diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index 7454180..7f93135 100644 Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ diff --git a/gradlew b/gradlew index 744e882..1aa94a4 100755 --- a/gradlew +++ b/gradlew @@ -1,7 +1,7 @@ -#!/usr/bin/env sh +#!/bin/sh # -# Copyright 2015 the original author or authors. +# Copyright © 2015-2021 the original authors. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -17,67 +17,99 @@ # ############################################################################## -## -## Gradle start up script for UN*X -## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# ############################################################################## # Attempt to set APP_HOME + # Resolve links: $0 may be a link -PRG="$0" -# Need this for relative symlinks. -while [ -h "$PRG" ] ; do - ls=`ls -ld "$PRG"` - link=`expr "$ls" : '.*-> \(.*\)$'` - if expr "$link" : '/.*' > /dev/null; then - PRG="$link" - else - PRG=`dirname "$PRG"`"/$link" - fi +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac done -SAVED="`pwd`" -cd "`dirname \"$PRG\"`/" >/dev/null -APP_HOME="`pwd -P`" -cd "$SAVED" >/dev/null -APP_NAME="Gradle" -APP_BASE_NAME=`basename "$0"` - -# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit # Use the maximum available, or set MAX_FD != -1 to use that value. -MAX_FD="maximum" +MAX_FD=maximum warn () { echo "$*" -} +} >&2 die () { echo echo "$*" echo exit 1 -} +} >&2 # OS specific support (must be 'true' or 'false'). cygwin=false msys=false darwin=false nonstop=false -case "`uname`" in - CYGWIN* ) - cygwin=true - ;; - Darwin* ) - darwin=true - ;; - MSYS* | MINGW* ) - msys=true - ;; - NONSTOP* ) - nonstop=true - ;; +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; esac CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar @@ -87,9 +119,9 @@ CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar if [ -n "$JAVA_HOME" ] ; then if [ -x "$JAVA_HOME/jre/sh/java" ] ; then # IBM's JDK on AIX uses strange locations for the executables - JAVACMD="$JAVA_HOME/jre/sh/java" + JAVACMD=$JAVA_HOME/jre/sh/java else - JAVACMD="$JAVA_HOME/bin/java" + JAVACMD=$JAVA_HOME/bin/java fi if [ ! -x "$JAVACMD" ] ; then die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME @@ -98,88 +130,120 @@ Please set the JAVA_HOME variable in your environment to match the location of your Java installation." fi else - JAVACMD="java" - which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. Please set the JAVA_HOME variable in your environment to match the location of your Java installation." + fi fi # Increase the maximum file descriptors if we can. -if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then - MAX_FD_LIMIT=`ulimit -H -n` - if [ $? -eq 0 ] ; then - if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then - MAX_FD="$MAX_FD_LIMIT" - fi - ulimit -n $MAX_FD - if [ $? -ne 0 ] ; then - warn "Could not set maximum file descriptor limit: $MAX_FD" - fi - else - warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" - fi +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac fi -# For Darwin, add options to specify how the application appears in the dock -if $darwin; then - GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" -fi +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. # For Cygwin or MSYS, switch paths to Windows format before running java -if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then - APP_HOME=`cygpath --path --mixed "$APP_HOME"` - CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` - - JAVACMD=`cygpath --unix "$JAVACMD"` - - # We build the pattern for arguments to be converted via cygpath - ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` - SEP="" - for dir in $ROOTDIRSRAW ; do - ROOTDIRS="$ROOTDIRS$SEP$dir" - SEP="|" - done - OURCYGPATTERN="(^($ROOTDIRS))" - # Add a user-defined pattern to the cygpath arguments - if [ "$GRADLE_CYGPATTERN" != "" ] ; then - OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" - fi +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + # Now convert the arguments - kludge to limit ourselves to /bin/sh - i=0 - for arg in "$@" ; do - CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` - CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option - - if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition - eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` - else - eval `echo args$i`="\"$arg\"" + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) fi - i=`expr $i + 1` + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg done - case $i in - 0) set -- ;; - 1) set -- "$args0" ;; - 2) set -- "$args0" "$args1" ;; - 3) set -- "$args0" "$args1" "$args2" ;; - 4) set -- "$args0" "$args1" "$args2" "$args3" ;; - 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; - 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; - 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; - 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; - 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; - esac fi -# Escape application args -save () { - for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done - echo " " -} -APP_ARGS=`save "$@"` -# Collect all arguments for the java command, following the shell quoting and substitution rules -eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat index 107acd3..93e3f59 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -14,7 +14,7 @@ @rem limitations under the License. @rem -@if "%DEBUG%" == "" @echo off +@if "%DEBUG%"=="" @echo off @rem ########################################################################## @rem @rem Gradle startup script for Windows @@ -25,7 +25,8 @@ if "%OS%"=="Windows_NT" setlocal set DIRNAME=%~dp0 -if "%DIRNAME%" == "" set DIRNAME=. +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused set APP_BASE_NAME=%~n0 set APP_HOME=%DIRNAME% @@ -40,7 +41,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome set JAVA_EXE=java.exe %JAVA_EXE% -version >NUL 2>&1 -if "%ERRORLEVEL%" == "0" goto execute +if %ERRORLEVEL% equ 0 goto execute echo. echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. @@ -75,13 +76,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar :end @rem End local scope for the variables with windows NT shell -if "%ERRORLEVEL%"=="0" goto mainEnd +if %ERRORLEVEL% equ 0 goto mainEnd :fail rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of rem the _cmd.exe /c_ return code! -if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 -exit /b 1 +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% :mainEnd if "%OS%"=="Windows_NT" endlocal diff --git a/simgui-ds.json b/simgui-ds.json index c4295d7..2c7eccc 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -1,4 +1,9 @@ { + "System Joysticks": { + "window": { + "enabled": false + } + }, "keyboardJoysticks": [ { "axisConfig": [ diff --git a/src/main/deploy/choreo/BottomGateToFuel.traj b/src/main/deploy/choreo/BottomGateToFuel.traj index 3e15a24..02ed251 100644 --- a/src/main/deploy/choreo/BottomGateToFuel.traj +++ b/src/main/deploy/choreo/BottomGateToFuel.