From 1bdae463f11343980ae3111912d2e77f3dd06320 Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Thu, 6 Feb 2025 21:32:06 +0300 Subject: [PATCH 01/15] Swerve All Code --- .gitignore | 194 +++++ .wpilib/wpilib_preferences.json | 6 + LICENSE | 674 ---------------- WPILib-License.md | 24 + build.gradle | 104 +++ gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43583 bytes gradle/wrapper/gradle-wrapper.properties | 7 + gradlew | 252 ++++++ gradlew.bat | 94 +++ settings.gradle | 30 + .../deploy/pathplanner/autos/New Auto.auto | 19 + src/main/deploy/pathplanner/navgrid.json | 1 + .../pathplanner/paths/Example Path.path | 70 ++ src/main/deploy/pathplanner/settings.json | 32 + .../deploy/swerve/controllerproperties.json | 8 + src/main/deploy/swerve/modules/backleft.json | 27 + src/main/deploy/swerve/modules/backright.json | 27 + src/main/deploy/swerve/modules/frontleft.json | 27 + .../deploy/swerve/modules/frontright.json | 27 + .../swerve/modules/physicalproperties.json | 24 + .../deploy/swerve/modules/pidfproperties.json | 16 + src/main/deploy/swerve/swervedrive.json | 14 + src/main/java/frc/robot/Constants.java | 17 + src/main/java/frc/robot/Main.java | 25 + src/main/java/frc/robot/Robot.java | 154 ++++ src/main/java/frc/robot/RobotContainer.java | 87 +++ .../frc/robot/subsystems/Drive/Swerve.java | 737 ++++++++++++++++++ .../subsystems/Drive/SwerveConstants.java | 7 + .../robot/subsystems/RobotStatusManager.java | 146 ++++ .../frc/robot/subsystems/Vision/Vision.java | 637 +++++++++++++++ vendordeps/AdvantageKit.json | 35 + vendordeps/ChoreoLib-2025.0.2.json | 44 ++ vendordeps/DogLog.json | 20 + vendordeps/PathplannerLib-2025.2.2.json | 38 + vendordeps/Phoenix5-5.35.1.json | 171 ++++ vendordeps/Phoenix6-25.2.1.json | 419 ++++++++++ vendordeps/REVLib-2025.0.2.json | 71 ++ vendordeps/ReduxLib-2025.0.1.json | 72 ++ vendordeps/Studica-2025.0.1.json | 71 ++ vendordeps/ThriftyLib.json | 20 + vendordeps/URCL.json | 65 ++ vendordeps/WPILibNewCommands.json | 38 + vendordeps/maple-sim.json | 26 + vendordeps/photonlib.json | 71 ++ vendordeps/yagsl-2025.2.2.json | 64 ++ 45 files changed, 4038 insertions(+), 674 deletions(-) create mode 100644 .gitignore create mode 100644 .wpilib/wpilib_preferences.json delete mode 100644 LICENSE create mode 100644 WPILib-License.md create mode 100644 build.gradle create mode 100644 gradle/wrapper/gradle-wrapper.jar create mode 100644 gradle/wrapper/gradle-wrapper.properties create mode 100644 gradlew create mode 100644 gradlew.bat create mode 100644 settings.gradle create mode 100644 src/main/deploy/pathplanner/autos/New Auto.auto create mode 100644 src/main/deploy/pathplanner/navgrid.json create mode 100644 src/main/deploy/pathplanner/paths/Example Path.path create mode 100644 src/main/deploy/pathplanner/settings.json create mode 100644 src/main/deploy/swerve/controllerproperties.json create mode 100644 src/main/deploy/swerve/modules/backleft.json create mode 100644 src/main/deploy/swerve/modules/backright.json create mode 100644 src/main/deploy/swerve/modules/frontleft.json create mode 100644 src/main/deploy/swerve/modules/frontright.json create mode 100644 src/main/deploy/swerve/modules/physicalproperties.json create mode 100644 src/main/deploy/swerve/modules/pidfproperties.json create mode 100644 src/main/deploy/swerve/swervedrive.json create mode 100644 src/main/java/frc/robot/Constants.java create mode 100644 src/main/java/frc/robot/Main.java create mode 100644 src/main/java/frc/robot/Robot.java create mode 100644 src/main/java/frc/robot/RobotContainer.java create mode 100644 src/main/java/frc/robot/subsystems/Drive/Swerve.java create mode 100644 src/main/java/frc/robot/subsystems/Drive/SwerveConstants.java create mode 100644 src/main/java/frc/robot/subsystems/RobotStatusManager.java create mode 100644 src/main/java/frc/robot/subsystems/Vision/Vision.java create mode 100644 vendordeps/AdvantageKit.json create mode 100644 vendordeps/ChoreoLib-2025.0.2.json create mode 100644 vendordeps/DogLog.json create mode 100644 vendordeps/PathplannerLib-2025.2.2.json create mode 100644 vendordeps/Phoenix5-5.35.1.json create mode 100644 vendordeps/Phoenix6-25.2.1.json create mode 100644 vendordeps/REVLib-2025.0.2.json create mode 100644 vendordeps/ReduxLib-2025.0.1.json create mode 100644 vendordeps/Studica-2025.0.1.json create mode 100644 vendordeps/ThriftyLib.json create mode 100644 vendordeps/URCL.json create mode 100644 vendordeps/WPILibNewCommands.json create mode 100644 vendordeps/maple-sim.json create mode 100644 vendordeps/photonlib.json create mode 100644 vendordeps/yagsl-2025.2.2.json diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..335b74e --- /dev/null +++ b/.gitignore @@ -0,0 +1,194 @@ +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +.vscode/ +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath + +.SysId/ +.Glass/ +simgui-ds.json + + diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json new file mode 100644 index 0000000..1f981eb --- /dev/null +++ b/.wpilib/wpilib_preferences.json @@ -0,0 +1,6 @@ +{ + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2025", + "teamNumber": 5655 +} \ No newline at end of file diff --git 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If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/WPILib-License.md b/WPILib-License.md new file mode 100644 index 0000000..645e542 --- /dev/null +++ b/WPILib-License.md @@ -0,0 +1,24 @@ +Copyright (c) 2009-2024 FIRST and other WPILib contributors +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of FIRST, WPILib, nor the names of other WPILib + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR +PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/build.gradle b/build.gradle new file mode 100644 index 0000000..c6fea4f --- /dev/null +++ b/build.gradle @@ -0,0 +1,104 @@ +plugins { + id "java" + id "edu.wpi.first.GradleRIO" version "2025.2.1" +} + +java { + sourceCompatibility = JavaVersion.VERSION_17 + targetCompatibility = JavaVersion.VERSION_17 +} + +def ROBOT_MAIN_CLASS = "frc.robot.Main" + +// Define my targets (RoboRIO) and artifacts (deployable files) +// This is added by GradleRIO's backing project DeployUtils. +deploy { + targets { + roborio(getTargetTypeClass('RoboRIO')) { + // Team number is loaded either from the .wpilib/wpilib_preferences.json + // or from command line. If not found an exception will be thrown. + // You can use getTeamOrDefault(team) instead of getTeamNumber if you + // want to store a team number in this file. + team = project.frc.getTeamNumber() + debug = project.frc.getDebugOrDefault(false) + + artifacts { + // First part is artifact name, 2nd is artifact type + // getTargetTypeClass is a shortcut to get the class type using a string + + frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + } + + // Static files artifact + frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { + files = project.fileTree('src/main/deploy') + directory = '/home/lvuser/deploy' + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project + } + } + } + } +} + +def deployArtifact = deploy.targets.roborio.artifacts.frcJava + +// Set to true to use debug for JNI. +wpi.java.debugJni = false + +// Set this to true to enable desktop support. +def includeDesktopSupport = true + +// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. +// Also defines JUnit 5. +dependencies { + annotationProcessor wpi.java.deps.wpilibAnnotations() + implementation