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-5.729972916960842e-39, + "velocityX": 6.18339802307994e-40, + "velocityY": 1.52046473246398e-39, + "timestamp": 13.858667999412425 } ], "constraints": [ { "scope": [ - 0 + "first" ], "type": "StopPoint" }, { "scope": [ - 1 + 4 ], "type": "StopPoint" }, { "scope": [ - 3 + 10 ], "type": "StopPoint" }, { "scope": [ - 7 + 14 ], "type": "StopPoint" }, { "scope": [ - 9 + 16 ], "type": "StopPoint" }, { "scope": [ - 10 + "last" ], "type": "StopPoint" }, { "scope": [ - 6 + 1, + 3 ], - "type": "StopPoint" + "type": "MaxVelocity", + "velocity": 2.5 + }, + { + "scope": [ + 6, + 9 + ], + "type": "MaxVelocity", + "velocity": 2.5 + }, + { + "scope": [ + 11, + 13 + ], + "type": "MaxVelocity", + "velocity": 2.5 } ], "usesControlIntervalGuessing": true, diff --git a/dashboard/src/ntStores.ts b/dashboard/src/ntStores.ts index 3777ab0..65dbc21 100644 --- a/dashboard/src/ntStores.ts +++ b/dashboard/src/ntStores.ts @@ -24,17 +24,15 @@ export const HasNote = nt.subscribe(`/GRRDashboard/Subsystems/Pivot/Det export const RobotPosition = nt.subscribe(`/GRRDashboard/Subsystems/Swerve/Visualizations/robot`, [0, 0, 0]); -export const TunableNoteVelocity = nt.subscribe(`/GRRDashboard/Subsystems/Swerve/Details/tunableNoteVelocity`, 5); -export const TunableNoteVelocityPub = nt.publish(`/GRRDashboard/Subsystems/Swerve/Details/tunableNoteVelocity`, `double`, 5); -export const TunableNormFudge = nt.subscribe(`/GRRDashboard/Subsystems/Swerve/Details/tunableNormFudge`, 0.9); -export const TunableNormFudgePub = nt.publish(`/GRRDashboard/Subsystems/Swerve/Details/tunableNormFudge`, `double`, 0.9); -export const TunableSpeakerXFudge = nt.subscribe(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerXFudge`, 0.0); -export const TunableSpeakerXFudgePub = nt.publish(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerXFudge`, `double`, 0.0); -export const TunableSpeakerYFudge = nt.subscribe(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerYFudge`, 0.0); -export const TunableSpeakerYFudgePub = nt.publish(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerYFudge`, `double`, 0.0); -export const TunableAmpXFudge = nt.subscribe(`/GRRDashboard/Subsystems/Swerve/Details/tunableAmpXFudge`, 0.0); -export const TunableAmpXFudgePub = nt.publish(`/GRRDashboard/Subsystems/Swerve/Details/tunableAmpXFudge`, `double`, 0.0); -export const TunableAmpYFudge = nt.subscribe(`/GRRDashboard/Subsystems/Swerve/Details/tunableAmpYFudge`, 0.0); -export const TunableAmpYFudgePub = nt.publish(`/GRRDashboard/Subsystems/Swerve/Details/tunableAmpYFudge`, `double`, 0.0); +export const TunableNoteVelocity = nt.publish(`/GRRDashboard/Subsystems/Swerve/Details/tunableNoteVelocity`, `double`, 6); +export const TunableNormFudge = nt.publish(`/GRRDashboard/Subsystems/Swerve/Details/tunableNormFudge`, `double`, 0.475); +export const TunableStrafeFudge = nt.publish(`/GRRDashboard/Subsystems/Swerve/Details/tunableStrafeFudge`, `double`, 0.95); +export const TunableSpinCompensation = nt.publish( + `/GRRDashboard/Subsystems/Swerve/Details/tunableSpinCompensation`, + `double`, + -2 * (Math.PI / 180), +); +export const TunableSpeakerXFudge = nt.publish(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerXFudge`, `double`, 0.0); +export const TunableSpeakerYFudge = nt.publish(`/GRRDashboard/Subsystems/Swerve/Details/tunableSpeakerYFudge`, `double`, 0.0); nt.connect(); diff --git a/dashboard/src/tabs/Tunables.svelte b/dashboard/src/tabs/Tunables.svelte index c2ca36e..2c6ddb7 100644 --- a/dashboard/src/tabs/Tunables.svelte +++ b/dashboard/src/tabs/Tunables.svelte @@ -1,41 +1,35 @@ @@ -48,17 +42,17 @@