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.566978693008423, "y":0.6486854553222656, "heading":1.5707963267948966, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":7.582844257354736, "y":1.8706356287002563, "heading":0.0, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.566978693008423, "y":0.6486854553222656, "heading":1.5707963267948966, "intervals":34, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.582844257354736, "y":1.8706356287002563, "heading":0.0, "intervals":3, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.58834981918335, "y":2.023021697998047, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,35 +14,35 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"StartTopGate.x", "val":3.566978693008423}, "y":{"exp":"0.6486854553222656 m", "val":0.6486854553222656}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"7.582844257354736 m", "val":7.582844257354736}, "y":{"exp":"1.8706356287002563 m", "val":1.8706356287002563}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":6, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"StartTopGate.x", "val":3.566978693008423}, "y":{"exp":"0.6486854553222656 m", "val":0.6486854553222656}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":19, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.582844257354736 m", "val":7.582844257354736}, "y":{"exp":"1.8706356287002563 m", "val":1.8706356287002563}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":2, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"7.58834981918335 m", "val":7.58834981918335}, "y":{"exp":"2.023021697998047 m", "val":2.023021697998047}, "heading":{"exp":"90 deg", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}], "targetDt":{ - "exp":"0.05 s", - "val":0.05 + "exp":"0.09 s", + "val":0.09 } }, "trajectory":{ "config":{ "frontLeft":{ - "x":0.2794, - "y":0.2794 + "x":0.302006, + "y":0.302006 }, "backLeft":{ - "x":-0.2794, - "y":0.2794 + "x":-0.302006, + "y":0.302006 }, - "mass":68.0388555, - "inertia":6.0, - "gearing":6.5, - "radius":0.0508, - "vmax":628.3185307179587, - "tmax":1.2, - "cof":1.5, + "mass":27.2155422, + "inertia":1.651, + "gearing":6.03, + "radius":0.049377599999999994, + "vmax":314.1592653589793, + "tmax":3.5, + "cof":1.7, "bumper":{ "front":0.4064, "side":0.4064, @@ -51,43 +51,46 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,1.33516,1.39008], + "waypoints":[0.0,1.74136,1.80143], "samples":[ - {"t":0.0, "x":3.56698, "y":0.64869, "heading":1.5708, "vx":0.0, "vy":0.0, "omega":0.0, "ax":9.0069, "ay":-0.46562, "alpha":0.0, "fx":[153.20485,153.20485,153.20485,153.20485], "fy":[-7.91998,-7.91998,-7.91998,-7.91998]}, - {"t":0.04768, "x":3.57722, "y":0.64816, "heading":1.5708, "vx":0.42949, "vy":-0.0222, "omega":0.0, "ax":9.00598, "ay":-0.46812, "alpha":0.0, "fx":[153.1892,153.1892,153.1892,153.1892], "fy":[-7.96263,-7.96263,-7.96263,-7.96263]}, - {"t":0.09537, "x":3.60794, "y":0.64657, "heading":1.5708, "vx":0.85893, "vy":-0.04452, "omega":0.0, "ax":9.00489, "ay":-0.47064, "alpha":0.0, "fx":[153.17054,153.17054,153.17054,153.17054], "fy":[-8.00545,-8.00545,-8.00545,-8.00545]}, - {"t":0.14305, "x":3.65913, "y":0.64391, "heading":1.5708, "vx":1.28833, "vy":-0.06697, "omega":0.0, "ax":9.00355, "ay":-0.47317, "alpha":0.0, "fx":[153.14774,153.14774,153.14774,153.14774], "fy":[-8.04845,-8.04845,-8.04845,-8.04845]}, - {"t":0.19074, "x":3.7308, "y":0.64018, "heading":1.5708, "vx":1.71765, "vy":-0.08953, "omega":0.0, "ax":9.00186, "ay":-0.4757, "alpha":0.0, "fx":[153.11905,153.11905,153.11905,153.11905], "fy":[-8.09155,-8.09155,-8.09155,-8.09155]}, - {"t":0.23842, "x":3.82294, "y":0.63537, "heading":1.5708, "vx":2.1469, "vy":-0.11221, "omega":0.0, "ax":8.99965, "ay":-0.47823, "alpha":0.0, "fx":[153.08152,153.08152,153.08152,153.08152], "fy":[-8.13459,-8.13459,-8.13459,-8.13459]}, - {"t":0.28611, "x":3.93555, "y":0.62947, "heading":1.5708, "vx":2.57605, "vy":-0.13502, "omega":0.0, "ax":8.99662, "ay":-0.48074, "alpha":0.0, "fx":[153.02988,153.02988,153.02988,153.02988], "fy":[-8.17718,-8.17718,-8.17718,-8.17718]}, - {"t":0.33379, "x":4.06861, "y":0.62249, "heading":1.5708, "vx":3.00504, "vy":-0.15794, "omega":0.0, "ax":8.99213, "ay":-0.48316, "alpha":0.0, "fx":[152.95356,152.95356,152.95356,152.95356], 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"vx":0.87307, "vy":0.0, "omega":0.0, "ax":-16.64216, "ay":0.0, "alpha":0.0, "fx":[-113.23133,-113.23133,-113.23133,-113.23133], "fy":[0.0,0.0,0.0,0.0]}, + {"t":1.62631, "x":8.28999, "y":7.64025, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/Sweep.traj b/src/main/deploy/choreo/Sweep.traj index 0a0e651..8de809e 100644 --- a/src/main/deploy/choreo/Sweep.traj +++ b/src/main/deploy/choreo/Sweep.traj @@ -3,7 +3,7 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":7.58834981918335, "y":6.3344197273254395, "heading":4.71238898038469, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.98834981918335, "y":5.644197273254395, "heading":-1.5707963267948966, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.58834981918335, "y":1.8855873346328735, "heading":4.71238898038469, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -13,7 +13,7 @@ }, "params":{ "waypoints":[ - {"x":{"exp":"TopFuelDown.x", "val":7.58834981918335}, "y":{"exp":"TopFuelDown.y", "val":6.3344197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":4.71238898038469}, "intervals":29, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"TopFuelDown.x", "val":7.98834981918335}, "y":{"exp":"TopFuelDown.y", "val":5.644197273254395}, "heading":{"exp":"TopFuelDown.heading", "val":-1.5707963267948966}, "intervals":31, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"BottomFuelDown.x", "val":7.58834981918335}, "y":{"exp":"BottomFuelDown.y", "val":1.8855873346328735}, "heading":{"exp":"BottomFuelDown.heading", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, @@ -27,20 +27,20 @@ "trajectory":{ "config":{ "frontLeft":{ - "x":0.2794, - "y":0.2794 + "x":0.302006, + "y":0.302006 }, "backLeft":{ - "x":-0.2794, - "y":0.2794 + "x":-0.302006, + "y":0.302006 }, - "mass":68.0388555, - "inertia":6.0, - "gearing":6.5, - "radius":0.0508, - "vmax":628.3185307179587, - "tmax":1.2, - "cof":1.5, + "mass":27.2155422, + "inertia":1.651, + "gearing":6.03, + "radius":0.049377599999999994, + "vmax":314.1592653589793, + "tmax":3.5, + "cof":1.7, "bumper":{ "front":0.4064, "side":0.4064, @@ -49,38 +49,40 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,0.90717], + "waypoints":[0.0,1.47058], "samples":[ - {"t":0.0, "x":7.58835, "y":6.33442, "heading":-1.5708, 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{"t":9.02709, "x":4.29484, "y":3.69639, "heading":0.92296, "vx":-0.6965, "vy":0.71721, "omega":-0.56448, "ax":0.0, "ay":0.0, "alpha":0.81343, "fx":[-3.05878,0.42344,3.05878,-0.42344], "fy":[-0.42344,-3.05878,0.42344,3.05878]}, - {"t":9.06709, "x":4.26698, "y":3.72508, "heading":0.90038, "vx":-0.6965, "vy":0.71721, "omega":-0.53194, "ax":0.0, "ay":0.0, "alpha":0.93218, "fx":[-3.51536,0.40598,3.51536,-0.40598], "fy":[-0.40598,-3.51536,0.40598,3.51536]}, - {"t":9.1071, "x":4.23911, "y":3.75378, "heading":0.8791, "vx":-0.6965, "vy":0.71721, "omega":-0.49464, "ax":0.0, "ay":0.0, "alpha":1.06814, "fx":[-4.03708,0.37938,4.03708,-0.37938], "fy":[-0.37938,-4.03708,0.37938,4.03708]}, - {"t":9.1471, "x":4.21125, "y":3.78247, "heading":0.85931, "vx":-0.6965, "vy":0.71721, "omega":-0.45191, "ax":0.0, "ay":0.0, "alpha":1.22378, "fx":[-4.63304,0.34306,4.63304,-0.34306], "fy":[-0.34306,-4.63304,0.34306,4.63304]}, - {"t":9.18711, "x":4.18339, "y":3.81116, "heading":0.84123, "vx":-0.6965, "vy":0.71721, 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"fx":[-9.1458,0.05717,9.14737,-0.05559], "fy":[-0.05719,-9.14739,0.05556,9.14578]}, - {"t":9.38713, "x":4.04407, "y":3.95462, "heading":0.78657, "vx":-0.6965, "vy":0.71721, "omega":-0.02847, "ax":4.85866, "ay":-5.00316, "alpha":0.69845, "fx":[79.90401,81.10649,85.30327,84.26376], "fy":[-86.72599,-87.66647,-83.55655,-82.45995]}, - {"t":9.42713, "x":4.02009, "y":3.97931, "heading":0.78543, "vx":-0.50213, "vy":0.51706, "omega":-0.00053, "ax":6.2716, "ay":-6.45811, "alpha":0.00854, "fx":[106.64466,106.64582,106.71141,106.71029], "fy":[-109.88292,-109.88214,-109.81844,-109.81917]}, - {"t":9.46714, "x":4.00503, "y":3.99483, "heading":0.78541, "vx":-0.25123, "vy":0.25871, "omega":-0.00019, "ax":6.28011, "ay":-6.46688, "alpha":0.00479, "fx":[106.80408,106.80468,106.84153,106.84095], "fy":[-110.01788,-110.01739,-109.98161,-109.98207]}, - {"t":9.50714, "x":4.0, "y":4.0, "heading":0.7854, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], - "splits":[0] - }, - "events":[] -} diff --git a/src/main/deploy/choreo/ZTLDR.chor b/src/main/deploy/choreo/ZTLDR.chor index 786a31c..c433522 100644 --- a/src/main/deploy/choreo/ZTLDR.chor +++ b/src/main/deploy/choreo/ZTLDR.chor @@ -21,16 +21,72 @@ }, "TopFuelDown":{ "x":{ - "exp":"7.58834981918335 m", - "val":7.58834981918335 + "exp":"7.98834981918335 m", + "val":7.98834981918335 }, "y":{ - "exp":"6.3344197273254395 m", - "val":6.3344197273254395 + "exp":"5.644197273254395 m", + "val":5.644197273254395 }, "heading":{ - "exp":"270 deg", - "val":4.71238898038469 + "exp":"-90 deg", + "val":-1.5707963267948966 + } + }, + "TopGateBlue":{ + "x":{ + "exp":"4.411479949951172 m", + "val":4.411479949951172 + }, + "y":{ + "exp":"7.464839458465576 m", + "val":7.464839458465576 + }, + "heading":{ + "exp":"0 deg", + "val":0.0 + } + }, + "WaypointA":{ + "x":{ + "exp":"5.453551292419434 m", + "val":5.453551292419434 + }, + "y":{ + "exp":"7.48888385772705 m", + "val":7.48888385772705 + }, + "heading":{ + "exp":"-5 deg", + "val":-0.08726646259971647 + } + }, + "WaypointB":{ + "x":{ + "exp":"6.951873970031738 m", + "val":6.951873970031738 + }, + "y":{ + "exp":"7.11126708984375 m", + "val":7.11126708984375 + }, + "heading":{ + "exp":"-45 deg", + "val":-0.7853981633974483 + } + }, + "WaypointC":{ + "x":{ + "exp":"7.800933055877685 m", + "val":7.800933055877685 + }, + "y":{ + "exp":"6.3520894050598145 m", + "val":6.3520894050598145 + }, + "heading":{ + "exp":"-80 deg", + "val":-1.3962634015954636 } } } @@ -38,51 +94,51 @@ "config":{ "frontLeft":{ "x":{ - "exp":"11 in", - "val":0.2794 + "exp":"11.89 in", + "val":0.302006 }, "y":{ - "exp":"11 in", - "val":0.2794 + "exp":"11.89 in", + "val":0.302006 } }, "backLeft":{ "x":{ - "exp":"-11 in", - "val":-0.2794 + "exp":"-11.89 in", + "val":-0.302006 }, "y":{ - "exp":"11 in", - "val":0.2794 + "exp":"11.89 in", + "val":0.302006 } }, "mass":{ - "exp":"150 lbs", - "val":68.0388555 + "exp":"60 lbs", + "val":27.2155422 }, "inertia":{ - "exp":"6 kg m ^ 2", - "val":6.0 + "exp":"1.651 kg m ^ 2", + "val":1.651 }, "gearing":{ - "exp":"6.5", - "val":6.5 + "exp":"6.03", + "val":6.03 }, "radius":{ - "exp":"2 in", - "val":0.0508 + "exp":"1.944 in", + "val":0.049377599999999994 }, "vmax":{ - "exp":"6000 RPM", - "val":628.3185307179587 + "exp":"3000 RPM", + "val":314.1592653589793 }, "tmax":{ - "exp":"1.2 N * m", - "val":1.2 + "exp":"3.5 N * m", + "val":3.5 }, "cof":{ - "exp":"1.5", - "val":1.5 + "exp":"1.7", + "val":1.7 }, "bumper":{ "front":{ diff --git a/src/main/deploy/pathplanner/autos/Max Balls Depot + Human Station.auto b/src/main/deploy/pathplanner/autos/Max Balls Depot + Human Station.auto new file mode 100644 index 0000000..e865b0e --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Max Balls Depot + Human Station.