wpi.java.deps.wpilib() + implementation wpi.java.vendor.java() + + roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio) + roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio) + + roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio) + roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio) + + nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop) + nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop) + simulationDebug wpi.sim.enableDebug() + + nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop) + nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop) + simulationRelease wpi.sim.enableRelease() + + testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +test { + useJUnitPlatform() + systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true' +} + +// Simulation configuration (e.g. environment variables). +wpi.sim.addGui().defaultEnabled = true +wpi.sim.addDriverstation() + +// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') +// in order to make them all available at runtime. Also adding the manifest so WPILib +// knows where to look for our Robot Class. +jar { + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from sourceSets.main.allSource + manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) + duplicatesStrategy = DuplicatesStrategy.INCLUDE +} + +// Configure jar and deploy tasks +deployArtifact.jarTask = jar +wpi.java.configureExecutableTasks(jar) +wpi.java.configureTestTasks(test) + +// Configure string concat to always inline compile +tasks.withType(JavaCompile) { + options.compilerArgs.add '-XDstringConcat=inline' +} diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar new file mode 100644 index 0000000000000000000000000000000000000000..a4b76b9530d66f5e68d973ea569d8e19de379189 GIT binary patch literal 43583 zcma&N1CXTcmMvW9vTb(Rwr$&4wr$(C?dmSu>@vG-+vuvg^_??!{yS%8zW-#zn-LkA z5&1^$^{lnmUON?}LBF8_K|(?T0Ra(xUH{($5eN!MR#ZihR#HxkUPe+_R8Cn`RRs(P 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diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..34bd9ce --- /dev/null +++ b/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew new file mode 100644 index 0000000..f5feea6 --- /dev/null +++ b/gradlew @@ -0,0 +1,252 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat new file mode 100644 index 0000000..9d21a21 --- /dev/null +++ b/gradlew.bat @@ -0,0 +1,94 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/settings.gradle b/settings.gradle new file mode 100644 index 0000000..969c7b0 --- /dev/null +++ b/settings.gradle @@ -0,0 +1,30 @@ +import org.gradle.internal.os.OperatingSystem + +pluginManagement { + repositories { + mavenLocal() + gradlePluginPortal() + String frcYear = '2025' + File frcHome + if (OperatingSystem.current().isWindows()) { + String publicFolder = System.getenv('PUBLIC') + if (publicFolder == null) { + publicFolder = "C:\\Users\\Public" + } + def homeRoot = new File(publicFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } else { + def userFolder = System.getProperty("user.home") + def homeRoot = new File(userFolder, "wpilib") + frcHome = new File(homeRoot, frcYear) + } + def frcHomeMaven = new File(frcHome, 'maven') + maven { + name 'frcHome' + url frcHomeMaven + } + } +} + +Properties props = System.getProperties(); +props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true"); diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto new file mode 100644 index 0000000..70b7ab2 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/New Auto.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Example Path" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json new file mode 100644 index 0000000..23e0db9 --- /dev/null +++ b/src/main/deploy/pathplanner/navgrid.json @@ -0,0 +1 @@ +{"field_size":{"x":17.548,"y":8.052},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,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\ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/Example Path.path new file mode 100644 index 0000000..b362c7b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Example Path.path @@ -0,0 +1,70 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.753253424657535, + "y": 2.66517551369863 + }, + "prevControl": null, + "nextControl": { + "x": 8.564640410958912, + "y": 2.6351241438356174 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.9517551369863013, + "y": 5.42990154109589 + }, + "prevControl": { + "x": 7.7935855263157885, + "y": 6.622861842105262 + }, + "nextControl": { + "x": 2.2635141527995155, + "y": 4.905671091395238 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.753253424657535, + "y": 2.66517551369863 + }, + "prevControl": { + "x": 7.716611842105262, + "y": 7.190542763157895 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -63.43494882292201 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json new file mode 100644 index 0000000..6502d55 --- /dev/null +++ b/src/main/deploy/pathplanner/settings.json @@ -0,0 +1,32 @@ +{ + "robotWidth": 0.9, + "robotLength": 0.9, + "holonomicMode": true, + "pathFolders": [], + "autoFolders": [], + "defaultMaxVel": 3.0, + "defaultMaxAccel": 3.0, + "defaultMaxAngVel": 540.0, + "defaultMaxAngAccel": 720.0, + "defaultNominalVoltage": 12.0, + "robotMass": 60.0, + "robotMOI": 6.883, + "robotTrackwidth": 0.546, + "driveWheelRadius": 0.076, + "driveGearing": 16.9, + "maxDriveSpeed": 4.0, + "driveMotorType": "vortex", + "driveCurrentLimit": 40.0, + "wheelCOF": 1.2, + "flModuleX": 0.273, + "flModuleY": 0.273, + "frModuleX": 0.273, + "frModuleY": -0.273, + "blModuleX": -0.273, + "blModuleY": 0.273, + "brModuleX": -0.273, + "brModuleY": -0.273, + "bumperOffsetX": 0.0, + "bumperOffsetY": 0.0, + "robotFeatures": [] +} \ No newline at end of file diff --git a/src/main/deploy/swerve/controllerproperties.json b/src/main/deploy/swerve/controllerproperties.json new file mode 100644 index 0000000..669097e --- /dev/null +++ b/src/main/deploy/swerve/controllerproperties.json @@ -0,0 +1,8 @@ +{ + "angleJoystickRadiusDeadband": 0.5, + "heading": { + "p": 0.4, + "i": 0, + "d": 0.01 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json new file mode 100644 index 0000000..bc087bb --- /dev/null +++ b/src/main/deploy/swerve/modules/backleft.json @@ -0,0 +1,27 @@ +{ + "location": { + "front": -11.5, + "left": 11.5 + }, + "absoluteEncoderOffset": 0, + "drive": { + "type": "sparkflex_vortex", + "id": 63, + "canbus": "rio" + }, + "inverted": { + "drive": true, + "angle": true + }, + "angle": { + "type": "sparkmax_neo", + "id": 73, + "canbus": "rio" + }, + "encoder": { + "type": "thrifty", + "id": 3, + "canbus": null + }, + "absoluteEncoderInverted": false +} \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json new file mode 100644 index 0000000..a0e0797 --- /dev/null +++ b/src/main/deploy/swerve/modules/backright.json @@ -0,0 +1,27 @@ +{ + "location": { + "front": -11.5, + "left": -11.5 + }, + "absoluteEncoderOffset": 0, + "drive": { + "type": "sparkflex_vortex", + "id": 64, + "canbus": "rio" + }, + "inverted": { + "drive": true, + "angle": true + }, + "angle": { + "type": "sparkmax_neo", + "id": 74, + "canbus": "rio" + }, + "encoder": { + "type": "thrifty", + "id": 0, + "canbus": null + }, + "absoluteEncoderInverted": false +} \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json new file mode 100644 index 0000000..58b201f --- /dev/null +++ b/src/main/deploy/swerve/modules/frontleft.json @@ -0,0 +1,27 @@ +{ + "location": { + "front": 