diff --git a/.Glass/glass.json b/.Glass/glass.json index 0272e38..6d7149b 100644 --- a/.Glass/glass.json +++ b/.Glass/glass.json @@ -40,6 +40,9 @@ }, "open": true }, + "Vision": { + "open": true + }, "open": true }, "cadmia": { @@ -80,7 +83,7 @@ "Plot <0>": { "plots": [ { - "height": 338, + "height": 0, "series": [ { "color": [ diff --git a/autos/blue-north-3cone-low/blue-north-3cone-low_2_place8.json b/autos/blue-north-3cone-low/blue-north-3cone-low_2_place8.json index c20c002..224988a 100644 --- a/autos/blue-north-3cone-low/blue-north-3cone-low_2_place8.json +++ b/autos/blue-north-3cone-low/blue-north-3cone-low_2_place8.json @@ -55,7 +55,7 @@ "velocity_y": 0.0, "velocity_y_constrained": true, "waypoint_type": "custom", - "x": 2.0811913600854677, + "x": 1.9795913600854675, "x_constrained": true, "y": 4.483030936467877, "y_constrained": true @@ -87,4 +87,4 @@ "time_unit": "second", "torque_unit": "newton_metre" } -} +} \ No newline at end of file diff --git a/autos/blue-north-3cone-low/blue-north-3cone-low_3_pick3.json b/autos/blue-north-3cone-low/blue-north-3cone-low_3_pick3.json index 87a8b59..3215fe7 100644 --- a/autos/blue-north-3cone-low/blue-north-3cone-low_3_pick3.json +++ b/autos/blue-north-3cone-low/blue-north-3cone-low_3_pick3.json @@ -4,16 +4,7 @@ }, "paths": { "pick3": { - "obstacles": [ - { - "center_x": 3.5524717356228166, - "center_y": 1.6264701001203439, - "name": "chgstat", - "obstacle_type": "circle", - "radius": 2.5, - "safety_distance": 0.0 - } - ], + "obstacles": [], "waypoints": [ { "angular_velocity": 0.0, @@ -28,7 +19,7 @@ "velocity_y": 0.0, "velocity_y_constrained": true, "waypoint_type": "custom", - "x": 2.0811913600854677, + "x": 1.9795913600854675, "x_constrained": true, "y": 4.483030936467877, "y_constrained": true @@ -61,19 +52,19 @@ "velocity_magnitude_constrained": true, "velocity_x": 0.25, "velocity_x_constrained": false, - "velocity_y": 0.25, + "velocity_y": 0.25000000000000044, "velocity_y_constrained": false, "waypoint_type": "custom", - "x": 6.228102344112418, + "x": 6.4567023441124185, "x_constrained": true, - "y": 3.5327814971674347, + "y": 3.735981497167433, "y_constrained": true }, { "angular_velocity": 0.0, "angular_velocity_constrained": true, "control_interval_count": 20, - "heading": 5.4836733810242855, + "heading": 5.497787143782138, "heading_constrained": true, "name": "pick", "velocity_magnitude_constrained": true, @@ -82,9 +73,9 @@ "velocity_y": 0.0, "velocity_y_constrained": true, "waypoint_type": "custom", - "x": 6.782564399253481, + "x": 7.112764399253481, "x_constrained": true, - "y": 2.9700968481329495, + "y": 3.0716968481329494, "y_constrained": true } ] @@ -94,7 +85,7 @@ "bumper_length": 0.954, "bumper_width": 0.903, "mass": 90.718474, - "moment_of_inertia": 5.0, + "moment_of_inertia": 8.0, "motor_max_angular_speed": 83.7758040957278, "motor_max_torque": 4.0, "team_number": 2363, @@ -114,4 +105,4 @@ "time_unit": "second", "torque_unit": "newton_metre" } -} +} \ No newline at end of file diff --git a/autos/blue-north-3cone-low/blue-north-3cone-low_4_place7.json b/autos/blue-north-3cone-low/blue-north-3cone-low_4_place7.json index 81ed543..e83499f 100644 --- a/autos/blue-north-3cone-low/blue-north-3cone-low_4_place7.json +++ b/autos/blue-north-3cone-low/blue-north-3cone-low_4_place7.json @@ -9,8 +9,8 @@ { "angular_velocity": 0.0, "angular_velocity_constrained": true, - "control_interval_count": 20, - "heading": 5.4836733810242855, + "control_interval_count": 0, + "heading": 5.497787143782138, "heading_constrained": true, "name": "pick", "velocity_magnitude_constrained": true, @@ -19,9 +19,9 @@ "velocity_y": 0.0, "velocity_y_constrained": true, "waypoint_type": "custom", - "x": 6.782564399253481, + "x": 7.112764399253481, "x_constrained": true, - "y": 2.9700968481329495, + "y": 3.0716968481329494, "y_constrained": true }, { @@ -63,7 +63,7 @@ { "angular_velocity": 0.0, "angular_velocity_constrained": true, - "control_interval_count": 40, + "control_interval_count": 20, "heading": 3.141592653589793, "heading_constrained": true, "name": "place", @@ -105,4 +105,4 @@ "time_unit": "second", "torque_unit": "newton_metre" } -} +} \ No newline at end of file diff --git a/autos/blue-south-2cone-high/blue-south-2cone-high_0_place1.json b/autos/blue-south-2cone-high/blue-south-2cone-high_0_place1.json index e9c842c..0875ea7 100644 --- a/autos/blue-south-2cone-high/blue-south-2cone-high_0_place1.json +++ b/autos/blue-south-2cone-high/blue-south-2cone-high_0_place1.json @@ -21,7 +21,7 @@ "waypoint_type": "custom", "x": 3.05877775930775, "x_constrained": true, - "y": 0.5170177190245612, + "y": 0.4154177190245612, "y_constrained": true }, { @@ -39,7 +39,7 @@ "waypoint_type": "custom", "x": 1.9355777593077477, "x_constrained": true, - "y": 0.5170177190245612, + "y": 0.4154177190245612, "y_constrained": true } ] @@ -69,4 +69,4 @@ "time_unit": "second", "torque_unit": "newton_metre" } -} +} \ No newline at end of file diff --git a/autos/blue-south-2cone-high/blue-south-2cone-high_1_pick1.json b/autos/blue-south-2cone-high/blue-south-2cone-high_1_pick1.json index c28db17..1c306f3 100644 --- a/autos/blue-south-2cone-high/blue-south-2cone-high_1_pick1.json +++ b/autos/blue-south-2cone-high/blue-south-2cone-high_1_pick1.json @@ -21,7 +21,7 @@ "waypoint_type": "custom", "x": 1.9355777593077477, "x_constrained": true, - "y": 0.5170177190245612, + "y": 0.4154177190245612, "y_constrained": true }, { @@ -39,7 +39,7 @@ "waypoint_type": "custom", "x": 2.1519634430382037, "x_constrained": true, - "y": 0.7182973763365106, + "y": 0.6166973763365106, "y_constrained": true }, { @@ -159,4 +159,4 @@ "time_unit": "second", "torque_unit": "newton_metre" } -} +} \ No newline at end of file diff --git a/autos/blue-south-2cone-high/blue-south-2cone-high_2_place3.json b/autos/blue-south-2cone-high/blue-south-2cone-high_2_place3.json index 681bd50..807b30c 100644 --- a/autos/blue-south-2cone-high/blue-south-2cone-high_2_place3.json +++ b/autos/blue-south-2cone-high/blue-south-2cone-high_2_place3.json @@ -111,7 +111,7 @@ "waypoint_type": "custom", "x": 1.908741064825703, "x_constrained": true, - "y": 1.6076419403433835, + "y": 1.5314419403433837, "y_constrained": true } ] @@ -141,4 +141,4 @@ "time_unit": "second", "torque_unit": "newton_metre" } -} +} \ No newline at end of file diff --git a/autos/red-north-3cone-low/red-north-3cone-low_2_place8.json b/autos/red-north-3cone-low/red-north-3cone-low_2_place8.json index 9f28c3a..21ae85c 