Norm Fudge:

{$TunableNormFudge}

+

Strafe Fudge:

+ {$TunableStrafeFudge} +

+

Spin Compensation:

+ {$TunableSpinCompensation} +

Speaker X:

{$TunableSpeakerXFudge}

Speaker Y:

{$TunableSpeakerYFudge} -

-

Amp X:

- {$TunableAmpXFudge} -

-

Amp Y:

- {$TunableAmpYFudge} diff --git a/src/main/deploy/choreo/FourPieceFar.1.traj b/src/main/deploy/choreo/FourPieceFar.1.traj index 0834b08..e7d6a3e 100644 --- a/src/main/deploy/choreo/FourPieceFar.1.traj +++ b/src/main/deploy/choreo/FourPieceFar.1.traj @@ -4,190 +4,532 @@ "x": 0.39874398708343506, "y": 4.067376136779785, "heading": 0, - "angularVelocity": 0, - "velocityX": -5.582189572431411e-41, - "velocityY": 0, + "angularVelocity": -8.751756475512739e-35, + "velocityX": 0, + "velocityY": -3.89376323476279e-34, "timestamp": 0 }, { - "x": 0.4284024144629911, - "y": 4.056218128915967, - "heading": -0.008278262561857553, - "angularVelocity": -0.10515093102087199, - "velocityX": 0.3767229208148546, - "velocityY": -0.14172960889457392, - "timestamp": 0.07872743000453658 - }, - { - "x": 0.4877249527077876, - "y": 4.0339008986719636, - "heading": -0.024664114320784747, - "angularVelocity": -0.20813395989152672, - "velocityX": 0.7535180335669293, - "velocityY": -0.2834746446405932, - 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edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; @@ -118,7 +117,7 @@ public static Command choreoSwerveCommand( double targetTimeStart, double targetTimeEnd, Supplier targetAngle, - ProfiledPIDController targetController, + PIDController targetController, PIDController xController, PIDController yController, PIDController rotationController, diff --git a/src/main/java/org/team340/lib/util/Math2.java b/src/main/java/org/team340/lib/util/Math2.java index 7586222..059c351 100644 --- a/src/main/java/org/team340/lib/util/Math2.java +++ b/src/main/java/org/team340/lib/util/Math2.java @@ -192,6 +192,23 @@ public static double formatRadians(double radians) { return toFixed(Math.toDegrees(radians)); } + /** + * Returns a random double from {@code 0.0} to {@code max}. + * @param max The maximum value to return. + */ + public static double random(double max) { + return Math.random() * max; + } + + /** + * Returns a random double from {@code min} to {@code max}. + * @param min The minimum value to return. + * @param max The maximum value to return. + */ + public static double random(double min, double max) { + return (Math.random() * (max - min)) + min; + } + /** * Definition of a 2D parametric function. */ diff --git a/src/main/java/org/team340/robot/Constants.java b/src/main/java/org/team340/robot/Constants.java index 962d355..10d1950 100644 --- a/src/main/java/org/team340/robot/Constants.java +++ b/src/main/java/org/team340/robot/Constants.java @@ -505,18 +505,21 @@ public static final class SwerveConstants { public static final double VISION_STD_XY_SCALE = 0.006; public static final double VISION_STD_ROT_SCALE = 0.015; - public static final PIDConfig TRAJ_XY_PID = new PIDConfig(16.0, 0.0, 0.0, 0.0); - public static final PIDConfig TRAJ_ROT_PID = new PIDConfig(4.7, 0.0, 0.0, 0.0); + public static final PIDConfig TRAJ_XY_PID = new PIDConfig(16.5, 0.0, 0.0); + public static final PIDConfig TRAJ_ROT_PID = new