11.5, + "left": 11.5 + }, + "absoluteEncoderOffset": 0, + "drive": { + "type": "sparkflex_vortex", + "id": 61, + "canbus": "rio" + }, + "inverted": { + "drive": true, + "angle": true + }, + "angle": { + "type": "sparkmax_neo", + "id": 71, + "canbus": "rio" + }, + "encoder": { + "type": "thrifty", + "id": 1, + "canbus": null + }, + "absoluteEncoderInverted": false +} \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json new file mode 100644 index 0000000..339d706 --- /dev/null +++ b/src/main/deploy/swerve/modules/frontright.json @@ -0,0 +1,27 @@ +{ + "location": { + "front": 11.5, + "left": -11.5 + }, + "absoluteEncoderOffset": 0, + "drive": { + "type": "sparkflex_vortex", + "id": 62, + "canbus": "rio" + }, + "inverted": { + "drive": true, + "angle": true + }, + "angle": { + "type": "sparkmax_neo", + "id": 72, + "canbus": "rio" + }, + "encoder": { + "type": "thrifty", + "id": 2, + "canbus": null + }, + "absoluteEncoderInverted": false +} \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/physicalproperties.json b/src/main/deploy/swerve/modules/physicalproperties.json new file mode 100644 index 0000000..d3c53db --- /dev/null +++ b/src/main/deploy/swerve/modules/physicalproperties.json @@ -0,0 +1,24 @@ +{ + "optimalVoltage": 12, + "robotMass": 132.2774, + "wheelGripCoefficientOfFriction": 1.19, + "currentLimit": { + "drive": 40, + "angle": 20 + }, + "conversionFactors": { + "angle": { + "gearRatio": 25, + "factor": 0 + }, + "drive": { + "diameter": 3, + "gearRatio": 16.9, + "factor": 0 + } + }, + "rampRate": { + "drive": 0.25, + "angle": 0.25 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/modules/pidfproperties.json b/src/main/deploy/swerve/modules/pidfproperties.json new file mode 100644 index 0000000..3834a36 --- /dev/null +++ b/src/main/deploy/swerve/modules/pidfproperties.json @@ -0,0 +1,16 @@ +{ + "drive": { + "p": 0.0020645, + "i": 0, + "d": 0, + "f": 0, + "iz": 0 + }, + "angle": { + "p": 0.0020645, + "i": 0, + "d": 0, + "f": 0, + "iz": 0 + } +} \ No newline at end of file diff --git a/src/main/deploy/swerve/swervedrive.json b/src/main/deploy/swerve/swervedrive.json new file mode 100644 index 0000000..a4cdb4b --- /dev/null +++ b/src/main/deploy/swerve/swervedrive.json @@ -0,0 +1,14 @@ +{ + "imu": { + "type": "pigeon2", + "id": 51, + "canbus": "rio" + }, + "invertedIMU": false, + "modules": [ + "frontleft.json", + "frontright.json", + "backleft.json", + "backright.json" + ] +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java new file mode 100644 index 0000000..a79e045 --- /dev/null +++ b/src/main/java/frc/robot/Constants.java @@ -0,0 +1,17 @@ +package frc.robot; + +public final class Constants { + public static class OperatorConstants { + public static final int kDriverControllerPort = 0; + // Joystick Deadband + public static final double DEADBAND = 0.1; + public static final double LEFT_Y_DEADBAND = 0.1; + public static final double RIGHT_X_DEADBAND = 0.1; + public static final double TURN_CONSTANT = 6; + } + + public static class GeneralConstants { + public static final int LED_LENGTH = 30; + public static final int LED_PWM_PORT = 1; + } +} diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java new file mode 100644 index 0000000..8776e5d --- /dev/null +++ b/src/main/java/frc/robot/Main.java @@ -0,0 +1,25 @@ +// 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 frc.robot; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ +public final class Main { + private Main() {} + + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java new file mode 100644 index 0000000..51fbf0b --- /dev/null +++ b/src/main/java/frc/robot/Robot.java @@ -0,0 +1,154 @@ +// 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 frc.robot; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.subsystems.RobotStatusManager; +import frc.robot.subsystems.Drive.SwerveConstants; + +/** + * The methods in this class are called automatically corresponding to each + * mode, as described in + * the TimedRobot documentation. If you change the name of this class or the + * package after creating + * this project, you must also update the Main.java file in the project. + */ +public class Robot extends TimedRobot { + private Command m_autonomousCommand; + private RobotStatusManager statusManager; + private RobotContainer m_robotContainer; + private Timer disabledTimer; + private static Robot instance; + /** + * This function is run when the robot is first started up and should be used for any + * initialization code. + */ + public Robot() + { + instance = this; + } + + public static Robot getInstance() + { + return instance; + } + + /** + * This function is called every 20 ms, no matter the mode. Use this for items + * like diagnostics + * that you want ran during disabled, autonomous, teleoperated and test. + * + *

+ * This runs after the mode specific periodic functions, but before LiveWindow + * and + * SmartDashboard integrated updating. + */ + @Override + public void robotInit() { + // Instantiate our RobotContainer. This will perform all our button bindings, + // and put our + // autonomous chooser on the dashboard. + statusManager = new RobotStatusManager(); + m_robotContainer = new RobotContainer(); + + // Create a timer to disable motor brake a few seconds after disable. This will + // let the robot stop + // immediately when disabled, but then also let it be pushed more + disabledTimer = new Timer(); + + if (isSimulation()) { + DriverStation.silenceJoystickConnectionWarning(true); + } + } + + @Override + public void robotPeriodic() { + // Runs the Scheduler. This is responsible for polling buttons, adding + // newly-scheduled + // commands, running already-scheduled commands, removing finished or + // interrupted commands, + // and running subsystem periodic() methods. This must be called from the + // robot's periodic + // block in order for anything in the Command-based framework to work. + CommandScheduler.getInstance().run(); + statusManager.periodic(); + } + + /** This function is called once each time the robot enters Disabled mode. */ + @Override + public void disabledInit() { + m_robotContainer.setMotorBrake(true); + disabledTimer.reset(); + disabledTimer.start(); + } + + @Override + public void disabledPeriodic() { + if (disabledTimer.hasElapsed(SwerveConstants.WHEEL_LOCK_TIME)) { + m_robotContainer.setMotorBrake(false); + disabledTimer.stop(); + } + } + + /** + * This autonomous runs the autonomous command selected by your + * {@link RobotContainer} class. + */ + @Override + public void autonomousInit() { + m_autonomousCommand = m_robotContainer.getAutonomousCommand(); + + // schedule the autonomous command (example) + if (m_autonomousCommand != null) { + m_autonomousCommand.schedule(); + } + } + + /** This function is called periodically during autonomous. */ + @Override + public void autonomousPeriodic() { + } + + @Override + public void teleopInit() { + // This makes sure that the autonomous stops running when + // teleop starts running. If you want the autonomous to + // continue until interrupted by another command, remove + // this line or comment it out. + if (m_autonomousCommand != null) { + m_autonomousCommand.cancel(); + } + } + + /** This function is called periodically during operator control. */ + @Override + public void teleopPeriodic() { + } + + @Override + public void testInit() { + // Cancels all running commands at the start of test mode. + CommandScheduler.getInstance().cancelAll(); + } + + /** This function is called periodically during test mode. */ + @Override + public void testPeriodic() { + } + + /** This function is called once when the robot is first started up. */ + @Override + public void simulationInit() { + } + + /** This function is called periodically whilst in simulation. */ + @Override + public void simulationPeriodic() { + } +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java new file mode 100644 index 0000000..0180b23 --- /dev/null +++ b/src/main/java/frc/robot/RobotContainer.java @@ -0,0 +1,87 @@ +// 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 frc.robot; + +import com.pathplanner.lib.auto.NamedCommands; +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.DriverStation; +import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.RobotBase; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.button.Trigger; +import frc.robot.Constants.OperatorConstants; +import frc.robot.subsystems.Drive.Swerve; +import java.io.File; +import swervelib.SwerveInputStream; + +/** + * This class is where the bulk of the robot should be declared. Since + * Command-based is a "declarative" paradigm, very + * little robot logic should actually be handled in the {@link Robot} periodic + * methods (other than the scheduler calls). + * Instead, the structure of the robot (including subsystems, commands, and + * trigger mappings) should be declared here. + */ +public class RobotContainer { + + // Replace with CommandPS4Controller or CommandJoystick if needed + final CommandXboxController driverController = new CommandXboxController(0); + // The robot's subsystems and commands are defined here... + private final Swerve drivebase = new Swerve(new File(Filesystem.getDeployDirectory(), + "swerve")); + + + SwerveInputStream driveAngularVelocity = SwerveInputStream.of(drivebase.getSwerveDrive(), + () -> driverController.getLeftY() * -1, + () -> driverController.getLeftX() * -1) + .withControllerRotationAxis(driverController::getRightX) + .deadband(OperatorConstants.DEADBAND) + .scaleTranslation(0.8) + .allianceRelativeControl(true); + SwerveInputStream driveAngularVelocityKeyboard = SwerveInputStream.of(drivebase.getSwerveDrive(), + () -> -driverController.getLeftY(), + () -> -driverController.getLeftX()) + .withControllerRotationAxis(() -> driverController.getRawAxis( + 2) * -1) + .deadband(OperatorConstants.DEADBAND) + .scaleTranslation(0.8) + .allianceRelativeControl(true); + // Derive the heading axis with math! + + + Command driveFieldOrientedAnglularVelocity = drivebase.driveFieldOriented(driveAngularVelocity); + Command driveFieldOrientedAnglularVelocityKeyboard = drivebase.driveFieldOriented(driveAngularVelocityKeyboard); + /** + * The container for the robot. Contains subsystems, OI devices, and commands. + */ + public RobotContainer() { + // Configure the trigger bindings + configureBindings(); + DriverStation.silenceJoystickConnectionWarning(true); + NamedCommands.registerCommand("test", Commands.print("I EXIST")); + } + + private void configureBindings() { + drivebase.setDefaultCommand( + Robot.isSimulation() ? driveFieldOrientedAnglularVelocityKeyboard : driveFieldOrientedAnglularVelocity); + driverController.button(5).whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly()); + driverController.button(10).onTrue((Commands.runOnce(drivebase::zeroGyro))); + driverController.button(4).whileTrue(drivebase.centerModulesCommand()); + //driverController.button(3).whileTrue(drivebase.pa); Go barge command + } + + public Command getAutonomousCommand() { + // An example command will be run in autonomous + return drivebase.getAutonomousCommand("New Auto"); + } + + public void setMotorBrake(boolean brake) { + drivebase.setMotorBrake(brake); + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Drive/Swerve.java b/src/main/java/frc/robot/subsystems/Drive/Swerve.java new file mode 100644 index 0000000..21cb8f3 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Drive/Swerve.java @@ -0,0 +1,737 @@ +// 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 frc.robot.subsystems.Drive; + +import static edu.wpi.first.units.Units.Meter; + +import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.commands.PathPlannerAuto; +import com.pathplanner.lib.commands.PathfindingCommand; +import com.pathplanner.lib.config.PIDConstants; +import com.pathplanner.lib.config.RobotConfig; +import com.pathplanner.lib.controllers.PPHolonomicDriveController; +import com.pathplanner.lib.path.PathConstraints; +import com.pathplanner.lib.path.PathPlannerPath; +import com.pathplanner.lib.util.DriveFeedforwards; +import com.pathplanner.lib.util.swerve.SwerveSetpoint; +import com.pathplanner.lib.util.swerve.SwerveSetpointGenerator; +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; +import edu.wpi.first.math.controller.SimpleMotorFeedforward; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.trajectory.Trajectory; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config; +import frc.robot.Constants; +import frc.robot.subsystems.Vision.Vision; +import frc.robot.subsystems.Vision.Vision.Cameras; + +import java.io.File; +import java.io.IOException; +import java.util.Arrays; +import java.util.Optional; +import java.util.concurrent.atomic.AtomicReference; +import java.util.function.DoubleSupplier; +import java.util.function.Supplier; +import org.json.simple.parser.ParseException; +import org.photonvision.targeting.PhotonPipelineResult; +import swervelib.SwerveController; +import swervelib.SwerveDrive; +import swervelib.SwerveDriveTest; +import swervelib.math.SwerveMath; +import swervelib.parser.SwerveControllerConfiguration; +import swervelib.parser.SwerveDriveConfiguration; +import swervelib.parser.SwerveParser; +import swervelib.telemetry.SwerveDriveTelemetry; +import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity; + +public class Swerve extends SubsystemBase +{ + + /** + * Swerve drive object. + */ + private final SwerveDrive swerveDrive; + /** + * AprilTag field layout. + */ + private final AprilTagFieldLayout aprilTagFieldLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField); + /** + * Enable vision odometry updates while driving. + */ + private final boolean visionDriveTest = false; + /** + * PhotonVision class to keep an accurate odometry. + */ + private Vision vision; + + /** + * Initialize {@link SwerveDrive} with the directory provided. + * + * @param directory Directory of swerve drive config files. + */ + public Swerve(File directory) + { + // Configure the Telemetry before creating the SwerveDrive to avoid unnecessary objects being created. + SwerveDriveTelemetry.verbosity = TelemetryVerbosity.HIGH; + try + { + swerveDrive = new SwerveParser(directory).createSwerveDrive(SwerveConstants.MAX_SPEED, + new Pose2d(new Translation2d(Meter.of(1), + Meter.of(4)), + Rotation2d.fromDegrees(0))); + // Alternative method if you don't want to supply the conversion factor via JSON files. + // swerveDrive = new SwerveParser(directory).createSwerveDrive(maximumSpeed, angleConversionFactor, driveConversionFactor); + } catch (Exception e) + { + throw new RuntimeException(e); + } + swerveDrive.setHeadingCorrection(false); // Heading correction should only be used while controlling the robot via angle. + swerveDrive.setCosineCompensator(false);//!SwerveDriveTelemetry.isSimulation); // Disables cosine compensation for simulations since it causes discrepancies not seen in real life. + swerveDrive.setAngularVelocityCompensation(true, + true, + 0.1); //Correct for skew that gets worse as angular velocity increases. Start with a coefficient of 0.1. + swerveDrive.setModuleEncoderAutoSynchronize(false, + 1); // Enable if you want to resynchronize your absolute encoders and motor encoders periodically when they are not moving. +// swerveDrive.pushOffsetsToEncoders(); // Set the absolute encoder to be used over the internal encoder and push the offsets onto it. Throws warning if not possible + if (visionDriveTest) + { + setupPhotonVision(); + // Stop the odometry thread if we are using vision that way we can synchronize updates better. + swerveDrive.stopOdometryThread(); + } + setupPathPlanner(); + } + + /** + * Construct the swerve drive. + * + * @param driveCfg SwerveDriveConfiguration for the swerve. + * @param controllerCfg Swerve Controller. + */ + public Swerve(SwerveDriveConfiguration driveCfg, SwerveControllerConfiguration controllerCfg) + { + swerveDrive = new SwerveDrive(driveCfg, + controllerCfg, + SwerveConstants.MAX_SPEED, + new Pose2d(new Translation2d(Meter.of(2), Meter.of(0)), + Rotation2d.fromDegrees(0))); + } + + /** + * Setup the photon vision class. + */ + public void setupPhotonVision() + { + vision = new Vision(swerveDrive::getPose, swerveDrive.field); + } + + @Override + public void periodic() + { + // When vision is enabled we must manually update odometry in SwerveDrive + if (visionDriveTest) + { + swerveDrive.updateOdometry(); + vision.updatePoseEstimation(swerveDrive); + } + } + + @Override + public void simulationPeriodic() + { + } + + /** + * Setup AutoBuilder for PathPlanner. + */ + public void setupPathPlanner() + { + // Load the RobotConfig from the GUI settings. You should probably + // store this in your Constants file + RobotConfig config; + try + { + config = RobotConfig.fromGUISettings(); + + final boolean enableFeedforward = true; + // Configure AutoBuilder last + AutoBuilder.configure( + this::getPose, + // Robot pose supplier + this::resetOdometry, + // Method to reset odometry (will be called if your auto has a starting pose) + this::getRobotVelocity, + // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE + (speedsRobotRelative, moduleFeedForwards) -> { + if (enableFeedforward) + { + swerveDrive.drive( + speedsRobotRelative, + swerveDrive.kinematics.toSwerveModuleStates(speedsRobotRelative), + moduleFeedForwards.linearForces() + ); + } else + { + swerveDrive.setChassisSpeeds(speedsRobotRelative); + } + }, + // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards + new PPHolonomicDriveController( + // PPHolnoomicController is the built in path following controller for holonomic drive trains + new PIDConstants(5.0, 0.0, 0.0), + // Translation PID constants + new PIDConstants(5.0, 0.0, 0.0) + // Rotation PID constants + ), + config, + // The robot configuration + () -> { + // Boolean supplier that controls when the path will be mirrored for the red alliance + // This will flip the path being followed to the red side of the field. + // THE ORIGIN WILL REMAIN ON THE BLUE SIDE + + var alliance = DriverStation.getAlliance(); + if (alliance.isPresent()) + { + return alliance.get() == DriverStation.Alliance.Red; + } + return false; + }, + this + // Reference to this subsystem to set requirements + ); + + } catch (Exception e) + { + // Handle exception as needed + e.printStackTrace(); + } + + //Preload PathPlanner Path finding + // IF USING CUSTOM PATHFINDER ADD BEFORE THIS LINE + PathfindingCommand.warmupCommand().schedule(); + } + + /** + * Aim the robot at the target returned by PhotonVision. + * + * @return A {@link Command} which will run the alignment. + */ + public Command aimAtTarget(Cameras camera) + { + + return run(() -> { + Optional resultO = camera.getBestResult(); + if (resultO.isPresent()) + { + var result = resultO.get(); + if (result.hasTargets()) + { + drive(getTargetSpeeds(0, + 0, + Rotation2d.fromDegrees(result.getBestTarget() + .getYaw()))); // Not sure if this will work, more math may be required. + } + } + }); + } + + /** + * Get the path follower with events. + * + * @param pathName PathPlanner path name. + * @return {@link AutoBuilder#followPath(PathPlannerPath)} path command. + */ + public Command getAutonomousCommand(String pathName) + { + // Create a path following command using AutoBuilder. This will also trigger event markers. + return new PathPlannerAuto(pathName); + } + + /** + * Use PathPlanner Path finding to go to a point on the field. + * + * @param pose Target {@link Pose2d} to go to. + * @return PathFinding command + */ + public Command driveToPose(Pose2d pose) + { +// Create the constraints to use while pathfinding + PathConstraints constraints = new PathConstraints( + swerveDrive.getMaximumChassisVelocity(), 4.0, + swerveDrive.getMaximumChassisAngularVelocity(), Units.degreesToRadians(720)); + +// Since AutoBuilder is configured, we can use it to build pathfinding commands + return AutoBuilder.pathfindToPose( + pose, + constraints, + edu.wpi.first.units.Units.MetersPerSecond.of(0) // Goal end velocity in meters/sec + ); + } + + /** + * Drive with {@link SwerveSetpointGenerator} from 254, implemented by PathPlanner. + * + * @param robotRelativeChassisSpeed Robot relative {@link ChassisSpeeds} to achieve. + * @return {@link Command} to run. + * @throws IOException If the PathPlanner GUI settings is invalid + * @throws ParseException If PathPlanner GUI settings is nonexistent. + */ + private Command driveWithSetpointGenerator(Supplier robotRelativeChassisSpeed) + throws IOException, ParseException + { + SwerveSetpointGenerator setpointGenerator = new SwerveSetpointGenerator(RobotConfig.fromGUISettings(), + swerveDrive.getMaximumChassisAngularVelocity()); + AtomicReference prevSetpoint + = new AtomicReference<>(new SwerveSetpoint(swerveDrive.getRobotVelocity(), + swerveDrive.getStates(), + DriveFeedforwards.zeros(swerveDrive.getModules().length))); + AtomicReference previousTime = new AtomicReference<>(); + + return startRun(() -> previousTime.set(Timer.getFPGATimestamp()), + () -> { + double newTime = Timer.getFPGATimestamp(); + SwerveSetpoint newSetpoint = setpointGenerator.generateSetpoint(prevSetpoint.get(), + robotRelativeChassisSpeed.get(), + newTime - previousTime.get()); + swerveDrive.drive(newSetpoint.robotRelativeSpeeds(), + newSetpoint.moduleStates(), + newSetpoint.feedforwards().linearForces()); + prevSetpoint.set(newSetpoint); + previousTime.set(newTime); + + }); + } + + /** + * Drive with 254's Setpoint generator; port written by PathPlanner. + * + * @param fieldRelativeSpeeds Field-Relative {@link ChassisSpeeds} + * @return Command to drive the robot using the setpoint generator. + */ + public Command driveWithSetpointGeneratorFieldRelative(Supplier fieldRelativeSpeeds) + { + try + { + return driveWithSetpointGenerator(() -> { + return ChassisSpeeds.fromFieldRelativeSpeeds(fieldRelativeSpeeds.get(), getHeading()); + + }); + } catch (Exception e) + { + DriverStation.reportError(e.toString(), true); + } + return Commands.none(); + + } + + + /** + * Command to characterize the robot drive motors using SysId + * + * @return SysId Drive Command + */ + public Command sysIdDriveMotorCommand() + { + return SwerveDriveTest.generateSysIdCommand( + SwerveDriveTest.setDriveSysIdRoutine( + new Config(), + this, swerveDrive, 12, true), + 3.0, 5.0, 3.0); + } + + /** + * Command to characterize the robot angle motors using SysId + * + * @return SysId Angle Command + */ + public Command sysIdAngleMotorCommand() + { + return SwerveDriveTest.generateSysIdCommand( + SwerveDriveTest.setAngleSysIdRoutine( + new Config(), + this, swerveDrive), + 3.0, 5.0, 3.0); + } + + /** + * Returns a Command that centers the modules of the SwerveDrive subsystem. + * + * @return a Command that centers the modules of the SwerveDrive subsystem + */ + public Command centerModulesCommand() + { + return run(() -> Arrays.asList(swerveDrive.getModules()) + .forEach(it -> it.setAngle(0.0))); + } + + /** + * Returns a Command that drives the swerve drive to a specific distance at a given speed. + * + * @param distanceInMeters the distance to drive in meters + * @param speedInMetersPerSecond the speed at which to drive in meters per second + * @return a Command that drives the swerve drive to a specific distance at a given speed + */ + public Command driveToDistanceCommand(double distanceInMeters, double speedInMetersPerSecond) + { + return run(() -> drive(new ChassisSpeeds(speedInMetersPerSecond, 0, 0))) + .until(() -> swerveDrive.getPose().getTranslation().getDistance(new Translation2d(0, 0)) > + distanceInMeters); + } + + /** + * Replaces the swerve module feedforward with a new SimpleMotorFeedforward object. + * + * @param kS the static gain of the feedforward + * @param kV the velocity gain of the feedforward + * @param kA the acceleration gain of the feedforward + */ + public void replaceSwerveModuleFeedforward(double kS, double kV, double kA) + { + swerveDrive.replaceSwerveModuleFeedforward(new SimpleMotorFeedforward(kS, kV, kA)); + } + + /** + * Command to drive the robot using translative values and heading as angular velocity. + * + * @param translationX Translation in the X direction. Cubed for smoother controls. + * @param translationY Translation in the Y direction. Cubed for smoother controls. + * @param angularRotationX Angular velocity of the robot to set. Cubed for smoother controls. + * @return Drive command. + */ + public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translationY, DoubleSupplier angularRotationX) + { + return run(() -> { + // Make the robot move + swerveDrive.drive(SwerveMath.scaleTranslation(new Translation2d( + translationX.getAsDouble() * swerveDrive.getMaximumChassisVelocity(), + translationY.getAsDouble() * swerveDrive.getMaximumChassisVelocity()), 0.8), + Math.pow(angularRotationX.getAsDouble(), 3) * swerveDrive.getMaximumChassisAngularVelocity(), + true, + false); + }); + } + + /** + * Command to drive the robot using translative values and heading as a setpoint. + * + * @param translationX Translation in the X direction. Cubed for smoother controls. + * @param translationY Translation in the Y direction. Cubed for smoother controls. + * @param headingX Heading X to calculate angle of the joystick. + * @param headingY Heading Y to calculate angle of the joystick. + * @return Drive command. + */ + public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translationY, DoubleSupplier headingX, + DoubleSupplier headingY) + { + // swerveDrive.setHeadingCorrection(true); // Normally you would want heading correction for this kind of control. + return run(() -> { + + Translation2d scaledInputs = SwerveMath.scaleTranslation(new Translation2d(translationX.getAsDouble(), + translationY.getAsDouble()), 0.8); + + // Make the robot move + driveFieldOriented(swerveDrive.swerveController.getTargetSpeeds(scaledInputs.getX(), scaledInputs.getY(), + headingX.getAsDouble(), + headingY.getAsDouble(), + swerveDrive.getOdometryHeading().getRadians(), + swerveDrive.getMaximumChassisVelocity())); + }); + } + + /** + * The primary method for controlling the drivebase. Takes a {@link Translation2d} and a rotation rate, and + * calculates and commands module states accordingly. Can use either open-loop or closed-loop velocity control for + * the wheel velocities. Also has field- and robot-relative modes, which affect how the translation vector is used. + * + * @param translation {@link Translation2d} that is the commanded linear velocity of the robot, in meters per + * second. In robot-relative mode, positive x is torwards the bow (front) and positive y is + * torwards port (left). In field-relative mode, positive x is away from the alliance wall + * (field North) and positive y is torwards the left wall when looking through the driver station + * glass (field West). + * @param rotation Robot angular rate, in radians per second. CCW positive. Unaffected by field/robot + * relativity. + * @param fieldRelative Drive mode. True for field-relative, false for robot-relative. + */ + public void drive(Translation2d translation, double rotation, boolean fieldRelative) + { + swerveDrive.drive(translation, + rotation, + fieldRelative, + false); // Open loop is disabled since it shouldn't be used most of the time. + } + + /** + * Drive the robot given a chassis field oriented velocity. + * + * @param velocity Velocity according to the field. + */ + public void driveFieldOriented(ChassisSpeeds velocity) + { + swerveDrive.driveFieldOriented(velocity); + } + + /** + * Drive the robot given a chassis field oriented velocity. + * + * @param velocity Velocity according to the field. + */ + public Command driveFieldOriented(Supplier velocity) + { + return run(() -> { + swerveDrive.driveFieldOriented(velocity.get()); + }); + } + + /** + * Drive according to the chassis robot oriented velocity. + * + * @param velocity Robot oriented {@link ChassisSpeeds} + */ + public void drive(ChassisSpeeds velocity) + { + swerveDrive.drive(velocity); + } + + + /** + * Get the swerve drive kinematics object. + * + * @return {@link SwerveDriveKinematics} of the swerve drive. + */ + public SwerveDriveKinematics getKinematics() + { + return swerveDrive.kinematics; + } + + /** + * Resets odometry to the given pose. Gyro angle and module positions do not need to be reset when calling this + * method. However, if either gyro angle or module position is reset, this must be called in order for odometry to + * keep working. + * + * @param initialHolonomicPose The pose to set the odometry to + */ + public void resetOdometry(Pose2d initialHolonomicPose) + { + swerveDrive.resetOdometry(initialHolonomicPose); + } + + /** + * Gets the current pose (position and rotation) of the robot, as reported by odometry. + * + * @return The robot's pose + */ + public Pose2d getPose() + { + return swerveDrive.getPose(); + } + + /** + * Set chassis speeds with closed-loop velocity control. + * + * @param chassisSpeeds Chassis Speeds to set. + */ + public void setChassisSpeeds(ChassisSpeeds chassisSpeeds) + { + swerveDrive.setChassisSpeeds(chassisSpeeds); + } + + /** + * Post the trajectory to the field. + * + * @param trajectory The trajectory to post. + */ + public void postTrajectory(Trajectory trajectory) + { + swerveDrive.postTrajectory(trajectory); + } + + /** + * Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0. + */ + public void zeroGyro() + { + swerveDrive.zeroGyro(); + } + + /** + * Checks if the alliance is red, defaults to false if alliance isn't available. + * + * @return true if the red alliance, false if blue. Defaults to false if none is available. + */ + private boolean isRedAlliance() + { + var alliance = DriverStation.getAlliance(); + return alliance.isPresent() ? alliance.get() == DriverStation.Alliance.Red : false; + } + + /** + * This will zero (calibrate) the robot to assume the current position is facing forward + *