100644 --- a/autos/red-north-3cone-low/red-north-3cone-low_2_place8.json +++ b/autos/red-north-3cone-low/red-north-3cone-low_2_place8.json @@ -39,7 +39,7 @@ "waypoint_type": "custom", "x": 11.65525392711544, "x_constrained": true, - "y": 4.73941277169068, + "y": 4.612412771690679, "y_constrained": true }, { @@ -55,7 +55,7 @@ "velocity_y": 0.0, "velocity_y_constrained": true, "waypoint_type": "custom", - "x": 14.53675762391453, + "x": 14.63835762391453, "x_constrained": true, "y": 4.483030936467877, "y_constrained": true @@ -87,4 +87,4 @@ "time_unit": "second", "torque_unit": "newton_metre" } -} +} \ No newline at end of file diff --git a/autos/red-north-3cone-low/red-north-3cone-low_3_pick3.json b/autos/red-north-3cone-low/red-north-3cone-low_3_pick3.json index 7e192d9..35d80f6 100644 --- a/autos/red-north-3cone-low/red-north-3cone-low_3_pick3.json +++ b/autos/red-north-3cone-low/red-north-3cone-low_3_pick3.json @@ -19,7 +19,7 @@ "velocity_y": 0.0, "velocity_y_constrained": true, "waypoint_type": "custom", - "x": 14.53675762391453, + "x": 14.63835762391453, "x_constrained": true, "y": 4.483030936467877, "y_constrained": true @@ -55,9 +55,9 @@ "velocity_y": 0.3, "velocity_y_constrained": false, "waypoint_type": "custom", - "x": 10.389846639887583, + "x": 10.010435516088627, "x_constrained": true, - "y": 3.6089814971674348, + "y": 3.8508929249637114, "y_constrained": true }, { @@ -73,9 +73,9 @@ "velocity_y": 0.0, "velocity_y_constrained": true, "waypoint_type": "custom", - "x": 9.75918458474652, + "x": 9.379773460947565, "x_constrained": true, - "y": 2.9700968481329495, + "y": 3.212008275929226, "y_constrained": true } ] @@ -85,7 +85,7 @@ "bumper_length": 0.954, "bumper_width": 0.903, "mass": 90.718474, - "moment_of_inertia": 5.0, + "moment_of_inertia": 8.0, "motor_max_angular_speed": 83.7758040957278, "motor_max_torque": 4.0, "team_number": 2363, @@ -105,4 +105,4 @@ "time_unit": "second", "torque_unit": "newton_metre" } -} +} \ No newline at end of file diff --git a/autos/red-north-3cone-low/red-north-3cone-low_4_place7.json b/autos/red-north-3cone-low/red-north-3cone-low_4_place7.json index e19afbd..8c94271 100644 --- a/autos/red-north-3cone-low/red-north-3cone-low_4_place7.json +++ b/autos/red-north-3cone-low/red-north-3cone-low_4_place7.json @@ -9,7 +9,7 @@ { "angular_velocity": 0.0, "angular_velocity_constrained": true, - "control_interval_count": 20, + "control_interval_count": 0, "heading": -2.3420807274344924, "heading_constrained": true, "name": "pick", @@ -19,9 +19,9 @@ "velocity_y": 0.0, "velocity_y_constrained": true, "waypoint_type": "custom", - "x": 9.75918458474652, + "x": 9.379773460947565, "x_constrained": true, - "y": 2.9700968481329495, + "y": 3.212008275929226, "y_constrained": true }, { @@ -57,7 +57,7 @@ "waypoint_type": "custom", "x": 13.884522559120708, "x_constrained": true, - "y": 4.291635173710526, + "y": 4.139235173710526, "y_constrained": true }, { @@ -105,4 +105,4 @@ "time_unit": "second", "torque_unit": "newton_metre" } -} +} \ No newline at end of file diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp index 5cf2de5..d5bcffa 100644 --- a/src/main/cpp/RobotContainer.cpp +++ b/src/main/cpp/RobotContainer.cpp @@ -59,10 +59,14 @@ RobotContainer::RobotContainer(std::function isDisabled) double rightXAxis = -m_driver.GetRawAxis(kZorroRightYAxis); double rightYAxis = -m_driver.GetRawAxis(kZorroRightXAxis); double leftXAxis = -m_driver.GetRawAxis(kZorroLeftXAxis); + double x = std::abs(rightXAxis) < 0.025 ? 