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Merge pull request #6 from MOERobotics/lehigh
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80 changes: 80 additions & 0 deletions
80
src/main/java/frc/robot/commands/AutoDriveToNoteCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| package frc.robot.commands; | ||
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| 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.util.Units; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.SwerveDrive; | ||
| import frc.robot.vision.Vision; | ||
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| public class AutoDriveToNoteCommand extends Command { | ||
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| private final Vision vision; | ||
| private final SwerveDrive subsystem; | ||
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| private Translation2d target = null; | ||
| private int idleLoopCount = 0; | ||
| private double speed; | ||
| private double speedMultiplier; | ||
| public AutoDriveToNoteCommand(SwerveDrive subsystem, Vision vision, double SpeedMultiplier){ | ||
| this.vision = vision; | ||
| this.subsystem = subsystem; | ||
| this.speedMultiplier=SpeedMultiplier; | ||
| addRequirements(subsystem); | ||
| } | ||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| this.target = null; | ||
| idleLoopCount = 0; | ||
| } | ||
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| private void updateTarget() { | ||
| var robotPose = subsystem.getEstimatedPose(); | ||
| var detectionMaxThreshold = Double.POSITIVE_INFINITY; | ||
| if (target != null) { | ||
| detectionMaxThreshold = robotPose.getTranslation().getDistance(target) + Units.feetToMeters(2); | ||
| } | ||
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| var detections = vision.detections(); | ||
| for (var detection : detections){ | ||
| var distance = detection.getNorm(); | ||
| if (distance < detectionMaxThreshold){ | ||
| var detectionFieldCoord = robotPose.transformBy(new Transform2d(detection, new Rotation2d())).getTranslation(); | ||
| target = detectionFieldCoord; | ||
| detectionMaxThreshold = distance; | ||
| } | ||
| } | ||
| } | ||
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| updateTarget(); | ||
| if (target == null){ | ||
| idleLoopCount += 1; | ||
| } | ||
| // Drive towards target | ||
| var robotPose = subsystem.getEstimatedPose(); | ||
| var delta = target.minus(robotPose.getTranslation()); | ||
| speed = speedMultiplier*target.getDistance(robotPose.getTranslation())/Units.inchesToMeters(12); | ||
| var unitDelta = delta.div(delta.getNorm()).times(speed); | ||
| var robotAngle = unitDelta.getAngle(); | ||
| subsystem.setDesiredYaw(robotAngle.getDegrees()); | ||
| subsystem.driveAtSpeed(unitDelta.getX(), unitDelta.getY(), 0, true); | ||
| } | ||
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| subsystem.stopModules(); | ||
| } | ||
|
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
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129 changes: 129 additions & 0 deletions
129
src/main/java/frc/robot/commands/DriveToNoteCollectCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,129 @@ | ||
| package frc.robot.commands; | ||
|
|
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| 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.util.Units; | ||
| import edu.wpi.first.wpilibj.Joystick; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.CollectorSubsystem; | ||
| import frc.robot.subsystems.SwerveDrive; | ||
| import frc.robot.vision.Vision; | ||
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| import java.util.function.DoubleConsumer; | ||
| import java.util.function.DoubleSupplier; | ||
| import java.util.function.Supplier; | ||
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| public class DriveToNoteCollectCommand extends Command { | ||
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| private final Vision vision; | ||
| private final SwerveDrive subsystem; | ||
| private final DoubleSupplier speedSupplier; | ||
| private final DoubleConsumer rumbleCallback; | ||
| private boolean shouldStop = false; | ||
| private Timer timer; | ||
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| private final CollectorSubsystem collector; | ||
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| private Translation2d target = null; | ||
| private int idleLoopCount = 0; | ||
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| // public DriveToNoteCollectCommand(SwerveDrive subsystem, Vision vision, DoubleSupplier speedSupplier) { | ||
| // this(subsystem, vision, speedSupplier, null,); | ||
| // } | ||
| public DriveToNoteCollectCommand(SwerveDrive subsystem, Vision vision, DoubleSupplier speedSupplier, DoubleConsumer rumbleCallback, CollectorSubsystem collector){ | ||
| this.speedSupplier = speedSupplier; | ||
| this.vision = vision; | ||
| this.subsystem = subsystem; | ||
| this.rumbleCallback = rumbleCallback; | ||
| this.collector = collector; | ||
| shouldStop=false; | ||
| addRequirements(subsystem,collector); | ||
| } | ||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| this.target = null; | ||
| idleLoopCount = 0; | ||
| shouldStop=false; | ||
| } | ||
|
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| private void updateTarget() { | ||
| var robotPose = subsystem.getEstimatedPose(); | ||
| var detectionMaxThreshold = Double.POSITIVE_INFINITY; | ||
| if (target != null) { | ||
| detectionMaxThreshold = robotPose.getTranslation().getDistance(target) + Units.feetToMeters(2); | ||
| } | ||
|
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| var detections = vision.detections(); | ||
| for (var detection : detections){ | ||
| var distance = detection.getNorm(); | ||
| if (distance < detectionMaxThreshold){ | ||
| var detectionFieldCoord = robotPose.transformBy(new Transform2d(detection, new Rotation2d())).getTranslation(); | ||
| target = detectionFieldCoord; | ||
| detectionMaxThreshold = distance; | ||
| } | ||
| } | ||
| } | ||
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| double finalSpeed = 0; | ||
| updateTarget(); | ||
| if (target == null){ | ||
| idleLoopCount += 1; | ||
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| if (idleLoopCount >= 5 && rumbleCallback != null){ | ||
| rumbleCallback.accept(1); | ||
| } | ||
| return; | ||
| } | ||
| // Drive towards target | ||
| var robotPose = subsystem.getEstimatedPose(); | ||
| var delta = target.minus(robotPose.getTranslation()); | ||
| var unitDelta = delta.div(delta.getNorm()).times(speedSupplier.getAsDouble()); | ||
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| var robotAngle = unitDelta.getAngle(); | ||
| subsystem.setDesiredYaw(robotAngle.getDegrees()); | ||
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| subsystem.driveAtSpeed(unitDelta.getX(), unitDelta.getY(), 0, true); | ||
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| if (delta.getNorm()<=Units.feetToMeters(1)&& !shouldStop && !collector.isCollected()) { //within 1 ft, collector in, no note | ||
| finalSpeed = 0.4; | ||
| timer.restart(); | ||
| } | ||
| /* if (collector.isCollected() && timer.get() <= .1){ | ||
| shouldStop = true; | ||
| finalSpeed = -0.4; | ||
| }*/ | ||
| collector.updateCollectorSpeed(finalSpeed); | ||
| SmartDashboard.putBoolean("started collector", collector.getCollectorState()); | ||
| SmartDashboard.putNumber("collector speed", finalSpeed); | ||
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| SmartDashboard.putBoolean("Should Stop", shouldStop); | ||
| } | ||
|
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| if (rumbleCallback != null){ | ||
| rumbleCallback.accept(0); | ||
| } | ||
| shouldStop=false; | ||
| collector.stopCollector(); | ||
| subsystem.stopModules(); | ||
| } | ||
|
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| if(shouldStop && timer.get() >= .1){ | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
| } |
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