/SwerveTeleopShoot.java new file mode 100644 index 00000000..9adb913a --- /dev/null +++ b/Team-3749-2024/src/main/java/frc/robot/commands/swerve/SwerveTeleopShoot.java @@ -0,0 +1,133 @@ +package frc.robot.commands.swerve; + +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.filter.SlewRateLimiter; +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.kinematics.ChassisSpeeds; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.Command; +import frc.robot.Robot; +import frc.robot.subsystems.arm.ShootKinematics; +import frc.robot.subsystems.swerve.Swerve; +import frc.robot.subsystems.swerve.SwerveConstants; +import frc.robot.subsystems.swerve.SwerveConstants.DriveConstants; +import frc.robot.utils.AutoConstants; +import frc.robot.utils.MiscConstants; +import frc.robot.utils.MiscConstants.*; +import java.sql.Driver; +import java.util.function.Supplier; + +/*** + * @author Noah Simon + * @author Raadwan Masum + * @author Rohin Sood + * Default command to control the SwervedriveSubsystem with joysticks + */ + +public class SwerveTeleopShoot extends Command { + + private final Swerve swerve; + private final Supplier xSpdFunction, ySpdFunction, xTurningSpdFunction; + private final PIDController turnPID = new PIDController(5, 0, 0.15); + + public SwerveTeleopShoot( + Supplier xSpdFunction, + Supplier ySpdFunction, + Supplier xTurningSpdFunction) { + this.swerve = Robot.swerve; + this.xSpdFunction = xSpdFunction; + this.ySpdFunction = ySpdFunction; + this.xTurningSpdFunction = xTurningSpdFunction; + + addRequirements(swerve); + turnPID.enableContinuousInput(0, 2 * Math.PI); + turnPID.setTolerance(Units.degreesToRadians(1)); + + } + + @Override + public void initialize() { + } + + @Override + public void execute() { + double xMagnitude = xSpdFunction.get(); + double yMagnitude = ySpdFunction.get(); + + double linearMagnitude = Math.hypot(xMagnitude, yMagnitude); + Rotation2d linearDirection = new Rotation2d(xMagnitude, yMagnitude); + + // deadbands + linearMagnitude = MathUtil.applyDeadband(linearMagnitude, ControllerConstants.deadband); + + // squaring the inputs for smoother driving at low speeds + linearMagnitude = Math.copySign(linearMagnitude * linearMagnitude, linearMagnitude); + + double maxSpeed; + if (DriverStation.isTeleopEnabled()) { + maxSpeed = SwerveConstants.DriveConstants.teleopMaxSpeedMetersPerSecond; + } + double driveSpeedMPS = linearMagnitude * DriveConstants.maxSpeedMetersPerSecond; + + // Calcaulate new linear components + double xSpeed = driveSpeedMPS * Math.cos(linearDirection.getRadians()); + double ySpeed = driveSpeedMPS * Math.sin(linearDirection.getRadians()); + ChassisSpeeds chassisSpeeds; + + // for the entirety of comp, this block of code meant nothing + double currentRotationRad = Robot.swerve.getRotation2d().getRadians(); + double desiredRotationRad = ShootKinematics.getRobotRotation(Robot.swerve.getPose()).getRadians(); + while (desiredRotationRad < 0){ + desiredRotationRad+= 2 * Math.PI; + } + while (desiredRotationRad >= 2 * Math.PI){ + desiredRotationRad-= 2 * Math.PI; + } + while (currentRotationRad < 0){ + currentRotationRad+= 2 * Math.PI; + } + while (currentRotationRad >= 2 * Math.PI){ + currentRotationRad-= 2 * Math.PI; + } + + double turningSpeed = turnPID.calculate(currentRotationRad, desiredRotationRad); + SmartDashboard.putNumber("desired rot", desiredRotationRad); + SmartDashboard.putNumber("turn sped", turningSpeed); + SmartDashboard.putNumber("error", turnPID.getPositionError()); + if (turnPID.atSetpoint()){ + turningSpeed = 0; + } + chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds( + ySpeed, + xSpeed, + turningSpeed, + swerve.getRotation2d()); + + if (MiscConstants.isRedAlliance()) { + chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds( + -ySpeed, + -xSpeed, + turningSpeed, + swerve.getRotation2d()); + } + + // set chassis speeds + swerve.setChassisSpeeds(chassisSpeeds); + } + + @Override + public void end(boolean interrupted) { + swerve.stopModules(); + } + + @Override + public boolean isFinished() { + return false; + } +} diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/Arm.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/Arm.java index b39801ce..04634061 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/Arm.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/Arm.java @@ -1,5 +1,8 @@ package frc.robot.subsystems.arm; +import java.io.File; +import java.io.IOException; + import edu.wpi.first.math.controller.ArmFeedforward; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.geometry.Rotation2d; @@ -80,6 +83,13 @@ public Arm() { } else { armIO = new ArmSparkMax(); } + try { + ShootKinematics.loadDistCSV(); + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + feedback.setGoal(ArmConstants.stowPositionRad); } @@ -111,6 +121,16 @@ public void setGoal(ArmStates state) { if (state == ArmStates.PODIUM) { feedback.setGoal(ArmConstants.podiumPositionRad); } + if (state == ArmStates.AIMBOT) { + double calcedArmAngle = ShootKinematics.getArmAngleRadGivenPose(Robot.swerve.getPose()); + if (calcedArmAngle < 0) { + calcedArmAngle = Math.PI / 4; + } + Robot.arm.setGoal(calcedArmAngle); + } + if (state == ArmStates.SOURCE) { + feedback.setGoal(ArmConstants.sourcePositionRad); + } } public void setGoal(double goalRad) { @@ -217,8 +237,8 @@ public double calculatePID(double currentPositionRad) { return feedback.calculate(currentPositionRad); } - private boolean atGoal() { - return (Math.abs(data.positionRad - getGoal()) < 0.15); + public boolean atGoal() { + return (Math.abs(data.positionRad - getGoal()) < 0.1); } public void updateState() { @@ -255,6 +275,9 @@ public void updateState() { if (getGoal() == ArmConstants.groundIntakepositionRad) { state = ArmStates.GROUND_INTAKE; } + if (getGoal() == ArmConstants.sourcePositionRad) { + state = ArmStates.SOURCE; + } } // runs every 0.02 sec @@ -283,10 +306,13 @@ public void periodic() { armIO.setBreakMode(); } if (!driverStationStatus && isEnabled) { - armIO.setCoastMode(); + armIO.setBreakMode(); isEnabled = driverStationStatus; } - + + // armIO.setCoastMode(); + SmartDashboard.putNumber("calced arm rad", ShootKinematics.getArmAngleRadGivenPose(Robot.swerve.getPose())); + ShootKinematics.getRobotRotation(Robot.swerve.getPose()); } } \ No newline at end of file diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ArmAngleCalculator.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ArmAngleCalculator.java index 51c73b3f..571ba005 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ArmAngleCalculator.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ArmAngleCalculator.java @@ -7,14 +7,14 @@ // NOTE: all distances in output file are relative to center of robot, arm offset is accounted for public class ArmAngleCalculator { public static double y_speaker = ArmConstants.speakerHeight; - public static double x_arm = ArmConstants.armHeightOffset; // how far arm is from center of robot + public static double x_arm = ArmConstants.armLengthOffset; // how far arm is from center of robot public static double y_arm = ArmConstants.armHeightOffset; // how high up the arm is public static double v_initial = ArmConstants.shooterVelocity; public static double arm_length = ArmConstants.armLength; // Gravity - public static final double g = 9.8; + public static final double g = 9.81; // Range of Angles & Minimum Shooting Distance public static final double initial_angle = 90.0; @@ -57,7 +57,7 @@ public static double calculateAngle(double x_dist) throws Exception { double shoot_angle_rad = Math.toRadians(60-i); double vx = Math.cos(shoot_angle_rad) * v_initial; - double t = ( x_dist - x_arm + arm_length*Math.cos(initial_angle_rad) ) / vx; + double t = ( x_dist + x_arm + arm_length*Math.cos(initial_angle_rad) ) / vx; double y = ( Math.sin(shoot_angle_rad) * v_initial * t ) - ( g/2 * t*t ) + ( arm_length * Math.sin(initial_angle_rad) ) + y_arm; if (Math.abs(y_speaker - y) <= margin_of_error) { diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ArmConstants.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ArmConstants.java index 034b7309..04841cd2 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ArmConstants.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ArmConstants.java @@ -14,16 +14,17 @@ public final class ArmConstants { // inverse gear ratio * 1min/60sec * 2PI to get rad/sec public static final double gearRatio = 200.0; - public static final double sprocketRatio = 64.0 / 24.0; + public static final double sprocketRatio = 64.0 / 24.0; public static final int encoderID = 7; - public static final double encoderOffsetRad = Units.degreesToRadians(76.67); + public static final double encoderOffsetRad = Units.degreesToRadians(124.45); public static final double stowPositionRad = Units.degreesToRadians(1); public static final double climbPositionRad = Units.degreesToRadians(102.5); - public static final double subwooferPositionRad = Units.degreesToRadians(18); - public static final double ampPositionRad = Units.degreesToRadians(114); + public static final double subwooferPositionRad = Units.degreesToRadians(12); + public static final double ampPositionRad = Units.degreesToRadians(52); public static final double podiumPositionRad = Units.degreesToRadians(35); - public static final double groundIntakepositionRad = Units.degreesToRadians(4); + public static final double groundIntakepositionRad = Units.degreesToRadians(4.5); + public static final double sourcePositionRad = Units.degreesToRadians(110); public enum ArmStates { @@ -34,6 +35,8 @@ public enum ArmStates { SUBWOOFER, PODIUM, GROUND_INTAKE, + AIMBOT, + SOURCE, IN_TRANIST; } @@ -98,16 +101,15 @@ public enum ArmStates { // Field Parameters - public static final double armHeightOffset = 0.2159; - public static final double armLengthOffset = 0.2286; - public static final double armLength = 0.93; - public static final double shooterVelocity = 20.0; // NOTE: likely will vary, might need to pass as + public static final double armHeightOffset = Units.inchesToMeters(12.75); + public static final double armLengthOffset = -0.2286; + public static final double armLength = 0.61; + public static final double shooterVelocity = 12.5; // NOTE: likely will vary, might need to pass as // parameter // Field Parameters - public static final double speakerHeight = Units.inchesToMeters(78.13); // likely thing you'll need to tune - // public static final double speakerLength = Units.inchesToMeters(18.11/4); // likely thing you'll need to tune + public static final double speakerHeight = Units.inchesToMeters(78.35);; // likely thing you'll need to tune public static final double minDistance = 0.9; // / NOTE: Not percise, please check // Calcuation stuff diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ShootKinematics.