0.0 : rightXAxis; + double y = std::abs(rightYAxis) < 0.025 ? 0.0 : rightYAxis; + double omega = std::abs(leftXAxis) < 0.025 ? 0.0 : leftXAxis; return m_drive.JoystickDrive( - std::abs(rightXAxis) < 0.025 ? 0.0 : rightXAxis, - std::abs(rightYAxis) < 0.025 ? 0.0 : rightYAxis, - std::abs(leftXAxis) < 0.025 ? 0.0 : leftXAxis, true, m_isBlue); + x, + y, + omega, + true, m_isBlue, m_superstructure.GetAbsoluteArmPosition().value()); }, {&m_drive} // requirements )); diff --git a/src/main/cpp/commands/autos/North2ConeHighChgstat.cpp b/src/main/cpp/commands/autos/North2ConeHighChgstat.cpp index 9552851..b856a28 100644 --- a/src/main/cpp/commands/autos/North2ConeHighChgstat.cpp +++ b/src/main/cpp/commands/autos/North2ConeHighChgstat.cpp @@ -35,8 +35,19 @@ North2ConeHighChgstat::North2ConeHighChgstat(SwerveDrive* drive, "north-2cone-high-chgstat_1_pick4")), SequentialCommandGroup(WaitCommand(0.25_s), InstantCommand([superstructure]() { - superstructure->IntakeCone(); - }))), + superstructure->IntakeCube(); + superstructure->m_stealth = true; + })), + SequentialCommandGroup( + WaitCommand(TrajectoryManager::GetTrajectory( + allianceSidePrefix + "north-2cone-high-chgstat_1_pick4") + .GetTotalTime() - + 0.2_s), + InstantCommand( + [superstructure]() { superstructure->IntakeCone(); }), + WaitCommand(0.1_s), InstantCommand([superstructure]() { + superstructure->m_stealth = false; + }))), DriveTrajectory( drive, &TrajectoryManager::GetTrajectory( diff --git a/src/main/cpp/commands/autos/North3ConeLow.cpp b/src/main/cpp/commands/autos/North3ConeLow.cpp index a811285..e00446a 100644 --- a/src/main/cpp/commands/autos/North3ConeLow.cpp +++ b/src/main/cpp/commands/autos/North3ConeLow.cpp @@ -27,17 +27,28 @@ North3ConeLow::North3ConeLow(SwerveDrive* drive, Superstructure* superstructure, allianceSidePrefix + "north-2cone-high-chgstat_0_place9")), ParallelDeadlineGroup( SequentialCommandGroup( - WaitCommand(0.0_s), DriveTrajectory(drive, &TrajectoryManager::GetTrajectory( allianceSidePrefix + "north-2cone-high-chgstat_1_pick4"))), - SequentialCommandGroup(InstantCommand([superstructure]() { - superstructure->SetIntakeWheelSpeed(-0.5); - }), - WaitCommand(1_s), - InstantCommand([superstructure]() { - superstructure->IntakeCone(); - }))), + SequentialCommandGroup( + InstantCommand([superstructure]() { + superstructure->SetIntakeWheelSpeed(-0.5); + }), + WaitCommand(1_s), + InstantCommand([superstructure]() { + superstructure->IntakeCube(); + superstructure->m_stealth = true; + })), + SequentialCommandGroup( + WaitCommand(TrajectoryManager::GetTrajectory( + allianceSidePrefix + "north-2cone-high-chgstat_1_pick4") + .GetTotalTime() - + 0.2_s), + InstantCommand( + [superstructure]() { superstructure->IntakeCone(); }), + WaitCommand(0.1_s), InstantCommand([superstructure]() { + superstructure->m_stealth = false; + }))), ParallelDeadlineGroup( DriveTrajectory(drive, &TrajectoryManager::GetTrajectory( @@ -46,9 +57,14 @@ North3ConeLow::North3ConeLow(SwerveDrive* drive, Superstructure* superstructure, WaitCommand(TrajectoryManager::GetTrajectory( allianceSidePrefix + "north-3cone-low_2_place8") .GetTotalTime() - - 0.1_s), + 0.2_s), InstantCommand( - [superstructure]() { superstructure->Outtake(); }))), + [superstructure]() { superstructure->m_flipConeMode = true; }))), + InstantCommand( + [superstructure]() { superstructure->Outtake(); }), + WaitCommand(0.25_s), + InstantCommand( + [superstructure]() { superstructure->m_flipConeMode = false; }), ParallelDeadlineGroup( SequentialCommandGroup( WaitCommand(0.1_s), @@ -57,8 +73,19 @@ North3ConeLow::North3ConeLow(SwerveDrive* drive, Superstructure* superstructure, allianceSidePrefix + "north-3cone-low_3_pick3"))), SequentialCommandGroup(WaitCommand(1_s), InstantCommand([superstructure]() { - superstructure->IntakeCone(); - }))), + superstructure->IntakeCube(); + superstructure->m_stealth = true; + })), + SequentialCommandGroup( + WaitCommand(TrajectoryManager::GetTrajectory( + allianceSidePrefix + "north-3cone-low_3_pick3") + .GetTotalTime() - + 0.2_s), + InstantCommand( + [superstructure]() { superstructure->IntakeCone(); }), + WaitCommand(0.1_s), InstantCommand([superstructure]() { + superstructure->m_stealth = false; + }))), DriveTrajectory( drive, &TrajectoryManager::GetTrajectory(allianceSidePrefix + "north-3cone-low_4_place7")), diff --git a/src/main/cpp/commands/autos/South2ConeHigh.cpp b/src/main/cpp/commands/autos/South2ConeHigh.cpp index cdf9c57..a3d9f20 100644 --- a/src/main/cpp/commands/autos/South2ConeHigh.cpp +++ b/src/main/cpp/commands/autos/South2ConeHigh.cpp @@ -35,8 +35,19 @@ South2ConeHigh::South2ConeHigh(SwerveDrive* drive, allianceSidePrefix + "south-2cone-high_1_pick1")), SequentialCommandGroup(WaitCommand(0.5_s), InstantCommand([superstructure]() { - superstructure->IntakeCone(); - }))), + superstructure->IntakeCube(); + superstructure->m_stealth = true; + })), + SequentialCommandGroup( + WaitCommand(TrajectoryManager::GetTrajectory( + allianceSidePrefix + "south-2cone-high_1_pick1") + .GetTotalTime() - + 0.2_s), + InstantCommand( + [superstructure]() { superstructure->IntakeCone(); }), + WaitCommand(0.1_s), InstantCommand([superstructure]() { + superstructure->m_stealth = false; + }))), ParallelDeadlineGroup( DriveTrajectory( drive, &TrajectoryManager::GetTrajectory( diff --git a/src/main/cpp/subsystems/Superstructure.cpp b/src/main/cpp/subsystems/Superstructure.cpp index 0ae0f59..d9cce86 100644 --- a/src/main/cpp/subsystems/Superstructure.cpp +++ b/src/main/cpp/subsystems/Superstructure.cpp @@ -11,6 +11,7 @@ #include #include "Constants.hpp" +#include "frc2/command/InstantCommand.h" using namespace frc; using namespace rev; diff --git a/src/main/cpp/subsystems/SwerveDrive.cpp b/src/main/cpp/subsystems/SwerveDrive.cpp index ff723d8..e9ae68c 100644 --- a/src/main/cpp/subsystems/SwerveDrive.cpp +++ b/src/main/cpp/subsystems/SwerveDrive.cpp @@ -34,6 +34,7 @@ #include #include "Constants.hpp" +#include "frc/kinematics/ChassisSpeeds.h" #include "util/log/DoubleTelemetryEntry.hpp" #include "util/log/TelemetryEntry.hpp" @@ -139,7 +140,23 @@ void SwerveDrive::ResetOdometry(const Pose2d& pose) { void SwerveDrive::JoystickDrive(double