PIDConfig(4.7, 0.0, 0.0); public static final Constraints TRAJ_ROT_CONSTRAINTS = new Constraints(6.5, 7.0); + public static final PIDConfig TRAJ_TARGET_PID = new PIDConfig(5.2, 0.0, 0.0); public static final PIDConfig XY_PID = new PIDConfig(3.5, 1.4, 0.2, 0.5); public static final PIDConfig ROT_PID = new PIDConfig(4.9, 0.5, 0.2, 0.2); public static final Constraints ROT_CONSTRAINTS = new Constraints(8.0, 37.5); - public static final double NOTE_VELOCITY = 5.0; - public static final double NORM_FUDGE = 0.0; - public static final double NORM_FUDGE_MIN = 0.075; + public static final double NOTE_VELOCITY = 6.0; // 5 + public static final double NORM_FUDGE = 0.475; // .9 + public static final double STRAFE_FUDGE = 0.95; public static final double SPIN_COMPENSATION = Math.toRadians(-2.0); + + public static final double NORM_FUDGE_MIN = 0.075; // .1 public static final double FACING_SPEAKER_EPSILON = Math.toRadians(5.0); } diff --git a/src/main/java/org/team340/robot/RobotContainer.java b/src/main/java/org/team340/robot/RobotContainer.java index fb8df63..4349515 100644 --- a/src/main/java/org/team340/robot/RobotContainer.java +++ b/src/main/java/org/team340/robot/RobotContainer.java @@ -109,7 +109,7 @@ private static void configBindings() { driver.a().whileTrue(Routines.intake()).onFalse(Routines.finishIntake()); // B => Intake from Human Player (Hold) - driver.b().onTrue(Routines.intakeHuman()).onFalse(Routines.finishIntakeHuman()); + driver.b().onTrue(Routines.intakeHuman(RobotContainer::getDriveX, RobotContainer::getDriveY)).onFalse(Routines.finishIntakeHuman()); // X => Prep Amp (Hold) driver.x().whileTrue(Routines.prepAmp(RobotContainer::getDriveX, RobotContainer::getDriveY)); diff --git a/src/main/java/org/team340/robot/commands/Autos.java b/src/main/java/org/team340/robot/commands/Autos.java index 89024b5..dd12fba 100644 --- a/src/main/java/org/team340/robot/commands/Autos.java +++ b/src/main/java/org/team340/robot/commands/Autos.java @@ -52,6 +52,35 @@ public static Command fivePieceAmp(List traj) { ); } + public static Command fourPieceFar(List traj) { + return parallel( + sequence( + pivot.goTo(PivotConstants.BARF_FORWARD_POSITION), + pivot.maintainPosition().withTimeout(2.25), + pivot.targetDistance(swerve::getSpeakerDistance) + ), + sequence( + deadline( + swerve.followTrajectory(traj.get(0), -1.0, -1.0, true), + sequence(waitSeconds(1.6).deadlineWith(Routines.prepPoop()), Routines.poop(false), Routines.intake()) + ), + deadline( + swerve.followTrajectory(traj.get(1), 1.2, 2.9), + sequence(waitSeconds(2.35).deadlineWith(Routines.intake()), feeder.shoot().withTimeout(0.6), Routines.intake()) + ), + deadline( + swerve.followTrajectory(traj.get(2), 0.9, 2.2), + sequence(waitSeconds(1.35).deadlineWith(Routines.intake()), feeder.shoot().withTimeout(0.6), Routines.intake()) + ), + swerve.followTrajectory(traj.get(3), 1.0, -1.0).deadlineWith(Routines.intake()), + swerve.driveSpeaker().withTimeout(0.2), + feeder.shoot().withTimeout(0.6), + swerve.followTrajectory(traj.get(4)).deadlineWith(Routines.intake()), + parallel(swerve.driveSpeaker(), sequence(waitSeconds(0.5).deadlineWith(Routines.intake()), feeder.shoot())) + ) + ); + } + public static Command fourPieceClose(List traj) { return