From 8aa84017625ef22878db770d795561745334d74b Mon Sep 17 00:00:00 2001 From: Jonathan Date: Thu, 27 Apr 2023 15:13:15 -0400 Subject: [PATCH 01/26] first pass at swervepodIO --- .../pathplanner/barrier_cone_exit_HP.path | 79 ++++++ .../subsystems/drivetrain/Drivetrain.java | 16 +- .../subsystems/drivetrain/SwervePod.java | 267 ++---------------- .../subsystems/drivetrain/SwervePodIO.java | 35 +++ .../drivetrain/SwervePodIOFalconSpark.java | 69 +++++ 5 files changed, 217 insertions(+), 249 deletions(-) create mode 100644 src/main/deploy/pathplanner/barrier_cone_exit_HP.path create mode 100644 src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIO.java create mode 100644 src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIOFalconSpark.java diff --git a/src/main/deploy/pathplanner/barrier_cone_exit_HP.path b/src/main/deploy/pathplanner/barrier_cone_exit_HP.path new file mode 100644 index 0000000..cdfb3b8 --- /dev/null +++ b/src/main/deploy/pathplanner/barrier_cone_exit_HP.path @@ -0,0 +1,79 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 1.9070702548184761, + "y": 4.950151324031462 + }, + "prevControl": null, + "nextControl": { + "x": 2.601481140462281, + "y": 4.907885128270257 + }, + "holonomicAngle": -177.0122233890705, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "scoreHigh" + ], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 10.0 + } + }, + { + "anchorPoint": { + "x": 4.737149161798324, + "y": 5.1194000825501655 + }, + "prevControl": { + "x": 3.8913259734623296, + "y": 4.883129462498332 + }, + "nextControl": { + "x": 5.091721488360994, + "y": 5.218445633210695 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": 1.0, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 7.389217083121666, + "y": 7.233294505651512 + }, + "prevControl": { + "x": 6.493607323152147, + "y": 7.18789191484633 + }, + "nextControl": null, + "holonomicAngle": 0.0, + "isReversal": false, + "velOverride": 1.0, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "isReversed": null, + "markers": [] +} \ No newline at end of file diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java index e3d76a0..a63672c 100644 --- a/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java +++ b/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java @@ -164,11 +164,11 @@ private Drivetrain(DrivetrainIO io) { assert (!SwervePodHardwareID.check_duplicates_all(DrivetrainConstants.FR, DrivetrainConstants.FL, DrivetrainConstants.BR, DrivetrainConstants.BL)); // Instantiate pods - - podFR = new SwervePod(0, driveControllers[0], azimuthControllers[0]); - podFL = new SwervePod(1, driveControllers[1], azimuthControllers[1]); - podBL = new SwervePod(2, driveControllers[2], azimuthControllers[2]); - podBR = new SwervePod(3, driveControllers[3], azimuthControllers[3]); + + podFR = new SwervePod(0, new SwervePodIOFalconSpark(DrivetrainConstants.FR,DrivetrainConstants.STEER_FR_CID)); + podFL = new SwervePod(1, new SwervePodIOFalconSpark(DrivetrainConstants.FL,DrivetrainConstants.STEER_FL_CID)); + podBL = new SwervePod(2, new SwervePodIOFalconSpark(DrivetrainConstants.BL,DrivetrainConstants.STEER_BL_CID)); + podBR = new SwervePod(3, new SwervePodIOFalconSpark(DrivetrainConstants.BR,DrivetrainConstants.STEER_BR_CID)); // Instantiate array list then add instantiated pods to list pods = new ArrayList(); @@ -339,12 +339,6 @@ public void sendPodsAzimuthToHome() { } } - public void setCurrentPodPosAsHome() { - for (int idx = 0; idx < (pods.size()); idx++) { - pods.get(idx).setCurrentPositionAsHome(); - } - } - public void setDriveMode(driveMode wantedDriveMode) { currentDriveMode = wantedDriveMode; } diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java index cdd9e1e..61e5853 100644 --- a/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java +++ b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java @@ -1,6 +1,9 @@ package team3176.robot.subsystems.drivetrain; import java.util.Map; + +import org.littletonrobotics.junction.Logger; + import com.ctre.phoenix.motorcontrol.can.TalonFX; import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; @@ -29,15 +32,11 @@ public class SwervePod { /** Class Object holding the Motor controller for Drive Motor on the SwervePod */ - private TalonFX thrustController; - /** Class Object holding the Motor controller for azimuth (aka azimuth) Motor on the SwervePod */ - private CANSparkMax azimuthController; - /** Class Object holding the CAN-based encoder for azimuth (aka azimuth) position of the SwervePod */ - CANCoder azimuthEncoder; /** Current value in radians of the azimuthEncoder's position */ double azimuthEncoderRelPosition; double azimuthEncoderAbsPosition; - Double desired_optimized_azimuth_position; + double desired_optimized_azimuth_position; + double velTicsPer100ms; boolean lastHasResetOccurred; /** Numerical identifier to differentiate between pods. @@ -53,13 +52,6 @@ public class SwervePod { //private double kAzimuthEncoderUnitsPerRevolution; private double lastEncoderPos; - private double radianError; - private double radianPos; - private double encoderError; - private double encoderPos; - - private double azimuthCommand; - private double velTicsPer100ms; public int kSlotIdx_Azimuth, kPIDLoopIdx_Azimuth, kTimeoutMs_Azimuth,kSlotIdx_Thrust, kPIDLoopIdx_Thrust, kTimeoutMs_Thrust; @@ -70,10 +62,7 @@ public class SwervePod { private double kD_Azimuth; private double kRampRate_Azimuth = 0.0; - private double kP_Thrust; - private double kI_Thrust; - private double kD_Thrust; - private double kF_Thrust; + private double turnOutput; private boolean isAutonSwerveControllerOptimizingAzimuthPos = false; @@ -83,29 +72,14 @@ public class SwervePod { //private final ProfiledPIDController m_turningProfiledPIDController; //private ProfiledPIDController m_turningPIDController; + private SwervePodIO io; + private SwervePodIOInputsAutoLogged inputs = new SwervePodIOInputsAutoLogged(); - - public SwervePod(int id, TalonFX thrustController, CANSparkMax azimuthController) { + public SwervePod(int id, SwervePodIO io) { this.id = id; - azimuthEncoder = new CANCoder(SwervePodConstants2022.STEER_CANCODER_CID[id]); - azimuthEncoder.configAbsoluteSensorRange(AbsoluteSensorRange.Signed_PlusMinus180); - azimuthEncoder.configMagnetOffset(SwervePodConstants2022.AZIMUTH_ABS_ENCODER_OFFSET_POSITION[id]); - azimuthEncoder.configSensorDirection(true,100); - updateAzimuthAbsEncoder(); - initializeSmartDashboard(); + this.io = io; this.desired_optimized_azimuth_position = 0.0; - ///System.out.println("P"+(this.id+1)+" kEncoderOffset: "+this.kEncoderOffset); - - //kAzimuthEncoderUnitsPerRevolution = SwervePodConstants2022.AZIMUTH_ENCODER_UNITS_PER_REVOLUTION; - kSlotIdx_Azimuth = SwervePodConstants2022.AZIMUTH_PID_SLOT_ID; - kPIDLoopIdx_Azimuth = SwervePodConstants2022.AZIMUTH_PID_LOOP_ID; - kTimeoutMs_Azimuth = SwervePodConstants2022.AZIMUTH_ENCODER_TIMEOUT_MS; - - kP_Thrust = 0.03; // SwervePodConstants.THRUST_PID[0][id]; - kI_Thrust = 0.0; // SwervePodConstants.THRUST_PID[1][id]; - kD_Thrust = 0.0; // SwervePodConstants.THRUST_PID[2][id]; - kF_Thrust = .045; // SwervePodConstants.THRUST_PID[3][id]; this.kP_Azimuth = 0.006; @@ -124,62 +98,6 @@ public SwervePod(int id, TalonFX thrustController, CANSparkMax azimuthController m_turningPIDController2.setI(this.kI_Azimuth); m_turningPIDController2.setD(this.kD_Azimuth); - - //this.azimuthController.setOpenLoopRampRate(this.kRampRate_Azimuth); - - /** - * Config the allowable closed-loop error, Closed-Loop output will be - * neutral within this range. See Table in Section 17.2.1 for native - * units per rotation. - */ - //azimuthController.configAllowableClosedloopError(0, SwervePodConstants.kPIDLoopIdx, SwervePodConstants.kTimeoutMs); - kSlotIdx_Thrust = SwervePodConstants2022.TALON_THRUST_PID_SLOT_ID[this.id]; - kPIDLoopIdx_Thrust = SwervePodConstants2022.TALON_THRUST_PID_LOOP_ID[this.id]; - kTimeoutMs_Thrust = SwervePodConstants2022.TALON_THRUST_PID_TIMEOUT_MS[this.id]; - - - - //m_encoder = azimuthController.getEncoder(); - - this.thrustController = thrustController; - this.azimuthController = azimuthController; - //this.AZIMUTHPIDController = azimuthController.getPIDController(); - - this.thrustController.configFactoryDefault(); - //this.azimuthController.restoreFactoryDefaults(); - this.azimuthController.setOpenLoopRampRate(0.5); - this.azimuthController.setSmartCurrentLimit(20); - this.azimuthController.setInverted(true); - //this.azimuthController.setClosedLoopRampRate(0.5); - //this.azimuthController.burnFlash(); - - this.thrustController.configClosedloopRamp(0.5); - - - this.thrustController.setInverted(false); - - //TODO: check out "Feedback Device Not Continuous" under config tab in CTRE-tuner. Is the available via API and set-able? Caps encoder to range[-4096,4096], correct? - //this.azimuthController.configSelectedFeedbackSensor(FeedbackDevice.PulseWidthEncodedPosition), 0, 0); - //this.azimuthController.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Absolute), 0, 0); - - this.thrustController.config_kP(kPIDLoopIdx_Thrust, kP_Thrust, kTimeoutMs_Thrust); - this.thrustController.config_kI(kPIDLoopIdx_Thrust, kI_Thrust, kTimeoutMs_Thrust); - this.thrustController.config_kD(kPIDLoopIdx_Thrust, kD_Thrust, kTimeoutMs_Thrust); - this.thrustController.config_kF(kPIDLoopIdx_Thrust, kF_Thrust, kTimeoutMs_Thrust); - - - switch(id+1){ - case 1: this.idString="podFR"; - break; - case 2: this.idString="podFL"; - break; - case 3: this.idString="podBL"; - break; - case 4: this.idString="podBR"; - break; - default: this.idString="podNoExist"; - break; - } } @@ -192,8 +110,10 @@ public void set(double speedMetersPerSecond, Rotation2d angle) { * @param desiredState */ public void set_module(SwerveModuleState desiredState) { - updateAzimuthAbsEncoder(); - this.azimuthEncoderAbsPosition = azimuthEncoder.getAbsolutePosition(); + io.updateInputs(inputs); + Logger.getInstance().processInputs("Drive/Module" + Integer.toString(this.id), inputs); + + this.azimuthEncoderAbsPosition = inputs.turnAbsolutePositionDegrees; SwerveModuleState desired_optimized = SwerveModuleState.optimize(desiredState, Rotation2d.fromDegrees(this.azimuthEncoderAbsPosition)); this.desired_optimized_azimuth_position = desired_optimized.angle.getDegrees(); if (desiredState.speedMetersPerSecond > (-Math.pow(10,-10)) && desiredState.speedMetersPerSecond < (Math.pow(10,-10))) { @@ -204,21 +124,16 @@ public void set_module(SwerveModuleState desiredState) { } //azimuthController.set(); - - azimuthController.set(MathUtil.clamp(this.turnOutput, -0.4, 0.4)); + io.setTurn(MathUtil.clamp(this.turnOutput, -0.4, 0.4)); this.velTicsPer100ms = Units3176.mps2ums(desired_optimized.speedMetersPerSecond); - thrustController.set(TalonFXControlMode.Velocity, velTicsPer100ms); - // if(this.id == 0) { - // System.out.println(Math.round(desired_optimized.speedMetersPerSecond * 100 - // )/100.0 + " " + Math.round(desired_optimized.angle.getDegrees()) + " " +this.velTicsPer100ms); - // } + io.setDrive(velTicsPer100ms); } /* * odometry calls */ public SwerveModulePosition getPosition() { - double mps = Units.feetToMeters(1.0 / Units3176.conversion_feet_to_tics * thrustController.getSelectedSensorPosition()); - return new SwerveModulePosition(mps,Rotation2d.fromDegrees(azimuthEncoder.getAbsolutePosition())); + double mps = Units.feetToMeters(1.0 / Units3176.conversion_feet_to_tics * inputs.drivePositionEncoder); + return new SwerveModulePosition(mps,Rotation2d.fromDegrees(inputs.turnAbsolutePositionDegrees)); } @@ -231,48 +146,19 @@ public void goHome() { //double turnOutput = m_turningPIDController.calculate(this.azimuthEncoderPosition, this.podAzimuth); // SmartDashboard.putNumber("P"+(this.id)+".turnOutput", turnOutput); - azimuthController.set(turnOutput * SwervePodConstants2022.AZIMUTH_SPARKMAX_MAX_OUTPUTPERCENT); + io.setTurn(turnOutput * SwervePodConstants2022.AZIMUTH_SPARKMAX_MAX_OUTPUTPERCENT); //this.azimuthPIDController.setReference(homePos, CANSparkMax.ControlType.kPosition); } - public void setCurrentPositionAsHome() { - this.azimuthEncoder.configMagnetOffset(0); - double newAbsMagnetOffset = this.azimuthEncoder.getAbsolutePosition(); - this.azimuthEncoder.configMagnetOffset(-1 * newAbsMagnetOffset); - } - - - public boolean isInverted() { return azimuthController.getInverted(); } - public void setInverted() { azimuthController.setInverted(!isInverted()); } - - public void updateAzimuthRelEncoder() { - this.azimuthEncoderRelPosition = Math.toRadians(azimuthEncoder.getPosition()); - SmartDashboard.putNumber("P"+this.id+".azimuthEncoderPositionRad",Math.toRadians(azimuthEncoder.getPosition())); - SmartDashboard.putNumber("P"+this.id+".azimuthEncoderPositionDeg",azimuthEncoder.getPosition()); - } - - public void updateAzimuthAbsEncoder() { - this.azimuthEncoderAbsPosition = Math.toRadians(azimuthEncoder.getAbsolutePosition()); - SmartDashboard.putNumber("P"+this.id+".azimuthEncoderAbsPositionRad",this.azimuthEncoderAbsPosition); - SmartDashboard.putNumber("P"+this.id+".azimuthEncoderAbsPositionDeg",azimuthEncoder.getAbsolutePosition()); - // SmartDashboard.putNumber("P"+this.id+"azimuthEncoderCANOffset", SwervePodConstants2022.AZIMUTH_ABS_ENCODER_OFFSET_POSITION[id]); - //NT_encoderPos.setDouble(this.azimuthEncoderAbsPosition); - } - - public double getEncoderRelPos() { - updateAzimuthRelEncoder(); - return this.azimuthEncoderRelPosition; - } public double getEncoderAbsPos() { - updateAzimuthAbsEncoder(); - return this.azimuthEncoderAbsPosition; + return inputs.turnAbsolutePositionDegrees; } public double getVelocity() { - double motorShaftVelocity = thrustController.getSelectedSensorVelocity(); + double motorShaftVelocity = inputs.driveVelocityTics; double wheelVelocityInFeetPerSecond = Units3176.ums2fps(motorShaftVelocity); double wheelVelocityInMetersPerSecond = Units3176.feetPerSecond2metersPerSecond(wheelVelocityInFeetPerSecond); return wheelVelocityInMetersPerSecond; @@ -283,48 +169,32 @@ public double getVelocity() { * @return */ public double getAzimuth() { - return azimuthEncoder.getPosition(); + return inputs.turnAbsolutePositionDegrees; } - public