diff --git a/.Glass/glass.json b/.Glass/glass.json new file mode 100644 index 0000000..67cf302 --- /dev/null +++ b/.Glass/glass.json @@ -0,0 +1,170 @@ +{ + "NetworkTables": { + "Persistent Values": { + "open": false + }, + "transitory": { + "SmartDashboard": { + "Odometry": { + "open": true + }, + "Swerve": { + "Drive": { + "open": true + }, + "Modules": { + "Back Left": { + "open": true + }, + "Back Right": { + "open": true + }, + "Front Left": { + "open": true + }, + "Front Right": { + "open": true + }, + "open": true + }, + "Turn": { + "open": true + }, + "open": true + }, + "open": true + } + }, + "types": { + "/FMSInfo": "FMSInfo", + "/SmartDashboard/Autonomous": "String Chooser", + "/SmartDashboard/Field": "Field2d" + } + }, + "NetworkTables Settings": { + "mode": "Client (NT3)", + "serverTeam": "694" + }, + "Plots": { + "Plot <0>": { + "plots": [ + { + "height": 474, + "series": [ + { + "color": [ + 0.2980392277240753, + 0.44705885648727417, + 0.6901960968971252, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Back Left/Turn Voltage" + } + ] + } + ], + "window": { + "visible": false + } + }, + "Plot <1>": { + "plots": [ + { + "height": 769, + "series": [ + { + "color": [ + 0.2980392277240753, + 0.44705885648727417, + 0.6901960968971252, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Front Left/Angle" + }, + { + "color": [ + 0.3333333432674408, + 0.658823549747467, + 0.4078431725502014, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Back Right/Angle" + }, + { + "color": [ + 0.3333333432674408, + 0.658823549747467, + 0.4078431725502014, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Back Left/Angle" + }, + { + "color": [ + 0.7686275243759155, + 0.30588236451148987, + 0.32156863808631897, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Front Right/Angle" + }, + { + "color": [ + 0.5058823823928833, + 0.44705885648727417, + 0.7019608020782471, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Front Left/Target Angle" + } + ] + } + ] + }, + "Plot <2>": { + "plots": [ + { + "height": 726, + "series": [ + { + "color": [ + 0.8666667342185974, + 0.5176470875740051, + 0.32156863808631897, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Front Right/Turn Voltage" + }, + { + "color": [ + 0.3333333432674408, + 0.658823549747467, + 0.4078431725502014, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Front Left/Turn Voltage" + }, + { + "color": [ + 0.7686275243759155, + 0.30588236451148987, + 0.32156863808631897, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Back Right/Turn Voltage" + }, + { + "color": [ + 0.5058823823928833, + 0.44705885648727417, + 0.7019608020782471, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Back Left/Turn Voltage" + } + ] + } + ] + } + } +} diff --git a/simgui.json b/simgui.json new file mode 100644 index 0000000..e090f36 --- /dev/null +++ b/simgui.json @@ -0,0 +1,127 @@ +{ + "NTProvider": { + "types": { + "/FMSInfo": "FMSInfo", + "/LiveWindow/SimModule": "Subsystem", + "/LiveWindow/Ungrouped/Scheduler": "Scheduler", + "/LiveWindow/Ungrouped/navX-Sensor[4]": "Gyro", + "/SmartDashboard/Autonomous": "String Chooser", + "/SmartDashboard/Field": "Field2d" + }, + "windows": { + "/SmartDashboard/Autonomous": { + "window": { + "visible": true + } + }, + "/SmartDashboard/Field": { + "window": { + "visible": true + } + } + } + }, + "NetworkTables": { + "transitory": { + "SmartDashboard": { + "Driver Settings": { + "Turn": { + "open": true + } + }, + "Field": { + "open": true + }, + "Swerve": { + "Back Left": { + "open": true + }, + "Modules": { + "Back Left": { + "open": true + }, + "Back Right": { + "open": true + }, + "Front Left": { + "open": true + }, + "Front Right": { + "open": true + }, + "open": true + }, + "open": true + }, + "open": true + } + } + }, + "NetworkTables Info": { + "Clients": { + "open": true + }, + "Connections": { + "open": true + }, + "Server": { + "open": true + }, + "visible": true + }, + "Plot": { + "Plot <0>": { + "plots": [ + { + "height": 351, + "series": [ + { + "color": [ + 0.2980392277240753, + 0.44705885648727417, + 0.6901960968971252, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Back Left/Drive Voltage" + }, + { + "color": [ + 0.8666667342185974, + 0.5176470875740051, + 0.32156863808631897, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Back Right/Drive Voltage" + }, + { + "color": [ + 0.3333333432674408, + 0.658823549747467, + 0.4078431725502014, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Front Left/Drive Voltage" + }, + { + "color": [ + 0.7686275243759155, + 0.30588236451148987, + 0.32156863808631897, + 1.0 + ], + "id": "NT:/SmartDashboard/Swerve/Modules/Front Right/Drive Voltage" + } + ] + } + ], + "window": { + "name": "Drive Voltage" + } + }, + "Plot <1>": { + "window": { + "visible": false + } + } + } +} diff --git a/src/main/deploy/pathplanner/DriveAndTurnBump.path b/src/main/deploy/pathplanner/DriveAndTurnBump.path new file mode 100644 index 0000000..1a82339 --- /dev/null +++ b/src/main/deploy/pathplanner/DriveAndTurnBump.path @@ -0,0 +1,99 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 2.0, + "y": 0.7536650970737852 + }, + "prevControl": null, + "nextControl": { + "x": 3.0, + "y": 0.7536650970737852 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 6.0, + "y": 0.75 + }, + "prevControl": { + "x": 6.0, + "y": 0.7385808318625183 + }, + "nextControl": { + "x": 6.0, + "y": 0.7614191681374817 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 6.0, + "y": 0.75 + }, + "prevControl": { + "x": 6.00681785124254, + "y": 0.7308267607988216 + }, + "nextControl": { + "x": 6.00681785124254, + "y": 0.7308267607988216 + }, + "holonomicAngle": 90.0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": true, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 6.0, + "y": 3.0 + }, + "prevControl": { + "x": 6.0, + "y": 2.1185800412541402 + }, + "nextControl": null, + "holonomicAngle": 90.