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "NewPath" + } + }, + { + "type": "path", + "data": { + "pathName": "NewPath_copy1" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Choreo Autos", + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Max Balls Down From Middle +Hang.auto b/src/main/deploy/pathplanner/autos/Max Balls Down From Middle +Hang.auto new file mode 100644 index 0000000..8bc0a6d --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Max Balls Down From Middle +Hang.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "NewPath_copy3" + } + }, + { + "type": "path", + "data": { + "pathName": "NewPath_copy4" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Choreo Autos", + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Max Balls From Depot + Hang.auto b/src/main/deploy/pathplanner/autos/Max Balls From Depot + Hang.auto new file mode 100644 index 0000000..1fa0b6e --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Max Balls From Depot + Hang.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "NewPath" + } + }, + { + "type": "path", + "data": { + "pathName": "NewPath_copy2" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Choreo Autos", + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Max Balls Up From Middle + Hang.auto b/src/main/deploy/pathplanner/autos/Max Balls Up From Middle + Hang.auto new file mode 100644 index 0000000..f044685 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Max Balls Up From Middle + Hang.auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "NewPath_copy3_copy1" + } + }, + { + "type": "path", + "data": { + "pathName": "NewPath_copy4_copy1" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Choreo Autos", + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto new file mode 100644 index 0000000..c28b188 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/New Auto.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "PathPlannerTopFuel" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Choreo Autos", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/TurretTableTest.auto b/src/main/deploy/pathplanner/autos/PathPlannerAuto.auto similarity index 77% rename from src/main/deploy/pathplanner/autos/TurretTableTest.auto rename to src/main/deploy/pathplanner/autos/PathPlannerAuto.auto index c5e6062..d1b7e31 100644 --- a/src/main/deploy/pathplanner/autos/TurretTableTest.auto +++ b/src/main/deploy/pathplanner/autos/PathPlannerAuto.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "CircleTest" + "pathName": "PathPlannerTopFuel" } } ] @@ -15,5 +15,5 @@ }, "resetOdom": true, "folder": null, - "choreoAuto": true + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Straight90Turn.auto b/src/main/deploy/pathplanner/autos/Straight90Turn.auto new file mode 100644 index 0000000..5b6112d --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Straight90Turn.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Straight90Turn" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Choreo Autos", + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/TestTopFuel.auto b/src/main/deploy/pathplanner/autos/TestTopFuel.auto new file mode 100644 index 0000000..071c238 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/TestTopFuel.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "TopGateToFuel" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Choreo Autos", + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/There n Back.auto b/src/main/deploy/pathplanner/autos/There n Back.auto new file mode 100644 index 0000000..a906d89 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/There n Back.auto @@ -0,0 +1,31 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "TopGateToFuel" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "path", + "data": { + "pathName": "FuelToTopGate" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Choreo Autos", + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/test_line.auto b/src/main/deploy/pathplanner/autos/test_line.auto new file mode 100644 index 0000000..ff82c66 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/test_line.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Straight_Line" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Choreo Autos", + "choreoAuto": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/PathPlannerTopFuel.path b/src/main/deploy/pathplanner/paths/PathPlannerTopFuel.path new file mode 100644 index 0000000..ce15d6b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/PathPlannerTopFuel.path @@ -0,0 +1,75 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.0, + "y": 7.496091298145506 + }, + "prevControl": null, + "nextControl": { + "x": 4.983572318693194, + "y": 7.362701377578214 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.80793152639087, + "y": 6.939728958630528 + }, + "prevControl": { + "x": 6.259870331437215, + "y": 7.1283997724457375 + }, + "nextControl": { + "x": 7.179026141229775, + "y": 6.811979131368961 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.985349500713266, + "y": 5.568231098430813 + }, + "prevControl": { + "x": 8.107931625750421, + "y": 5.350346673513896 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.1513859275053282, + "rotationDegrees": -45.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -90.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 5bf438c..9ef02b7 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -3,29 +3,31 @@ "robotLength": 0.9, "holonomicMode": true, "pathFolders": [], - "autoFolders": [], + "autoFolders": [ + "Choreo Autos" + ], "defaultMaxVel": 3.0, "defaultMaxAccel": 3.0, "defaultMaxAngVel": 540.0, "defaultMaxAngAccel": 720.0, "defaultNominalVoltage": 12.0, - "robotMass": 74.088, - "robotMOI": 6.883, - "robotTrackwidth": 0.546, - "driveWheelRadius": 0.048, - "driveGearing": 5.143, - "maxDriveSpeed": 5.45, + "robotMass": 27.216, + "robotMOI": 1.651, + "robotTrackwidth": 0.60325, + "driveWheelRadius": 0.04935, + "driveGearing": 6.03, + "maxDriveSpeed": 2.57, "driveMotorType": "krakenX60", "driveCurrentLimit": 60.0, - "wheelCOF": 1.2, - "flModuleX": 0.273, - "flModuleY": 0.273, - "frModuleX": 0.273, - "frModuleY": -0.273, - "blModuleX": -0.273, - "blModuleY": 0.273, - "brModuleX": -0.273, - "brModuleY": -0.273, + "wheelCOF": 1.7, + "flModuleX": 0.30163, + "flModuleY": 0.30163, + "frModuleX": 0.30163, + "frModuleY": -0.30163, + "blModuleX": -0.30163, + "blModuleY": 