parallel( pivot.targetDistance(swerve::getSpeakerDistance), @@ -70,42 +99,4 @@ public static Command fourPieceClose(List traj) { ) ); } - - public static Command fourPieceFar(List traj) { - return parallel( - pivot.targetDistance(swerve::getSpeakerDistance), - sequence( - deadline( - // This goes to the first shooting position. - swerve.followTrajectory(traj.get(0)), - intake.downPosition() - ), - swerve.driveSpeaker().withTimeout(1.0), - feeder.shoot().withTimeout(0.1), - deadline( - // this goes to pick up the first note. - swerve.followTrajectory(traj.get(1)), - Routines.intake() - ), - // This drives to the shooting position for the first note. - swerve.followTrajectory(traj.get(2)), - swerve.driveSpeaker().withTimeout(0.4), - feeder.shoot().withTimeout(0.1), - deadline( - // This drives to the second note. - swerve.followTrajectory(traj.get(3)), - Routines.intake() - ), - deadline( - // This goes to the third note. - swerve.followTrajectory(traj.get(4), 0.8, -1), - sequence(waitSeconds(1.3), feeder.shoot().withTimeout(0.4), Routines.intake()) - ), - // This goes to the end position. - swerve.followTrajectory(traj.get(5)), - swerve.driveSpeaker().withTimeout(1.0), - feeder.shoot() - ) - ); - } } diff --git a/src/main/java/org/team340/robot/commands/Routines.java b/src/main/java/org/team340/robot/commands/Routines.java index 8acf7d9..4ef78cd 100644 --- a/src/main/java/org/team340/robot/commands/Routines.java +++ b/src/main/java/org/team340/robot/commands/Routines.java @@ -33,15 +33,18 @@ public static Command finishIntake() { /** * Intakes from the human player. + * @param x The desired {@code x} driving speed from {@code -1.0} to {@code 1.0}. + * @param y The desired {@code y} driving speed from {@code -1.0} to {@code 1.0}. */ - public static Command intakeHuman() { + public static Command intakeHuman(Supplier x, Supplier y) { return parallel( deadline(waitUntil(feeder::hasNote).andThen(waitSeconds(0.1)), shooter.intakeHuman(), feeder.intakeHuman()), sequence( pivot.goTo(PivotConstants.INTAKE_SAFE_POSITION).unless(pivot::isSafeForIntake), intake.uprightPosition(), pivot.goTo(PivotConstants.MAX_POS) - ) + ), + swerve.driveIntakeHuman(x, y) ) .withName("Routines.intakeHuman()"); } diff --git a/src/main/java/org/team340/robot/subsystems/Lights.java b/src/main/java/org/team340/robot/subsystems/Lights.java index 189020c..d275fe1 100644 --- a/src/main/java/org/team340/robot/subsystems/Lights.java +++ b/src/main/java/org/team340/robot/subsystems/Lights.java @@ -31,28 +31,51 @@ public Lights() { timer = new Timer(); lights.setLength(buffer.getLength()); - lights.setData(buffer); + apply(); lights.start(); timer.start(); } /** - * Sets the entire LED strip to a solid color. + * Applies the buffer to the LED strip. + */ + private void apply() { + lights.setData(buffer); + } + + /** + * Modifies the buffer to be a single color. * @param r Red value from {@code 0} to {@code 255}. * @param g Green value from {@code 0} to {@code 255}. * @param b Blue value from {@code 0} to {@code 255}. */ - private void setRGB(int r, int g, int b) { + private void set(int r, int g, int b) { for (int i = 0; i < buffer.getLength(); i++) { buffer.setRGB(i, r, g, b); } - lights.setData(buffer); + } + + /** + * Modifies the buffer