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/Mobility.path b/src/main/deploy/pathplanner/Mobility.path new file mode 100644 index 0000000..08cde37 --- /dev/null +++ b/src/main/deploy/pathplanner/Mobility.path @@ -0,0 +1,74 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 2.0, + "y": 4.75 + }, + "prevControl": null, + "nextControl": { + "x": 3.0, + "y": 4.75 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 6.0, + "y": 4.75 + }, + "prevControl": { + "x": 5.979650646274856, + "y": 4.75 + }, + "nextControl": { + "x": 5.979650646274856, + "y": 4.75 + }, + "holonomicAngle": 0.0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": true, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 2.0, + "y": 4.75 + }, + "prevControl": { + "x": 1.118580041254142, + "y": 4.75 + }, + "nextControl": null, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/MobilityBump.path b/src/main/deploy/pathplanner/MobilityBump.path new file mode 100644 index 0000000..be42c08 --- /dev/null +++ b/src/main/deploy/pathplanner/MobilityBump.path @@ -0,0 +1,74 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 2.0, + "y": 0.7536650970737852 + }, + "prevControl": null, + "nextControl": { + "x": 3.0, + "y": 0.7536650970737852 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 6.0, + "y": 0.75 + }, + "prevControl": { + "x": 6.0, + "y": 0.7385808318625183 + }, + "nextControl": { + "x": 6.0, + "y": 0.7614191681374817 + }, + "holonomicAngle": 0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 1.9897140648982155, + "y": 0.7765034333487463 + }, + "prevControl": { + "x": 1.9965319161407558, + "y": 0.7573301941475677 + }, + "nextControl": null, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "markers": [] +} \ No newline at end of file diff --git a/src/main/java/com/stuypulse/robot/Robot.java b/src/main/java/com/stuypulse/robot/Robot.java index 47f8ac6..d910ccb 100644 --- a/src/main/java/com/stuypulse/robot/Robot.java +++ b/src/main/java/com/stuypulse/robot/Robot.java @@ -5,7 +5,12 @@ package com.stuypulse.robot; +import com.stuypulse.robot.commands.TeleopInit; + +import edu.wpi.first.wpilibj.DataLogManager; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -14,6 +19,17 @@ public class Robot extends TimedRobot { private RobotContainer robot; private Command auto; + private CommandScheduler scheduler; + + public enum MatchState { + AUTO, + TELEOP, + TEST, + DISABLE + } + + private static MatchState state = MatchState.DISABLE; + /*************************/ /*** ROBOT SCHEDULEING ***/ /*************************/ @@ -21,11 +37,18 @@ public class Robot extends TimedRobot { @Override public void robotInit() { robot = new RobotContainer(); + DataLogManager.start(); + + scheduler = CommandScheduler.getInstance(); + robot = new RobotContainer(); + + state = MatchState.DISABLE; + SmartDashboard.putString("Match State", state.name()); } @Override public void robotPeriodic() { - CommandScheduler.getInstance().run(); + scheduler.run(); } /*********************/ @@ -33,7 +56,10 @@ public void robotPeriodic() { /*********************/ @Override - public void disabledInit() {} + public void disabledInit() { + state = MatchState.DISABLE; + SmartDashboard.putString("Match State", state.name()); + } @Override public void disabledPeriodic() {} @@ -63,9 +89,14 @@ public void autonomousExit() {} @Override public void teleopInit() { + state = MatchState.TELEOP; + SmartDashboard.putString("Match State", state.name()); if (auto != null) { auto.cancel(); } + + new TeleopInit().schedule(); + RobotContainer.setCachedAlliance(DriverStation.getAlliance()); } @Override @@ -88,4 +119,8 @@ public void testPeriodic() {} @Override public void testExit() {} + + public static MatchState getMatchState() { + return state; + } } diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java index 365957c..1cc68f0 100644 --- a/src/main/java/com/stuypulse/robot/RobotContainer.java +++ b/src/main/java/com/stuypulse/robot/RobotContainer.java @@ -6,11 +6,18 @@ package com.stuypulse.robot; import com.stuypulse.robot.commands.auton.DoNothingAuton; +import com.stuypulse.robot.commands.auton.DriveAndTurnBump; +import com.stuypulse.robot.commands.auton.Mobility; +import com.stuypulse.robot.commands.auton.MobilityBump; +import com.stuypulse.robot.commands.swerve.SwerveDriveDrive; import com.stuypulse.robot.constants.Ports; +import com.stuypulse.robot.subsystems.swerve.Odometry; +import com.stuypulse.robot.subsystems.swerve.SwerveDrive; import com.stuypulse.robot.util.BootlegXbox; import com.stuypulse.stuylib.input.Gamepad; -import com.stuypulse.stuylib.input.gamepads.AutoGamepad; +import edu.wpi.first.wpilibj.DutyCycleEncoder; +import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -20,11 +27,15 @@ public class RobotContainer { // Gamepads public final Gamepad driver = new BootlegXbox(Ports.Gamepad.DRIVER); public final Gamepad operator = new BootlegXbox(Ports.Gamepad.OPERATOR); + + public final SwerveDrive swerve = SwerveDrive.getInstance(); + public final Odometry odometry = Odometry.getInstance(); // Subsystem // Autons private static SendableChooser autonChooser = new SendableChooser<>(); + private static Alliance cachedAlliance; // Robot container @@ -38,7 +49,10 @@ public RobotContainer() { /*** DEFAULTS ***/ /****************/ - private void configureDefaultCommands() {} + private void configureDefaultCommands() { + // Swerve + swerve.setDefaultCommand(new SwerveDriveDrive(driver)); + } /***************/ /*** BUTTONS ***/ @@ -52,11 +66,22 @@ private void configureButtonBindings() {} public void configureAutons() { autonChooser.setDefaultOption("Do Nothing", new DoNothingAuton()); - + autonChooser.addOption("Mobility", new Mobility()); + autonChooser.addOption("Mobility Bump", new MobilityBump()); + autonChooser.addOption("Drive And Turn Bump", new DriveAndTurnBump()); + SmartDashboard.putData("Autonomous", autonChooser); } public Command getAutonomousCommand() { return autonChooser.getSelected(); } + + public static void setCachedAlliance(Alliance alliance) { + cachedAlliance = alliance; + } + + public static Alliance getCachedAlliance() { + return cachedAlliance; + } } diff --git a/src/main/java/com/stuypulse/robot/commands/auton/DriveAndTurnBump.java b/src/main/java/com/stuypulse/robot/commands/auton/DriveAndTurnBump.java new file mode 100644 index 0000000..dd9df27 --- /dev/null +++ b/src/main/java/com/stuypulse/robot/commands/auton/DriveAndTurnBump.java @@ -0,0 +1,26 @@ +/************************ PROJECT PHIL ************************/ +/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/ +/* This work is licensed under the terms of the MIT license. */ +/**************************************************************/ + +package com.stuypulse.robot.commands.auton; + +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; + +import