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ShootKinematics.java index a6135090..0aacb87c 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ShootKinematics.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/ShootKinematics.java @@ -13,6 +13,7 @@ import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import frc.robot.utils.MiscConstants; import edu.wpi.first.wpilibj.Filesystem; @@ -28,7 +29,7 @@ public class ShootKinematics { private static final double[] distToAngle = new double[1001]; private static double maxDist = 0.0; - public static Pose2d shootingPose2DCalculate(Pose2d currentPose2d){ + public static Pose2d shootingPose2DCalculate(Pose2d currentPose2d) { Rotation2d angle; Translation2d distanceVector = currentPose2d.getTranslation().minus(getSpeakerPosition()); @@ -37,14 +38,14 @@ public static Pose2d shootingPose2DCalculate(Pose2d currentPose2d){ // System.out.println("Angle: " + angle); // System.out.println("MAX ANGLE: " + Constants.ArmConstants.maxAngle); - //double distAngle = getAngle(distanceVector.getNorm()); - + // double distAngle = getAngle(distanceVector.getNorm()); + // Case 0: We are in angle - if (angle.getDegrees() < ArmConstants.maxAngle && distanceVector.getNorm() <= maxDist){ + if (angle.getDegrees() < ArmConstants.maxAngle && distanceVector.getNorm() <= maxDist) { // System.out.println("Case 0"); return moveOutOfStage(changeRotation(currentPose2d.getTranslation(), distanceVector)); // return changeRotation(currentPose2d.getTranslation(), distanceVector); - } + } // Case 1: We are out of angle else if (angle.getDegrees() >= ArmConstants.maxAngle) { // System.out.println("Case 1"); @@ -52,14 +53,18 @@ else if (angle.getDegrees() >= ArmConstants.maxAngle) { // TODO: Check if positive/negative x coord check is correct Translation2d radiusVector; - if ((distanceVector.getAngle().getRadians() < 0 && DriverStation.getAlliance().get() == Alliance.Red) || (distanceVector.getAngle().getRadians() > 0 && DriverStation.getAlliance().get() == Alliance.Blue)) { + if ((distanceVector.getAngle().getRadians() < 0 && DriverStation.getAlliance().get() == Alliance.Red) + || (distanceVector.getAngle().getRadians() > 0 + && DriverStation.getAlliance().get() == Alliance.Blue)) { // System.out.println("case 1a"); - radiusVector = new Translation2d(Math.cos(ArmConstants.maxAngleRad), Math.sin(ArmConstants.maxAngleRad)); + radiusVector = new Translation2d(Math.cos(ArmConstants.maxAngleRad), + Math.sin(ArmConstants.maxAngleRad)); } else { // System.out.println("case 1b"); - radiusVector = new Translation2d(Math.cos(-ArmConstants.maxAngleRad), Math.sin(-ArmConstants.maxAngleRad)); + radiusVector = new Translation2d(Math.cos(-ArmConstants.maxAngleRad), + Math.sin(-ArmConstants.maxAngleRad)); } - + Translation2d perpVector = projection(distanceVector, radiusVector).minus(distanceVector); Translation2d goal = perpVector.plus(currentPose2d.getTranslation()); @@ -83,25 +88,28 @@ else if (distanceVector.getNorm() > maxDist) { return null; } - private static Pose2d changeRotation(Translation2d currentTranslation2d, Translation2d distanceVector){ + private static Pose2d changeRotation(Translation2d currentTranslation2d, Translation2d distanceVector) { // System.out.println(distanceVector.getAngle().getDegrees()); return new Pose2d(currentTranslation2d, new Rotation2d(Math.PI + distanceVector.getAngle().getRadians())); - // Ok basically the Rotation2d angle is pi + angle only if the currenttranslation is above the speaker - // Otherwise the angle is pi - angle if the currenttranslation is below the speaker + // Ok basically the Rotation2d angle is pi + angle only if the + // currenttranslation is above the speaker + // Otherwise the angle is pi - angle if the currenttranslation is below the + // speaker } // Case 5 Check if we are in stage and move accordingly - private static Pose2d moveOutOfStage(Pose2d poseInRadius){ + private static Pose2d moveOutOfStage(Pose2d poseInRadius) { // System.out.println("Case 5"); Translation2d[] stagePoints = getStagePoints(); Translation2d distanceVector = poseInRadius.getTranslation().minus(stagePoints[0]); double angle = Math.abs(distanceVector.getAngle().getRadians()); - if (angle < Math.PI/6 && poseInRadius.getTranslation().getX() < stagePoints[1].getX()){ - Translation2d perpVector = projection(distanceVector, stagePoints[2].minus(stagePoints[0])).minus(distanceVector); + if (angle < Math.PI / 6 && poseInRadius.getTranslation().getX() < stagePoints[1].getX()) { + Translation2d perpVector = projection(distanceVector, stagePoints[2].minus(stagePoints[0])) + .minus(distanceVector); Translation2d nearestShootPoint = poseInRadius.getTranslation().plus(perpVector); - + return changeRotation(nearestShootPoint, nearestShootPoint.minus(getSpeakerPosition())); } @@ -109,7 +117,8 @@ private static Pose2d moveOutOfStage(Pose2d poseInRadius){ } private static Translation2d projection(Translation2d vector, Translation2d target) { - // return target.div(Math.pow(target.getNorm(),2)).times(dotProduct(target, vector)); + // return target.div(Math.pow(target.getNorm(),2)).times(dotProduct(target, + // vector)); return target.times(dotProduct(target, vector) / (Math.pow(target.getNorm(), 2))); } @@ -118,10 +127,14 @@ private static double dotProduct(Translation2d v1, Translation2d v2) { } private static double getAngle(double dist) { - int distNum = (int)(Math.round(dist * 100.0)); + + // we start at 0.9m away, though that should be lowerd to like 0.8 + int distNum = (int) (Math.round(dist * 100.0)); + SmartDashboard.putNumber("arm calc index", distNum); if (distNum < 0 || distNum > 1000) { return -1; } + return distToAngle[distNum]; } @@ -133,7 +146,7 @@ private static Translation2d getSpeakerPosition() { } } - private static Translation2d[] getStagePoints(){ + private static Translation2d[] getStagePoints() { try { return (DriverStation.getAlliance().get() == Alliance.Red) ? redStagePoints : blueStagePoints; } catch (Exception e) { @@ -142,44 +155,87 @@ private static Translation2d[] getStagePoints(){ } public static void loadDistCSV() throws FileNotFoundException, IOException { - Path csvPath = Filesystem.getDeployDirectory().toPath().resolve("angles.csv"); - loadDistCSV(csvPath.toFile()); + new Thread(() -> { + try { + BufferedReader br = new BufferedReader( + new FileReader( + new File( + Filesystem.getDeployDirectory(), "angles.csv"))); + String line; + while ((line = br.readLine()) != null) { + + // System.out.println("READ LINE"); + String[] values = line.split(","); + double curDist = Double.parseDouble(values[0]); + maxDist = Math.max(maxDist, curDist); + distToAngle[(int) (Math.round(curDist * 100))] = Double.parseDouble(values[1]); + // System.out.println(Double.toString(curDist) + " : " + Double.toString((int) + // (Math.round(curDist * 100)))); + } + + maxDist -= ArmConstants.distMargin; + System.out.println("done"); + br.close(); + + } catch (Exception e) { + } + }).start(); + } - public static void loadDistCSV(File file) throws FileNotFoundException, IOException { - BufferedReader reader = new BufferedReader(new FileReader(file)); - - String line; - while ((line = reader.readLine()) != null) { - String[] values = line.split(","); - double curDist = Double.parseDouble(values[0]); - maxDist = Math.max(maxDist, curDist); - distToAngle[(int)(curDist * 100)] = Double.parseDouble(values[1]); - } + // public static void loadDistCSV(File file) throws FileNotFoundException, + // IOException { + // BufferedReader br = + // new BufferedReader( + // new FileReader( + // new File( + // Filesystem.getDeployDirectory(), "angles.csv"))); + // String line; + // while ((line = br.readLine()) != null) { - maxDist -= ArmConstants.distMargin; + // System.out.println("READ LINE"); + // String[] values = line.split(","); + // double curDist = Double.parseDouble(values[0]); + // maxDist = Math.max(maxDist, curDist); + // distToAngle[(int)(curDist * 100)] = Double.parseDouble(values[1]); + // } - reader.close(); - } + // maxDist -= ArmConstants.distMargin; + + // br.close(); + // } public static double getArmAngleRadGivenPose(Pose2d currentPose2d) { - double distance = currentPose2d.getTranslation().minus(blueSpeakerPosition).getNorm(); + double distance = currentPose2d.getTranslation().minus(getSpeakerPosition()).getNorm(); + SmartDashboard.putNumber("distance", distance); return Units.degreesToRadians(getAngle(distance)); } // for testing load csv & other functionality - public static void main(String[] args) throws FileNotFoundException, IOException { - // loadDistCSV(new File("src/main/deploy/angles.csv")); - // for (double i = 0.9; i < maxDist; i += 0.01) { - // i = Math.round(i*100)/100.0; - // double temp = i + Math.random()*.01; - // temp = Math.round(temp*1000)/1000.0; - // System.out.println(temp + " " + getAngle(temp)); - // } + // public static void main(String[] args) throws FileNotFoundException, + // IOException { + // loadDistCSV(new File("src/main/deploy/angles.csv")); + // for (double i = 0.9; i < maxDist; i += 0.01) { + // i = Math.round(i*100)/100.0; + // double temp = i + Math.random()*.01; + // temp = Math.round(temp*1000)/1000.0; + // System.out.println(temp + " " + getAngle(temp)); + // } + + // returns -1 if out of range, returns 0 if too close + // } + + public static Rotation2d getRobotRotation(Pose2d currentPose2d) { + + Translation2d distanceVector = currentPose2d.getTranslation().minus(getSpeakerPosition()); + + Rotation2d rotation = new Rotation2d(Math.atan2(distanceVector.getY(), distanceVector.getX())); - // returns -1 if out of range, returns 0 if too close - loadDistCSV(new File("src/main/deploy/angles.csv")); - Pose2d currentPose2d = new Pose2d(0, 5, new Rotation2d(0)); - System.out.println(getArmAngleRadGivenPose(currentPose2d)); + if (!MiscConstants.isRedAlliance()){ + rotation.plus(new Rotation2d(Math.PI)); + } + SmartDashboard.putNumberArray("rotated robot", + new double[] { currentPose2d.getX(), currentPose2d.getY(), rotation.getDegrees() }); + return rotation; } } \ No newline at end of file diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/angles.csv b/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/angles.csv index e462f49e..0a3addc4 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/angles.csv +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/arm/angles.csv @@ -1,517 +1,384 @@ -0.9,13.33 -0.91,13.55 -0.92,13.77 -0.93,13.98 -0.94,14.2 -0.95,14.41 -0.96,14.63 -0.97,14.84 -0.98,15.05 -0.99,15.26 -1.0,15.46 -1.01,15.67 -1.02,15.88 -1.03,16.08 -1.04,16.28 -1.05,16.48 -1.06,16.68 -1.07,16.88 -1.08,17.08 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runIntakeState() { outtake(); break; case AMP: - setVoltage(-8); - setHasPiece(false); - ; - setIndexedPiece(false); - ; - Robot.led.setLEDPattern(LEDPattern.WHITE); + amp(); } } + private void amp() { + setVoltage(-8); + setHasPiece(false); + setIndexedPiece(false); + Robot.led.setLEDPattern(LEDPattern.WHITE); + } + private