0.30163, + "brModuleX": -0.30163, + "brModuleY": -0.30163, "bumperOffsetX": 0.0, "bumperOffsetY": 0.0, "robotFeatures": [] diff --git a/src/main/java/com/team1816/lib/BaseRobotContainer.java b/src/main/java/com/team1816/lib/BaseRobotContainer.java index 9f391c6..803b998 100644 --- a/src/main/java/com/team1816/lib/BaseRobotContainer.java +++ b/src/main/java/com/team1816/lib/BaseRobotContainer.java @@ -51,6 +51,14 @@ public void initializeAutonomous() { public void updateInitialPose(){ if(poseInitialized || DriverStation.getAlliance().isEmpty()) return; + forceUpdatePose(); + } + + /** + * Forces pose update regardless of poseInitialized state. + * Called from autonomousInit to ensure pose is always set before auto starts. + */ + public void forceUpdatePose(){ updatePoseOnSelection(autoChooser.getSelected()); } diff --git a/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java b/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java index b3cb86d..4db1e3e 100644 --- a/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java +++ b/src/main/java/com/team1816/lib/hardware/components/GhostDevice.java @@ -4,8 +4,9 @@ import com.ctre.phoenix6.StatusCode; import com.ctre.phoenix6.configs.ParentConfiguration; import com.ctre.phoenix6.controls.ControlRequest; +import com.team1816.lib.hardware.components.motor.IMotor; -public class GhostDevice implements IPhoenix6 { +public class GhostDevice implements IMotor { private int Id = 0; @@ -33,6 +34,36 @@ public StatusCode setSimSupplyVoltage(double volts) { return StatusCode.OK; } + @Override + public double getMotorVelocity() { + return 0; + } + + @Override + public double getMotorPosition() { + return 0; + } + + @Override + public void zeroMotorPosition() { + + } + + @Override + public StatusCode setSimRotorVelocity(double rps) { + return StatusCode.OK; + } + + @Override + public StatusCode setSimRotorPosition(double rotations) { + return StatusCode.OK; + } + + @Override + public double getSimMotorVoltage() { + return 12; + } + @Override public boolean hasDeviceCrashed() { return false; } } diff --git a/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java b/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java index a3abcc0..7c13531 100644 --- a/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java +++ b/src/main/java/com/team1816/lib/hardware/components/motor/IMotor.java @@ -6,6 +6,7 @@ public interface IMotor extends IPhoenix6 { // method to get the current velocity of rotor in rps double getMotorVelocity(); + // method to get the angle of rotor in rotations double getMotorPosition(); // used to zero the motor position diff --git a/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java b/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java index 5500269..dc774a3 100644 --- a/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java +++ b/src/main/java/com/team1816/lib/subsystems/drivetrain/Drivetrain.java @@ -91,17 +91,24 @@ private void configureAutoBuilder() { PathFollowingController pathFollowingController; robotConfig = new RobotConfig(massKG, MOI, moduleConfig, modules); - var tranKp = factory.getConstant(NAME, "translationKp", 5); - var rotKp = factory.getConstant(NAME, "rotationKp", 5); + var tranKp = factory.getConstant(NAME, "translationKp", 5.0); + //var tranKd = factory.getConstant(NAME, "translationKd", 0.2); + var rotKp = factory.getConstant(NAME, "rotationKp", 5.0); + var rotKi = factory.getConstant(NAME, "rotationKi", 0); + var rotKd = factory.getConstant(NAME, "rotationKd", 0); GreenLogger.log( "translationKp:" + GetDisplay(tranKp) + " rotationKp:" + GetDisplay(rotKp) ); + var transPID = new PIDConstants(tranKp, 0, 0); + var rotPID = new PIDConstants(rotKp, rotKi, rotKd); + GreenLogger.log("transPID", transPID); + GreenLogger.log("rotPID", rotPID); pathFollowingController = new PPHolonomicDriveController( // PID constants for translation - new PIDConstants(tranKp, 0, 0), + transPID, // PID constants for rotation - new PIDConstants(rotKp, 0, 0), + rotPID, // Period .02 ); diff --git a/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java b/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java index 0bdc971..aa880fe 100644 --- a/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java +++ b/src/main/java/com/team1816/lib/subsystems/drivetrain/IDrivetrain.java @@ -29,8 +29,9 @@ public interface IDrivetrain extends ITestableSubsystem { double gearing = config.kinematics.driveGearing; double wheelCircumference = 2 * Math.PI * whlRad; - // this is an approximation assumes mass is evenly spread over robot - double MOI = (massKG * config.kinematics.wheelbaseWidth * config.kinematics.wheelbaseWidth + config.kinematics.wheelbaseLength * config.kinematics.wheelbaseLength) / 12; + // MOI = mass * (width^2 + length^2) / 12, with 1.5x multiplier to account for + // concentrated perimeter mass (swerve modules, bumpers, battery) + double MOI = 1.5 * massKG * (config.kinematics.wheelbaseWidth * config.kinematics.wheelbaseWidth + config.kinematics.wheelbaseLength * config.kinematics.wheelbaseLength) / 12; boolean isAllowedToPathPlannerPath = false; diff --git a/src/main/java/com/team1816/lib/util/GreenLogger.java b/src/main/java/com/team1816/lib/util/GreenLogger.java index 11706a6..18587cf 100644 --- a/src/main/java/com/team1816/lib/util/GreenLogger.java +++ b/src/main/java/com/team1816/lib/util/GreenLogger.java @@ -1,5 +1,6 @@ package com.team1816.lib.util; +import com.pathplanner.lib.config.PIDConstants; import com.pathplanner.lib.config.RobotConfig; import com.team1816.season.Robot; import edu.wpi.first.math.geometry.Pose2d; @@ -19,6 +20,8 @@ import java.util.Objects; import java.util.function.Supplier; +import static com.team1816.lib.util.FormatUtils.GetDisplay; + public class GreenLogger { private static final Map> periodicLogs = new HashMap<>(); @@ -139,4 +142,11 @@ public static void updatePeriodic() { } } } + + public static void log(String key, PIDConstants pid) { + GreenLogger.log(" " + key + + " - kP:" + GetDisplay(pid.kP) + + " kI:" + GetDisplay(pid.kI) + + " kD:" + GetDisplay(pid.kD)); + } } diff --git a/src/main/java/com/team1816/season/Robot.java b/src/main/java/com/team1816/season/Robot.java index 204ad09..aa12d9a 100644 --- a/src/main/java/com/team1816/season/Robot.java +++ b/src/main/java/com/team1816/season/Robot.java @@ -62,6 +62,8 @@ public void disabledPeriodic() { @Override public void autonomousInit() { try { + // Ensure pose is always initialized before scheduling auto + robotContainer.forceUpdatePose(); autonomousCommand = robotContainer.autoChooser.getSelected(); // schedule the autonomous command if (autonomousCommand != null) { diff --git a/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java b/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java new file mode 100644 index 0000000..3ed7be7 --- /dev/null +++ b/src/main/java/com/team1816/season/subsystems/BallisitcCalculator.java @@ -0,0 +1,92 @@ +package com.team1816.season.subsystems; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation3d; +public class BallisitcCalculator { + +// NOTE: Everything is in radians until the very end. I'll make a comment where radians are converted into degrees. + /** + * I know this isn't what it'll actually be structured, but this was the ultimate basis of what got need from the night of 1/03. + * (I would recommend worrying about the initialAngle & initialVelocity later and just starting with start/end pose(will change as the robot moves) & distance) + * There's some code in the .md file + our initial implementation of distance. + */ + public class BallisticCalculator { + private BallisitcConstants ballisticConstants; + private BallisticContraints ballisticConstraints; + private Translation3d missileTranslation; + private Translation3d robotTranslation; + private Translation2d robotSpeed; + private Translation3d hubTranslation; + + public void getConstants(BallisitcConstants ballistic_Constants, BallisticContraints ballisitc_Constraints) { + this.ballisticConstants = ballistic_Constants; + this.ballisticConstraints = ballisitc_Constraints; + } + + public Translation3d getRobotTranslation(Translation3d missileTranslation) { + this.missileTranslation = missileTranslation; + return this.missileTranslation; + } + + public Translation3d getTargetTranslation(Translation3d hubTranslation) { + this.hubTranslation = hubTranslation; + return hubTranslation; + } + public double calculateHorizontalDistance(Translation3d missileTranslation, Translation3d targetStartTranslation ){ + var distance = Math.sqrt((missileTranslation.getX() - targetStartTranslation.getX()) * (missileTranslation.getX() - targetStartTranslation.getX())) + (((missileTranslation.getY() - targetStartTranslation.getY()) * (missileTranslation.getY() - targetStartTranslation.getY()))); + return distance; + } + public double calculateStationaryLaunchAngle(Translation3d missileTranslation, Translation3d targetStartTranslation) { + var height = Math.abs(missileTranslation.getZ() - targetStartTranslation.getZ()); + var distance = calculateHorizontalDistance(missileTranslation,targetStartTranslation); + var enterAngle = ballisticConstraints.getEnterAngle(60); + var theta = (Math.atan(((2 * height) / distance)) - Math.tan(enterAngle)); + return theta; + } + + public double calculateMissileVelocity(Translation3d missileTranslation, Translation3d targetStartTranslation) { + var height = (targetStartTranslation.getZ() - missileTranslation.getZ()); + var distance = calculateHorizontalDistance(missileTranslation,targetStartTranslation); + var launchAngle = calculateStationaryLaunchAngle(missileTranslation, targetStartTranslation); + var gravity = ballisticConstants.getGravity(); + var missileVelocity = ((distance / Math.cos(launchAngle)) * Math.sqrt(gravity / (2 * (distance * Math.tan(launchAngle)) - height))); + return missileVelocity; + } + + public double getRotationAngle(Translation3d missileTranslation, Translation3d targetStartTranslation) { + var distance = calculateHorizontalDistance(missileTranslation,targetStartTranslation); + var xDistance = Math.abs(missileTranslation.getX() - hubTranslation.getX()); + var angle = (Math.acos(xDistance / distance)); + return angle; + } + + public Translation2d findMovingLaunchAngle (Translation3d missileTranslation, Translation3d targetStartTranslation, Translation2d robotVelocity) { + var angle = getRotationAngle(missileTranslation, targetStartTranslation); + var velocity = calculateMissileVelocity(missileTranslation, targetStartTranslation); + var translationVelocity = new Translation2d(Math.cos(angle) * velocity, Math.sin(angle) * velocity); + var movingVelocity = translationVelocity.minus(robotVelocity); + return movingVelocity; + } + + + public double actualAngle (Translation3d missileTranslation, Translation3d targetStartTranslation, Translation2d robotVelocity) { + // Turns into degrees below + var actualAngle = (findMovingLaunchAngle(missileTranslation, targetStartTranslation, robotVelocity).getAngle().getDegrees()); + return actualAngle; + } + + + public double getEndPose(double pose) { + return pose; + } + + public double getLaunchAngle(double launchAngle) { + return launchAngle; + } + + public double getInitialVelocity(double initialVelocity) { + return initialVelocity; + } + + + } +} diff --git a/src/main/java/com/team1816/season/subsystems/BallisitcConstants.java b/src/main/java/com/team1816/season/subsystems/BallisitcConstants.java new file mode 100644 index 0000000..91f56f8 --- /dev/null +++ b/src/main/java/com/team1816/season/subsystems/BallisitcConstants.java @@ -0,0 +1,48 @@ +package com.team1816.season.subsystems; + +public class BallisitcConstants { + private double gravity = 9.81; + private double maxYaw = 350; // in degrees + private double minYaw = 0; // in degrees + private double minExitVelocity = 5; // m/s + private double maxExitVelocity = 30; // m/s + private double maxPitch = 80; // degrees + private double minPitch = 10; // degrees + private double endAngle; + private double height; + private double funFactorStagnant;//Factor in case the actual robot is missing despite the calculations being mathematically correct, this one is stationary... + private double funFactorMobile; //and this one if for the robot moving (might not be constant??) + + public double getGravity() { + return this.gravity; + } + public double getEndAngle(double endAngle) { + this.endAngle = endAngle; + + return endAngle; + } + public