com.pathplanner.lib.PathConstraints; +import com.pathplanner.lib.PathPlanner; +import com.stuypulse.robot.subsystems.swerve.SwerveDriveFollowTrajectory; + +public class DriveAndTurnBump extends SequentialCommandGroup { + private static final PathConstraints CONSTRAINTS = new PathConstraints(2, 2); + + public DriveAndTurnBump() { + addCommands( + new SwerveDriveFollowTrajectory( + PathPlanner.loadPath("DriveAndTurnBump", CONSTRAINTS) + ).robotRelative() + ); + } + + +} \ No newline at end of file diff --git a/src/main/java/com/stuypulse/robot/commands/auton/Mobility.java b/src/main/java/com/stuypulse/robot/commands/auton/Mobility.java new file mode 100644 index 0000000..e313ef1 --- /dev/null +++ b/src/main/java/com/stuypulse/robot/commands/auton/Mobility.java @@ -0,0 +1,26 @@ +/************************ PROJECT PHIL ************************/ +/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/ +/* This work is licensed under the terms of the MIT license. */ +/**************************************************************/ + +package com.stuypulse.robot.commands.auton; + +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; + +import com.pathplanner.lib.PathConstraints; +import com.pathplanner.lib.PathPlanner; +import com.stuypulse.robot.subsystems.swerve.SwerveDriveFollowTrajectory; + +public class Mobility extends SequentialCommandGroup { + private static final PathConstraints CONSTRAINTS = new PathConstraints(2, 2); + + public Mobility() { + addCommands( + new SwerveDriveFollowTrajectory( + PathPlanner.loadPath("Mobility", CONSTRAINTS) + ).robotRelative() + ); + } + + +} diff --git a/src/main/java/com/stuypulse/robot/commands/auton/MobilityBump.java b/src/main/java/com/stuypulse/robot/commands/auton/MobilityBump.java new file mode 100644 index 0000000..75de7ed --- /dev/null +++ b/src/main/java/com/stuypulse/robot/commands/auton/MobilityBump.java @@ -0,0 +1,26 @@ +/************************ PROJECT PHIL ************************/ +/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/ +/* This work is licensed under the terms of the MIT license. */ +/**************************************************************/ + +package com.stuypulse.robot.commands.auton; + +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; + +import com.pathplanner.lib.PathConstraints; +import com.pathplanner.lib.PathPlanner; +import com.stuypulse.robot.subsystems.swerve.SwerveDriveFollowTrajectory; + +public class MobilityBump extends SequentialCommandGroup { + private static final PathConstraints CONSTRAINTS = new PathConstraints(2, 2); + + public MobilityBump() { + addCommands( + new SwerveDriveFollowTrajectory( + PathPlanner.loadPath("MobilityBump", CONSTRAINTS) + ).robotRelative() + ); + } + + +} diff --git a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java new file mode 100644 index 0000000..103220c --- /dev/null +++ b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveDrive.java @@ -0,0 +1,107 @@ +package com.stuypulse.robot.commands.swerve; + +import java.util.Optional; + +import com.stuypulse.robot.constants.Settings; +import com.stuypulse.robot.constants.Settings.Driver.Drive; +import com.stuypulse.robot.constants.Settings.Driver.Turn; +import com.stuypulse.robot.constants.Settings .Driver.Turn.GyroFeedback; +import com.stuypulse.robot.subsystems.swerve.SwerveDrive; +import com.stuypulse.stuylib.control.angle.AngleController; +import com.stuypulse.stuylib.control.angle.feedback.AnglePIDController; +import com.stuypulse.stuylib.input.Gamepad; +import com.stuypulse.stuylib.math.Angle; +import com.stuypulse.stuylib.math.SLMath; +import com.stuypulse.stuylib.streams.IStream; +import com.stuypulse.stuylib.streams.filters.LowPassFilter; +import com.stuypulse.stuylib.streams.vectors.VStream; +import com.stuypulse.stuylib.streams.vectors.filters.VDeadZone; +import com.stuypulse.stuylib.streams.vectors.filters.VLowPassFilter; +import com.stuypulse.stuylib.streams.vectors.filters.VRateLimit; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.command.CommandBase; + +public class SwerveDriveDrive extends CommandBase { + + private SwerveDrive swerve; + + private VStream speed; + private IStream turn; + + private final Gamepad driver; + + private Optional holdAngle; + private AngleController gyroFeedback; + + public SwerveDriveDrive(Gamepad driver) { + this.driver = driver; + swerve = SwerveDrive.getInstance(); + + speed = VStream.create(driver::getLeftStick) + .filtered( + new VDeadZone(Drive.DEADBAND), + x -> x.clamp(1.0), + x -> Settings.vpow(x, Drive.POWER.get()), + x -> x.mul(Drive.MAX_TELEOP_SPEED.get()), + new VRateLimit(Drive.MAX_TELEOP_ACCEL), + new VLowPassFilter(Drive.RC) + ); + + turn = IStream.create(driver::getRightX) + .filtered( + x -> SLMath.deadband(x, Turn.DEADBAND.get()), + x -> SLMath.spow(x, Turn.POWER.get()), + x -> x * Turn.MAX_TELEOP_TURNING.get(), + new LowPassFilter(Turn.RC) + ); + + + holdAngle = Optional.empty(); + gyroFeedback = new AnglePIDController(GyroFeedback.P, GyroFeedback.I, GyroFeedback.D); + + addRequirements(swerve); + } + + @Override + public void initialize() { + holdAngle = Optional.empty(); + } + + private boolean isWithinTurnDeadband() { + return Math.abs(turn.get()) < Turn.DEADBAND.get(); + } + + private boolean isWithinDriveDeadband() { + return Math.abs(speed.get().magnitude()) < Drive.DEADBAND.get(); + } + + @Override + public void execute() { + double angularVel = turn.get(); + + if(isWithinTurnDeadband()){ + if(holdAngle.isEmpty()) { + holdAngle = Optional.of(swerve.getGyroAngle()); + } + + if(GyroFeedback.GYRO_FEEDBACK_ENABLED.get() && !isWithinDriveDeadband()) { + angularVel = -gyroFeedback.update( + Angle.fromRotation2d(holdAngle.get()), + Angle.fromRotation2d(swerve.getGyroAngle()) + ); + } + } + else { + holdAngle = Optional.empty(); + } + + if(driver.getRawStartButton() || driver.getRawSelectButton()) { + swerve.setXMode(); + } + else { + swerve.drive(speed.get(), angularVel); + } + + } +} \ No newline at end of file diff --git a/src/main/java/com/stuypulse/robot/constants/Ports.java b/src/main/java/com/stuypulse/robot/constants/Ports.java index 560a23a..7dfedc4 100644 --- a/src/main/java/com/stuypulse/robot/constants/Ports.java +++ b/src/main/java/com/stuypulse/robot/constants/Ports.java @@ -17,21 +17,25 @@ public interface