void feed() { if (Robot.state == SuperStructureStates.AMP) { Robot.shooter.setState(ShooterStates.AMP); setState(IntakeStates.AMP); + amp(); + return; } setVoltage(12); - if (Robot.shooter.getState() == ShooterStates.STOP) { - Robot.shooter.setState(ShooterStates.SPOOL); - } setHasPiece(false); setIndexedPiece(false); Robot.led.setLEDPattern(LEDPattern.WHITE); @@ -156,7 +161,7 @@ private void feed() { } private void outtake() { - setVoltage(-12); + setVoltage(-9); setHasPiece(false); setIndexedPiece(false); Robot.led.setLEDPattern(LEDPattern.WHITE); @@ -168,15 +173,13 @@ private void intake() { setIntakeVelocity(IntakeConstants.intakeVelocityRadPerSec); } else { state = IntakeStates.INDEX; - } - } private void index() { if (!indexedPiece) { - setVoltage(-3.5); + setVoltage(-4); } else { state = IntakeStates.STOP; } @@ -199,6 +202,8 @@ public void periodic() { stateLog.set(state.name()); SmartDashboard.putBoolean("has piece", hasPiece); + SmartDashboard.putBoolean("indexed piece", indexedPiece); + } } diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java index 351c1b9e..cbe81824 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java @@ -17,10 +17,10 @@ public final class IntakeConstants { public static final PIDConstants intakePID = Robot.isReal() ? realIntakePID : simIntakePID; - public static final double kV = 0.102; + public static final double kV = 0.083; - public static final double intakeVelocityRadPerSec = 125; - public static final double outtakeVelocityRadPerSec = -30; + public static final double intakeVelocityRadPerSec = 120; + public static final double outtakeVelocityRadPerSec = -15; public enum IntakeStates { STOP, diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/intake/IntakeSparkMax.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/intake/IntakeSparkMax.java index 7aa85765..d9526eab 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/intake/IntakeSparkMax.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/intake/IntakeSparkMax.java @@ -29,9 +29,9 @@ public void updateData(IntakeData data) { data.intakeVolts = intakeMotor.getBusVoltage() * intakeMotor.getAppliedOutput(); data.intakeVelocityRadPerSec = intakeEncoder.getVelocity(); data.intakeTempCelcius = intakeMotor.getMotorTemperature(); - /* + - */ + } @Override diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/Shooter.java index 635dc841..9fdced1c 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/Shooter.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/Shooter.java @@ -1,13 +1,18 @@ package frc.robot.subsystems.shooter; +import edu.wpi.first.wpilibj.Timer; + import edu.wpi.first.math.controller.PIDController; import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Robot; +import frc.robot.subsystems.intake.IntakeConstants; import frc.robot.subsystems.shooter.ShooterConstants.ShooterStates; import frc.robot.subsystems.shooter.ShooterIO.ShooterData; import frc.robot.subsystems.wrist.WristConstants.WristStates; import frc.robot.utils.ShuffleData; +import frc.robot.utils.UtilityFunctions; public class Shooter extends SubsystemBase { @@ -51,6 +56,8 @@ public class Shooter extends SubsystemBase { private ShuffleData stateLog = new ShuffleData(this.getName(), "state", ShooterStates.STOP.name()); + private Timer timer = new Timer(); + public Shooter() { shooterIO = new ShooterSparkMax(); if (Robot.isSimulation()) { @@ -62,6 +69,13 @@ public double getVelocityRadPerSec() { return (data.topShooterVelocityRadPerSec + data.bottomShooterVelocityRadPerSec) / 2; } + public double getTopVelocityRadPerSec(){ + return data.topShooterVelocityRadPerSec; + } + public double getBottomVelocityRadPerSec(){ + return data.bottomShooterVelocityRadPerSec; + } + public ShooterStates getState() { return state; } @@ -100,6 +114,7 @@ public void runShooterState() { stop(); break; case INTAKE: + intake(); break; case INDEX: @@ -116,20 +131,29 @@ public void runShooterState() { } public void setState(ShooterStates state) { + intakeSpedUp = false; this.state = state; } private void intake() { + // this is just for the setpoint checker below - setVoltage(-0.2, -0.2); - if (getVelocityRadPerSec() > 50) { - intakeSpedUp = true; + setVoltage(-0.75, -0.75); + if (!intakeSpedUp && UtilityFunctions.withinMargin(15, Robot.intake.getVelocityRadPerSec(), IntakeConstants.intakeVelocityRadPerSec)) { + intakeSpedUp = true; + timer.stop(); + timer.reset(); + timer.start(); } - if (getVelocityRadPerSec() < 0.2 && intakeSpedUp) { + SmartDashboard.putNumber("Index Timer", timer.get()); + if ((getBottomVelocityRadPerSec() > -15 || getTopVelocityRadPerSec() > -15) && intakeSpedUp && timer.get()>0.48) { Robot.intake.setHasPiece(true); state = ShooterStates.INDEX; + timer.stop(); + timer.reset(); // state } + SmartDashboard.putBoolean("intake sped up", intakeSpedUp); } @@ -137,9 +161,8 @@ private void index() { setVoltage(-1.2, -1.2); - if (Math.abs(getVelocityRadPerSec()) > 30) { + if ((getBottomVelocityRadPerSec() < -30 && getTopVelocityRadPerSec() < -30)) { state = ShooterStates.STOP; - System.out.println("STOP INDEX"); Robot.intake.setIndexedPiece(true); } diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java index 110e3e5e..d09e9f47 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/ShooterConstants.java @@ -9,7 +9,7 @@ public final class ShooterConstants { public static final int shooterBottomId = 19; public static final int shooterTopId = 18; - public static final double shooterVelocityRadPerSec = 560; + public static final double shooterVelocityRadPerSec = 565; public static final double ampVelocityRadPerSec = 60; private static final PIDConstants simShooterTopPID = new PIDConstants( @@ -18,7 +18,7 @@ public final class ShooterConstants { 0, 0); private static final PIDConstants realShooterTopPID = new PIDConstants( - 0.004, + 0.0015, 0, 0); public static final PIDConstants shooterTopPID = Robot.isReal() @@ -30,7 +30,7 @@ public final class ShooterConstants { 0, 0); private static final PIDConstants realShooterBottomPID = new PIDConstants( - 0.004, + 0.0015, 0, 0); public static final PIDConstants shooterBottomPID = Robot.isReal() diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/ShooterSparkMax.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/ShooterSparkMax.java index 93c5971a..34f98250 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/ShooterSparkMax.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/shooter/ShooterSparkMax.java @@ -34,7 +34,9 @@ public ShooterSparkMax() { topEncoder.setPositionConversionFactor(2 * Math.PI); topShooter.setIdleMode(IdleMode.kCoast); - bottomShooter.setIdleMode(IdleMode.kCoast); + bottomShooter.setIdleMode(IdleMode.kCoast); + bottomShooter.setIdleMode(IdleMode.kBrake); + topShooter.setIdleMode(IdleMode.kBrake); } @@ -42,6 +44,7 @@ public ShooterSparkMax() { public void updateData(ShooterData data) { data.topShooterVolts = topShooter.getBusVoltage() * topShooter.getAppliedOutput(); data.topShooterVelocityRadPerSec = topEncoder.getVelocity(); + data.topShooterTempCelcius = topShooter.getMotorTemperature(); data.topShooterPositionRad = topEncoder.getPosition(); data.topShooterCurrentAmps = topShooter.getOutputCurrent(); diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/Swerve.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/Swerve.java index b6142a97..94336fad 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/Swerve.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/Swerve.java @@ -5,6 +5,7 @@ package frc.robot.subsystems.swerve; import edu.wpi.first.math.MathUtil; +import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.geometry.*; import edu.wpi.first.math.kinematics.*; @@ -77,8 +78,9 @@ public class Swerve extends SubsystemBase { "heading", 0.0); - public Pose2d desiredPose = new Pose2d(0, 0, Rotation2d.fromDegrees(0)); - public double prevVelocity = 0; + private Pose2d desiredPose = new Pose2d(0, 0, Rotation2d.fromDegrees(0)); + private double prevVelocity = 0; + private boolean utilizeVision = true; public Swerve() { if (Robot.isSimulation()) { @@ -104,7 +106,9 @@ public Swerve() { modules[2].getPosition(), modules[3].getPosition() }, - new Pose2d(new Translation2d(0, 0), new Rotation2d(0))); + new Pose2d(new Translation2d(0, 0), new Rotation2d(0)), + VecBuilder.fill(0.04, 0.04, 0.00), + VecBuilder.fill(0.965, 0.965, 5000)); if (Robot.isSimulation()) { // resetOdometry(new Pose2d(new Translation2d(1, 1), new @@ -112,6 +116,8 @@ public Swerve() { } resetGyro(); + resetOdometry(new Pose2d(1.33, 5.53, new Rotation2d(0))); + } public void setChassisSpeeds(ChassisSpeeds chassisSpeeds) { @@ -136,6 +142,10 @@ public void setChassisSpeeds(ChassisSpeeds chassisSpeeds) { } + public void setUtilizeVision(boolean utilize) { + utilizeVision = utilize; + } + public ChassisSpeeds getChassisSpeeds() { SwerveModuleState[] states = new SwerveModuleState[4]; for (int i = 0; i < 4; i++) { @@ -209,8 +219,11 @@ public void updateOdometry() { } public void visionUpdateOdometry(LimelightHelpers.LimelightPose visionPose) { - // swerveDrivePoseEstimator.addVisionMeasurement(visionPose.pose, - // visionPose.timestamp); + if (utilizeVision) { + SmartDashboard.putBoolean("use vision", utilizeVision); + swerveDrivePoseEstimator.addVisionMeasurement(visionPose.pose, + visionPose.timestamp); + } } public void logDesiredOdometry(Pose2d desiredPose) { @@ -315,25 +328,25 @@ public void periodic() { gyroCalibratingLog.set(gyroData.isCalibrating); headingLog.set(getRotation2d().getDegrees()); - double robotVelocity = - Math.sqrt(Math.pow(getChassisSpeeds().vxMetersPerSecond, 2) + - Math.pow(getChassisSpeeds().vyMetersPerSecond, 2)); + double robotVelocity = Math.sqrt(Math.pow(getChassisSpeeds().vxMetersPerSecond, 2) + + Math.pow(getChassisSpeeds().vyMetersPerSecond, 2)); SmartDashboard.putNumber("robot velocity", robotVelocity); - SmartDashboard.putNumber("robot acceleration", (robotVelocity-prevVelocity)/.02); + SmartDashboard.putNumber("robot acceleration", (robotVelocity - prevVelocity) / .02); prevVelocity = robotVelocity; - // boolean driverStationStatus = DriverStation.isEnabled(); - // if (driverStationStatus && !isEnabled) { - // isEnabled = driverStationStatus; - // modules[0].setBreakMode(true); - // ; - // } - // if (!driverStationStatus && isEnabled) { - // modules[0].setBreakMode(false);; - // isEnabled = driverStationStatus; - // } + boolean driverStationStatus = DriverStation.isEnabled(); + if (driverStationStatus && !isEnabled) { + isEnabled = driverStationStatus; + modules[0].setBreakMode(true); + ; + } + if (!driverStationStatus && isEnabled) { + modules[0].setBreakMode(false); + ; + isEnabled = driverStationStatus; + } } diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/SwerveConstants.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/SwerveConstants.java index 47f1a356..cc028714 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/SwerveConstants.