double getHeight(double height) { + this.height = height; + + return height; + } + public double getFunFactorStagnant(double funFactor) { + this.funFactorStagnant = funFactor; + + return funFactor; + } + public double getFunFactorMobile(double funFactor) { + this.funFactorMobile = funFactor; + + return funFactor; + } + public boolean isYawValueValid (double yawValue) { + return yawValue > 0 && yawValue < 80; + } + public boolean isPitchValueValid (double pitchValue) { + return pitchValue > 0 && pitchValue < 80; + } + public boolean isExitVelocityValid (double exitVelocity) { + return exitVelocity > 5 && exitVelocity < 30; + } +} diff --git a/src/main/java/com/team1816/season/subsystems/BallisticContraints.java b/src/main/java/com/team1816/season/subsystems/BallisticContraints.java new file mode 100644 index 0000000..6925e40 --- /dev/null +++ b/src/main/java/com/team1816/season/subsystems/BallisticContraints.java @@ -0,0 +1,54 @@ +package com.team1816.season.subsystems; + +public class BallisticContraints { + private double gravity = 9.81; + private double maxYaw = 350; // in degrees + private double minYaw = 0; // in degrees + private double minExitVelocity = 5; // m/s + private double maxExitVelocity = 30; // m/s + private double maxPitch = 80; // degrees + private double minPitch = 10; // degrees + private double endAngle; + private double height; + private double funFactorStagnant;//Factor in case the actual robot is missing despite the calculations being mathematically correct, this one is stationary... + private double funFactorMobile; //and this one if for the robot moving (might not be constant??) + + public double getGravity() { + return this.gravity; + } + public double getEndAngle(double endAngle) { + this.endAngle = endAngle; + + return endAngle; + } + public double getHeight(double height) { + this.height = height; + + return height; + } + public double getFunFactorStagnant(double funFactor) { + this.funFactorStagnant = funFactor; + + return funFactor; + } + public double getFunFactorMobile(double funFactor) { + this.funFactorMobile = funFactor; + + return funFactor; + } + public boolean isYawValueValid (double yawValue) { + return yawValue > 0 && yawValue < 80; + } + public boolean isPitchValueValid (double pitchValue) { + return pitchValue > 0 && pitchValue < 80; + } + public boolean isExitVelocityValid (double exitVelocity) { + return exitVelocity > 5 && exitVelocity < 30; + } + private double enterAngle; + public double getEnterAngle (double enterAngle) { + this.enterAngle = enterAngle; + return enterAngle; + } + +} diff --git a/src/main/java/com/team1816/season/subsystems/BallisticSolution.java b/src/main/java/com/team1816/season/subsystems/BallisticSolution.java new file mode 100644 index 0000000..4014be0 --- /dev/null +++ b/src/main/java/com/team1816/season/subsystems/BallisticSolution.java @@ -0,0 +1,18 @@ +package com.team1816.season.subsystems; +public class BallisticSolution { + private double rotationAngle; + private double launchAngle; + private double launchVelocity; + + public BallisticSolution(double rotationAngle, double launchAngle, double launchVelocity) { + this.rotationAngle = rotationAngle; + this.launchAngle = launchAngle; + this.launchVelocity = launchVelocity; + } + + public double getRotationAngle() { return rotationAngle; } + + public double getLaunchAngle() { return launchAngle; } + + public double getLaunchVelocity() { return launchVelocity; } +} diff --git a/src/main/java/com/team1816/season/subsystems/Shooter.java b/src/main/java/com/team1816/season/subsystems/Shooter.java index 7452f33..2c4c5f3 100644 --- a/src/main/java/com/team1816/season/subsystems/Shooter.java +++ b/src/main/java/com/team1816/season/subsystems/Shooter.java @@ -50,7 +50,7 @@ public class Shooter extends SubsystemBase implements ITestableSubsystem { //DEVICES private final DigitalInput rotationAngleSensorClockwiseLeft = new DigitalInput((int) factory.getConstant(NAME, "rotationAngleSensorClockwiseLeft", 0)); - private final DigitalInput rotationAngleSensorClockwiseRight = new DigitalInput((int) factory.getConstant(NAME, "rotationAngleSensorClockwiseRight", 0)); + private final DigitalInput rotationAngleSensorClockwiseRight = new DigitalInput((int) factory.getConstant(NAME, "rotationAngleSensorClockwiseRight", 1)); //HARDWARE RECORDED VALUES private double currentRotationPosition; diff --git a/src/main/java/com/team1816/season/subsystems/Superstructure.java b/src/main/java/com/team1816/season/subsystems/Superstructure.java index 3b00965..912c633 100644 --- a/src/main/java/com/team1816/season/subsystems/Superstructure.java +++ b/src/main/java/com/team1816/season/subsystems/Superstructure.java @@ -116,6 +116,7 @@ public enum FeederControlState { private WantedSwerveState wantedSwerveState = WantedSwerveState.MANUAL_DRIVING; //Do we need this?? private FeederControlState feederControlState = FeederControlState.DEFAULTING; //What to do with this? + private boolean isAutonomous = false; private ClimbSide climbSide = ClimbSide.LEFT; @@ -228,8 +229,10 @@ private void setWantedSubsystemStates(Intake.INTAKE_STATE intakeState, Feeder.FE } private void defaulting() { - // don't change any states, just leave us in manual drive for now - swerve.setWantedState(Swerve.ActualState.MANUAL_DRIVING); + // During auto, let PathPlanner have sole control of the drivetrain + if (!isAutonomous) { + swerve.setWantedState(Swerve.ActualState.MANUAL_DRIVING); + } } private void shootCalibrating() { @@ -338,10 +341,12 @@ public void setClimbSide(ClimbSide climbSide) { } public void autonomousInit() { - //What is supposed to be here??? + isAutonomous = true; + swerve.setWantedState(Swerve.ActualState.IDLING); } public void teleopInit() { + isAutonomous = false; swerve.setWantedState(Swerve.ActualState.MANUAL_DRIVING); intake.setWantedState(Intake.INTAKE_STATE.INTAKE_IN); feeder.setWantedState(Feeder.FEEDER_STATE.SLOW_FEEDING); diff --git a/src/main/java/com/team1816/season/subsystems/Vision.java b/src/main/java/com/team1816/season/subsystems/Vision.java new file mode 100644 index 0000000..d9b01c7 --- /dev/null +++ b/src/main/java/com/team1816/season/subsystems/Vision.java @@ -0,0 +1,37 @@ +//package