+ * If red alliance rotate the robot 180 after the drviebase zero command + */ + public void zeroGyroWithAlliance() + { + if (isRedAlliance()) + { + zeroGyro(); + //Set the pose 180 degrees + resetOdometry(new Pose2d(getPose().getTranslation(), Rotation2d.fromDegrees(180))); + } else + { + zeroGyro(); + } + } + + /** + * Sets the drive motors to brake/coast mode. + * + * @param brake True to set motors to brake mode, false for coast. + */ + public void setMotorBrake(boolean brake) + { + swerveDrive.setMotorIdleMode(brake); + } + + /** + * Gets the current yaw angle of the robot, as reported by the swerve pose estimator in the underlying drivebase. + * Note, this is not the raw gyro reading, this may be corrected from calls to resetOdometry(). + * + * @return The yaw angle + */ + public Rotation2d getHeading() + { + return getPose().getRotation(); + } + + /** + * Get the chassis speeds based on controller input of 2 joysticks. One for speeds in which direction. The other for + * the angle of the robot. + * + * @param xInput X joystick input for the robot to move in the X direction. + * @param yInput Y joystick input for the robot to move in the Y direction. + * @param headingX X joystick which controls the angle of the robot. + * @param headingY Y joystick which controls the angle of the robot. + * @return {@link ChassisSpeeds} which can be sent to the Swerve Drive. + */ + public ChassisSpeeds getTargetSpeeds(double xInput, double yInput, double headingX, double headingY) + { + Translation2d scaledInputs = SwerveMath.cubeTranslation(new Translation2d(xInput, yInput)); + return swerveDrive.swerveController.getTargetSpeeds(scaledInputs.getX(), + scaledInputs.getY(), + headingX, + headingY, + getHeading().getRadians(), + SwerveConstants.MAX_SPEED); + } + + /** + * Get the chassis speeds based on controller input of 1 joystick and one angle. Control the robot at an offset of + * 90deg. + * + * @param xInput X joystick input for the robot to move in the X direction. + * @param yInput Y joystick input for the robot to move in the Y direction. + * @param angle The angle in as a {@link Rotation2d}. + * @return {@link ChassisSpeeds} which can be sent to the Swerve Drive. + */ + public ChassisSpeeds getTargetSpeeds(double xInput, double yInput, Rotation2d angle) + { + Translation2d scaledInputs = SwerveMath.cubeTranslation(new Translation2d(xInput, yInput)); + + return swerveDrive.swerveController.getTargetSpeeds(scaledInputs.getX(), + scaledInputs.getY(), + angle.getRadians(), + getHeading().getRadians(), + SwerveConstants.MAX_SPEED); + } + + /** + * Gets the current field-relative velocity (x, y and omega) of the robot + * + * @return A ChassisSpeeds object of the current field-relative velocity + */ + public ChassisSpeeds getFieldVelocity() + { + return swerveDrive.getFieldVelocity(); + } + + /** + * Gets the current velocity (x, y and omega) of the robot + * + * @return A {@link ChassisSpeeds} object of the current velocity + */ + public ChassisSpeeds getRobotVelocity() + { + return swerveDrive.getRobotVelocity(); + } + + /** + * Get the {@link SwerveController} in the swerve drive. + * + * @return {@link SwerveController} from the {@link SwerveDrive}. + */ + public SwerveController getSwerveController() + { + return swerveDrive.swerveController; + } + + /** + * Get the {@link SwerveDriveConfiguration} object. + * + * @return The {@link SwerveDriveConfiguration} fpr the current drive. + */ + public SwerveDriveConfiguration getSwerveDriveConfiguration() + { + return swerveDrive.swerveDriveConfiguration; + } + + /** + * Lock the swerve drive to prevent it from moving. + */ + public void lock() + { + swerveDrive.lockPose(); + } + + /** + * Gets the current pitch angle of the robot, as reported by the imu. + * + * @return The heading as a {@link Rotation2d} angle + */ + public Rotation2d getPitch() + { + return swerveDrive.getPitch(); + } + + /** + * Add a fake vision reading for testing purposes. + */ + public void addFakeVisionReading() + { + swerveDrive.addVisionMeasurement(new Pose2d(3, 3, Rotation2d.fromDegrees(65)), Timer.getFPGATimestamp()); + } + + /** + * Gets the swerve drive object. + * + * @return {@link SwerveDrive} + */ + public SwerveDrive getSwerveDrive() + { + return swerveDrive; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Drive/SwerveConstants.java b/src/main/java/frc/robot/subsystems/Drive/SwerveConstants.java new file mode 100644 index 0000000..f00cfad --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Drive/SwerveConstants.java @@ -0,0 +1,7 @@ +package frc.robot.subsystems.Drive; + + +public class SwerveConstants { + public final static double MAX_SPEED = 3; + public final static double WHEEL_LOCK_TIME = 10; // seconds +} diff --git a/src/main/java/frc/robot/subsystems/RobotStatusManager.java b/src/main/java/frc/robot/subsystems/RobotStatusManager.java new file mode 100644 index 0000000..35fa653 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/RobotStatusManager.java @@ -0,0 +1,146 @@ +package frc.robot.subsystems; + +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.Constants.GeneralConstants; +import edu.wpi.first.wpilibj.AddressableLED; +import edu.wpi.first.wpilibj.AddressableLEDBuffer; +import edu.wpi.first.wpilibj.Timer; + +public class RobotStatusManager { + public enum RobotStatus { + Alignment(255,0,0, true), // Blinking Red + CountDown_Intake(0, 255, 0, true), + Has_Coral(0,255,0, false), // Blinking Green + ShootingL1(255, 0, 255, true), // Blinking Purple + ShootingL2(0, 0, 255, true), // Blinking Blue + ShootingL3(255, 0, 0, true), // Blinking Red + Removing_Algae(0, 255, 0, true), // Blinking Green + Climbing(0, 0, 0, false), // Rainbow + Nothing(0, 0, 0, false); // Sliding + public final int r, g, b; + public final boolean blinking; + + RobotStatus(int r, int g, int b, boolean blinking) { + this.r = r; + this.g = g; + this.b = b; + this.blinking = blinking; + } + } + + private RobotStatus currentStatus; + private final AddressableLED ledStrip; + private final AddressableLEDBuffer ledBuffer; + private final Timer blinkTimer; + private int rainbowFirstPixelHue = 0; + private int movingPixelIndex = 0; + private int movingPixelHue = 0; + private boolean isBlinkOn = true; + private boolean ledSystemEnabled = true; // LED Sistemi Acık/Kapalı Durumu + private static final int LED_LENGTH = GeneralConstants.LED_LENGTH; + + public RobotStatusManager() { + this.currentStatus = RobotStatus.Alignment; + + // LED Şeridi Baslat + ledStrip = new AddressableLED(GeneralConstants.LED_PWM_PORT); + ledBuffer = new AddressableLEDBuffer(LED_LENGTH); + ledStrip.setLength(LED_LENGTH); + ledStrip.setData(ledBuffer); + ledStrip.start(); + + // Timer Baslat + blinkTimer = new Timer(); + blinkTimer.start(); + + SmartDashboard.putBoolean("LED System", ledSystemEnabled); + } + + public void setStatus(RobotStatus newStatus) { + if (this.currentStatus != newStatus) { // Aynı duruma tekrar geçme + this.currentStatus = newStatus; + SmartDashboard.putString("Robot Status", newStatus.name()); + } + } + + public RobotStatus getStatus() { + return this.currentStatus; + } + + public void toggleLEDSystem() { + ledSystemEnabled = !ledSystemEnabled; + SmartDashboard.putBoolean("LED System", ledSystemEnabled); + + if (!ledSystemEnabled) { + turnOffLEDs(); + } + } + + private void