Swerve { public interface FrontRight { int DRIVE = 10; int TURN = 11; + int ENCODER = 2; } public interface FrontLeft { int DRIVE = 12; int TURN = 13; + int ENCODER = 1; } public interface BackLeft { int DRIVE = 14; int TURN = 15; + int ENCODER = 4; } public interface BackRight { int DRIVE = 16; int TURN = 17; + int ENCODER = 3; } } diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java index bac2ba2..e49d9f5 100644 --- a/src/main/java/com/stuypulse/robot/constants/Settings.java +++ b/src/main/java/com/stuypulse/robot/constants/Settings.java @@ -5,9 +5,17 @@ package com.stuypulse.robot.constants; + +import com.pathplanner.lib.auto.PIDConstants; +import com.stuypulse.stuylib.math.Vector2D; import com.stuypulse.stuylib.network.SmartBoolean; import com.stuypulse.stuylib.network.SmartNumber; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.util.Units; + + /*- * File containing tunable settings for every subsystem on the robot. * @@ -16,4 +24,110 @@ */ public interface Settings { double DT = 0.02; + + public interface Swerve { + double WIDTH = Units.inchesToMeters(26); + double LENGTH = Units.inchesToMeters(26); + + SmartNumber MODULE_VELOCITY_DEADBAND = new SmartNumber("Swerve/Module velocity deadband (m per s)", 0.02); + SmartNumber MAX_MODULE_SPEED = new SmartNumber("Swerve/Maximum module speed (m per s)", 5.06); + SmartNumber MAX_MODULE_TURN = new SmartNumber("Swerve/Maximum module turn (rad per s)", 6.28); + + public interface Turn { + SmartNumber kP = new SmartNumber("Swerve/Turn/kP", 6.0); + SmartNumber kI = new SmartNumber("Swerve/Turn/kI", 0.0); + SmartNumber kD = new SmartNumber("Swerve/Turn/kD", 0.15); + + SmartNumber kV = new SmartNumber("Swerve/Turn/kV", 0.0); + SmartNumber kA = new SmartNumber("Swerve/Turn/kA", 0.0); + } + + public interface Drive { + SmartNumber kP = new SmartNumber("Swerve/Drive/kP", 0.018327); + SmartNumber kI = new SmartNumber("Swerve/Drive/kI", 0.0); + SmartNumber kD = new SmartNumber("Swerve/Drive/kD", 0.0); + + SmartNumber kS = new SmartNumber("Swerve/Drive/kS", 0.098993); + SmartNumber kV = new SmartNumber("Swerve/Drive/kV", 2.4495); + SmartNumber kA = new SmartNumber("Swerve/Drive/kA", 0.089872); + } + + public interface Motion { + PIDConstants XY = new PIDConstants(0.7, 0, 0.02); + PIDConstants THETA = new PIDConstants(10, 0, 0.1); + } + + public interface FrontRight { + String ID = "Front Right"; + Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(65.566406); + // .plus(Rotation2d.fromDegrees(0)); + Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * -0.5); + } + + public interface FrontLeft { + String ID = "Front Left"; + Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(47.197266); + // .plus(Rotation2d.fromDegrees(270)); + Translation2d MODULE_OFFSET = new Translation2d(WIDTH * +0.5, LENGTH * +0.5); + } + + public interface BackLeft { + String ID = "Back Left"; + Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(208.212891); + // .plus(Rotation2d.fromDegrees(180)); + Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * +0.5); + } + + public interface BackRight { + String ID = "Back Right"; + Rotation2d ABSOLUTE_OFFSET = Rotation2d.fromDegrees(154.511719); + // .plus(Rotation2d.fromDegrees(90)); + Translation2d MODULE_OFFSET = new Translation2d(WIDTH * -0.5, LENGTH * -0.5); + } + + public interface Encoder { + public interface Drive { + double WHEEL_DIAMETER = Units.inchesToMeters(4); + double WHEEL_CIRCUMFERENCE = WHEEL_DIAMETER * Math.PI; + double GEAR_RATIO = 1.0 / 6.12; + + double POSITION_CONVERSION = WHEEL_CIRCUMFERENCE * GEAR_RATIO; + double VELOCITY_CONVERSION = POSITION_CONVERSION / 60.0; + } + } + } + + public interface Driver { + public interface Drive { + SmartNumber DEADBAND = new SmartNumber("Driver Settings/Drive/Deadband", 0.03); + + SmartNumber RC = new SmartNumber("Driver Settings/Drive/RC", 0.1); + SmartNumber POWER = new SmartNumber("Driver Settings/Drive/Power", 2); + + SmartNumber MAX_TELEOP_SPEED = new SmartNumber("Driver Settings/Drive/Max Speed", Swerve.MAX_MODULE_SPEED.get()); + SmartNumber MAX_TELEOP_ACCEL = new SmartNumber("Driver Settings/Drive/Max Accleration", 15); + } + + public interface Turn { + SmartNumber DEADBAND = new SmartNumber("Driver Settings/Turn/Deadband", 0.05); + + SmartNumber RC = new SmartNumber("Driver Settings/Turn/RC", 0.1); + SmartNumber POWER = new SmartNumber("Driver Settings/Turn/Power", 2); + + SmartNumber MAX_TELEOP_TURNING = new SmartNumber("Driver Settings/Turn/Max Turning", 6.0); + + public interface GyroFeedback { + SmartBoolean GYRO_FEEDBACK_ENABLED = new SmartBoolean("Driver Settings/Gyro Feedback/Enabled", true); + + SmartNumber P = new SmartNumber("Driver Settings/Gyro Feedback/kP", 0.5); + SmartNumber I = new SmartNumber("Driver Settings/Gyro Feedback/kI", 0.0); + SmartNumber D = new SmartNumber("Driver Settings/Gyro Feedback/kD", 0.1); + } + } + + } + + public static Vector2D vpow(Vector2D vec, double power) { + return vec.mul(Math.pow(vec.magnitude(), power - 1)); + } } diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/Odometry.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/Odometry.java new file mode 100644 index 0000000..3baf9e8 --- /dev/null +++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/Odometry.java @@ -0,0 +1,31 @@ +package com.stuypulse.robot.subsystems.swerve; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public abstract class Odometry extends SubsystemBase { + private static final Odometry instance; + + static { + instance = new OdometryImpl(); + } + + public static Odometry getInstance() { + return instance; + } + + public abstract void reset(Pose2d pose); + public abstract Field2d getField(); + public abstract Pose2d getPose(); + + public Rotation2d getRotation() { + return getPose().getRotation(); + } + + public Translation2d getTranslation() { + return getPose().getTranslation(); + } +} \ No newline at end of file diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/OdometryImpl.