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Sample vector code for Joseph's collision detection pr #291

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Sample vector code for Joseph's collision detection pr #291

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12 changes: 8 additions & 4 deletions src/main/java/frc/robot/commands/collision/CheckCollision.java
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
package frc.robot.commands.collision;

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.Vector;
import edu.wpi.first.math.numbers.N2;
import frc.robot.constants.Constants;
import frc.robot.subsystems.gyro.ThreadedGyro;
import frc.robot.subsystems.swervev3.SwerveDrivetrain;
Expand All @@ -12,8 +15,8 @@ public class CheckCollision extends LoggableCommand {
private DoubleSupplier horizSupplier;
private final DoubleSupplier vertSupplier;
private ThreadedGyro accelerometer;
private double currentVelValue;
private double predictedVelValue;
private Vector<N2> currentVelValue;
private Vector<N2> predictedVelValue;
private boolean trustOdometry;

public CheckCollision(
Expand All @@ -39,8 +42,9 @@ public void execute() {
double y = MathUtil.applyDeadband(horizVal, 0.05) * Constants.MAX_VELOCITY / 10;
double x = MathUtil.applyDeadband(vertVal, 0.05) * Constants.MAX_VELOCITY / 10;
currentVelValue = accelerometer.getVelocityValue();
predictedVelValue = Math.sqrt(Math.pow(y, 2) + Math.pow(x, 2));
if (Math.abs(currentVelValue - predictedVelValue) > Constants.COLLISION_VALUE) {
predictedVelValue = VecBuilder.fill(x, y);
Vector<N2> diff = currentVelValue.minus(predictedVelValue);
if (diff.dot(diff) > Constants.COLLISION_VALUE) {
trustOdometry = false;
}
}
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11 changes: 7 additions & 4 deletions src/main/java/frc/robot/subsystems/gyro/ThreadedGyro.java
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
package frc.robot.subsystems.gyro;

import com.studica.frc.AHRS;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.Vector;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.wpilibj.DriverStation;
import frc.robot.constants.Constants;
import java.util.concurrent.Executors;
Expand All @@ -16,13 +19,13 @@ public class ThreadedGyro {
private final AtomicLong lastGyro;
private final AtomicLong gyroOffset = new AtomicLong();
private final ScheduledExecutorService executor;
private double currentVelocityValue;
private Vector<N2> currentVelocityValue;
private double currentVelValueX;
private double currentVelValueY;

public ThreadedGyro(AHRS gyro) {
this.gyro = gyro;
this.currentVelocityValue = 0;
this.currentVelocityValue = VecBuilder.fill(0, 0);
this.currentVelValueX = 0;
this.currentVelValueY = 0;
this.lastGyro = new AtomicLong((Double.doubleToLongBits(0)));
Expand Down Expand Up @@ -67,14 +70,14 @@ private void updateGyro() {
lastGyro.set(Double.doubleToLongBits(((gyro.getAngle()) % 360) * -1));
currentVelValueX = gyro.getVelocityX();
currentVelValueY = gyro.getVelocityY();
currentVelocityValue = Math.sqrt(Math.pow(currentVelValueX, 2) + Math.pow(currentVelValueY, 2));
currentVelocityValue = VecBuilder.fill(currentVelValueX, currentVelValueY);
}

public double getGyroValue() {
return Double.longBitsToDouble(lastGyro.get());
}

public double getVelocityValue() {
public Vector<N2> getVelocityValue() {
return currentVelocityValue;
}

Expand Down