com.team1816.season.subsystems; +// +//import com.team1816.lib.subsystems.ITestableSubsystem; +//import edu.wpi.first.apriltag.AprilTagFieldLayout; +//import edu.wpi.first.apriltag.AprilTagFields; +//import edu.wpi.first.math.geometry.Transform3d; +//import edu.wpi.first.wpilibj2.command.SubsystemBase; +//import org.photonvision.PhotonCamera; +//import org.photonvision.PhotonPoseEstimator; +// +//import java.io.IOException; +//import java.util.ArrayList; +//import java.util.List; +// +// +//public class Vision extends SubsystemBase implements ITestableSubsystem { +// private final List cameraList = new ArrayList<>(); +// private final List positionList = new ArrayList<>(); +// private final List poseEstimatorList = new ArrayList<>(); +// private final AprilTagFieldLayout fieldLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.k2026RebuiltWelded.m_resourceFile); +// +// public void setupCameras(String name, Transform3d pos){ +// var cam = new PhotonCamera(name); +// var estimator = new PhotonPoseEstimator(fieldLayout, PhotonPoseEstimator.PoseStrategy.); +// } +// +// public Vision() throws IOException { +// setupCameras("frontCam", new Transform3d()); +// setupCameras("backCam", new Transform3d()); +// setupCameras("rightCam", new Transform3d()); +// setupCameras("leftCam", new Transform3d()); +// } +// +// public void periodic(){ +// +// } +//} diff --git a/src/main/resources/schemas/hardware/shootersettingsconfig.schema.json b/src/main/resources/schemas/hardware/shootersettingsconfig.schema.json index 2670c27..5fb7f2c 100644 --- a/src/main/resources/schemas/hardware/shootersettingsconfig.schema.json +++ b/src/main/resources/schemas/hardware/shootersettingsconfig.schema.json @@ -5,39 +5,48 @@ "properties": { "distances": { "type": "array", + "default": 0, "items": { "type": "number" } }, "angles": { "type": "array", + "default": 0, "items": { "type": "number" } }, "powers": { "type": "array", + "default": 0, "items": { "type": "number" } }, "minimumDefaultAngle": { - "type": "number" + "type": "number", + "default": 0 }, "minimumDefaultPower": { - "type": "number" + "type": "number", + "default": 0 }, "mediumDefaultAngle": { - "type": "number" + "type": "number", + "default": 0 }, "mediumDefaultPower": { - "type": "number" + "type": "number", + "default": 0 }, "maximumDefaultAngle": { - "type": "number" + "type": "number", + "default": 0 }, "maximumDefaultPower": { - "type": "number" + "type": "number", + "default": 0 } }, "anyOf": [ diff --git a/src/main/resources/yaml/zmule.yml b/src/main/resources/yaml/zmule.yml index dfdd048..b41af61 100644 --- a/src/main/resources/yaml/zmule.yml +++ b/src/main/resources/yaml/zmule.yml @@ -1,6 +1,33 @@ defaultAuto: "Simple S" +shooterSettings: + + distances: + - 47 + - 100 + - 135 + - 160 + - 220 + - 338 + - 420 + angles: + - 25 + - 25 + - 25 + - 25 + - 25 + - 25 + - 25 + powers: + - 17 + - 27 + - 37 + - 47 + - 57 + - 67 + - 77 subsystems: intake: + implemented: false devices: intakeMotor: id: 2 @@ -40,8 +67,9 @@ subsystems: downAngle: 225 upAngle: 45 climber: + implemented: false devices: - climberFlipMotor: + flipMotor: deviceType: TalonFX id: 16 motorRotation: Clockwise_Positive @@ -49,7 +77,7 @@ subsystems: motionMagic: expoKV: 0.05 expoKA: 0.04 - linearMotor: + linearSlideMotor: deviceType: TalonFX id: 28 motorRotation: Clockwise_Positive @@ -57,10 +85,23 @@ subsystems: motionMagic: expoKV: 0.05 expoKA: 0.04 + constants: + flipIdling: 0 + flipL3UpClimbing: 0 + flipL3DownClimbing: 0 + flipL1UpClimbing: 0 + flipL1DownClimbing: 0 - indexer: + linearSlideIdling: 0 + linearSlideL3UpClimbing: 0 + linearSlideL3DownClimbing: 0 + linearSlideL1UpClimbing: 0 + linearSlideL1DownClimbing: 0 + + feeder: + implemented: false devices: - indexerMotor: + feedMotor: deviceType: TalonFX id: 16 motorRotation: Clockwise_Positive @@ -68,7 +109,13 @@ subsystems: motionMagic: expoKV: 0.05 expoKA: 0.04 + constants: + fastFeeding: 50 + slowFeeding: 20 + reversing: -50 + idling: 0 shooter: + implemented: false devices: topLaunchMotor: deviceType: TalonFX @@ -130,15 +177,36 @@ subsystems: deviceType: TalonFX motorType: Minion_JST id: 13 - motorRotation: Clockwise_Positive + motorRotation: Clockwise_Positive #as a note, the rotation motor should move clockwise on positive dutycycle, otherwise directions will be flipped statorCurrentLimit: 60 neutralMode: Brake motionMagic: expoKV: 0.05 expoKA: 0.04 + constants: + rotationAngleSensorClockwiseLeft: 0 + rotationAngleSensorClockwiseRight: 1 + motorRotationsPerLaunchAngleDegree: 3.5 + motorRotationsPerRotationAngleDegree: 3.5 + initialShooterOffsetX: 0 + initialShooterOffsetY: 0 + initialShooterOffsetZ: 22 + calibrationThreshold: 10 + calibrationPositionArcAngle: 0.75 + rotationOffsetFromCalibrationZero: 70 + distanceOneLaunchAngle: 3 + distanceOneRotationAngle: 45 + distanceOneLaunchVelocity: 10 + distanceTwoLaunchAngle: 45 + distanceTwoRotationAngle: 90 + distanceTwoLaunchVelocity: 20 + distanceThreeLaunchAngle: 86 + distanceThreeRotationAngle: 0 + distanceThreeLaunchVelocity: 30 gatekeeper: + implemented: false devices: - gatekeeperTopMotor: + topMotor: deviceType: TalonFX id: 14 motorRotation: Clockwise_Positive @@ -150,7 +218,7 @@ subsystems: slot0: kP: 0.1 kV: 0.1 - gatekeeperBottomMotor: + bottomMotor: deviceType: TalonFX id: 22 motorRotation: Clockwise_Positive @@ -158,7 +226,13 @@ subsystems: motionMagic: expoKV: 0.05 expoKA: 0.04 + constants: + topClosedVelocity: 0 + topOpenVelocity: 10 + bottomClosedVelocity: 0 + bottomOpenVelocity: 5 ledManager: + implemented: false devices: argb: @@ -250,11 +324,12 @@ subsystems: slot0: kP: 0.4 kI: 0 - kD: 0.0008 - kV: 0.115 + kD: 0 + kV: 0.13 + kS: 0.06 azimuthPID: slot0: - kP: 75 + kP: 100 kD: 0.5 kV: 2.66 kS: 0.1 @@ -263,14 +338,16 @@ subsystems: steerGearing: 26.0909 wheelbaseLength: .60325 # meters wheelbaseWidth: .60325 # meters - robotMass: 74.088 # kg + robotMass: 27.216 # kg (60 lbs) wheelRadius: .04935 # meters - maxDriveRPS: 90 # measured motor max speed rps - maxAngularRate: .75 # rad/sec + maxDriveRPS: 98 # measured motor max speed rps + maxAngularRate: 8.285 # rad/sec wheelCOF: 1.7 constants: - translationKp: 3 + translationKp: 4 rotationKp: 3 + rotationKi: 0 + rotationKd: 0 autopathing: paths: