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Command Changes #18

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Command Changes #18

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345e01e
made WheelRadiusCharacterization calculate for each module separetly
Nummun14 Nov 14, 2024
5c4a70f
made gear ratio command account for backlash
Nummun14 Nov 14, 2024
2ed9891
cleaned a bit, and fixed gearRatioLogic issue
Nummun14 Nov 15, 2024
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56 changes: 42 additions & 14 deletions src/main/java/org/trigon/commands/GearRatioCalculationCommand.java
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Original file line number Diff line number Diff line change
@@ -1,19 +1,19 @@
package org.trigon.commands;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.*;
import org.littletonrobotics.junction.Logger;
import org.littletonrobotics.junction.networktables.LoggedDashboardBoolean;
import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;

import java.util.function.DoubleConsumer;
import java.util.function.DoubleSupplier;

public class GearRatioCalculationCommand extends Command {
public class GearRatioCalculationCommand extends SequentialCommandGroup {
private final DoubleSupplier rotorPositionSupplier;
private final DoubleSupplier encoderPositionSupplier;
private final DoubleConsumer runGearRatioCalculation;
private final String subsystemName;
private final double backlashAccountabilityTimeSeconds;

private final LoggedDashboardNumber movementVoltage;
private final LoggedDashboardBoolean shouldMoveClockwise;
Expand All @@ -22,39 +22,67 @@ public class GearRatioCalculationCommand extends Command {
private double startingEncoderPosition;
private double gearRatio;

public GearRatioCalculationCommand(DoubleSupplier rotorPositionSupplier, DoubleSupplier encoderPositionSupplier, DoubleConsumer runGearRatioCalculation, SubsystemBase requirement) {
public GearRatioCalculationCommand(
DoubleSupplier rotorPositionSupplier,
DoubleSupplier encoderPositionSupplier,
DoubleConsumer runGearRatioCalculation,
double backlashAccountabilityTimeSeconds,
SubsystemBase requirement
) {
this.rotorPositionSupplier = rotorPositionSupplier;
this.encoderPositionSupplier = encoderPositionSupplier;
this.runGearRatioCalculation = runGearRatioCalculation;
this.subsystemName = requirement.getName();
this.backlashAccountabilityTimeSeconds = backlashAccountabilityTimeSeconds;

this.movementVoltage = new LoggedDashboardNumber("GearRatioCalculation/" + this.subsystemName + "/Voltage", 1);
this.shouldMoveClockwise = new LoggedDashboardBoolean("GearRatioCalculation/" + this.subsystemName + "/ShouldMoveClockwise", false);

addRequirements(requirement);
addCommands(
getGearRatioCalculationCommand(),
getBacklashAccountabilityCommand(),
getLogGearRatioCommand()
);
}

@Override
public void initialize() {
private Command getBacklashAccountabilityCommand() {
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return new WaitCommand(backlashAccountabilityTimeSeconds);
}

private Command getGearRatioCalculationCommand() {
return new InitExecuteCommand(
this::getStartingPositions,
this::runGearRatioCalculation
);
}

private Command getLogGearRatioCommand() {
return new InstantCommand(
() -> {
logGearRatio();
printResult();
}
);
}

private void getStartingPositions() {
startingRotorPosition = rotorPositionSupplier.getAsDouble();
startingEncoderPosition = encoderPositionSupplier.getAsDouble();
}

@Override
public void execute() {
private void runGearRatioCalculation() {
runGearRatioCalculation.accept(movementVoltage.get() * getRotationDirection());
gearRatio = calculateGearRatio();
}

private void logGearRatio() {

Logger.recordOutput("GearRatioCalculation/" + subsystemName + "/RotorDistance", getRotorDistance());
Logger.recordOutput("GearRatioCalculation/" + subsystemName + "/EncoderDistance", getEncoderDistance());
Logger.recordOutput("GearRatioCalculation/" + subsystemName + "/GearRatio", gearRatio);
}

@Override
public void end(boolean interrupted) {
printResult();
}

private double calculateGearRatio() {
final double currentRotorPosition = getRotorDistance();
final double currentEncoderPosition = getEncoderDistance();
Expand All @@ -76,4 +104,4 @@ private int getRotationDirection() {
private void printResult() {
System.out.println(subsystemName + " Gear Ratio: " + gearRatio);
}
}
}
47 changes: 30 additions & 17 deletions src/main/java/org/trigon/commands/WheelRadiusCharacterizationCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,9 @@ public class WheelRadiusCharacterizationCommand extends Command {
private static final LoggedDashboardNumber ROTATION_RATE_LIMIT = new LoggedDashboardNumber("WheelRadiusCharacterization/RotationRateLimit", 1);
private static final LoggedDashboardBoolean SHOULD_MOVE_CLOCKWISE = new LoggedDashboardBoolean("WheelRadiusCharacterization/ShouldMoveClockwise", false);