with values mirrored across the center of the LED strip. + * @param i The index of the buffer to modify. + * @param r Red value from {@code 0} to {@code 255}. + * @param g Green value from {@code 0} to {@code 255}. + * @param b Blue value from {@code 0} to {@code 255}. + */ + private void setMirrored(int i, int r, int g, int b) { + buffer.setRGB(i, r, g, b); + buffer.setRGB(buffer.getLength() - i - 1, r, g, b); } /** * The default command for the lights. */ public Command defaultCommand(Supplier hasNote) { + int[] state = new int[buffer.getLength()]; + for (int i = 0; i < state.length; i++) { + state[i] = 0; + } + return commandBuilder() .onExecute(() -> { if (DriverStation.isTeleopEnabled()) { @@ -60,38 +83,54 @@ public Command defaultCommand(Supplier hasNote) { double time = timer.get(); for (int i = 0; i < buffer.getLength() / 2; i++) { int v = (int) ((Math.cos((time * 20.0) - ((i / (buffer.getLength() / 2.0)) * Math2.TWO_PI)) + 1.0) * 100.0); + setMirrored(i, v, v, v); buffer.setRGB(i, v, v, v); - buffer.setRGB(buffer.getLength() - i - 1, v, v, v); } - lights.setData(buffer); + apply(); } else { int v = (int) (((Math.cos(timer.get() * 8.5) + 1.0) * 87.5) + 25.0); if (Alliance.isBlue()) { - setRGB(0, 0, v); + set(0, 0, v); } else { - setRGB(v, 0, 0); + set(v, 0, 0); } + apply(); } } else if (DriverStation.isAutonomousEnabled()) { - double time = timer.get(); for (int i = 0; i < buffer.getLength() / 2; i++) { - int v = (int) ((Math.cos((time * 30.0) - ((i / (buffer.getLength() / 2.0)) * Math2.TWO_PI)) + 1.0) * 100.0); - if (Alliance.isBlue()) { - buffer.setRGB(i, 0, 0, v); - buffer.setRGB(buffer.getLength() - i - 1, 0, 0, v); + state[i] = (int) Math.max(0.0, state[i] - Math2.random((0.5 + (i / (buffer.getLength() * 0.25))) * 70.0) + 4.0); + } + for (int i = (buffer.getLength() / 2) - 1; i >= 2; i--) { + state[i] = (state[i - 1] + state[i - 2] + state[i - 2]) / 3; + } + if (Math.random() < 0.5) { + int i = (int) Math2.random(8.0); + state[i] = (int) (state[i] + Math2.random(160.0, 255.0)); + } + for (int i = 0; i < buffer.getLength() / 2; i++) { + int heat = (int) ((state[i] / 255.0) * 191.0); + int ramp = (heat & 63) << 2; + if (heat > 180) { + setMirrored(i, 255, 255, ramp); + } else if (heat > 60) { + setMirrored(i, 255, ramp, 0); } else { - buffer.setRGB(i, v, 0, 0); - buffer.setRGB(buffer.getLength() - i - 1, v, 0, 0); + setMirrored(i, ramp, 0, 0); } } - lights.setData(buffer); + apply(); } else if (DriverStation.isDisabled()) { - if (Alliance.isBlue()) setRGB(0, 0, 150); else setRGB(150, 0, 0); + if (Alliance.isBlue()) set(0, 0, 150); else set(150, 0, 0); + apply(); } else { - setRGB(0, 0, 0); + set(0, 0, 0); + apply(); } }) - .onEnd(() -> setRGB(0, 0, 0)) + .onEnd(() -> { + set(0, 0, 0); + apply(); + }) .ignoringDisable(true) .withName("lights.defaultCommand()"); } diff --git a/src/main/java/org/team340/robot/subsystems/Swerve.java b/src/main/java/org/team340/robot/subsystems/Swerve.java index 4d3f4ba..fc52f8a 100644 --- a/src/main/java/org/team340/robot/subsystems/Swerve.java +++ b/src/main/java/org/team340/robot/subsystems/Swerve.java @@ -48,6 +48,7 @@ public class Swerve extends SwerveBase { private final PIDController xPIDTraj = SwerveConstants.TRAJ_XY_PID.pidController(); private