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/OdometryImpl.java new file mode 100644 index 0000000..86b6dcc --- /dev/null +++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/OdometryImpl.java @@ -0,0 +1,82 @@ +package com.stuypulse.robot.subsystems.swerve; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.SwerveDriveOdometry; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj.smartdashboard.FieldObject2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +public class OdometryImpl extends Odometry { + public final SwerveDriveOdometry odometry; + // public final SwerveDrivePoseEstimator poseEstimator; + + public final Field2d field; + public final FieldObject2d odometryPose2d; + // public final FieldObject2d poseEstimatorPose2d; + + // Vector AUTO_STDDEVS = VecBuilder.fill(0.3, 0.3, Math.toRadians(30)); + // Vector TELEOP_STDDEVS = VecBuilder.fill(0.3 - Units.inchesToMeters(5.0), 0.3 - Units.inchesToMeters(5.0), Units.degreesToRadians(30)); + + protected OdometryImpl() { + SwerveDrive swerve = SwerveDrive.getInstance(); + Pose2d startingPose = new Pose2d(); + + odometry = new SwerveDriveOdometry( + swerve.getKinematics(), + swerve.getGyroAngle(), + swerve.getModulePositions(), + startingPose + ); + + // Use if we need CV + // poseEstimator = new SwerveDrivePoseEstimator( + // swerve.getKinematics(), + // swerve.getGyroAngle(), + // swerve.getModulePositions(), + // startingPose, + // VecBuilder.fill(0.1, 0.1, 0.1), + // AUTO_STDDEVS + // ); + field = new Field2d(); + + odometryPose2d = field.getObject("Odometry Pose2d"); + // poseEstimatorPose2d = field.getObject("Pose Estimator Pose2d"); + odometryPose2d.setPose(startingPose); + + swerve.initModule2ds(field); + SmartDashboard.putData("Field", field); + } + + @Override + public Field2d getField() { + return field; + } + + + @Override + public Pose2d getPose() { + return odometry.getPoseMeters(); + } + + @Override + public void reset(Pose2d pose) { + SwerveDrive swerve = SwerveDrive.getInstance(); + + odometry.resetPosition( + swerve.getGyroAngle(), + swerve.getModulePositions(), + pose + ); + } + + @Override + public void periodic() { + SwerveDrive swerve = SwerveDrive.getInstance(); + odometry.update(swerve.getGyroAngle(), swerve.getModulePositions()); + odometryPose2d.setPose(getPose()); + + SmartDashboard.putNumber("Odometry/Odometry Pose X", odometry.getPoseMeters().getX()); + SmartDashboard.putNumber("Odometry/Odometry Pose Y", odometry.getPoseMeters().getY()); + SmartDashboard.putNumber("Odometry/Odometry Rotation", odometry.getPoseMeters().getRotation().getDegrees()); + } +} diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/SimModule.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/SimModule.java new file mode 100644 index 0000000..fac3107 --- /dev/null +++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/SimModule.java @@ -0,0 +1,141 @@ +package com.stuypulse.robot.subsystems.swerve; + +import com.stuypulse.robot.Robot; +import com.stuypulse.robot.constants.Settings; +import com.stuypulse.robot.constants.Settings.Swerve; +import com.stuypulse.robot.constants.Settings.Swerve.Drive; +import com.stuypulse.robot.constants.Settings.Swerve.Turn; +import com.stuypulse.stuylib.control.Controller; +import com.stuypulse.stuylib.control.angle.AngleController; +import com.stuypulse.stuylib.control.angle.feedback.AnglePIDController; +import com.stuypulse.stuylib.control.feedback.PIDController; +import com.stuypulse.stuylib.control.feedforward.MotorFeedforward; +import com.stuypulse.stuylib.math.Angle; +import com.stuypulse.stuylib.streams.angles.filters.ARateLimit; + +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.Nat; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N2; +import edu.wpi.first.math.system.LinearSystem; +import edu.wpi.first.math.system.plant.LinearSystemId; +import edu.wpi.first.wpilibj.simulation.BatterySim; +import edu.wpi.first.wpilibj.simulation.LinearSystemSim; +import edu.wpi.first.wpilibj.simulation.RoboRioSim; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +public class SimModule extends SwerveModule { + + private static LinearSystem identifyVelocityPositionSystem(double kV, double kA) { + if (kV <= 0.0) { + throw new IllegalArgumentException("Kv must be greater than zero."); + } + if (kA <= 0.0) { + throw new IllegalArgumentException("Ka must be greater than zero."); + } + + return new LinearSystem( + Matrix.mat(Nat.N2(), Nat.N2()).fill(0.0, 1.0, 0.0, -kV / kA), + Matrix.mat(Nat.N2(), Nat.N1()).fill(0.0, 1.0 / kA), + Matrix.mat(Nat.N2(), Nat.N2()).fill(1.0, 0.0, 0.0, 1.0), + Matrix.mat(Nat.N2(), Nat.N1()).fill(0.0, 0.0) + ); + } + + private final String id; + private final Translation2d translationOffset; + private SwerveModuleState targetState; + + private Controller driveController; + private AngleController turnController; + + private LinearSystemSim driveSim; + private LinearSystemSim turnSim; + + public SimModule(String id, Translation2d translationOffset) { + this.id = id; + this.translationOffset = translationOffset; + + driveController = new PIDController(Drive.kP, Drive.kI, Drive.kD) + .setOutputFilter(x -> Robot.getMatchState() == Robot.MatchState.TELEOP ? 0 : x) + .add(new MotorFeedforward(Drive.kS, Drive.kV, Drive.kA).velocity()); + + turnController = new AnglePIDController(Turn.kP, Turn.kI, Turn.kD) + .setSetpointFilter(new ARateLimit(Swerve.MAX_MODULE_TURN)); + + driveSim = new LinearSystemSim<>(identifyVelocityPositionSystem(Drive.kV.get(), Drive.kA.get())); + turnSim = new LinearSystemSim(LinearSystemId.identifyPositionSystem(Turn.kV.get(), Turn.kA.get())); + + targetState = new SwerveModuleState(); + } + + public String getID() { + return id; + } + + public Translation2d getOffset() { + return translationOffset; + } + + public SwerveModuleState getState() { + return new SwerveModuleState(getVelocity(), getAngle()); + } + + public double getDistance() { + return driveSim.getOutput(0); + } + + public double getVelocity() { + return driveSim.getOutput(1); + } + + public Rotation2d getAngle() { + return Rotation2d.fromRadians(turnSim.getOutput(0)); + } + + public SwerveModulePosition getModulePosition() { + return new SwerveModulePosition(getDistance(), getAngle()); + } + + public void setState(SwerveModuleState state) { + targetState = SwerveModuleState.optimize(state, getAngle()); + } + + @Override + public void periodic() { + driveController.update( + targetState.speedMetersPerSecond, + getVelocity() + ); + + turnController.update( + Angle.fromRotation2d(targetState.angle), + Angle.fromRotation2d(getAngle()) + ); + + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Drive Voltage", driveController.getOutput()); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Turn