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/SwerveConstants.java @@ -67,7 +67,7 @@ public static final class DriveConstants { public static final int[] absoluteEncoderPorts = { 11, 12, 13, 14 }; public static final boolean[] driveMotorReversed = { - false, + true, false, false, false @@ -85,7 +85,7 @@ public static final class DriveConstants { false }; public static final double[] absoluteEncoderOffsetDeg = { - 323.806, + 26.191, 137.594, 71.455, 186.943 @@ -100,20 +100,15 @@ public static final class DriveConstants { public static final int turnMotorFreeLimit = 40; private static final double realMaxSpeedMetersPerSecond = 4.3; // This is our actual top speed - private static final double realMaxAccelerationMetersPerSecondSquared = 5.5; // the actual top acc is - // 5.75, but its non-linear - // at the end and so this - // is a more balanced value - // for that + private static final double realMaxAccelerationMetersPerSecondSquared = 3.3; public static final double teleopMaxSpeedMetersPerSecond = 4.5; // This will send any additional voltage // availible to the motors, making us a // bit faster if we have an extra good // battery charge - private static final double realMaxAngularSpeedRadiansPerSecond = 6.5;// these should be different from - // the teleop ones - private static final double realMaxAngularAccelerationRadiansPerSecondSquared = 9.02; + private static final double realMaxAngularSpeedRadiansPerSecond = 6.5;// 12.162 max, needs to be verified + private static final double realMaxAngularAccelerationRadiansPerSecondSquared = 15.543; // needs to be verified private static final double simMaxSpeedMetersPerSecond = 3.707; private static final double simMaxAccelerationMetersPerSecondSquared = 2.5; diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/real/SwerveModuleSparkMax.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/real/SwerveModuleSparkMax.java index 95d20786..0fe47682 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/real/SwerveModuleSparkMax.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/swerve/real/SwerveModuleSparkMax.java @@ -81,14 +81,14 @@ public void setDriveVoltage(double volts) { driveAppliedVolts = MathUtil.clamp(volts, -DriveConstants.maxMotorVolts, DriveConstants.maxMotorVolts); // driveAppliedVolts = Math.signum(driveAppliedVolts) * 12; - // driveMotor.setVoltage(driveAppliedVolts); + driveMotor.setVoltage(driveAppliedVolts); }; @Override public void setTurnVoltage(double volts) { turnAppliedVolts = MathUtil.clamp(volts, -DriveConstants.maxMotorVolts, DriveConstants.maxMotorVolts); - // turnMotor.setVoltage(turnAppliedVolts); + turnMotor.setVoltage(turnAppliedVolts); }; private double getDrivePositionMeters() { diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/vision/Limelight.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/vision/Limelight.java index 25665b45..abda2d97 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/vision/Limelight.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/vision/Limelight.java @@ -19,6 +19,8 @@ import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; import edu.wpi.first.networktables.NetworkTable; @@ -31,6 +33,7 @@ import frc.robot.subsystems.vision.VisionConstants.Cam; import frc.robot.utils.LimelightHelpers; import frc.robot.utils.ShuffleData; +import frc.robot.utils.LimelightHelpers.LimelightPose; /** * Encapsulated PhotonCamera object used in posed estimation and alignment @@ -39,434 +42,239 @@ * @author Jadon Lee */ public class Limelight extends SubsystemBase { - // Position - public Pose2d estimatedPose2dLeft = new Pose2d(0, 0, new Rotation2d()); - public Pose2d estimatedPose2dRight = new Pose2d(0, 0, new Rotation2d()); - - public boolean targeting = false; - // PhotonCamera instance - private final PhotonCamera cameraLeft; - private final PhotonCamera cameraRight; - // private final PhotonCamera cameraBack = new PhotonCamera("limelight2"); - - private AprilTagFieldLayout aprilTagFieldLayout; - private PhotonPoseEstimator photonPoseEstimatorLeft; - private PhotonPoseEstimator photonPoseEstimatorRight; - - // NetworkTables entries for controlling LEDs - private final NetworkTable photonTableLeft = NetworkTableInstance.getDefault().getTable("photonvisionLeft"); - private final NetworkTableEntry ledModeLeft = photonTableLeft.getEntry("ledMode"); - private final NetworkTableEntry ledModeStateLeft = photonTableLeft.getEntry("ledModeState"); - private final NetworkTableEntry ledModeRequestLeft = photonTableLeft.getEntry("ledModeRequest"); - private final NetworkTable photonTableRight = NetworkTableInstance.getDefault().getTable("photonvisionRight"); - private final NetworkTableEntry ledModeRight = photonTableRight.getEntry("ledMode"); - private final NetworkTableEntry ledModeStateRight = photonTableRight.getEntry("ledModeState"); - private final NetworkTableEntry ledModeRequestRight = photonTableRight.getEntry("ledModeRequest"); - private final NetworkTable photonTableBack = NetworkTableInstance.getDefault().getTable("photonvisionRight"); - private final NetworkTableEntry ledModeBack = photonTableBack.getEntry("ledMode"); - private final NetworkTableEntry ledModeStateBack = photonTableBack.getEntry("ledModeState"); - private final NetworkTableEntry ledModeRequestBack = photonTableBack.getEntry("ledModeRequest"); - - // ShuffleData for logging pipeline index - private final ShuffleData pipeline = new ShuffleData("Limelight", - "New Pipeline", -1000); - - // Timer for tracking how long the Limelight subsystem has been running - // Constructor - public Limelight() { - - cameraLeft = new PhotonCamera("LL2"); - cameraRight = new PhotonCamera("LL3"); - try { - // Loading AprilTag field layout - aprilTagFieldLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.k2024Crescendo.m_resourceFile); - - // Initializing PhotonPoseEstimator based on robot type - if (Robot.isSimulation()) { - photonPoseEstimatorLeft = new PhotonPoseEstimator(aprilTagFieldLayout, - PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, - cameraLeft, VisionConstants.SIM_LEFT_ROBOT_TO_CAM); - photonPoseEstimatorRight = new PhotonPoseEstimator(aprilTagFieldLayout, - PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, - cameraRight, VisionConstants.SIM_RIGHT_ROBOT_TO_CAM); - } else { - photonPoseEstimatorLeft = new PhotonPoseEstimator(aprilTagFieldLayout, - PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, - cameraLeft, VisionConstants.ROBOT_TO_LEFT_CAM); - photonPoseEstimatorRight = new PhotonPoseEstimator(aprilTagFieldLayout, - PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, - cameraRight, VisionConstants.ROBOT_TO_RIGHT_CAM); - } - photonPoseEstimatorLeft.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY); - photonPoseEstimatorRight.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY); - - } catch (Exception e) { - // Handling exceptions during initialization - System.out.println(e); - } - - // Setting LED to Off and starting the timer - setLED(VisionLEDMode.kOff, Cam.LEFT); - setLED(VisionLEDMode.kOff, Cam.RIGHT); - setLED(VisionLEDMode.kOff, Cam.BACK); - - } - - // Method to get the latest PhotonPipelineResult from the camera - public PhotonPipelineResult getLatestResult(Cam camPose) { - switch (camPose) { - case LEFT: - return cameraLeft.getLatestResult(); - case RIGHT: - return cameraRight.getLatestResult(); - // case BACK: - // return cameraBack.getLatestResult(); - default: - return null; - - } + // Position + public Pose2d estimatedPose2dLeft = new Pose2d(0, 0, new Rotation2d()); + public Pose2d estimatedPose2dRight = new Pose2d(0, 0, new Rotation2d()); + + public boolean targeting = false; + // PhotonCamera instance + private final PhotonCamera cameraLeft; + private final PhotonCamera cameraRight; + // private final PhotonCamera cameraBack = new PhotonCamera("limelight2"); + + private AprilTagFieldLayout aprilTagFieldLayout; + private PhotonPoseEstimator photonPoseEstimatorLeft; + private PhotonPoseEstimator photonPoseEstimatorRight; + + // Timer for tracking how long the Limelight subsystem has been running + // Constructor + public Limelight() { + + cameraLeft = new PhotonCamera("LL2"); + cameraRight = new PhotonCamera("LL3"); + try { + // Loading AprilTag field layout + aprilTagFieldLayout = AprilTagFieldLayout + .loadFromResource(AprilTagFields.k2024Crescendo.m_resourceFile); + + // Initializing PhotonPoseEstimator based on robot type + if (Robot.isSimulation()) { + photonPoseEstimatorLeft = new PhotonPoseEstimator(aprilTagFieldLayout, + PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, + cameraLeft, VisionConstants.SIM_LEFT_ROBOT_TO_CAM); + photonPoseEstimatorRight = new PhotonPoseEstimator(aprilTagFieldLayout, + PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, + cameraRight, VisionConstants.SIM_RIGHT_ROBOT_TO_CAM); + } else { + photonPoseEstimatorLeft = new PhotonPoseEstimator(aprilTagFieldLayout, + PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, + cameraLeft, VisionConstants.ROBOT_TO_LEFT_CAM); + + photonPoseEstimatorRight = new PhotonPoseEstimator(aprilTagFieldLayout, + PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, + cameraRight, VisionConstants.ROBOT_TO_RIGHT_CAM); + } + photonPoseEstimatorLeft.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY); + photonPoseEstimatorRight.