private final double[] wheelDistancesFromCenterMeters;
private final double[]
wheelDistancesFromCenterMeters,
driveWheelRadii;
private final Supplier<double[]> wheelPositionsRadiansSupplier;
private final DoubleSupplier gyroYawRadiansSupplier;
private final DoubleConsumer runWheelRadiusCharacterization;
Expand All @@ -34,25 +36,32 @@ public class WheelRadiusCharacterizationCommand extends Command {
private double startingGyroYawRadians;
private double accumulatedGyroYawRadians;
private double[] startingWheelPositions;
private double driveWheelsRadius;

public WheelRadiusCharacterizationCommand(Translation2d[] wheelDistancesFromCenterMeters, Supplier<double[]> wheelPositionsRadiansSupplier,
DoubleSupplier gyroYawRadiansSupplier, DoubleConsumer runWheelRadiusCharacterization, SubsystemBase requirement
public WheelRadiusCharacterizationCommand(Translation2d[] wheelDistancesFromCenterMeters,
Supplier<double[]> wheelPositionsRadiansSupplier,
DoubleSupplier gyroYawRadiansSupplier,
DoubleConsumer runWheelRadiusCharacterization,
SubsystemBase requirement
) {
this.wheelDistancesFromCenterMeters = Arrays.stream(wheelDistancesFromCenterMeters).mapToDouble(Translation2d::getNorm).toArray();
this.wheelPositionsRadiansSupplier = wheelPositionsRadiansSupplier;
this.gyroYawRadiansSupplier = gyroYawRadiansSupplier;
this.runWheelRadiusCharacterization = runWheelRadiusCharacterization;
this.driveWheelRadii = new double[wheelDistancesFromCenterMeters.length];
addRequirements(requirement);
}

public WheelRadiusCharacterizationCommand(double[] wheelDistancesFromCenterMeters, Supplier<double[]> wheelPositionsRadiansSupplier,
DoubleSupplier gyroYawRadiansSupplier, DoubleConsumer runWheelRadiusCharacterization, SubsystemBase requirement
public WheelRadiusCharacterizationCommand(double[] wheelDistancesFromCenterMeters,
Supplier<double[]> wheelPositionsRadiansSupplier,
DoubleSupplier gyroYawRadiansSupplier,
DoubleConsumer runWheelRadiusCharacterization,
SubsystemBase requirement
) {
this.wheelDistancesFromCenterMeters = wheelDistancesFromCenterMeters;
this.wheelPositionsRadiansSupplier = wheelPositionsRadiansSupplier;
this.gyroYawRadiansSupplier = gyroYawRadiansSupplier;
this.runWheelRadiusCharacterization = runWheelRadiusCharacterization;
this.driveWheelRadii = new double[wheelDistancesFromCenterMeters.length];
addRequirements(requirement);
}

Expand All @@ -66,10 +75,10 @@ public void execute() {
driveMotors();

accumulatedGyroYawRadians = getAccumulatedGyroYaw();
driveWheelsRadius = calculateDriveWheelRadius();
calculateDriveWheelRadius();

Logger.recordOutput("WheelRadiusCharacterization/AccumulatedGyroYawRadians", accumulatedGyroYawRadians);
Logger.recordOutput("RadiusCharacterization/DriveWheelRadius", driveWheelsRadius);
logWheelRadii();
}

@Override
Expand All @@ -94,24 +103,28 @@ private double getAccumulatedGyroYaw() {
return Math.abs(startingGyroYawRadians - gyroYawRadiansSupplier.getAsDouble());
}

private double calculateDriveWheelRadius() {
driveWheelsRadius = 0;
private void calculateDriveWheelRadius() {
final double[] wheelPositionsRadians = wheelPositionsRadiansSupplier.get();

for (int i = 0; i < 4; i++) {
final double accumulatedWheelRadians = Math.abs(wheelPositionsRadians[i] - startingWheelPositions[i]);
driveWheelsRadius += (accumulatedGyroYawRadians * wheelDistancesFromCenterMeters[i]) / accumulatedWheelRadians;
Logger.recordOutput("RadiusCharacterization/AccumulatedWheelRadians" + i, accumulatedWheelRadians);
driveWheelRadii[i] = (accumulatedGyroYawRadians * wheelDistancesFromCenterMeters[i]) / accumulatedWheelRadians;
Logger.recordOutput("RadiusCharacterization/AccumulatedWheelRadians" + i, driveWheelRadii[i]);
}

return driveWheelsRadius /= 4;
}

private void printResults() {
if (accumulatedGyroYawRadians <= Math.PI * 2.0)
if (accumulatedGyroYawRadians <= Math.PI * 2.0) {
System.out.println("Not enough data for characterization");
else
System.out.println("Drive Wheel Radius: " + driveWheelsRadius + " meters");
return;
}
for (int i = 0; i < driveWheelRadii.length; i++)
System.out.println("Drive Wheel Radius for Module " + i + ": " + driveWheelRadii[i] + " meters");
}

private void logWheelRadii() {
for (int i = 0; i < driveWheelRadii.length; i++)
Logger.recordOutput("RadiusCharacterization/DriveWheelRadiusModule" + i, driveWheelRadii[i]);
}

private int getRotationDirection() {
Expand Down
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