joystickDrive, double joystickStrafe, double joystickRotate, bool fieldRelative, - bool isBlue) { + bool isBlue, double armPosition) { + double a1 = -5.0; + meter_t d1 = 16_in; + double a2 = 8.3; + meter_t d2 = 45_in; + double a3 = 30; + meter_t d3 = 65_in; + + meter_t d; + if (armPosition < a2) { + double scale = (armPosition - a1) / (a2 - a1); + d = d1 + scale * (d2 - d1); + } else { + double scale = (armPosition - a2) / (a3 - a2); + d = d2 + scale * (d3 - d2); + } + ChassisSpeeds speeds = fieldRelative ? ChassisSpeeds::FromFieldRelativeSpeeds( @@ -150,6 +167,7 @@ void SwerveDrive::JoystickDrive(double joystickDrive, double joystickStrafe, : ChassisSpeeds{joystickDrive * kMaxVelocityX, joystickStrafe * kMaxVelocityY, joystickRotate * kMaxVelocityAngular}; + speeds = ChassisSpeeds{speeds.vx, speeds.vy - meters_per_second_t{speeds.omega.value()} * d.value(), speeds.omega}; auto states = m_driveKinematics.ToSwerveModuleStates(speeds); // use most extreme axis as scale factor diff --git a/src/main/deploy/trajectories/blue-north-3cone-low_2_place8.json b/src/main/deploy/trajectories/blue-north-3cone-low_2_place8.json index 2ac1b96..a94d31d 100644 --- a/src/main/deploy/trajectories/blue-north-3cone-low_2_place8.json +++ b/src/main/deploy/trajectories/blue-north-3cone-low_2_place8.json @@ -1,641 +1,641 @@ [ { "angularVelocity": 0.0, - "heading": 3.9451430014229924E-33, + "heading": 2.103340100419743E-34, "timestamp": 0.0, - "velocityX": 1.3234435094662495E-33, - "velocityY": -9.7480603740697E-34, + "velocityX": -2.502725875503238E-35, + "velocityY": -2.694256590509493E-35, "x": 7.087542139924915, "y": 4.607171611622457 }, { - "angularVelocity": -0.29829714833036025, - "heading": -0.012800117966429117, - "timestamp": 0.04291062800323667, - "velocityX": -0.10971462740938398, - "velocityY": 0.010088667597719097, - "x": 7.082834216361637, - "y": 4.607604522684791 - }, - { - "angularVelocity": -0.5901190938499493, - "heading": -0.0381224988802289, - "timestamp": 0.08582125600647333, - "velocityX": -0.21949132635224303, - "velocityY": 0.020029593703678666, - "x": 7.073415705706599, - "y": 4.608464005129266 - }, - { - "angularVelocity": -0.8750066034544726, - "heading": -0.07566958174143576, - "timestamp": 0.12873188400971, - "velocityX": -0.3293324561647132, - "velocityY": 0.02981587519694762, - "x": 7.059283843190723, - "y": 4.609743423058433 - }, - { - "angularVelocity": -1.152217936601929, - "heading": -0.12511197699761334, - "timestamp": 0.17164251201294667, 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14.644202978792306, "y": 3.8920396181197687 } -] +] \ No newline at end of file diff --git a/src/main/include/subsystems/SwerveDrive.hpp b/src/main/include/subsystems/SwerveDrive.hpp index 9868042..0f61944 100644 --- a/src/main/include/subsystems/SwerveDrive.hpp +++ b/src/main/include/subsystems/SwerveDrive.hpp @@ -51,7 +51,7 @@ class SwerveDrive : public frc2::SubsystemBase { * Each input is a value from -1 to 1, like */ void JoystickDrive(double joystickDrive, double joystickStrafe, - double joystickRotate, bool fieldRelative, bool isBlue); + double joystickRotate, bool fieldRelative, bool isBlue, double armPosition); /** * @brief Command the robot to drive with the given speeds.