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY); - } - - // Method to check if a target is present in the latest result - public boolean hasTarget(PhotonPipelineResult result) { - SmartDashboard.putBoolean("Has Target", result.hasTargets()); - return result.hasTargets(); - } - - // Method to get a list of tracked targets from the latest result - public List getTargets(PhotonPipelineResult result) { - return result.getTargets(); - } - - // Method to get the best tracked target from the latest result - public PhotonTrackedTarget getBestTarget(PhotonPipelineResult result) { - return result.getBestTarget(); - } - - public PhotonPoseEstimator getPoseEstimator() { - return photonPoseEstimatorLeft; - } - - // Method to get the yaw (rotation) of a tracked target - public Rotation2d getYaw(PhotonTrackedTarget target) { - return new Rotation2d(Math.toRadians(target.getYaw())); - } - - // Method to get the pitch (elevation) of a tracked target - public double getPitch(PhotonTrackedTarget target) { - return target.getPitch(); - } - - // Method to get the area of a tracked target - public double getArea(PhotonTrackedTarget target) { - return target.getArea(); - } - - // Method to get the skew of a tracked target - public double getSkew(PhotonTrackedTarget target) { - return target.getSkew(); - } - - // Method to get the bounding corners of a tracked target - public List getBoundingCorners(PhotonTrackedTarget target) { - return target.getDetectedCorners(); - } - - // Method to get the fiducial ID of a tracked target - public int getTargetId(PhotonTrackedTarget target) { - return target.getFiducialId(); - } - - // Method to get the pose ambiguity of a tracked target - public double getPoseAbmiguity(PhotonTrackedTarget target) { - return target.getPoseAmbiguity(); - } - - // Getter for AprilTagFieldLayout - public AprilTagFieldLayout getAprilTagFieldLayout() { - return aprilTagFieldLayout; - } - - // Getter for the current camera pipeline index - public int getPipeline(Cam camPose) { - switch (camPose) { - case LEFT: - return cameraLeft.getPipelineIndex(); - case RIGHT: - return cameraRight.getPipelineIndex(); - // case BACK: - // return cameraBack.getPipelineIndex(); - } - return 0; - - } - - // Setter for the camera pipeline index - public void setPipeline(int index, Cam camPose) { - switch (camPose) { - case LEFT: - cameraLeft.setPipelineIndex(index); - case RIGHT: - cameraRight.setPipelineIndex(index); - // case BACK: - // cameraBack.setPipelineIndex(index); - } - } - - // Method to set the LED mode for the Limelight - public void setLED(VisionLEDMode ledMode, Cam camPose) { - switch (camPose) { - case LEFT: - switch (ledMode) { - case kOn: - this.ledModeLeft.setInteger(1); - ledModeStateLeft.setInteger(1); - ledModeRequestLeft.setInteger(1); - break; - case kOff: - this.ledModeLeft.setInteger(0); - ledModeStateLeft.setInteger(0); - ledModeRequestLeft.setInteger(0); - break; - case kBlink: - this.ledModeLeft.setInteger(2); - ledModeStateLeft.setInteger(2); - ledModeRequestLeft.setInteger(2); - break; - default: - this.ledModeLeft.setInteger(-1); - ledModeStateLeft.setInteger(-1); - ledModeRequestLeft.setInteger(-1); - break; - } - cameraLeft.setLED(ledMode); - case RIGHT: - switch (ledMode) { - case kOn: - this.ledModeRight.setInteger(1); - ledModeStateRight.setInteger(1); - ledModeRequestRight.setInteger(1); - break; - case kOff: - this.ledModeRight.setInteger(0); - ledModeStateRight.setInteger(0); - ledModeRequestRight.setInteger(0); - break; - case kBlink: - this.ledModeRight.setInteger(2); - ledModeStateRight.setInteger(2); - ledModeRequestRight.setInteger(2); - break; - default: - this.ledModeRight.setInteger(-1); - ledModeStateRight.setInteger(-1); - ledModeRequestRight.setInteger(-1); - break; + } catch (Exception e) { + // Handling exceptions during initialization + System.out.println(e); } - cameraRight.setLED(ledMode); - // case BACK: - // switch (ledMode) { - // case kOn: - // this.ledModeBack.setInteger(1); - // ledModeStateBack.setInteger(1); - // ledModeRequestBack.setInteger(1); - // break; - // case kOff: - // this.ledModeBack.setInteger(0); - // ledModeStateBack.setInteger(0); - // ledModeRequestBack.setInteger(0); - // break; - // case kBlink: - // this.ledModeBack.setInteger(2); - // ledModeStateBack.setInteger(2); - // ledModeRequestBack.setInteger(2); - // break; - // default: - // this.ledModeBack.setInteger(-1); - // ledModeStateBack.setInteger(-1); - // ledModeRequestBack.setInteger(-1); - // break; - // } - // cameraBack.setLED(ledMode); - } - } - - // Method to get the estimated global pose using the PhotonPoseEstimator - public Optional getEstimatedGlobalPose(Pose2d prevEstimatedRobotPose, Cam camNum) { - switch (camNum) { - case LEFT: - photonPoseEstimatorLeft.setReferencePose(prevEstimatedRobotPose); - return photonPoseEstimatorLeft.update(); - case RIGHT: - photonPoseEstimatorRight.setReferencePose(prevEstimatedRobotPose); - return photonPoseEstimatorRight.update(); - default: - return null; } - } - - // Method for logging information - public void logging() { - pipeline.set(getPipeline(Cam.LEFT)); - } - - // Overridden periodic method for logging during each robot loop iteration - @Override - public void periodic() { - logging(); - - PhotonPipelineResult latestResultLeft = getLatestResult(Cam.LEFT); - SmartDashboard.putBoolean(" left present", latestResultLeft.hasTargets()); - - if (latestResultLeft.hasTargets()) { - MultiTargetPNPResult multiResultLeft = latestResultLeft.getMultiTagResult(); - - if (multiResultLeft.estimatedPose.isPresent) { - try { - SmartDashboard.putNumber("left ambiguity", multiResultLeft.estimatedPose.ambiguity); - - if (multiResultLeft.estimatedPose.ambiguity <= 0.2) { - estimatedPose2dLeft = new Pose2d(multiResultLeft.estimatedPose.best.getX(), - multiResultLeft.estimatedPose.best.getY(), - multiResultLeft.estimatedPose.best.getRotation().toRotation2d()); - - estimatedPose2dLeft - .transformBy(new Transform2d(VisionConstants.LEFT_CAM_TO_ROBOT.getX(), - VisionConstants.LEFT_CAM_TO_ROBOT.getY(), - VisionConstants.LEFT_CAM_TO_ROBOT.getRotation().toRotation2d())); - // update swerve pose estimator + // Overridden periodic method for logging during each robot loop iteration + @Override + public void periodic() { + // manualPose(); + + // System.out.println("right detect"); + photonPoseEstimatorLeft.setReferencePose(estimatedPose2dLeft); + Optional estimateleft = photonPoseEstimatorLeft.update(); + if (estimateleft.isPresent()) { + Pose2d estimatedPose2dLeft = estimateleft.get().estimatedPose.toPose2d(); + SmartDashboard.putNumberArray("LEFT LL Odometry", + new double[] { estimatedPose2dLeft.getX(), estimatedPose2dLeft.getY(), + estimatedPose2dLeft.getRotation().getDegrees() }); Robot.swerve.visionUpdateOdometry( - new LimelightHelpers.LimelightPose(estimatedPose2dLeft, - latestResultLeft.getTimestampSeconds())); - // Logging Limelight odometry information to SmartDashboard - SmartDashboard.putNumberArray("Left Limelight Odometry", - new double[] { estimatedPose2dLeft.getX(), - estimatedPose2dLeft.getY(), - estimatedPose2dLeft.getRotation().getRadians() }); - } - } catch (Exception e) { - SmartDashboard.putString("Left Error", e.toString()); - + new LimelightPose(estimatedPose2dLeft, estimateleft.get().timestampSeconds)); } - } else { - - double imageCaptureTime = latestResultLeft.getTimestampSeconds(); - PhotonTrackedTarget bestTarget = latestResultLeft.getBestTarget(); - - if (bestTarget.getPoseAmbiguity() <= 0.2) { - int targetID = bestTarget.getFiducialId(); - Optional targetPoseOptional = aprilTagFieldLayout.getTagPose(targetID); - if (targetPoseOptional.isPresent()) { - Pose3d targetPose = targetPoseOptional.get(); - Pose3d camPose = targetPose.transformBy(bestTarget.getBestCameraToTarget().inverse()); - Pose2d robotPoseEstimate = camPose.transformBy(VisionConstants.LEFT_CAM_TO_ROBOT).toPose2d(); + photonPoseEstimatorRight.setReferencePose(estimatedPose2dRight); + Optional estimateRight = photonPoseEstimatorRight.update(); + if (estimateRight.isPresent()) { + estimatedPose2dRight= estimateRight.get().estimatedPose.toPose2d(); + SmartDashboard.putNumberArray("RIGHT LL Odometry", + new double[] { estimatedPose2dRight.getX(), estimatedPose2dRight.getY(), + estimatedPose2dRight.getRotation().getDegrees() }); Robot.swerve.visionUpdateOdometry( - new LimelightHelpers.LimelightPose(robotPoseEstimate, imageCaptureTime)); - SmartDashboard.putNumberArray("Left Limelight Odometry", - new double[] { robotPoseEstimate.getX(), - robotPoseEstimate.getY(), - robotPoseEstimate.getRotation().getRadians() }); + new LimelightPose(estimatedPose2dRight, estimateRight.get().timestampSeconds)); + } + } - } + // public void manualPose() { +// + // PhotonPipelineResult latestResultLeft = cameraLeft.getLatestResult(); + // SmartDashboard.putBoolean(" left present", latestResultLeft.hasTargets()); + + // if (latestResultLeft.hasTargets()) { + // MultiTargetPNPResult multiResultLeft = latestResultLeft.getMultiTagResult(); + + // double imageCaptureTime = latestResultLeft.getTimestampSeconds(); + // PhotonTrackedTarget bestTarget = latestResultLeft.getBestTarget(); + + // if (bestTarget.getPoseAmbiguity() <= 0.2) { + + // int targetID = bestTarget.getFiducialId(); + // Optional targetPoseOptional = aprilTagFieldLayout.getTagPose(targetID); + + // if (targetPoseOptional.isPresent()) { + // Pose3d targetPose = targetPoseOptional.get(); + // SmartDashboard.putNumberArray("targetPose", new double[] { + // targetPose.getX(), targetPose.getY(), + // targetPose.getRotation().toRotation2d().getDegrees() }); + + // Pose2d camPose = targetPose + // .transformBy(bestTarget.getBestCameraToTarget() + // .inverse()) + // .toPose2d(); + + // SmartDashboard.putNumberArray("camPose", + // new double[] { camPose.getX(), camPose.getY(), + // camPose.getRotation().getDegrees() }); + + // Pose2d robotPose = applyTransformation(camPose, + // VisionConstants.LEFT_CAM_TO_ROBOT2D); + + // Robot.swerve.visionUpdateOdometry( + // new LimelightHelpers.LimelightPose(robotPose, + // imageCaptureTime)); + // SmartDashboard.putNumberArray("Left Limelight Odometry", + // new double[] { robotPose.getX(), + // robotPose.getY(), + // robotPose.getRotation() + // .getDegrees() }); + + // } + // } + // } + + // PhotonPipelineResult latestResultRight = cameraRight.getLatestResult(); + // SmartDashboard.putBoolean(" Right present", latestResultRight.hasTargets()); + + // if (latestResultRight.hasTargets()) { + // MultiTargetPNPResult multiResultRight = latestResultRight.getMultiTagResult(); + + // double imageCaptureTime = latestResultRight.getTimestampSeconds(); + // PhotonTrackedTarget bestTarget = latestResultRight.getBestTarget(); + + // if (bestTarget.getPoseAmbiguity() <= 0.2) { + + // int targetID = bestTarget.getFiducialId(); + // Optional targetPoseOptional = aprilTagFieldLayout.getTagPose(targetID); + + // if (targetPoseOptional.isPresent()) { + // Pose3d targetPose = targetPoseOptional.get(); + // SmartDashboard.putNumberArray("targetPose", new double[] { + // targetPose.getX(), targetPose.getY(), + // targetPose.getRotation().toRotation2d().getDegrees() }); + + // Pose2d camPose = targetPose + // .transformBy(bestTarget.getBestCameraToTarget() + // .inverse()) + // .toPose2d(); + + // SmartDashboard.putNumberArray("camPose", + // new double[] { camPose.getX(), camPose.getY(), + // camPose.getRotation().getDegrees() }); + + // Pose2d robotPose = applyTransformation(camPose, + // VisionConstants.RIGHT_CAM_TO_ROBOT2D); + + // Robot.swerve.visionUpdateOdometry( + // new LimelightHelpers.LimelightPose(robotPose, + // imageCaptureTime)); + // SmartDashboard.putNumberArray("Right Limelight Odometry", + // new double[] { robotPose.getX(), + // robotPose.getY(), + // robotPose.getRotation() + // .getDegrees() }); + + // } + // } + // } + // } + + // Thanks to FRC Team 5712 + public Matrix confidenceCalculator(EstimatedRobotPose estimation) { + double smallestDistance = Double.POSITIVE_INFINITY; + for (var target : estimation.targetsUsed) { + var t3d = target.getBestCameraToTarget(); + var distance = Math.sqrt( + t3d.getX() * t3d.getX() + t3d.getY() * t3d.getY() + t3d.getZ() * t3d.getZ()); + if (distance < smallestDistance) + smallestDistance = distance; } - } + double poseAmbiguityFactor = estimation.targetsUsed.size() != 1 + ? 