void boostThrustAcceleration() { - this.thrustController.configClosedloopRamp(0.25); - } - public void unboostThrustAcceleration() { - this.thrustController.configClosedloopRamp(0.5); - } + public void setThrustCoast() { - this.thrustController.setNeutralMode(NeutralMode.Coast); + io.setDriveBrakeMode(false); } public void setThrustBrake() { - this.thrustController.setNeutralMode(NeutralMode.Brake); + io.setDriveBrakeMode(true); } - public void initializeSmartDashboard() { - - // SmartDashboard.putNumber("P"+(this.id)+".podAzimuth_setpoint_angle", 0); - // SmartDashboard.putNumber("P"+(this.id)+".kP_Azimuth", 0); - // SmartDashboard.putNumber("P"+(this.id)+".kI_Azimuth", 0); - // SmartDashboard.putNumber("P"+(this.id)+".kD_Azimuth", 0); - // SmartDashboard.putNumber("P"+(this.id)+".kRampRate_Azimuth", 0); - SmartDashboard.putNumber("P"+(this.id)+".azimuthEncoderAbsPosition", this.azimuthEncoderAbsPosition); - // SmartDashboard.putBoolean("P"+(this.id)+".On", false); + public double getAzimuthSetpoint() { + return this.desired_optimized_azimuth_position; } - public double getThrustSetpoint() { return this.velTicsPer100ms; } - public double getAzimuthSetpoint() { - return this.desired_optimized_azimuth_position; - } public double getThrustEncoderVelocity() { - return thrustController.getSelectedSensorVelocity(); + return inputs.driveVelocityTics; } public double getAzimuthEncoderPosition() { - return azimuthEncoder.getAbsolutePosition(); + return inputs.turnAbsolutePositionDegrees; } public void setupShuffleboard() { @@ -360,85 +230,6 @@ public void setupShuffleboard() { // distanceEntry.setDouble(distance); //} } - public void SwervePod2022SmartDashboardComments () { - //SwervePod2022 comments start - // SmartDashboard.putNumber("P", kP_Thrust); - // SmartDashboard.putNumber("I", kI_Thrust); - // SmartDashboard.putNumber("D", kD_Thrust); - // SmartDashboard.putNumber("F", kF_Thrust); - // SmartDashboard.putNumber("driveSet",0); - - // SmartDashboard.putNumber("P" + (id + 1) + " podDrive", this.podDrive); - - // SmartDashboard.putNumber("P" + (id + 1) + " podAzimuth", this.podAzimuth); - //SwervePod2022 comments end - - - //set(double podThrust, double podAzimuth) comments start - // SmartDashboard.putNumber("P" + (id + 1) + " podThrust", this.podThrust); - // SmartDashboard.putNumber("P" + (id + 1) + " podAzimuth", this.podAzimuth); - - // SmartDashboard.putNumber("fps2ums:velTicsPer100ms", velTicsPer100ms); - // SmartDashboard.putNumber("podThrust", this.podThrust); - - // SmartDashboard.putNumber("P" + (id + 1) + " tics", tics); - // SmartDashboard.putNumber("P" + (id + 1) + " absTics", azimuthController.getSelectedSensorPosition()); - - // SmartDashboard.putNumber("P" + (id + 1) + " lastEncoderPos", this.lastEncoderPos); - - // SmartDashboard.putNumber("P" + (id + 1) + " lastEncoderPos", this.lastEncoderPos); - - //SmartDashboard.putNumber("P" + (id) + "getSelSenPos", azimuthController.getSelectedSensorPosition()); - - // SmartDashboard.putNumber("P"+this.id+".podThrust", podThrust); - //SmartDashboard.putNumber("actualVel", thrustController.getVoltage()); - - // if (this.id == 0){ - // SmartDashboard.putNumber("Pod3Distance", thrustController.getSelectedSensorPosition()); - // SmartDashboard.putNumber("velTicsPer100ms", velTicsPer100ms); - // SmartDashboard.putNumber("Tics Error", thrustController.getSelectedSensorVelocity()-velTicsPer100ms); - // SmartDashboard.putNumber("Tics Error2", thrustController.getSelectedSensorVelocity()-velTicsPer100ms); - // SmartDashboard.putNumber("thrustController Velocity", thrustController.getSelectedSensorVelocity()); - // } - - // SmartDashboard.putNumber("P" + (id + 1) + " velTicsPer100ms", velTicsPer100ms); - // SmartDashboard.putNumber("P" + (id + 1) + " encoderSetPos_end", encoderSetPos); - //} - //set(double podthrust, double podAzimuth) comments start - - - //private double optimizeAzimuthPos(double angle) comments start - // SmartDashboard.putNumber("P" + (id + 1) + " calcAzimuthPos_angle", angle); - - // SmartDashboard.putNumber("P" + (id + 1) + " kEncoderOffset", this.kEncoderOffset); - // SmartDashboard.putNumber("P" + (id + 1) + " getSelectedSensorPosition", azimuthController.getSelectedSensorPosition()); - // SmartDashboard.putNumber("P" + (id + 1) + " encoderPos_in_calcAzimuthPos",this.encoderPos); - - // SmartDashboard.putNumber("P" + (id + 1) + " radianPos", radianPos); - - // SmartDashboard.putNumber("P" + (id + 1) + " radianError", radianError); - - // SmartDashboard.putNumber("P" + (id + 1) + " encoderError", encoderError); - - // SmartDashboard.putNumber("P" + (id + 1) + "tics2radianThrustcommand", thrustCommand); - //private double optimizeAzimuthPos(double angle) comments end - - - //public void setDesiredState(SwerveModuleState desiredState) comments start - // SmartDashboard.putNumber("P"+this.id+".setDesiredState_desiredDegrees", desiredState.angle.getDegrees()); - // SmartDashboard.putNumber("P"+this.id+".setdesiredState_sensoredDegrees", rotation.getDegrees()); - - // SmartDashboard.putNumber("P"+this.id+".setDesiredState_TurnOutput",turnOutput); - // SmartDashboard.putNumber("P"+this.id+".setDesiredState_ThrustOutput", thrustOutput); - //public void setDesiredState(SwerveModuleState desiredState) comments ends - - - //public double getVelocity_metersPerSec() comments start - //SmartDashboard.putNumber("GetSensorVelocity", speed); - // SmartDashboard.putNumber("Velocity", metersPerSecond); - //public double getVelocity_metersPerSec() comments end - - } // public double getRate(){ // } diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIO.java b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIO.java new file mode 100644 index 0000000..af2c75d --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIO.java @@ -0,0 +1,35 @@ +package team3176.robot.subsystems.drivetrain; + +import org.littletonrobotics.junction.AutoLog; + +public interface SwervePodIO { + @AutoLog + public static class SwervePodIOInputs { + public double drivePositionEncoder = 0.0; + public double driveVelocityTics = 0.0; + public double driveAppliedVolts = 0.0; + public double[] driveCurrentAmps = new double[] {}; + public double[] driveTempCelcius = new double[] {}; + + public double turnAbsolutePositionDegrees = 0.0; + public double turnVelocityRPM = 0.0; + public double turnAppliedVolts = 0.0; + public double[] turnCurrentAmps = new double[] {}; + public double[] turnTempCelcius = new double[] {}; + } + + /** Updates the set of loggable inputs. */ + public default void updateInputs(SwervePodIOInputs inputs) {} + + /** Run the drive motor at the specified voltage. */ + public default void setDrive(double volts) {} + + /** Run the turn motor at the specified voltage. */ + public default void setTurn(double volts) {} + + /** Enable or disable brake mode on the drive motor. */ + public default void setDriveBrakeMode(boolean enable) {} + + /** Enable or disable brake mode on the turn motor. */ + public default void setTurnBrakeMode(boolean enable) {} +} diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIOFalconSpark.java