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Merge pull request #62 from SJJCoding/main
PR for vision branch - working note detection and new drive method.
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44 changes: 44 additions & 0 deletions
44
src/main/java/frc/team2412/robot/commands/drivebase/DriveToNoteCommand.java
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| @@ -0,0 +1,44 @@ | ||
| package frc.team2412.robot.commands.drivebase; | ||
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| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.geometry.Translation2d; | ||
| import edu.wpi.first.math.util.Units; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.team2412.robot.subsystems.DrivebaseSubsystem; | ||
| import frc.team2412.robot.subsystems.LimelightSubsystem; | ||
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| public class DriveToNoteCommand extends Command { | ||
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| private final DrivebaseSubsystem drivebaseSubsystem; | ||
| private final LimelightSubsystem limelightSubsystem; | ||
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| // limelight placement might be different so this multiplier is convenient | ||
| private final double INVERT_DRIVE_DIRECTION = -1.0; | ||
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| public DriveToNoteCommand( | ||
| DrivebaseSubsystem drivebaseSubsystem, LimelightSubsystem limelightSubsystem) { | ||
| this.drivebaseSubsystem = drivebaseSubsystem; | ||
| this.limelightSubsystem = limelightSubsystem; | ||
| addRequirements(drivebaseSubsystem); | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| if (limelightSubsystem.hasTargets()) { | ||
| Translation2d move = | ||
| new Translation2d( | ||
| INVERT_DRIVE_DIRECTION | ||
| * Units.inchesToMeters(limelightSubsystem.getDistanceFromTargetInches()), | ||
| 0.0); | ||
| Rotation2d turn = | ||
| new Rotation2d() | ||
| .fromDegrees(2 * INVERT_DRIVE_DIRECTION * limelightSubsystem.getHorizontalOffset()); | ||
| drivebaseSubsystem.drive(move, turn, false); | ||
| } | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return (limelightSubsystem.isWithinDistance() || !limelightSubsystem.hasTargets()); | ||
| } | ||
| } |
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112 changes: 112 additions & 0 deletions
112
src/main/java/frc/team2412/robot/subsystems/LimelightSubsystem.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,112 @@ | ||
| package frc.team2412.robot.subsystems; | ||
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| import edu.wpi.first.networktables.GenericEntry; | ||
| import edu.wpi.first.networktables.NetworkTable; | ||
| import edu.wpi.first.networktables.NetworkTableInstance; | ||
| import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets; | ||
| import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; | ||
| import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import java.util.Map; | ||
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| public class LimelightSubsystem extends SubsystemBase { | ||
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| // POTENTIAL CONSTANTS | ||
| private GenericEntry GOAL_DISTANCE_FROM_NOTE; | ||
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| // MEMBERS | ||
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| final NetworkTable networkTable; | ||
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| String currentPoseString; | ||
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| // network tables | ||
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| // CONSTRUCTOR ! | ||
| public LimelightSubsystem() { | ||
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| // camera stream at http://10.24.12.11:5800 | ||
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| // logging | ||
| currentPoseString = ""; | ||
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| networkTable = NetworkTableInstance.getDefault().getTable("limelight"); | ||
| ShuffleboardTab limelightTab = Shuffleboard.getTab("Limelight"); | ||
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| // helpers | ||
| setPipeline(); | ||
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| limelightTab.addBoolean("hasTarget", this::hasTargets).withPosition(0, 0).withSize(1, 1); | ||
| limelightTab | ||
| .addDouble("Horizontal Offset", this::getHorizontalOffset) | ||
| .withPosition(1, 0) | ||
| .withSize(1, 1); | ||
| limelightTab | ||
| .addDouble("Vertical Offset", this::getVerticalOffset) | ||
| .withPosition(2, 0) | ||
| .withSize(1, 1); | ||
| limelightTab | ||
| .addDouble("Distance From Note", this::getDistanceFromTargetInches) | ||
| .withPosition(3, 0) | ||
| .withSize(1, 1); | ||
| limelightTab | ||
| .addString("Current Pose ", this::getCurrentPoseString) | ||
| .withPosition(0, 1) | ||
| .withSize(4, 1); | ||
| GOAL_DISTANCE_FROM_NOTE = | ||
| limelightTab | ||
| .addPersistent("Goal distance", 20.0) | ||
| .withWidget(BuiltInWidgets.kNumberSlider) | ||
| .withPosition(4, 0) | ||
| .withSize(2, 1) | ||
| .withProperties(Map.of("Min", 0.0, "Max", 30.0)) | ||
| .getEntry(); | ||
| } | ||
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| private void setPipeline() { | ||
| networkTable.getEntry("pipeline").setNumber(0); | ||
| } | ||
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| // METHODS | ||
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| public boolean hasTargets() { | ||
| return (networkTable.getEntry("tv").getDouble(0) != 0); | ||
| } | ||
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| public double getHorizontalOffset() { | ||
| return networkTable.getEntry("tx").getDouble(0); | ||
| } | ||
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| public double getVerticalOffset() { | ||
| return networkTable.getEntry("ty").getDouble(0); | ||
| } | ||
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| public double getBoxWidth() { | ||
| return networkTable.getEntry("tlong").getDouble(0); | ||
| } | ||
| // TODO re-measure distances to make this right | ||
| public double getDistanceFromTargetInches() { | ||
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| // focal length = (P x D) / W | ||
| double focal_length = 559.0394; | ||
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| // distance = (W x F) / P | ||
| // returns inches for testing purposes, will divide by 39.3700787 to return meters | ||
| if (hasTargets()) { | ||
| return (14 * focal_length) / getBoxWidth(); | ||
| } else { | ||
| return 0.0; | ||
| } | ||
| } | ||
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| public String getCurrentPoseString() { | ||
| return currentPoseString; | ||
| } | ||
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| public boolean isWithinDistance() { | ||
| return (getDistanceFromTargetInches() <= GOAL_DISTANCE_FROM_NOTE.getDouble(20.0)); | ||
| } | ||
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| @Override | ||
| public void periodic() {} | ||
| } |