1 + : Math.max( + 1, + (estimation.targetsUsed.get(0).getPoseAmbiguity() + + VisionConstants.POSE_AMBIGUITY_SHIFTER) + * VisionConstants.POSE_AMBIGUITY_MULTIPLIER); + double confidenceMultiplier = Math.max( + 1, + (Math.max( + 1, + Math.max(0, smallestDistance - VisionConstants.NOISY_DISTANCE_METERS) + * VisionConstants.DISTANCE_WEIGHT) + * poseAmbiguityFactor) + / (1 + + ((estimation.targetsUsed.size() - 1) + * VisionConstants.TAG_PRESENCE_WEIGHT))); + + return VisionConstants.VISION_MEASUREMENT_STANDARD_DEVIATIONS.times(confidenceMultiplier); } - PhotonPipelineResult latestResultRight = getLatestResult(Cam.RIGHT); - SmartDashboard.putBoolean(" right present", latestResultRight.hasTargets()); + public static Pose2d applyTransformation(Pose2d startingPose, + Transform2d transformation) { + // Apply rotation to the translation - if (latestResultRight.hasTargets()) { + double newX = startingPose.getX() + + -transformation.getX() * Math.cos(transformation.getRotation().getRadians()) + + transformation.getY() * Math.sin(transformation.getRotation().getRadians()); + double newY = startingPose.getY() + - transformation.getX() * Math.sin(transformation.getRotation().getRadians()) + - transformation.getY() * Math.cos(transformation.getRotation().getRadians()); - MultiTargetPNPResult multiResultRight = latestResultRight.getMultiTagResult(); - if (multiResultRight.estimatedPose.isPresent) { - // Logging information to SmartDashboard - // Getting the estimated global pose using Limelight and SwerveDrive pose - SmartDashboard.putBoolean("Running Limelight Right", true); - try { - SmartDashboard.putNumber(" right ambiguity", multiResultRight.estimatedPose.ambiguity); - - if (multiResultRight.estimatedPose.ambiguity <= 0.2) { - - estimatedPose2dRight = new Pose2d(multiResultRight.estimatedPose.best.getX(), - multiResultRight.estimatedPose.best.getY(), - multiResultRight.estimatedPose.best.getRotation().toRotation2d()); - estimatedPose2dRight - .transformBy(new Transform2d(VisionConstants.RIGHT_CAM_TO_ROBOT.getX(), - VisionConstants.RIGHT_CAM_TO_ROBOT.getY(), - VisionConstants.RIGHT_CAM_TO_ROBOT.getRotation().toRotation2d())); - // update swerve pose esimtator - Robot.swerve.visionUpdateOdometry( - new LimelightHelpers.LimelightPose(estimatedPose2dRight, - latestResultRight.getTimestampSeconds())); - - // Logging Limelight odometry information to SmartDashboard - SmartDashboard.putNumberArray("Right Limelight Odometry", - new double[] { estimatedPose2dRight.getX(), - estimatedPose2dRight.getY(), - estimatedPose2dRight.getRotation().getRadians() }); - } - } catch (Exception e) { - SmartDashboard.putString("Right Error", e.toString()); + // Apply rotation + double newTheta = startingPose.getRotation().getRadians() + transformation.getRotation().getRadians(); - } - } else { - double imageCaptureTime = latestResultRight.getTimestampSeconds(); - PhotonTrackedTarget bestTarget = latestResultRight.getBestTarget(); - if (bestTarget.getPoseAmbiguity() <= 0.2) { - - int targetID = bestTarget.getFiducialId(); - Optional targetPoseOptional = aprilTagFieldLayout.getTagPose(targetID); - if (targetPoseOptional.isPresent()) { - Pose3d targetPose = targetPoseOptional.get(); - Pose3d camPose = targetPose.transformBy(bestTarget.getBestCameraToTarget().inverse()); - Pose2d robotPoseEstimate = camPose.transformBy(VisionConstants.RIGHT_CAM_TO_ROBOT).toPose2d(); - Robot.swerve.visionUpdateOdometry( - new LimelightHelpers.LimelightPose(robotPoseEstimate, imageCaptureTime)); - // Logging Limelight odometry information to SmartDashboard - SmartDashboard.putNumberArray("Right Limelight Odometry", - new double[] { robotPoseEstimate.getX(), - robotPoseEstimate.getY(), - robotPoseEstimate.getRotation().getRadians() }); - } - } - } - } - - // System.out.println("right detect"); + // Ensure theta remains within the range [0, 2π) + newTheta = normalizeAngle(newTheta); - } + return new Pose2d(newX, newY, new Rotation2d(newTheta)); + } - // Thanks to FRC Team 5712 - public Matrix confidenceCalculator(EstimatedRobotPose estimation) { - double smallestDistance = Double.POSITIVE_INFINITY; - for (var target : estimation.targetsUsed) { - var t3d = target.getBestCameraToTarget(); - var distance = Math.sqrt(t3d.getX() * t3d.getX() + t3d.getY() * t3d.getY() + t3d.getZ() * t3d.getZ()); - if (distance < smallestDistance) - smallestDistance = distance; + /** + * Normalizes an angle to the range [0, 2π) + * + * @param angle The angle in radians to normalize + * @return The normalized angle + */ + private static double normalizeAngle(double angle) { + double twoPi = 2 * Math.PI; + return ((angle % twoPi) + twoPi) % twoPi; } - double poseAmbiguityFactor = estimation.targetsUsed.size() != 1 - ? 1 - : Math.max( - 1, - (estimation.targetsUsed.get(0).getPoseAmbiguity() - + VisionConstants.POSE_AMBIGUITY_SHIFTER) - * VisionConstants.POSE_AMBIGUITY_MULTIPLIER); - double confidenceMultiplier = Math.max( - 1, - (Math.max( - 1, - Math.max(0, smallestDistance - VisionConstants.NOISY_DISTANCE_METERS) - * VisionConstants.DISTANCE_WEIGHT) - * poseAmbiguityFactor) - / (1 - + ((estimation.targetsUsed.size() - 1) - * VisionConstants.TAG_PRESENCE_WEIGHT))); - - return VisionConstants.VISION_MEASUREMENT_STANDARD_DEVIATIONS.times(confidenceMultiplier); - } -} \ No newline at end of file +} diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/vision/VisionConstants.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/vision/VisionConstants.java index 8da0a2c6..ada67bd1 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/vision/VisionConstants.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/vision/VisionConstants.java @@ -3,7 +3,10 @@ import edu.wpi.first.math.MatBuilder; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Nat; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Transform3d; import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.numbers.N1; @@ -12,54 +15,90 @@ public class VisionConstants { - public static enum Cam { - LEFT(0), RIGHT(1), BACK(2); + public static enum Cam { + LEFT(0), RIGHT(1), BACK(2); - public int camNum; + public int camNum; - Cam(int camNum) { - this.camNum = camNum; + Cam(int camNum) { + this.camNum = camNum; + } } - } - - // +X is forward, +Y is left, +Z is up - public static final Transform3d ROBOT_TO_LEFT_CAM = new Transform3d( - new Translation3d(Units.inchesToMeters(-10.381), Units.inchesToMeters(10.172), - Units.inchesToMeters(10.691)), - new Rotation3d(0, 55, 160)); - public static final Transform3d LEFT_CAM_TO_ROBOT = ROBOT_TO_LEFT_CAM.inverse(); - - public static final Transform3d ROBOT_TO_RIGHT_CAM = new Transform3d( - new Translation3d(Units.inchesToMeters(-10.381), Units.inchesToMeters(+10.172), - Units.inchesToMeters(10.691)), - new Rotation3d(0, 55, 200)); - public static final Transform3d RIGHT_CAM_TO_ROBOT = ROBOT_TO_RIGHT_CAM.inverse(); - - public static final Transform3d SIM_LEFT_ROBOT_TO_CAM = new Transform3d(1, 0, 0, new Rotation3d()); - public static final Transform3d SIM_RIGHT_ROBOT_TO_CAM = new Transform3d(1, 0, 0, new Rotation3d()); - - public static final double CAM_HEIGHT = Units.inchesToMeters(20); // meters - public static final double SIM_CAM_HEIGHT = 1; - public static final double CAM_YAW = 0; - public static final double CAM_PITCH = 0; - public static final double CAM_ROLL = 0; - - public static final Matrix VISION_MEASUREMENT_STANDARD_DEVIATIONS = MatBuilder.fill(Nat.N3(), - Nat.N1(), - 1.0, 1.0, 1.0 * Math.PI); - public static final int DISTANCE_WEIGHT = 7; - public static final double POSE_AMBIGUITY_MULTIPLIER = 0.2; - public static final double POSE_AMBIGUITY_SHIFTER = 0.2; - public static final double NOISY_DISTANCE_METERS = 2.5; - public static final int TAG_PRESENCE_WEIGHT = 10; - - public static enum Pipelines { - APRILTAG(0); - - public int index; - - Pipelines(int index) { - this.index = index; + + // +X is forward, +Y is left, +Z is up + + // public static final Transform3d LEFT_CAM_TO_ROBOT = new Transform3d( + // new Translation3d(Units.inchesToMeters(-10.588), + // Units.inchesToMeters(10.161), + // Units.inchesToMeters(-10.605)), + // new Rotation3d(0, Units.degreesToRadians(-55), + // Units.degreesToRadians(-158))); + + // public static final Transform2d LEFT_CAM_TO_ROBOT2D = new + // Transform2d(LEFT_CAM_TO_ROBOT.getX(), LEFT_CAM_TO_ROBOT.getY(), + // LEFT_CAM_TO_ROBOT.getRotation().toRotation2d()); + + // public static final Transform3d LEFT_CAM_TO_ROBOT = + // ROBOT_TO_LEFT_CAM.inverse(); + // public static final Transform3d ROBOT_TO_RIGHT_CAM = new Transform3d( + // new Translation3d(Units.inchesToMeters(-0), Units.inchesToMeters(0), + // Units.inchesToMeters(0)), + // new Rotation3d(0, Units.degreesToRadians(-55), Units.degreesToRadians(0))); + // public static final Transform3d ROBOT_TO_LEFT_CAM = new Transform3d( + // new Translation3d(Units.inchesToMeters(-10.588), Units.inchesToMeters(10.161), + // Units.inchesToMeters(10.605)), + // new Rotation3d(0, Units.degreesToRadians(-55), Units.degreesToRadians(158))); + + public static final Transform3d ROBOT_TO_RIGHT_CAM = new Transform3d( + new Translation3d(Units.inchesToMeters(-10.510), Units.inchesToMeters(-10.182), + Units.inchesToMeters(10.598)), + new Rotation3d(0, Units.degreesToRadians(-55), Units.degreesToRadians(200))); + + public static final Transform3d ROBOT_TO_LEFT_CAM = new Transform3d( + new Translation3d(Units.inchesToMeters(-10.510), Units.inchesToMeters(10.182), + Units.inchesToMeters(10.598)), + new Rotation3d(0, Units.degreesToRadians(-55), Units.degreesToRadians(158))); + + // public static final Transform3d ROBOT_TO_RIGHT_CAM = new Transform3d( + // new Translation3d(Units.inchesToMeters(0), Units.inchesToMeters(0), + // Units.inchesToMeters(0)), + // new Rotation3d(0, Units.degreesToRadians(-55), Units.degreesToRadians(200))); + + // public static final Transform3d RIGHT_CAM_TO_ROBOT = new Transform3d( + // new Translation3d(Units.inchesToMeters(-10.51), + // Units.inchesToMeters(-10.182), + // Units.inchesToMeters(-10.605)), + // new Rotation3d(0, Units.degreesToRadians(-55), + // Units.degreesToRadians(-200))); + + // public static final Transform2d RIGHT_CAM_TO_ROBOT2D = new Transform2d(RIGHT_CAM_TO_ROBOT.getX(), + // RIGHT_CAM_TO_ROBOT.getY(), RIGHT_CAM_TO_ROBOT.getRotation().toRotation2d()); + + public static final Transform3d SIM_LEFT_ROBOT_TO_CAM = new Transform3d(1, 0, 0, new Rotation3d()); + public static final Transform3d SIM_RIGHT_ROBOT_TO_CAM = new Transform3d(1, 0, 0, new Rotation3d()); + + public static final double CAM_HEIGHT = Units.inchesToMeters(20); // meters + public static final double SIM_CAM_HEIGHT = 1; + public static final double CAM_YAW = 0; + public static final double CAM_PITCH = 0; + public static final double CAM_ROLL = 0; + + public static final Matrix VISION_MEASUREMENT_STANDARD_DEVIATIONS = MatBuilder.fill(Nat.N3(), + Nat.N1(), + 1.0, 1.0, 1.0 * Math.PI); + public static final int DISTANCE_WEIGHT = 7; + public static final double POSE_AMBIGUITY_MULTIPLIER = 0.2; + public static final double POSE_AMBIGUITY_SHIFTER = 0.2; + public static final double NOISY_DISTANCE_METERS = 2.5; + public static final int TAG_PRESENCE_WEIGHT = 10; + + public static enum Pipelines { + APRILTAG(0); + + public int index; + + Pipelines(int index) { + this.index = index; + } } - } } \ No newline at end of file diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/wrist/Wrist.