Voltage", turnController.getOutput()); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Target Angle", targetState.angle.getDegrees()); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Angle", getAngle().getDegrees()); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Target Speed", targetState.speedMetersPerSecond); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Speed", getVelocity()); + } + + @Override + public void simulationPeriodic() { + driveSim.setInput(driveController.getOutput()); + driveSim.update(Settings.DT); + + turnSim.setInput(turnController.getOutput()); + turnSim.update(Settings.DT); + + // understand how it works + RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage( + turnSim.getCurrentDrawAmps() + driveSim.getCurrentDrawAmps() + )); + } +} diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java new file mode 100644 index 0000000..38a91ed --- /dev/null +++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDrive.java @@ -0,0 +1,251 @@ +package com.stuypulse.robot.subsystems.swerve; + +import com.kauailabs.navx.frc.AHRS; +import com.stuypulse.robot.Robot; +import com.stuypulse.robot.constants.Ports; +import com.stuypulse.robot.constants.Settings; +import com.stuypulse.robot.constants.Settings.Swerve; +import com.stuypulse.robot.constants.Settings.Swerve.BackLeft; +import com.stuypulse.robot.constants.Settings.Swerve.BackRight; +import com.stuypulse.robot.constants.Settings.Swerve.FrontLeft; +import com.stuypulse.robot.constants.Settings.Swerve.FrontRight; +import com.stuypulse.stuylib.math.Vector2D; + +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Twist2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.wpilibj.SPI; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj.smartdashboard.FieldObject2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class SwerveDrive extends SubsystemBase { + + public final static SwerveDrive instance; + + static { + if (Robot.isReal()) { + instance = new SwerveDrive( + new SwerveModuleImpl(FrontRight.ID, FrontRight.MODULE_OFFSET, FrontRight.ABSOLUTE_OFFSET, Ports.Swerve.FrontRight.TURN, Ports.Swerve.FrontRight.DRIVE, Ports.Swerve.FrontRight.ENCODER), + new SwerveModuleImpl(FrontLeft.ID, FrontLeft.MODULE_OFFSET, FrontLeft.ABSOLUTE_OFFSET, Ports.Swerve.FrontLeft.TURN, Ports.Swerve.FrontLeft.DRIVE, Ports.Swerve.FrontLeft.ENCODER), + new SwerveModuleImpl(BackLeft.ID, BackLeft.MODULE_OFFSET, BackLeft.ABSOLUTE_OFFSET, Ports.Swerve.BackLeft.TURN, Ports.Swerve.BackLeft.DRIVE, Ports.Swerve.BackLeft.ENCODER), + new SwerveModuleImpl(BackRight.ID, BackRight.MODULE_OFFSET, BackRight.ABSOLUTE_OFFSET, Ports.Swerve.BackRight.TURN, Ports.Swerve.BackRight.DRIVE, Ports.Swerve.BackRight.ENCODER) + ); + } + else { + instance = new SwerveDrive( + new SimModule(FrontRight.ID, FrontRight.MODULE_OFFSET), + new SimModule(FrontLeft.ID, FrontLeft.MODULE_OFFSET), + new SimModule(BackLeft.ID, BackLeft.MODULE_OFFSET), + new SimModule(BackRight.ID, BackRight.MODULE_OFFSET) + ); + } + } + + public static SwerveDrive getInstance() { + return instance; + } + + private final SwerveModule[] modules; + private final SwerveDriveKinematics kinematics; + private final AHRS gyro; + private final FieldObject2d[] module2ds; + + public SwerveDrive(SwerveModule... modules) { + this.modules = modules; + kinematics = new SwerveDriveKinematics(getModuleOffsets()); + gyro = new AHRS(SPI.Port.kMXP); + module2ds = new FieldObject2d[modules.length]; + } + + public void initModule2ds(Field2d field) { + for (int i = 0; i < modules.length; i++) { + module2ds[i] = field.getObject(modules[i].getID() + "-2d"); + } + } + /** + * @return Returns translation of each module relative to the center of the robot. + */ + public Translation2d[] getModuleOffsets() { + var offsets = new Translation2d[modules.length]; + + for (int i = 0; i < modules.length; i++) { + offsets[i] = modules[i].getOffset(); + } + + return offsets; + } + + /** + * @return Array with current state of each swerve module. + */ + public SwerveModuleState[] getModuleStates() { + var states = new SwerveModuleState[modules.length]; + + for (int i = 0; i < modules.length; i++) { + states[i] = modules[i].getState(); + } + + return states; + } + + public SwerveModulePosition[] getModulePositions() { + var positions = new SwerveModulePosition[modules.length]; + + for (int i = 0; i < modules.length; i++) { + positions[i] = modules[i].getModulePosition(); + } + + return positions; + } + + public ChassisSpeeds getChassisSpeeds() { + return kinematics.toChassisSpeeds(getModuleStates()); + } + + /** + * Applies deadband to module state. + * @param state + * @return The original state if the speed is greater than the deadband, otherwise a state with zero speed + */ + public SwerveModuleState filterModuleState(SwerveModuleState state) { + if (Math.abs(state.speedMetersPerSecond) > Swerve.MODULE_VELOCITY_DEADBAND.get()) { + return state; + } + + return new SwerveModuleState(0, state.angle); + } + + public void setModuleStates(SwerveModuleState... states) { + if (states.length != modules.length) { + throw new IllegalArgumentException( + String.format("State count mismatch error: %d states does not equal %d modules", states.length, modules.length) + ); + } + + SwerveDriveKinematics.desaturateWheelSpeeds(states, Swerve.MAX_MODULE_SPEED.get()); + + for (int i = 0; i < modules.length; i++) { + modules[i].setState(filterModuleState(states[i])); + } + } + + public void setChassisSpeeds(ChassisSpeeds speeds) { + setModuleStates(kinematics.toSwerveModuleStates(speeds)); + } + + public void drive(Vector2D translation, double rotation) { + ChassisSpeeds speeds = ChassisSpeeds.fromFieldRelativeSpeeds( + translation.y, -translation.x, -rotation, Odometry.getInstance().getRotation()); + + // straight spinning drift fix + Pose2d robotVelocity = new Pose2d( + Settings.DT * speeds.vxMetersPerSecond, + Settings.DT * speeds.vyMetersPerSecond, + Rotation2d.fromRadians(Settings.DT * speeds.omegaRadiansPerSecond) + ); + Twist2d twistVel = new Pose2d().log(robotVelocity); + + ChassisSpeeds updatedSpeeds = new ChassisSpeeds( + twistVel.dx / Settings.DT, + twistVel.dy / Settings.DT, + twistVel.dtheta / Settings.DT + ); + + setChassisSpeeds(updatedSpeeds); + } + + public void stop() { + setChassisSpeeds(new ChassisSpeeds()); + } + + /* GYRO */ + public Rotation2d getGyroAngle() { + return gyro.getRotation2d(); + } + + public Rotation2d getGyroYaw() { + return getGyroAngle(); + } + + // getGyroPitch() and getGyroRoll may need to be modified depending + // on specifications of Mij drivetrain + public Rotation2d getGyroPitch() { + return Rotation2d.fromDegrees(gyro.getPitch()); + } + + public Rotation2d getGyroRoll() { + return Rotation2d.fromDegrees(gyro.getRoll()); + } + + // may be robot specific depending on Mij drivetrain + public double getForwardAccelerationGs() { + return gyro.getWorldLinearAccelY(); // may be x instead of y + } + + /* KINEMATICS */ + public SwerveDriveKinematics getKinematics() { + return kinematics; + } + + // TODO: figure out how this works + public Rotation2d getBalanceAngle() { + Rotation2d yaw = getGyroYaw(), pitch = getGyroPitch(), roll = getGyroRoll(); + + double facingSlope = pitch.getTan() * yaw.getCos() + roll.getTan() * yaw.getSin(); + double maxSlope = Math.sqrt(Math.pow(roll.getTan(), 2) + Math.pow(pitch.getTan(), 2)); + + SmartDashboard.putNumber("Swerve/Facing Slope", facingSlope); + SmartDashboard.putNumber("Swerve/Max Slope", maxSlope); + + return Rotation2d.fromRadians(Math.signum(facingSlope) * Math.atan(maxSlope)); + } + + public void setXMode() { + setModuleStates(new SwerveModuleState[] { + new SwerveModuleState(0, Rotation2d.fromDegrees(135)), + new SwerveModuleState(0, Rotation2d.fromDegrees(225)), + new SwerveModuleState(0, Rotation2d.fromDegrees(315)), + new SwerveModuleState(0, Rotation2d.fromDegrees(45)) + }); + } + + @Override + public void periodic() { + Odometry odometry = Odometry.getInstance(); + Pose2d pose = odometry.getPose(); + Rotation2d angle = odometry.getRotation(); + + for(int i = 0; i < module2ds.length; i++) { + module2ds[i].setPose(new Pose2d( + pose.getTranslation().plus(modules[i].getOffset().rotateBy(angle)), + modules[i].getState().angle.plus(angle) + )); + } + + SmartDashboard.putNumber("Swerve/Balance Angle (deg)", getBalanceAngle().getDegrees()); + SmartDashboard.putNumber("Swerve/Gyro Angle (deg)", getGyroAngle().getDegrees()); + SmartDashboard.putNumber("Swerve/Gyro Pitch", getGyroPitch().getDegrees()); + SmartDashboard.putNumber("Swerve/Gyro Roll", getGyroRoll().getDegrees()); + + SmartDashboard.putNumber("Swerve/Forward Acceleration (Gs)", getForwardAccelerationGs()); + SmartDashboard.putNumber("Swerve/X Acceleration (Gs)", gyro.getWorldLinearAccelX()); + SmartDashboard.putNumber("Swerve/Y Acceleration (Gs)", gyro.getWorldLinearAccelY()); + SmartDashboard.putNumber("Swerve/Z Acceleration (Gs)", gyro.getWorldLinearAccelZ()); + } + + @Override + public void simulationPeriodic() { + // Integrate omega in simulation and store in gyro + var speeds = getKinematics().toChassisSpeeds(getModuleStates()); + + gyro.setAngleAdjustment(gyro.getAngle() - Math.toDegrees(speeds.omegaRadiansPerSecond * Settings.DT)); + } + +} diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDriveFollowTrajectory.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDriveFollowTrajectory.java new file mode 100644 index 0000000..3edb909 --- /dev/null +++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveDriveFollowTrajectory.java @@ -0,0 +1,126 @@ +/************************ PROJECT JIM *************************/ +/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/ +/* This work is licensed under the terms of the MIT license. */ +/**************************************************************/ + +package com.stuypulse.robot.subsystems.swerve; + +import com.stuypulse.robot.constants.Settings.Swerve.Motion; +import com.stuypulse.robot.subsystems.swerve.Odometry; +import com.stuypulse.robot.subsystems.swerve.SwerveDrive; + +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.smartdashboard.FieldObject2d; +import edu.wpi.first.wpilibj2.command.Command; + +import com.pathplanner.lib.PathPlannerTrajectory; +import com.pathplanner.lib.PathPlannerTrajectory.PathPlannerState; +import com.pathplanner.lib.commands.FollowPathWithEvents; +import com.pathplanner.lib.commands.PPSwerveControllerCommand; +import java.util.HashMap; +import java.util.List; + +public class SwerveDriveFollowTrajectory extends PPSwerveControllerCommand { + + public static HashMap getSeparatedPaths(List paths, String... names) { + if (paths.size() != names.length) + throw new IllegalArgumentException("Invalid number of path names given to FollowTrajectory.getSeparatedPaths"); + + HashMap map = new HashMap(); + + for (int i = 0; i < names.length; i++) { + map.put(names[i], paths.get(i)); + } + + return map; + } + + private boolean robotRelative; + private boolean shouldStop; + private PathPlannerTrajectory path; + private HashMap events; + + private FieldObject2d trajectory; + + public SwerveDriveFollowTrajectory(PathPlannerTrajectory path) { + + super( + path, + Odometry.getInstance()::getPose, + SwerveDrive.getInstance().getKinematics(), + new PIDController(Motion.XY.kP, Motion.XY.kI, Motion.XY.kD), + new PIDController(Motion.XY.kP, Motion.XY.kI, Motion.XY.kD), + new PIDController(Motion.THETA.kP, Motion.THETA.kI, Motion.THETA.kD), + SwerveDrive.getInstance()::setModuleStates, + true, + SwerveDrive.getInstance() + ); + + robotRelative = false; + trajectory = Odometry.getInstance().getField().getObject("Trajectory"); + this.path = path; + events = new HashMap(); + shouldStop = false; + } + + public SwerveDriveFollowTrajectory withStop() { + shouldStop = true; + return this; + } + + public SwerveDriveFollowTrajectory robotRelative() { + robotRelative = true; + return this; + } + + public SwerveDriveFollowTrajectory fieldRelative() { + robotRelative = false; + return this; + } + + public SwerveDriveFollowTrajectory addEvent(String name, Command command) { + events.put(name, command); + return this; + } + + // FINISHES AT END OF PATH FOLLOWING, NOT AFTER ALL EVENTS DONE + public FollowPathWithEvents withEvents() { + return new FollowPathWithEvents( + this, + path.getMarkers(), + events + ); + } + + @Override + public void initialize() { + if (robotRelative) { + PathPlannerState initialState = PathPlannerTrajectory.transformStateForAlliance( + path.getInitialState(), DriverStation.getAlliance()); + + Odometry.getInstance().reset(new Pose2d( + initialState.poseMeters.getTranslation(), + initialState.holonomicRotation + )); + } + + trajectory.setTrajectory(PathPlannerTrajectory.transformTrajectoryForAlliance(path, DriverStation.getAlliance())); + + super.initialize(); + } + + @Override + public void end(boolean interrupted) { + if (shouldStop) { + SwerveDrive.getInstance().setChassisSpeeds(new ChassisSpeeds(0, 0, 0)); + } + trajectory.setPose( + new Pose2d(Double.NaN, Double.NaN, new Rotation2d(Double.NaN)) + ); + } + +} \ No newline at end of file diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveModule.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveModule.java new file mode 100644 index 0000000..5b1db4b --- /dev/null +++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveModule.java @@ -0,0 +1,16 @@ +package com.stuypulse.robot.subsystems.swerve; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public abstract class SwerveModule extends SubsystemBase { + + public abstract String getID(); + public abstract Translation2d getOffset(); + public abstract SwerveModuleState getState(); + public abstract SwerveModulePosition getModulePosition(); + + public abstract void setState(SwerveModuleState state); + +} diff --git a/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveModuleImpl.java b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveModuleImpl.java new file mode 100644 index 0000000..cac0adb --- /dev/null +++ b/src/main/java/com/stuypulse/robot/subsystems/swerve/SwerveModuleImpl.java @@ -0,0 +1,123 @@ +package com.stuypulse.robot.subsystems.swerve; + +import com.ctre.phoenix.sensors.CANCoder; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkMaxLowLevel.MotorType; +import com.revrobotics.RelativeEncoder; +import com.stuypulse.robot.Robot; +import com.stuypulse.robot.Robot.MatchState; +import com.stuypulse.robot.constants.Settings.Swerve; +import com.stuypulse.robot.constants.Settings.Swerve.Drive; +import com.stuypulse.robot.constants.Settings.Swerve.Encoder; +import com.stuypulse.robot.constants.Settings.Swerve.Turn; +import com.stuypulse.stuylib.control.Controller; +import com.stuypulse.stuylib.control.angle.AngleController; +import com.stuypulse.stuylib.control.angle.feedback.AnglePIDController; +import com.stuypulse.stuylib.control.feedback.PIDController; +import com.stuypulse.stuylib.control.feedforward.MotorFeedforward; +import com.stuypulse.stuylib.math.Angle; +import com.stuypulse.stuylib.streams.angles.filters.ARateLimit; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.kinematics.SwerveModuleState; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +public class SwerveModuleImpl extends SwerveModule { + + // data + private final String id; + private final Translation2d translationOffset; + private final Rotation2d angleOffset; + private SwerveModuleState targetState; + + // turn + private final CANSparkMax turnMotor; + private final CANCoder turnEncoder; + + // drive + private final CANSparkMax driveMotor; + private final RelativeEncoder driveEncoder; + + // controllers + private final Controller driveController; + private final AngleController turnController; + + public SwerveModuleImpl(String id, Translation2d translationOffset, Rotation2d angleOffset, int turnID, int driveID, int encoderID) { + this.id = id; + this.translationOffset = translationOffset; + this.angleOffset = angleOffset; + + turnMotor = new CANSparkMax(turnID, MotorType.kBrushless); + driveMotor = new CANSparkMax(driveID, MotorType.kBrushless); + + turnEncoder = new CANCoder(encoderID); + driveEncoder = driveMotor.getEncoder(); + + driveEncoder.setPositionConversionFactor(Encoder.Drive.POSITION_CONVERSION); + driveEncoder.setVelocityConversionFactor(Encoder.Drive.VELOCITY_CONVERSION); + + driveController = new PIDController(Drive.kP, Drive.kI, Drive.kD) + .setOutputFilter(x -> Robot.getMatchState() == MatchState.TELEOP ? 0 : x) + .add(new MotorFeedforward(Drive.kS, Drive.kV, Drive.kA).velocity()); + + turnController = new AnglePIDController(Turn.kP, Turn.kI, Turn.kD) + .setSetpointFilter(new ARateLimit(Swerve.MAX_MODULE_TURN)) + .setOutputFilter(x -> -x); + + targetState = new SwerveModuleState(); + } + + public Translation2d getOffset() { + return translationOffset; + } + + public String getID() { + return id; + } + + public SwerveModuleState getState() { + return new SwerveModuleState(getVelocity(), getAngle()); + } + + public double getVelocity() { + return driveEncoder.getVelocity(); + } + + public Rotation2d getAngle() { + return Rotation2d.fromDegrees(turnEncoder.getAbsolutePosition()).minus(angleOffset); + } + + public SwerveModulePosition getModulePosition() { + return new SwerveModulePosition(driveEncoder.getPosition(), getAngle()); + } + + public void setState(SwerveModuleState state) { + targetState = SwerveModuleState.optimize(state, getAngle()); + } + + @Override + public void periodic() { + turnController.update( + Angle.fromRotation2d(targetState.angle), + Angle.fromRotation2d(getAngle())); + + turnMotor.setVoltage(turnController.getOutput()); + + driveMotor.setVoltage(driveController.update( + targetState.speedMetersPerSecond, + getVelocity()) + ); + + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Drive Voltage", driveController.getOutput()); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Turn Voltage", turnController.getOutput()); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Angle Error", turnController.getError().toDegrees()); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Target Angle", targetState.angle.getDegrees()); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Angle", getAngle().getDegrees()); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Target Speed", targetState.speedMetersPerSecond); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Speed", getVelocity()); + SmartDashboard.putNumber("Swerve/Modules/" + id + "/Raw Encoder Angle", turnEncoder.getAbsolutePosition()); + } +} + diff --git a/sysid/swerve.json b/sysid/swerve.json new file mode 100644 index 0000000..eadc895 --- /dev/null +++ b/sysid/swerve.json @@ -0,0 +1,60 @@ +{ + "canivore names": [ + "rio", + "rio", + "rio", + "rio" + ], + "counts per rotation": 1.0, + "encoder canivore name": "rio", + "encoder type": "Encoder Port", + "encoding": false, + "gearing denominator": 1.0, + "gearing numerator": 6.12, + "gyro": "Analog Gyro", + "gyro canivore name": "rio", + "gyro ctor": "0", 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