final PIDController yPIDTraj = SwerveConstants.TRAJ_XY_PID.pidController(); private final PIDController rotPIDTraj = SwerveConstants.TRAJ_ROT_PID.pidController(); + private final PIDController targetPIDTraj = SwerveConstants.TRAJ_TARGET_PID.pidController(); private final ProfiledPIDController rotPIDTrajProfiled = SwerveConstants.TRAJ_ROT_PID.profiledPIDController( SwerveConstants.TRAJ_ROT_CONSTRAINTS ); @@ -65,6 +66,7 @@ public class Swerve extends SwerveBase { private double[] speaker = new double[0]; private double tunableNoteVelocity = SwerveConstants.NOTE_VELOCITY; private double tunableNormFudge = SwerveConstants.NORM_FUDGE; + private double tunableStrafeFudge = SwerveConstants.STRAFE_FUDGE; private double tunableSpinCompensation = SwerveConstants.SPIN_COMPENSATION; private double tunableSpeakerXFudge = 0.0; private double tunableSpeakerYFudge = 0.0; @@ -124,6 +126,7 @@ public void initSendable(SendableBuilder builder) { builder.addDoubleProperty("tunableNoteVelocity", null, velocity -> tunableNoteVelocity = velocity); builder.addDoubleProperty("tunableNormFudge", null, fudge -> tunableNormFudge = fudge); + builder.addDoubleProperty("tunableStrafeFudge", null, fudge -> tunableStrafeFudge = fudge); builder.addDoubleProperty("tunableSpinCompensation", null, compensation -> tunableSpinCompensation = compensation); builder.addDoubleProperty("tunableSpeakerXFudge", null, fudge -> tunableSpeakerXFudge = fudge); builder.addDoubleProperty("tunableSpeakerYFudge", null, fudge -> tunableSpeakerYFudge = fudge); @@ -256,8 +259,9 @@ public Translation2d getSpeakerPosition() { double y = goalPose.getY() + (Alliance.isBlue() ? tunableSpeakerYFudge : -tunableSpeakerYFudge) - - (robotVel.vyMetersPerSecond * (distance / tunableNoteVelocity)); + (robotVel.vyMetersPerSecond * (distance / tunableNoteVelocity) * tunableStrafeFudge); + if (Math.random() > 0.9) System.out.println(tunableNormFudge); speaker = SwerveVisualizer.pose3d(new Pose3d(x, y, FieldPositions.SPEAKER_HEIGHT, Math2.ROTATION3D_0)); return new Translation2d(x, y); } @@ -343,6 +347,22 @@ public Command driveAmp(Supplier x, Supplier y) { .onEnd(() -> visualizer.removeTarget()); } + /** + * Allows the driver to keep driving, but forces the robot to face the feeder. + * @param x The desired {@code x} speed from {@code -1.0} to {@code 1.0}. + * @param y The desired {@code y} speed from {@code -1.0} to {@code 1.0}. + */ + public Command driveIntakeHuman(Supplier x, Supplier y) { + return commandBuilder("swerve.driveIntakeHuman()") + .onInitialize(() -> rotPID.reset(getPosition().getRotation().getRadians(), getVelocity(true).omegaRadiansPerSecond)) + .onExecute(() -> { + double angle = Alliance.isBlue() ? -Math2.THIRD_PI : Math2.THIRD_PI; + visualizer.updateTarget(angle); + driveAngle(x.get(), y.get(), angle, rotPID, false); + }) + .onEnd(() -> visualizer.removeTarget()); + } + /** * Allows the driver to keep driving, but forces the robot to face the stage. * @param x The desired {@code x} speed from {@code -1.0} to {@code 1.0}. @@ -450,7 +470,7 @@ public Command followTrajectory(ChoreoTrajectory traj, double targetTimeStart, d targetTimeStart, targetTimeEnd, this::getSpeakerAngle, - rotPID, + targetPIDTraj, xPIDTraj, yPIDTraj, rotPIDTraj,