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/wrist/Wrist.java index ab0e7d79..52d6d103 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/wrist/Wrist.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/wrist/Wrist.java @@ -1,6 +1,7 @@ package frc.robot.subsystems.wrist; import java.util.HashMap; + import edu.wpi.first.math.controller.ArmFeedforward; import edu.wpi.first.math.controller.ProfiledPIDController; import edu.wpi.first.math.trajectory.TrapezoidProfile.State; @@ -16,6 +17,7 @@ import frc.robot.subsystems.wrist.WristIO.WristData; import frc.robot.utils.ShuffleData; import frc.robot.utils.UtilityFunctions; +import edu.wpi.first.wpilibj.Timer; public class Wrist extends SubsystemBase { // hello test @@ -59,20 +61,27 @@ public Wrist() { wristIO = new WristSim(); } wristController.setGoal(WristConstants.stowGoalRad); + state = WristStates.STOW; } public void setGoal(WristStates state) { - if (state == WristStates.ALMOST_DEPLOYED) { - wristController.setGoal(WristConstants.almostDeployedRad); - } - if (state == WristStates.STOW) { - wristController.setGoal(WristConstants.stowGoalRad); - } - if (state == WristStates.FULL_DEPLOYED) { - wristController.setGoal(WristConstants.fullDeployedRad); - } - if (state == WristStates.SUBWOOFER) { - wristController.setGoal(WristConstants.subwooferRad); + switch (state) { + case ALMOST_DEPLOYED: + wristController.setGoal(WristConstants.almostDeployedRad); + break; + case PASS: + wristController.setGoal(WristConstants.passingRad); + break; + case FULL_DEPLOYED: + wristController.setGoal(WristConstants.fullDeployedRad); + break; + case SUBWOOFER: + wristController.setGoal(WristConstants.subwooferRad); + break; + + default: // STOW condition + something went horribly wrong :) + wristController.setGoal(WristConstants.stowGoalRad); + break; } } @@ -97,6 +106,8 @@ public double getVelocityRadPerSec() { return (data.velocityRadPerSec); } + private Timer timer = new Timer(); + public void moveWristToGoal() { double pidGain = wristController.calculate(data.positionRad); @@ -126,7 +137,20 @@ public void moveWristToGoal() { : velocityRadPerSec * WristConstants.realkVBackward; voltage += calculateGravityFeedForward(data.positionRad, Robot.arm.getPositionRad()); } + if (state == WristStates.FULL_DEPLOYED && getWristGoal().position == WristConstants.fullDeployedRad + && voltage < 1.5) { + if (timer.get() == 0) { + timer.start(); + } + if (timer.get() < 0.25) { + + voltage = 1.5; + } + } else { + timer.stop(); + timer.reset(); + } setVoltage(voltage); // double volts = 0; // volts += calculateGravityFeedForward(data.positionRad, diff --git a/Team-3749-2024/src/main/java/frc/robot/subsystems/wrist/WristConstants.java b/Team-3749-2024/src/main/java/frc/robot/subsystems/wrist/WristConstants.java index 13ff7c7b..62bc5cdd 100644 --- a/Team-3749-2024/src/main/java/frc/robot/subsystems/wrist/WristConstants.java +++ b/Team-3749-2024/src/main/java/frc/robot/subsystems/wrist/WristConstants.java @@ -8,61 +8,61 @@ public final class WristConstants { - public static final int wristId = 17; - public static final double gearRatio = 1; - - public static final double almostDeployedRad = Units.degreesToRadians(140); // 141 - public static final double stowGoalRad = Units.degreesToRadians(2); - public static final double fullDeployedRad = Units.degreesToRadians(160); - public static final double subwooferRad = fullDeployedRad; - public static final double podiumRad = fullDeployedRad; - public enum WristStates{ - IN_TRANIST, - ALMOST_DEPLOYED, - FULL_DEPLOYED, - SUBWOOFER, - PODIUM, - STOW; - } - - - public static final double wristOffsetRad = Units.degreesToRadians(128.885 ); - public static final boolean wristReversed = true; - - private static final PIDConstants simPID = new PIDConstants(35, 0, 1); - - private static final PIDConstants realPID = new PIDConstants(0.9, 0.0, 0); // 0.35 - - public static final PIDConstants PID = Robot.isReal() ? realPID : simPID; - - private static final Constraints simConstraint = new Constraints( - Math.PI, - 2 * Math.PI); // we stealing from arm with - // this one - private static final Constraints realConstraint = new Constraints( - 2.25*Math.PI, - 1.75*Math.PI); - - public static final Constraints trapezoidConstraint = Robot.isReal() - ? realConstraint - : simConstraint; - - // thanks arm (robbery) - public static final double simkS = 0.0; - public static final double simkG = .33775; - public static final double simkV = 6.616; - public static final double simkA = 0; - - public static final double realkS = 0.0; - public static final double realkVForward = 3.95;// 1.6 // radians - public static final double realkVBackward = 2.9 ; // radians - - public static final double kYIntercept = 0.0654; - public static final double kBar =0.635; - public static final double kBarSquared = -0.898; - public static final double kBarCubed = 0.237; - - - + public static final int wristId = 17; + public static final double gearRatio = 1; + + public static final double almostDeployedRad = Units.degreesToRadians(110); // 141 + public static final double stowGoalRad = Units.degreesToRadians(2); + public static final double fullDeployedRad = Units.degreesToRadians(160); + public static final double passingRad = Units.degreesToRadians(45); + + public static final double subwooferRad = fullDeployedRad; + public static final double podiumRad = fullDeployedRad; + + public enum WristStates { + IN_TRANIST, + ALMOST_DEPLOYED, + FULL_DEPLOYED, + SUBWOOFER, + PODIUM, + STOW, + PASS; + } + + public static final double wristOffsetRad = Units.degreesToRadians(73); + public static final boolean wristReversed = true; + + private static final PIDConstants simPID = new PIDConstants(35, 0, 1); + + private static final PIDConstants realPID = new PIDConstants(0.9, 0.0, 0); // 0.35 + + public static final PIDConstants PID = Robot.isReal() ? realPID : simPID; + + private static final Constraints simConstraint = new Constraints( + Math.PI, + 2 * Math.PI); // we stealing from arm with + // this one + private static final Constraints realConstraint = new Constraints( + 2.25 * Math.PI, + 1.75 * Math.PI); + + public static final Constraints trapezoidConstraint = Robot.isReal() + ? realConstraint + : simConstraint; + + // thanks arm (robbery) + public static final double simkS = 0.0; + public static final double simkG = .33775; + public static final double simkV = 6.616; + public static final double simkA = 0; + + public static final double realkS = 0.0; + public static final double realkVForward = 3.95;// 1.6 // radians + public static final double realkVBackward = 2.8; // radians + + public static final double kYIntercept = 0.0654; + public static final double kBar = 0.635; + public static final double kBarSquared = -0.898; + public static final double kBarCubed = 0.237; } diff --git a/Team-3749-2024/src/main/java/frc/robot/utils/AutoConstants.java b/Team-3749-2024/src/main/java/frc/robot/utils/AutoConstants.java index aa730753..427621b2 100644 --- a/Team-3749-2024/src/main/java/frc/robot/utils/AutoConstants.java +++ b/Team-3749-2024/src/main/java/frc/robot/utils/AutoConstants.java @@ -12,8 +12,8 @@ public final class AutoConstants { public static double kP_PathPlannerDrive = 7; // 3 public static double kD_PathPlannerDrive = 0.25; // 0.5 - public static double kP_PathPlannerTurn = 6.25; // 4.75 - public static double kD_PathPlannerTurn = 0.1; // 0.2 + public static double kP_PathPlannerTurn = 3.5; // 4.75 + public static double kD_PathPlannerTurn = 0.075; // 0.2 public static PIDConstants drivePIDConstants = new PIDConstants( kP_PathPlannerDrive, diff --git a/Team-3749-2024/src/main/java/frc/robot/utils/JoystickIO.java b/Team-3749-2024/src/main/java/frc/robot/utils/JoystickIO.java index 9e6b8fe5..d90a7552 100644 --- a/Team-3749-2024/src/main/java/frc/robot/utils/JoystickIO.java +++ b/Team-3749-2024/src/main/java/frc/robot/utils/JoystickIO.java @@ -3,6 +3,8 @@ import org.photonvision.estimation.RotTrlTransform3d; import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.util.Units; @@ -16,8 +18,10 @@ import frc.robot.commands.arm.GetConstraints; import frc.robot.commands.arm.MoveArmToGoal; import frc.robot.commands.superstructure.GroundIntake; +import frc.robot.commands.swerve.AlignToAmp; // import frc.robot.commands.arm.ArmMoveToGoal; import frc.robot.commands.swerve.SwerveTeleop; +import frc.robot.commands.swerve.SwerveTeleopShoot; import frc.robot.commands.wrist.MoveWristToGoal; import frc.robot.commands.wrist.getRegressionData; import frc.robot.subsystems.arm.ArmSim; @@ -73,7 +77,34 @@ public void getButtonBindings() { * If both controllers are plugged in (pi and op) */ public void pilotAndOperatorBindings() { - Robot.pilot.povLeft().onTrue(Commands.runOnce(() -> Robot.swerve.resetGyro())); + /** + * Pilot: + * L2: Intake + * L1: Outtake + * R2: Source Intake + * R1: + * X: Outtake + * Y:Pass + * A: + * B: + * Start: Reset Gyro + * + * Operator: + * L2: Subwoofer + * L1: Amp + * R2: Aimbot + * R1: + * X: + * Y: + * A: + * B: Shoot + * Start: + * Back?: Climb + * DPadDown: Reset + */ + + + // Robot.pilot.povLeft().onTrue(Commands.runOnce(() -> Robot.swerve.resetGyro())); // gyro Robot.pilot.start().onTrue(Commands.runOnce(() -> Robot.swerve.resetGyro())); @@ -82,6 +113,11 @@ public void pilotAndOperatorBindings() { .onFalse(Commands.runOnce(() -> { Robot.state = SuperStructureStates.STOW; }, Robot.wrist, Robot.intake)); + + Robot.pilot.rightTrigger().onTrue(Commands.runOnce(() -> Robot.state = SuperStructureStates.SOURCE)) + .onFalse(Commands.runOnce(() -> { + Robot.state = SuperStructureStates.STOW; + }, Robot.wrist, Robot.intake)); // outtake Robot.pilot.leftBumper() .onTrue(Commands.runOnce(() -> Robot.intake.setState(IntakeStates.OUTTAKE), Robot.intake)) @@ -90,39 +126,68 @@ public void pilotAndOperatorBindings() { // outtake Robot.pilot.x().onTrue(Commands.runOnce(() -> Robot.intake.setState(IntakeStates.OUTTAKE), Robot.intake)) .onFalse(Commands.runOnce(() -> Robot.intake.setState(IntakeStates.STOP), Robot.intake)); + // pass + Robot.pilot.y().onTrue(Commands.runOnce(() -> Robot.state = SuperStructureStates.PASS)) + .onFalse(Commands.runOnce(() -> { + Robot.state = SuperStructureStates.STOW; + Robot.shooter.setState(ShooterStates.STOP); + }, Robot.wrist, Robot.intake)); + // feed + Robot.pilot.b().onTrue(Commands.runOnce(() -> Robot.intake.setState(IntakeStates.FEED))) + .onFalse(Commands.runOnce(() -> { + Robot.intake.setState(IntakeStates.STOP); + Robot.shooter.setState(ShooterStates.STOP); + }, Robot.intake)); + + + // Robot.pilot.povUp().onTrue(Commands.runOnce(() -> Robot.swerve + // .resetOdometry(Robot.swerve.getPose().plus(new Transform2d(0.1, 0, new + // Rotation2d()))))); + // Robot.pilot.povUp().onTrue(Commands.runOnce(() -> + // Robot.swerve.resetOdometry(Robot.swerve.getPose().minus(new + // Transform2d(0.1,0, new Rotation2d()))))); // shoot - Robot.operator.rightTrigger().onTrue(Commands.runOnce(() -> Robot.state = SuperStructureStates.SUBWOOFER)) + + Robot.operator.rightTrigger().onTrue(Commands.runOnce(() -> Robot.state = SuperStructureStates.AIMBOT)) + .onFalse(Commands.runOnce(() -> { + Robot.state = SuperStructureStates.STOW; + }, Robot.wrist)).whileTrue(new SwerveTeleopShoot(() -> -Robot.pilot.getLeftX(), + () -> -Robot.pilot.getLeftY(), + () -> -Robot.pilot.getRightX())); + + Robot.operator.leftTrigger().onTrue(Commands.runOnce(() -> Robot.state = SuperStructureStates.SUBWOOFER)) .onFalse(Commands.runOnce(() -> { Robot.state = SuperStructureStates.STOW; }, Robot.wrist)); - + // amp + // Robot.operator.leftBumper().onTrue(Commands.runOnce(() -> Robot.state = SuperStructureStates.AMP)) + // .onFalse(Commands.runOnce(() -> { + // Robot.state = SuperStructureStates.STOW; + // }, Robot.arm, Robot.wrist, Robot.intake, Robot.shooter)).whileTrue(new AlignToAmp()); + Robot.operator.leftBumper().onTrue(Commands.runOnce(() -> Robot.state = SuperStructureStates.AMP)) .onFalse(Commands.runOnce(() -> { Robot.state = SuperStructureStates.STOW; }, Robot.arm, Robot.wrist, Robot.intake, Robot.shooter)); + // feed Robot.operator.b().onTrue(Commands.runOnce(() -> Robot.intake.setState(IntakeStates.FEED))) .onFalse(Commands.runOnce(() -> { Robot.intake.setState(IntakeStates.STOP); Robot.shooter.setState(ShooterStates.STOP); }, Robot.intake)); - Robot.pilot.leftTrigger().onTrue(Commands.runOnce(() -> Robot.intake.setState(IntakeStates.INTAKE))); - // reset + Robot.operator.povDown().onTrue(Commands.runOnce(() -> Robot.state = SuperStructureStates.RESET)); - Robot.operator.povUp().onTrue(Commands.runOnce(() -> Robot.intake.setState(IntakeStates.INTAKE))) - .onFalse(Commands.runOnce(() -> Robot.intake.setState(IntakeStates.STOP))); - Robot.operator.rightBumper().onTrue(Commands.runOnce(() -> Robot.shooter.setState(ShooterStates.SPOOL))) - .onFalse(Commands.runOnce(() -> Robot.shooter.setState(ShooterStates.STOP))); + // Robot.operator.rightBumper().onTrue(Commands.runOnce(() -> + // Robot.shooter.setState(ShooterStates.SPOOL))) + // .onFalse(Commands.runOnce(() -> Robot.shooter.setState(ShooterStates.STOP))); Robot.operator.back().onTrue(Commands.runOnce(() -> Robot.state = SuperStructureStates.CLIMB)) .onFalse(Commands.runOnce(() -> Robot.state = SuperStructureStates.CLIMBDOWN)); - Robot.operator.y().onTrue(Commands.runOnce(() -> Robot.state = SuperStructureStates.PODIUM)) - .onFalse(Commands.runOnce(() -> { - Robot.state = SuperStructureStates.STOW; - }, Robot.wrist)); + } diff --git a/Team-3749-2024/src/main/java/frc/robot/utils/SuperStructureStates.java b/Team-3749-2024/src/main/java/frc/robot/utils/SuperStructureStates.java index 350b5ec3..9d0f125e 100644 --- a/Team-3749-2024/src/main/java/frc/robot/utils/SuperStructureStates.java +++ b/Team-3749-2024/src/main/java/frc/robot/utils/SuperStructureStates.java @@ -12,7 +12,11 @@ public enum SuperStructureStates{ CLIMBDOWN(WristStates.STOW, ArmStates.STOW), SUBWOOFER(WristStates.FULL_DEPLOYED, ArmStates.SUBWOOFER), PODIUM(WristStates.FULL_DEPLOYED,ArmStates.PODIUM), - RESET(WristStates.STOW, ArmStates.STOW); + AIMBOT(WristStates.STOW, ArmStates.AIMBOT), + SOURCE(WristStates.STOW, ArmStates.SOURCE), + RESET(WristStates.STOW, ArmStates.STOW), + PASS(WristStates.PASS, ArmStates.STOW); + public WristStates wristState; public ArmStates armState; diff --git a/Team-3749-2024/vendordeps/ChoreoLib.json b/Team-3749-2024/vendordeps/ChoreoLib.json index bf5ee6a5..a5f886a3 100644 --- a/Team-3749-2024/vendordeps/ChoreoLib.json +++ b/Team-3749-2024/vendordeps/ChoreoLib.json @@ -1,7 +1,7 @@ { "fileName": "ChoreoLib.json", "name": "ChoreoLib", - "version": "2024.1.2", + "version": "2024.2.3", "uuid": "287cff6e-1b60-4412-8059-f6834fb30e30", "frcYear": "2024", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "com.choreo.lib", "artifactId": "ChoreoLib-java", - "version": "2024.1.2" + "version": "2024.2.3" }, { "groupId": "com.google.code.gson", @@ -25,7 +25,7 @@ { "groupId": "com.choreo.lib", "artifactId": "ChoreoLib-cpp", - "version": "2024.1.2", + "version": "2024.2.3", "libName": "ChoreoLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/Team-3749-2024/vendordeps/PathplannerLib.json b/Team-3749-2024/vendordeps/PathplannerLib.json index ff15fab4..6dc648db 100644 --- a/Team-3749-2024/vendordeps/PathplannerLib.json +++ b/Team-3749-2024/vendordeps/PathplannerLib.json @@ -1,7 +1,7 @@ { "fileName": "PathplannerLib.json", "name": "PathplannerLib", - "version": "2024.2.3", + "version": "2024.2.8", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", "frcYear": "2024", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2024.2.3" + "version": "2024.2.8" } ], "jniDependencies": [], @@ -20,7 +20,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2024.2.3", + "version": "2024.2.8", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/Team-3749-2024/vendordeps/Phoenix6.json b/Team-3749-2024/vendordeps/Phoenix6.json index 69a40798..03223850 100644 --- a/Team-3749-2024/vendordeps/Phoenix6.json +++ b/Team-3749-2024/vendordeps/Phoenix6.json @@ -1,7 +1,7 @@ { "fileName": "Phoenix6.json", "name": "CTRE-Phoenix (v6)", - "version": "24.1.0", + "version": "24.3.0", "frcYear": 2024, "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "24.1.0" + "version": "24.3.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "24.1.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -39,7 +39,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "24.1.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -52,7 +52,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "24.1.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -65,7 +65,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "24.1.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -78,7 +78,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "24.1.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -91,7 +91,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "24.1.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -104,7 +104,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "24.1.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -117,7 +117,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "24.1.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -130,7 +130,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "24.1.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -143,7 +143,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "24.1.0", + "version": "24.3.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -158,7 +158,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -173,7 +173,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -188,7 +188,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -203,7 +203,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -218,7 +218,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -233,7 +233,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonFX", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_SimTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -248,7 +248,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -263,7 +263,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -278,7 +278,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -293,7 +293,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -308,7 +308,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -323,7 +323,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "24.1.0", + "version": "24.3.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/Team-3749-2024/vendordeps/REVLib.json b/Team-3749-2024/vendordeps/REVLib.json index a8295814..f85acd40 100644 --- a/Team-3749-2024/vendordeps/REVLib.json +++ b/Team-3749-2024/vendordeps/REVLib.json @@ -1,7 +1,7 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2024.2.1", + "version": "2024.2.4", "frcYear": "2024", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2024.2.1" + "version": "2024.2.4" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2024.2.1", + "version": "2024.2.4", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -37,7 +37,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2024.2.1", + "version": "2024.2.4", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -55,7 +55,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2024.2.1", + "version": "2024.2.4", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/Team-3749-2024/vendordeps/photonlib.json b/Team-3749-2024/vendordeps/photonlib.json index 913e2990..0e80a16c 100644 --- a/Team-3749-2024/vendordeps/photonlib.json +++ b/Team-3749-2024/vendordeps/photonlib.json @@ -1,58 +1,57 @@ { "fileName": "photonlib.json", "name": "photonlib", - "version": "v2024.2.8", + "version": "v2024.3.1", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", "frcYear": "2024", "mavenUrls": [ - "https://maven.photonvision.org/repository/internal", - "https://maven.photonvision.org/repository/snapshots" + "https://maven.photonvision.org/repository/internal", + "https://maven.photonvision.org/repository/snapshots" ], "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", "jniDependencies": [], "cppDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-cpp", - "version": "v2024.2.8", - "libName": "photonlib", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-cpp", - "version": "v2024.2.8", - "libName": "photontargeting", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxathena", - "linuxx86-64", - "osxuniversal" - ] - } + { + "groupId": "org.photonvision", + "artifactId": "photonlib-cpp", + "version": "v2024.3.1", + "libName": "photonlib", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-cpp", + "version": "v2024.3.1", + "libName": "photontargeting", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + } ], "javaDependencies": [ - { - "groupId": "org.photonvision", - "artifactId": "photonlib-java", - "version": "v2024.2.8" - }, - { - "groupId": "org.photonvision", - "artifactId": "photontargeting-java", - "version": "v2024.2.8" - } + { + "groupId": "org.photonvision", + "artifactId": "photonlib-java", + "version": "v2024.3.1" + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-java", + "version": "v2024.3.1" + } ] - } - \ No newline at end of file +} \ No newline at end of file