b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIOFalconSpark.java new file mode 100644 index 0000000..91a4834 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIOFalconSpark.java @@ -0,0 +1,69 @@ +package team3176.robot.subsystems.drivetrain; + +import com.ctre.phoenix.motorcontrol.TalonFXControlMode; +import com.ctre.phoenix.motorcontrol.can.TalonFX; +import com.ctre.phoenix.sensors.AbsoluteSensorRange; +import com.ctre.phoenix.sensors.CANCoder; +import com.revrobotics.CANSparkMax; +import com.revrobotics.CANSparkMaxLowLevel.MotorType; + +import team3176.robot.constants.SwervePodConstants2022; +import team3176.robot.constants.SwervePodHardwareID; + +public class SwervePodIOFalconSpark implements SwervePodIO{ + private CANSparkMax turnSparkMax; + private TalonFX thrustFalcon; + private CANCoder azimuthEncoder; + public SwervePodIOFalconSpark(SwervePodHardwareID id,int sparkMaxID) { + turnSparkMax = new CANSparkMax(sparkMaxID, MotorType.kBrushless); + thrustFalcon = new TalonFX(id.THRUST_CID); + //reset the motor controllers + thrustFalcon.configFactoryDefault(); + turnSparkMax.restoreFactoryDefaults(); + + thrustFalcon.configClosedloopRamp(0.5); + thrustFalcon.setInverted(false); + thrustFalcon.config_kP(0, 0.03); + thrustFalcon.config_kI(0, 0.0); + thrustFalcon.config_kD(0, 0.0); + thrustFalcon.config_kF(0, 0.045); + + turnSparkMax.setOpenLoopRampRate(0.5); + turnSparkMax.setSmartCurrentLimit(20); + turnSparkMax.setInverted(true); + + azimuthEncoder = new CANCoder(id.CANCODER_CID); + azimuthEncoder.configAbsoluteSensorRange(AbsoluteSensorRange.Signed_PlusMinus180); + azimuthEncoder.configMagnetOffset(id.OFFSET); + azimuthEncoder.configSensorDirection(true,100); + + } + public void updateInputs(SwervePodIOInputs inputs) { + inputs.drivePositionEncoder = thrustFalcon.getSelectedSensorPosition(); + inputs.driveVelocityTics = thrustFalcon.getSelectedSensorVelocity(); + inputs.driveAppliedVolts = thrustFalcon.getMotorOutputVoltage(); + inputs.driveCurrentAmps = new double[] {thrustFalcon.getStatorCurrent()}; + inputs.driveTempCelcius = new double[] {thrustFalcon.getTemperature()}; + + inputs.turnAbsolutePositionDegrees = azimuthEncoder.getAbsolutePosition(); + + inputs.turnVelocityRPM = turnSparkMax.getEncoder().getVelocity(); + inputs.turnAppliedVolts = turnSparkMax.getAppliedOutput() * turnSparkMax.getBusVoltage(); + inputs.turnCurrentAmps = new double[] {turnSparkMax.getOutputCurrent()}; + inputs.turnTempCelcius = new double[] {turnSparkMax.getMotorTemperature()}; + } + + @Override + public void setDrive(double velTicsPer100ms) { + thrustFalcon.set(TalonFXControlMode.Velocity, velTicsPer100ms); + } + + /** Run the turn motor at the specified voltage. */ + public void setTurn(double volts) {} + + /** Enable or disable brake mode on the drive motor. */ + public void setDriveBrakeMode(boolean enable) {} + + /** Enable or disable brake mode on the turn motor. */ + public void setTurnBrakeMode(boolean enable) {} +} From 708ec2549a7bc86c89a542e00fa555cd3396f307 Mon Sep 17 00:00:00 2001 From: Jonathan Date: Thu, 27 Apr 2023 15:16:58 -0400 Subject: [PATCH 02/26] builds now --- .../subsystems/drivetrain/Drivetrain.java | 18 +----------------- 1 file changed, 1 insertion(+), 17 deletions(-) diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java index a63672c..2db940a 100644 --- a/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java +++ b/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java @@ -98,14 +98,7 @@ public enum coordType { private driveMode currentDriveMode = driveMode.DRIVE; - public TalonFX[] driveControllers = { new TalonFX(DrivetrainConstants.FR.THRUST_CID), - new TalonFX(DrivetrainConstants.FL.THRUST_CID), new TalonFX(DrivetrainConstants.BL.THRUST_CID), - new TalonFX(DrivetrainConstants.BR.THRUST_CID) }; - - public CANSparkMax[] azimuthControllers = { new CANSparkMax(DrivetrainConstants.STEER_FR_CID, MotorType.kBrushless), - new CANSparkMax(DrivetrainConstants.STEER_FL_CID, MotorType.kBrushless), - new CANSparkMax(DrivetrainConstants.STEER_BL_CID, MotorType.kBrushless), - new CANSparkMax(DrivetrainConstants.STEER_BR_CID, MotorType.kBrushless) }; + Rotation2d FieldAngleOffset = Rotation2d.fromDegrees(0.0); @@ -315,15 +308,6 @@ private void calculateNSetPodPositions(double forwardCommand, double strafeComma } } - public void stopMotors() { - // TODO: this seems to voilate a data flow overiding pods and could cause issues - // should be a state variable - for (int idx = 0; idx < (pods.size()); idx++) { - driveControllers[idx].set(ControlMode.PercentOutput, 0); - azimuthControllers[idx].set(0); - } - - } public void setPodsAzimuthHome() { double smallNum = Math.pow(10, -5); From 7869138e7597c60b6812bb9d011983732f1f9e5f Mon Sep 17 00:00:00 2001 From: Jonathan Date: Thu, 27 Apr 2023 15:44:44 -0400 Subject: [PATCH 03/26] converted drivetrain --- .../subsystems/drivetrain/Drivetrain.java | 26 ++-- .../subsystems/drivetrain/DrivetrainIO.java | 130 ------------------ .../robot/subsystems/drivetrain/GyroIO.java | 29 ++++ .../subsystems/drivetrain/GyroIONavX.java | 24 ++++ .../subsystems/drivetrain/SwervePod.java | 28 ++-- 5 files changed, 81 insertions(+), 156 deletions(-) delete mode 100644 src/main/java/team3176/robot/subsystems/drivetrain/DrivetrainIO.java create mode 100644 src/main/java/team3176/robot/subsystems/drivetrain/GyroIO.java create mode 100644 src/main/java/team3176/robot/subsystems/drivetrain/GyroIONavX.java diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java index 2db940a..3453885 100644 --- a/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java +++ b/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java @@ -71,11 +71,10 @@ import team3176.robot.subsystems.controller.Controller; import org.littletonrobotics.junction.Logger; -import team3176.robot.subsystems.drivetrain.DrivetrainIO.DrivetrainIOInputs; +import team3176.robot.subsystems.drivetrain.GyroIO.GyroIOInputs; public class Drivetrain extends SubsystemBase { private static Drivetrain instance; - private AHRS m_NavX; public SwerveDriveOdometry odom; public SwerveDrivePoseEstimator poseEstimator; @@ -137,12 +136,15 @@ public enum driveMode { Pose2d last_pose = new Pose2d(); double lastVisionTimeStamp = 0.0; double lastVisionX = 0.0; - private final DrivetrainIO io; + private final GyroIO io; + private GyroIOInputsAutoLogged inputs; Field2d field; // private final DrivetrainIOInputs inputs = new DrivetrainIOInputs(); - private Drivetrain(DrivetrainIO io) { + private Drivetrain(GyroIO io) { + this.io = io; + inputs = new GyroIOInputsAutoLogged(); inst = NetworkTableInstance.getDefault(); table = inst.getTable("datatable"); @@ -151,8 +153,6 @@ private Drivetrain(DrivetrainIO io) { dblPub = dblTopic.publish(); field = new Field2d(); - this.io = io; - // check for duplicates assert (!SwervePodHardwareID.check_duplicates_all(DrivetrainConstants.FR, DrivetrainConstants.FL, DrivetrainConstants.BR, DrivetrainConstants.BL)); @@ -170,7 +170,7 @@ private Drivetrain(DrivetrainIO io) { pods.add(podBL); pods.add(podBR); - m_NavX = new AHRS(SPI.Port.kMXP); + odom = new SwerveDriveOdometry(DrivetrainConstants.DRIVE_KINEMATICS, this.getSensorYaw(), new SwerveModulePosition[] { @@ -207,7 +207,7 @@ private Drivetrain(DrivetrainIO io) { // Prevents more than one instance of drivetrian public static Drivetrain getInstance() { if (instance == null) { - instance = new Drivetrain(new DrivetrainIO() { + instance = new Drivetrain(new GyroIO() { }); } return instance; @@ -397,7 +397,7 @@ public Rotation2d getPoseYawWrapped() { * @return Rotation2d of the yaw */ private Rotation2d getSensorYaw() { - return m_NavX.getRotation2d(); + return inputs.rotation2d; } public Rotation2d getChassisYaw() { @@ -409,7 +409,7 @@ public Rotation2d getChassisYaw() { * @return navx pitch -180 to 180 around the X axis of the Navx */ public double getChassisPitch() { - return m_NavX.getPitch(); + return inputs.pitch; } /** @@ -417,7 +417,7 @@ public double getChassisPitch() { * @return navx roll -180 to 180 around the X axis of the Navx */ public double getChassisRoll() { - return m_NavX.getRoll(); + return inputs.roll; } @@ -472,8 +472,8 @@ public double getCurrentChassisSpeed(){ @Override public void periodic() { - dblPub.set(3.0); - + io.updateInputs(inputs); + Logger.getInstance().processInputs("Drive/gyro", inputs); //vision_lfov_pose = NetworkTableInstance.getDefault().getTable("limelight-lfov").getEntry("botpose_wpiblue"); //vision_rfov_pose = NetworkTableInstance.getDefault().getTable("limelight-rfov").getEntry("botpose_wpiblue"); diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/DrivetrainIO.java b/src/main/java/team3176/robot/subsystems/drivetrain/DrivetrainIO.java deleted file mode 100644 index df2c67d..0000000 --- a/src/main/java/team3176/robot/subsystems/drivetrain/DrivetrainIO.java +++ /dev/null @@ -1,130 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package team3176.robot.subsystems.drivetrain; - -import edu.wpi.first.wpilibj2.command.SubsystemBase; - -import org.littletonrobotics.junction.LogTable; -import org.littletonrobotics.junction.inputs.LoggableInputs; - -/** Template hardware interface for a closed loop subsystem. */ -public interface DrivetrainIO{ - /** Contains all of the input data received from hardware. */ - public static class DrivetrainIOInputs implements LoggableInputs { - public double position_1 = 0.0; - public double position_2 = 0.0; - public double position_3 = 0.0; - public double position_4 = 0.0; - public double velocity_1 = 0.0; - public double velocity_2 = 0.0; - public double velocity_3 = 0.0; - public double velocity_4 = 0.0; - public double appliedVolts_1 = 0.0; - public double appliedVolts_2 = 0.0; - public double appliedVolts_3 = 0.0; - public double appliedVolts_4 = 0.0; - public double appliedVolts_5 = 0.0; - public double appliedVolts_6 = 0.0; - public double appliedVolts_7 = 0.0; - public double appliedVolts_8 = 0.0; - public double[] currentAmps_1 = new double[] {}; - public double[] currentAmps_2 = new double[] {}; - public double[] currentAmps_3 = new double[] {}; - public double[] currentAmps_4 = new double[] {}; - public double[] currentAmps_5 = new double[] {}; - public double[] currentAmps_6 = new double[] {}; - public double[] currentAmps_7 = new double[] {}; - public double[] currentAmps_8 = new double[] {}; - public double[] tempCelcius_1 = new double[] {}; - public double[] tempCelcius_2 = new double[] {}; - public double[] tempCelcius_3 = new double[] {}; - public double[] tempCelcius_4 = new double[] {}; - public double[] tempCelcius_5 = new double[] {}; - public double[] tempCelcius_6 = new double[] {}; - public double[] tempCelcius_7 = new double[] {}; - public double[] tempCelcius_8 = new double[] {}; - - public void toLog(LogTable table) { - table.put("Position 1", position_1); - table.put("Position 2", position_2); - table.put("Position 3", position_3); - table.put("Position 4", position_4); - table.put("Velocity 1", velocity_1); - table.put("Velocity 2", velocity_2); - table.put("Velocity 3", velocity_3); - table.put("Velocity 4", velocity_4); - table.put("AppliedVolts 1", appliedVolts_1); - table.put("AppliedVolts 2", appliedVolts_2); - table.put("AppliedVolts 3", appliedVolts_3); - table.put("AppliedVolts 4", appliedVolts_4); - table.put("AppliedVolts 5", appliedVolts_5); - table.put("AppliedVolts 6", appliedVolts_6); - table.put("AppliedVolts 7", appliedVolts_7); - table.put("AppliedVolts 8", appliedVolts_8); - table.put("CurrentAmps 1", currentAmps_1); - table.put("CurrentAmps 2", currentAmps_2); - table.put("CurrentAmps 3", currentAmps_3); - table.put("CurrentAmps 4", currentAmps_4); - table.put("CurrentAmps 5", currentAmps_5); - table.put("CurrentAmps 6", currentAmps_6); - table.put("CurrentAmps 7", currentAmps_7); - table.put("CurrentAmps 8", currentAmps_8); - table.put("TempCelcius 1", tempCelcius_1); - table.put("TempCelcius 2", tempCelcius_2); - table.put("TempCelcius 3", tempCelcius_3); - table.put("TempCelcius 4", tempCelcius_4); - table.put("TempCelcius 5", tempCelcius_5); - table.put("TempCelcius 6", tempCelcius_6); - table.put("TempCelcius 7", tempCelcius_7); - table.put("TempCelcius 8", tempCelcius_8); - } - - public void fromLog(LogTable table) { - position_1 = table.getDouble("Position 1", position_1); - position_2 = table.getDouble("Position 2", position_2); - position_3 = table.getDouble("Position 3", position_3); - position_4 = table.getDouble("Position 4", position_4); - velocity_1 = table.getDouble("Velocity 1", velocity_1); - velocity_2 = table.getDouble("Velocity 2", velocity_2); - velocity_3 = table.getDouble("Velocity 3", velocity_3); - velocity_4 = table.getDouble("Velocity 4", velocity_4); - appliedVolts_1 = table.getDouble("AppliedVolts 1", appliedVolts_1); - appliedVolts_2 = table.getDouble("AppliedVolts 2", appliedVolts_2); - appliedVolts_3 = table.getDouble("AppliedVolts 3", appliedVolts_3); - appliedVolts_4 = table.getDouble("AppliedVolts 4", appliedVolts_4); - appliedVolts_5 = table.getDouble("AppliedVolts 5", appliedVolts_5); - appliedVolts_6 = table.getDouble("AppliedVolts 6", appliedVolts_6); - appliedVolts_7 = table.getDouble("AppliedVolts 7", appliedVolts_7); - appliedVolts_8 = table.getDouble("AppliedVolts 8", appliedVolts_8); - currentAmps_1 = table.getDoubleArray("CurrentAmps 1", currentAmps_1); - currentAmps_2 = table.getDoubleArray("CurrentAmps 2", currentAmps_2); - currentAmps_3 = table.getDoubleArray("CurrentAmps 3", currentAmps_3); - currentAmps_4 = table.getDoubleArray("CurrentAmps 4", currentAmps_4); - currentAmps_5 = table.getDoubleArray("CurrentAmps 5", currentAmps_5); - currentAmps_6 = table.getDoubleArray("CurrentAmps 6", currentAmps_6); - currentAmps_7 = table.getDoubleArray("CurrentAmps 7", currentAmps_7); - currentAmps_8 = table.getDoubleArray("CurrentAmps 8", currentAmps_8); - tempCelcius_1 = table.getDoubleArray("TempCelcius 1", tempCelcius_1); - tempCelcius_2 = table.getDoubleArray("TempCelcius 2", tempCelcius_2); - tempCelcius_3 = table.getDoubleArray("TempCelcius 3", tempCelcius_3); - tempCelcius_4 = table.getDoubleArray("TempCelcius 4", tempCelcius_4); - tempCelcius_5 = table.getDoubleArray("TempCelcius 5", tempCelcius_5); - tempCelcius_6 = table.getDoubleArray("TempCelcius 6", tempCelcius_6); - tempCelcius_7 = table.getDoubleArray("TempCelcius 7", tempCelcius_7); - tempCelcius_8 = table.getDoubleArray("TempCelcius 8", tempCelcius_8); - } - } - - /** Updates the set of loggable inputs. */ - public default void updateInputs(DrivetrainIOInputs inputs) {} - - /** Run open loop at the specified voltage. */ - public default void setVoltage(double volts) {} - - /** Encoder Position of the Drivetrain */ - public default void setDrivetrainPosition(double position) {} - - public default void setDrivetrainVelocity(double velocity) {} -} diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/GyroIO.java b/src/main/java/team3176/robot/subsystems/drivetrain/GyroIO.java new file mode 100644 index 0000000..d925678 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/drivetrain/GyroIO.java @@ -0,0 +1,29 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package team3176.robot.subsystems.drivetrain; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +import org.littletonrobotics.junction.AutoLog; +import org.littletonrobotics.junction.LogTable; +import org.littletonrobotics.junction.inputs.LoggableInputs; + +/** Template hardware interface for a closed loop subsystem. */ +public interface GyroIO{ + /** Contains all of the input data received from hardware. */ + @AutoLog + public static class GyroIOInputs { + double pitch; + double yaw; + double roll; + Rotation2d rotation2d; + } + + /** Updates the set of loggable inputs. */ + public default void updateInputs(GyroIOInputs inputs) {} + + public default void reset() {} +} diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/GyroIONavX.java b/src/main/java/team3176/robot/subsystems/drivetrain/GyroIONavX.java new file mode 100644 index 0000000..602a498 --- /dev/null +++ b/src/main/java/team3176/robot/subsystems/drivetrain/GyroIONavX.java @@ -0,0 +1,24 @@ +package team3176.robot.subsystems.drivetrain; + +import com.kauailabs.navx.frc.AHRS; + +import edu.wpi.first.wpilibj.SPI; + +public class GyroIONavX implements GyroIO{ + AHRS navX; + public GyroIONavX() { + navX = new AHRS(SPI.Port.kMXP); + } + @Override + public void updateInputs(GyroIOInputs inputs) { + inputs.pitch = navX.getPitch(); + inputs.roll = navX.getRoll(); + inputs.yaw = navX.getYaw(); + inputs.rotation2d = navX.getRotation2d(); + } + @Override + public void reset() { + navX.reset(); + } + +} diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java index 61e5853..39193c2 100644 --- a/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java +++ b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java @@ -68,7 +68,7 @@ public class SwervePod { private boolean isAutonSwerveControllerOptimizingAzimuthPos = false; private double PI = Math.PI; - private final PIDController m_turningPIDController2; + private final PIDController turningPIDController; //private final ProfiledPIDController m_turningProfiledPIDController; //private ProfiledPIDController m_turningPIDController; @@ -89,14 +89,14 @@ public SwervePod(int id, SwervePodIO io) { - m_turningPIDController2 = new PIDController(kP_Azimuth, kI_Azimuth, kD_Azimuth); - m_turningPIDController2.setTolerance(4); - m_turningPIDController2.enableContinuousInput(-180, 180); - - m_turningPIDController2.reset(); - m_turningPIDController2.setP(this.kP_Azimuth); - m_turningPIDController2.setI(this.kI_Azimuth); - m_turningPIDController2.setD(this.kD_Azimuth); + turningPIDController = new PIDController(kP_Azimuth, kI_Azimuth, kD_Azimuth); + turningPIDController.setTolerance(4); + turningPIDController.enableContinuousInput(-180, 180); + + turningPIDController.reset(); + turningPIDController.setP(this.kP_Azimuth); + turningPIDController.setI(this.kI_Azimuth); + turningPIDController.setD(this.kD_Azimuth); } @@ -116,14 +116,16 @@ public void set_module(SwerveModuleState desiredState) { this.azimuthEncoderAbsPosition = inputs.turnAbsolutePositionDegrees; SwerveModuleState desired_optimized = SwerveModuleState.optimize(desiredState, Rotation2d.fromDegrees(this.azimuthEncoderAbsPosition)); this.desired_optimized_azimuth_position = desired_optimized.angle.getDegrees(); + if (desiredState.speedMetersPerSecond > (-Math.pow(10,-10)) && desiredState.speedMetersPerSecond < (Math.pow(10,-10))) { - this.turnOutput = m_turningPIDController2.calculate(this.azimuthEncoderAbsPosition, this.lastEncoderPos); + this.turnOutput = turningPIDController.calculate(this.azimuthEncoderAbsPosition, this.lastEncoderPos); } else { - this.turnOutput = m_turningPIDController2.calculate(this.azimuthEncoderAbsPosition, desired_optimized.angle.getDegrees()); + this.turnOutput = turningPIDController.calculate(this.azimuthEncoderAbsPosition, desired_optimized.angle.getDegrees()); this.lastEncoderPos = desired_optimized.angle.getDegrees(); } + // reduce output if the error is high + desired_optimized.speedMetersPerSecond *= Math.cos(turningPIDController.getPositionError()); - //azimuthController.set(); io.setTurn(MathUtil.clamp(this.turnOutput, -0.4, 0.4)); this.velTicsPer100ms = Units3176.mps2ums(desired_optimized.speedMetersPerSecond); io.setDrive(velTicsPer100ms); @@ -142,7 +144,7 @@ public void goHome() { // SmartDashboard.putNumber("P"+(this.id)+".optmizdazimuthAbsPos", optmizdAzimuthAbsPos); - double turnOutput = m_turningPIDController2.calculate(this.azimuthEncoderAbsPosition, s.angle.getDegrees()); + double turnOutput = turningPIDController.calculate(this.azimuthEncoderAbsPosition, s.angle.getDegrees()); //double turnOutput = m_turningPIDController.calculate(this.azimuthEncoderPosition, this.podAzimuth); // SmartDashboard.putNumber("P"+(this.id)+".turnOutput", turnOutput); From 20aee02813b5d556e1f63301e5041c61f9910beb Mon Sep 17 00:00:00 2001 From: Jonathan Date: Thu, 27 Apr 2023 15:51:04 -0400 Subject: [PATCH 04/26] drivetrain swerve state recording --- .../subsystems/drivetrain/Drivetrain.java | 23 ++++--------------- .../subsystems/drivetrain/SwervePod.java | 3 ++- 2 files changed, 7 insertions(+), 19 deletions(-) diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java index 3453885..59a7524 100644 --- a/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java +++ b/src/main/java/team3176/robot/subsystems/drivetrain/Drivetrain.java @@ -286,16 +286,17 @@ private void p_drive(double forwardCommand, double strafeCommand, double spinCom private void calculateNSetPodPositions(double forwardCommand, double strafeCommand, double spinCommand) { if (currentDriveMode != driveMode.DEFENSE) { - // Create arrays for the speed and angle of each pod - // double[] podDrive = new double[4]; - // double[] podSpin = new double[4]; ChassisSpeeds curr_chassisSpeeds = new ChassisSpeeds(forwardCommand, strafeCommand, spinCommand); SwerveModuleState[] pod_states = DrivetrainConstants.DRIVE_KINEMATICS.toSwerveModuleStates(curr_chassisSpeeds); + SwerveDriveKinematics.desaturateWheelSpeeds(pod_states, DrivetrainConstants.MAX_WHEEL_SPEED_METERS_PER_SECOND); + SwerveModuleState[] optimizedStates = new SwerveModuleState[4]; for (int idx = 0; idx < (pods.size()); idx++) { - pods.get(idx).set_module(pod_states[idx]); + optimizedStates[idx]=pods.get(idx).set_module(pod_states[idx]); } + Logger.getInstance().recordOutput("SwerveStates/Setpoints", pod_states); + Logger.getInstance().recordOutput("SwerveStates/SetpointsOptimized", optimizedStates); SmartDashboard.putNumber("spinCommand", spinCommand); SmartDashboard.putNumber("pod0 m/s", pod_states[0].speedMetersPerSecond); @@ -309,20 +310,6 @@ private void calculateNSetPodPositions(double forwardCommand, double strafeComma } - public void setPodsAzimuthHome() { - double smallNum = Math.pow(10, -5); - pods.get(0).set(smallNum, Rotation2d.fromRadians(0.0)); - pods.get(1).set(smallNum, Rotation2d.fromRadians(0.0)); - pods.get(2).set(smallNum, Rotation2d.fromRadians(0.0)); - pods.get(3).set(smallNum, Rotation2d.fromRadians(0.0)); - } - - public void sendPodsAzimuthToHome() { - for (int idx = 0; idx < (pods.size()); idx++) { - pods.get(idx).goHome(); - } - } - public void setDriveMode(driveMode wantedDriveMode) { currentDriveMode = wantedDriveMode; } diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java index 39193c2..2c9da8e 100644 --- a/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java +++ b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePod.java @@ -109,7 +109,7 @@ public void set(double speedMetersPerSecond, Rotation2d angle) { * alternative method for setting swervepod in line with WPILIB standard library * @param desiredState */ - public void set_module(SwerveModuleState desiredState) { + public SwerveModuleState set_module(SwerveModuleState desiredState) { io.updateInputs(inputs); Logger.getInstance().processInputs("Drive/Module" + Integer.toString(this.id), inputs); @@ -129,6 +129,7 @@ public void set_module(SwerveModuleState desiredState) { io.setTurn(MathUtil.clamp(this.turnOutput, -0.4, 0.4)); this.velTicsPer100ms = Units3176.mps2ums(desired_optimized.speedMetersPerSecond); io.setDrive(velTicsPer100ms); + return desired_optimized; } /* * odometry calls From 476b197b18837c9bbee33270ff01417ac88aa62f Mon Sep 17 00:00:00 2001 From: Jonathan Date: Thu, 27 Apr 2023 15:55:15 -0400 Subject: [PATCH 05/26] fixing null pointer error in sim --- simgui-window.json | 26 +++++++++---------- simgui.json | 4 ++- .../robot/subsystems/drivetrain/GyroIO.java | 9 ++++--- 3 files changed, 22 insertions(+), 17 deletions(-) diff --git a/simgui-window.json b/simgui-window.json index dd2b597..a87526d 100644 --- a/simgui-window.json +++ b/simgui-window.json @@ -5,30 +5,30 @@ "MainWindow": { "GLOBAL": { "fps": "120", - "height": "1055", - "maximized": "0", + "height": "989", + "maximized": "1", "style": "0", "userScale": "2", - "width": "1924", - "xpos": "-1", - "ypos": "-1" + "width": "1846", + "xpos": "83", + "ypos": "71" } }, "Window": { "###Addressable LEDs": { "Collapsed": "0", "Pos": "318,53", - "Size": "170,300" + "Size": "142,259" }, "###FMS": { "Collapsed": "0", - "Pos": "10,1036", - "Size": "336,164" + "Pos": "10,970", + "Size": "283,146" }, "###Joysticks": { "Collapsed": "0", "Pos": "483,801", - "Size": "976,278" + "Size": "796,73" }, "###NetworkTables": { "Collapsed": "0", @@ -37,18 +37,18 @@ }, "###Other Devices": { "Collapsed": "0", - "Pos": "1905,40", + "Pos": "1827,40", "Size": "500,1390" }, "###System Joysticks": { "Collapsed": "0", "Pos": "10,700", - "Size": "232,254" + "Size": "192,218" }, "###Timing": { "Collapsed": "0", "Pos": "10,300", - "Size": "169,168" + "Size": "141,150" }, "Debug##Default": { "Collapsed": "0", @@ -58,7 +58,7 @@ "Robot State": { "Collapsed": "0", "Pos": "5,20", - "Size": "109,114" + "Size": "92,99" } } } diff --git a/simgui.json b/simgui.json index df6b883..802aa30 100644 --- a/simgui.json +++ b/simgui.json @@ -9,7 +9,9 @@ "NTProvider": { "types": { "/FMSInfo": "FMSInfo", - "/SmartDashboard/Auton Choice": "String Chooser" + "/SmartDashboard/Auton Choice": "String Chooser", + "/SmartDashboard/Field": "Field2d", + "/SmartDashboard/Scheduler": "Scheduler" } } } diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/GyroIO.java b/src/main/java/team3176/robot/subsystems/drivetrain/GyroIO.java index d925678..05515f8 100644 --- a/src/main/java/team3176/robot/subsystems/drivetrain/GyroIO.java +++ b/src/main/java/team3176/robot/subsystems/drivetrain/GyroIO.java @@ -16,10 +16,13 @@ public interface GyroIO{ /** Contains all of the input data received from hardware. */ @AutoLog public static class GyroIOInputs { - double pitch; - double yaw; - double roll; + double pitch =0.0; + double yaw =0.0; + double roll =0.0; Rotation2d rotation2d; + GyroIOInputs() { + rotation2d = new Rotation2d(); + } } /** Updates the set of loggable inputs. */ From e645a66782fd79c9b34066d74ccf4152764684c4 Mon Sep 17 00:00:00 2001 From: Jonathan Date: Fri, 28 Apr 2023 11:24:56 -0400 Subject: [PATCH 06/26] added logging to robot main --- src/main/java/team3176/robot/Robot.java | 7 +++++++ .../subsystems/drivetrain/SwervePodIOFalconSpark.java | 4 +++- 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/src/main/java/team3176/robot/Robot.java b/src/main/java/team3176/robot/Robot.java index 887efba..88d7d7e 100644 --- a/src/main/java/team3176/robot/Robot.java +++ b/src/main/java/team3176/robot/Robot.java @@ -5,6 +5,9 @@ package team3176.robot; import org.littletonrobotics.junction.LoggedRobot; +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.networktables.NT4Publisher; +import org.littletonrobotics.junction.wpilog.WPILOGWriter; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; @@ -34,6 +37,10 @@ public class Robot extends LoggedRobot{ public void robotInit() { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. + Logger logger = Logger.getInstance(); + logger.addDataReceiver(new WPILOGWriter("/media/sda2/")); + logger.addDataReceiver(new NT4Publisher()); + logger.start(); m_robotContainer = new RobotContainer(); SmartDashboard.putData(CommandScheduler.getInstance()); m_fisheyeThread = new Thread( () -> { diff --git a/src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIOFalconSpark.java b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIOFalconSpark.java index 91a4834..78685f7 100644 --- a/src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIOFalconSpark.java +++ b/src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIOFalconSpark.java @@ -59,7 +59,9 @@ public void setDrive(double velTicsPer100ms) { } /** Run the turn motor at the specified voltage. */ - public void setTurn(double volts) {} + public void setTurn(double volts) { + turnSparkMax.set(volts); + } /** Enable or disable brake mode on the drive motor. */ public void setDriveBrakeMode(boolean enable) {} From a9d09d9cb63afc4936186c2b25fb8e0e3c1cf127 Mon Sep 17 00:00:00 2001 From: Jonathan Date: Fri, 28 Apr 2023 11:59:40 -0400 Subject: [PATCH 07/26] building up sim capabilities --- simgui-window.json | 11 ++- simgui.json | 5 ++ src/main/java/team3176/robot/Constants.java | 78 +++++++++++++++++++++ src/main/java/team3176/robot/Robot.java | 52 +++++++++++++- 4 files changed, 141 insertions(+), 5 deletions(-) create mode 100644 src/main/java/team3176/robot/Constants.java diff --git a/simgui-window.json b/simgui-window.json index a87526d..b3a432e 100644 --- a/simgui-window.json +++ b/simgui-window.json @@ -18,11 +18,11 @@ "###Addressable LEDs": { "Collapsed": "0", "Pos": "318,53", - "Size": "142,259" + "Size": "136,48" }, "###FMS": { "Collapsed": "0", - "Pos": "10,970", + "Pos": "509,129", "Size": "283,146" }, "###Joysticks": { @@ -40,6 +40,11 @@ "Pos": "1827,40", "Size": "500,1390" }, + "###RoboRIO": { + "Collapsed": "0", + "Pos": "5,125", + "Size": "119,146" + }, "###System Joysticks": { "Collapsed": "0", "Pos": "10,700", @@ -48,7 +53,7 @@ "###Timing": { "Collapsed": "0", "Pos": "10,300", - "Size": "141,150" + "Size": "141,127" }, "Debug##Default": { "Collapsed": "0", diff --git a/simgui.json b/simgui.json index 802aa30..dd899eb 100644 --- a/simgui.json +++ b/simgui.json @@ -4,6 +4,11 @@ "window": { "visible": true } + }, + "RoboRIO": { + "window": { + "visible": true + } } }, "NTProvider": { diff --git a/src/main/java/team3176/robot/Constants.java b/src/main/java/team3176/robot/Constants.java new file mode 100644 index 0000000..7420365 --- /dev/null +++ b/src/main/java/team3176/robot/Constants.java @@ -0,0 +1,78 @@ +// Copyright (c) 2023 FRC 6328 +// http://github.com/Mechanical-Advantage +// +// Use of this source code is governed by an MIT-style +// license that can be found in the LICENSE file at +// the root directory of this project. + +package team3176.robot; + +import edu.wpi.first.wpilibj.RobotBase; +import java.util.Map; + +public final class Constants { + private static final RobotType robot = RobotType.ROBOT_SIMBOT; + public static final double loopPeriodSecs = 0.02; + public static final boolean tuningMode = false; + + public static boolean invalidRobotAlertSent = false; + + public static RobotType getRobot() { + if (!disableHAL && RobotBase.isReal()) { + if (robot == RobotType.ROBOT_SIMBOT) { // Invalid robot selected + if (!invalidRobotAlertSent) { + invalidRobotAlertSent = true; + } + return RobotType.ROBOT_2023C; + } else { + return robot; + } + } else { + return robot; + } + } + + public static Mode getMode() { + switch (getRobot()) { + case ROBOT_2023C: + case ROBOT_2023P: + return RobotBase.isReal() ? Mode.REAL : Mode.REPLAY; + + case ROBOT_SIMBOT: + return Mode.SIM; + + default: + return Mode.REAL; + } + } + + public static final Map logFolders = + Map.of(RobotType.ROBOT_2023C, "/media/sda2/"); + + public static enum RobotType { + ROBOT_2023C, + ROBOT_2023P, + ROBOT_SIMBOT + } + + public static enum Mode { + REAL, + REPLAY, + SIM + } + + // Function to disable HAL interaction when running without native libs + public static boolean disableHAL = false; + + public static void disableHAL() { + disableHAL = true; + } + + /** Checks whether the robot the correct robot is selected when deploying. */ + public static void main(String... args) { + if (robot == RobotType.ROBOT_SIMBOT) { + System.err.println("Cannot deploy, invalid robot selected: " + robot.toString()); + System.exit(1); + } + } +} diff --git a/src/main/java/team3176/robot/Robot.java b/src/main/java/team3176/robot/Robot.java index 88d7d7e..078d97e 100644 --- a/src/main/java/team3176/robot/Robot.java +++ b/src/main/java/team3176/robot/Robot.java @@ -4,14 +4,19 @@ package team3176.robot; +import org.littletonrobotics.junction.LogFileUtil; import org.littletonrobotics.junction.LoggedRobot; import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.inputs.LoggedPowerDistribution; import org.littletonrobotics.junction.networktables.NT4Publisher; +import org.littletonrobotics.junction.wpilog.WPILOGReader; import org.littletonrobotics.junction.wpilog.WPILOGWriter; +import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import team3176.robot.Constants.RobotType; import team3176.robot.subsystems.superstructure.Arm; import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.cscore.UsbCamera; @@ -38,9 +43,52 @@ public void robotInit() { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. Logger logger = Logger.getInstance(); - logger.addDataReceiver(new WPILOGWriter("/media/sda2/")); - logger.addDataReceiver(new NT4Publisher()); + logger.recordMetadata("Robot", Constants.getRobot().toString()); + System.out.println("[Init] Starting AdvantageKit"); + logger.recordMetadata("RuntimeType", getRuntimeType().toString()); + logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); + logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); + logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); + logger.recordMetadata("GitDate", BuildConstants.GIT_DATE); + logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH); + switch (BuildConstants.DIRTY) { + case 0: + logger.recordMetadata("GitDirty", "All changes committed"); + break; + case 1: + logger.recordMetadata("GitDirty", "Uncomitted changes"); + break; + default: + logger.recordMetadata("GitDirty", "Unknown"); + break; + } + switch (Constants.getMode()) { + case REAL: + String folder = Constants.logFolders.get(Constants.getRobot()); + if (folder != null) { + logger.addDataReceiver(new WPILOGWriter(folder)); + } + logger.addDataReceiver(new NT4Publisher()); + if (Constants.getRobot() == RobotType.ROBOT_2023C) { + LoggedPowerDistribution.getInstance(50, ModuleType.kRev); + } + break; + + case SIM: + logger.addDataReceiver(new WPILOGWriter("")); + logger.addDataReceiver(new NT4Publisher()); + break; + + case REPLAY: + String path = LogFileUtil.findReplayLog(); + logger.setReplaySource(new WPILOGReader(path)); + logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(path, "_sim"))); + break; + } + logger.start(); + + m_robotContainer = new RobotContainer(); SmartDashboard.putData(CommandScheduler.getInstance()); m_fisheyeThread = new Thread( () -> { From e7980e5dcd9afd8f93f7cd3952dbbe7dc48e67ac Mon Sep 17 00:00:00 2001 From: Jonathan Date: Fri, 28 Apr 2023 12:50:05 -0400 Subject: [PATCH 08/26] first crack at simulated swervepods --- Log_23-04-28_12-39-18.wpilog | Bin 0 -> 1595126 bytes Log_23-04-28_12-42-28.wpilog | Bin 0 -> 1331795 bytes Log_23-04-28_12-45-34.wpilog | Bin 0 -> 6378699 bytes simgui-ds.json | 11 ++- simgui-window.json | 14 ++-- src/main/java/team3176/robot/Robot.java | 15 ++-- .../constants/DrivetrainHardwareMap.java | 27 ++++--- .../subsystems/drivetrain/Drivetrain.java | 30 ++++++- .../subsystems/drivetrain/SwervePod.java | 11 ++- .../subsystems/drivetrain/SwervePodIO.java | 4 +- .../drivetrain/SwervePodIOFalconSpark.java | 11 ++- .../subsystems/drivetrain/SwervePodIOSim.java | 75 ++++++++++++++++++ 12 files changed, 152 insertions(+), 46 deletions(-) create mode 100644 Log_23-04-28_12-39-18.wpilog create mode 100644 Log_23-04-28_12-42-28.wpilog create mode 100644 Log_23-04-28_12-45-34.wpilog create mode 100644 src/main/java/team3176/robot/subsystems/drivetrain/SwervePodIOSim.java diff --git a/Log_23-04-28_12-39-18.wpilog b/Log_23-04-28_12-39-18.wpilog new file mode 100644 index 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