turnOffLEDs() { + for (int i = 0; i < LED_LENGTH; i++) { + ledBuffer.setRGB(i, 0, 0, 0); + } + ledStrip.setData(ledBuffer); + } + + private void updateLEDBuffer(int r, int g, int b) { + for (int i = 0; i < LED_LENGTH; i++) { + ledBuffer.setRGB(i, r, g, b); + } + ledStrip.setData(ledBuffer); + } + + private void updateRainbowEffect() { + for (int i = 0; i < LED_LENGTH; i++) { + final int hue = (rainbowFirstPixelHue + (i * 180 / LED_LENGTH)) % 180; + ledBuffer.setHSV(i, hue, 255, 128); + } + rainbowFirstPixelHue += 3; // Renk kaydırma efekti + rainbowFirstPixelHue %= 180; + ledStrip.setData(ledBuffer); + } + + private void updateMovingPixelEffect() { + // Tüm LED'leri sıfırla + for (int i = 0; i < LED_LENGTH; i++) { + ledBuffer.setRGB(i, 0, 0, 0); + } + // Hareket eden pikseli ayarla + ledBuffer.setHSV(movingPixelIndex, movingPixelHue, 255, 255); + + // Pikseli kaydır + movingPixelIndex++; + if (movingPixelIndex >= LED_LENGTH) { + movingPixelIndex = 0; + movingPixelHue = (movingPixelHue + 45) % 180; // Renk değistir + } + ledStrip.setData(ledBuffer); + } + + public void periodic() { + if (!ledSystemEnabled) { + return; // LED Sistemi Kapalıysa Çalışma + } + + if (currentStatus == RobotStatus.Climbing) { + updateRainbowEffect(); + return; + } + + if (currentStatus == RobotStatus.Nothing) { + updateMovingPixelEffect(); + return; + } + + if (currentStatus.blinking && blinkTimer.get() > 0.3) { + isBlinkOn = !isBlinkOn; + blinkTimer.reset(); + + if (isBlinkOn) { + updateLEDBuffer(currentStatus.r, currentStatus.g, currentStatus.b); + } else { + updateLEDBuffer(0, 0, 0); + } + } + } +} diff --git a/src/main/java/frc/robot/subsystems/Vision/Vision.java b/src/main/java/frc/robot/subsystems/Vision/Vision.java new file mode 100644 index 0000000..ba7366e --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Vision/Vision.java @@ -0,0 +1,637 @@ +package frc.robot.subsystems.Vision; + +import static edu.wpi.first.units.Units.Microseconds; +import static edu.wpi.first.units.Units.Milliseconds; +import static edu.wpi.first.units.Units.Seconds; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; +import edu.wpi.first.math.Matrix; +import edu.wpi.first.math.VecBuilder; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Transform3d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.networktables.NetworkTablesJNI; +import edu.wpi.first.wpilibj.Alert; +import edu.wpi.first.wpilibj.Alert.AlertType; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import frc.robot.Robot; +import java.awt.Desktop; +import java.util.ArrayList; +import java.util.List; +import java.util.Optional; +import java.util.function.Supplier; +import org.photonvision.EstimatedRobotPose; +import org.photonvision.PhotonCamera; +import org.photonvision.PhotonPoseEstimator; +import org.photonvision.PhotonPoseEstimator.PoseStrategy; +import org.photonvision.PhotonUtils; +import org.photonvision.simulation.PhotonCameraSim; +import org.photonvision.simulation.SimCameraProperties; +import org.photonvision.simulation.VisionSystemSim; +import org.photonvision.targeting.PhotonPipelineResult; +import org.photonvision.targeting.PhotonTrackedTarget; +import swervelib.SwerveDrive; +import swervelib.telemetry.SwerveDriveTelemetry; + + +/** + * Example PhotonVision class to aid in the pursuit of accurate odometry. Taken from + * https://gitlab.com/ironclad_code/ironclad-2024/-/blob/master/src/main/java/frc/robot/vision/Vision.java?ref_type=heads + */ +public class Vision +{ + + /** + * April Tag Field Layout of the year. + */ + public static final AprilTagFieldLayout fieldLayout = AprilTagFieldLayout.loadField( + AprilTagFields.kDefaultField); + /** + * Ambiguity defined as a value between (0,1). Used in {@link Vision#filterPose}. + */ + private final double maximumAmbiguity = 0.25; + /** + * Photon Vision Simulation + */ + public VisionSystemSim visionSim; + /** + * Count of times that the odom thinks we're more than 10meters away from the april tag. + */ + private double longDistangePoseEstimationCount = 0; + /** + * Current pose from the pose estimator using wheel odometry. + */ + private Supplier currentPose; + /** + * Field from {@link swervelib.SwerveDrive#field} + */ + private Field2d field2d; + + + /** + * Constructor for the Vision class. + * + * @param currentPose Current pose supplier, should reference {@link SwerveDrive#getPose()} + * @param field Current field, should be {@link SwerveDrive#field} + */ + public Vision(Supplier currentPose, Field2d field) + { + this.currentPose = currentPose; + this.field2d = field; + + if (Robot.isSimulation()) + { + visionSim = new VisionSystemSim("Vision"); + visionSim.addAprilTags(fieldLayout); + + for (Cameras c : Cameras.values()) + { + c.addToVisionSim(visionSim); + } + + openSimCameraViews(); + } + } + + /** + * Calculates a target pose relative to an AprilTag on the field. + * + * @param aprilTag The ID of the AprilTag. + * @param robotOffset The offset {@link Transform2d} of the robot to apply to the pose for the robot to position + * itself correctly. + * @return The target pose of the AprilTag. + */ + public static Pose2d getAprilTagPose(int aprilTag, Transform2d robotOffset) + { + Optional aprilTagPose3d = fieldLayout.getTagPose(aprilTag); + if (aprilTagPose3d.isPresent()) + { + return aprilTagPose3d.get().toPose2d().transformBy(robotOffset); + } else + { + throw new RuntimeException("Cannot get AprilTag " + aprilTag + " from field " + fieldLayout.toString()); + } + + } + + /** + * Update the pose estimation inside of {@link SwerveDrive} with all of the given poses. + * + * @param swerveDrive {@link SwerveDrive} instance. + */ + public void updatePoseEstimation(SwerveDrive swerveDrive) + { + if (SwerveDriveTelemetry.isSimulation && swerveDrive.getSimulationDriveTrainPose().isPresent()) + { + /* + * In the maple-sim, odometry is simulated using encoder values, accounting for factors like skidding and drifting. + * As a result, the odometry may not always be 100% accurate. + * However, the vision system should be able to provide a reasonably accurate pose estimation, even when odometry is incorrect. + * (This is why teams implement vision system to correct odometry.) + * Therefore, we must ensure that the actual robot pose is provided in the simulator when updating the vision simulation during the simulation. + */ + visionSim.update(swerveDrive.getSimulationDriveTrainPose().get()); + } + for (Cameras camera : Cameras.values()) + { + Optional poseEst = getEstimatedGlobalPose(camera); + if (poseEst.isPresent()) + { + var pose = poseEst.get(); + swerveDrive.addVisionMeasurement(pose.estimatedPose.toPose2d(), + pose.timestampSeconds, + camera.curStdDevs); + } + } + + } + + /** + * Generates the estimated robot pose. Returns empty if: + *

    + *
  • No Pose Estimates could be generated
    • + *
  • The generated pose estimate was considered not accurate
    • + *
+ * + * @return an {@link EstimatedRobotPose} with an estimated pose, timestamp, and targets used to create the estimate + */ + public Optional getEstimatedGlobalPose(Cameras camera) + { + Optional poseEst = camera.getEstimatedGlobalPose(); + if (Robot.isSimulation()) + { + Field2d debugField = visionSim.getDebugField(); + // Uncomment to enable outputting of vision targets in sim. + poseEst.ifPresentOrElse( + est -> + debugField + .getObject("VisionEstimation") + .setPose(est.estimatedPose.toPose2d()), + () -> { + debugField.getObject("VisionEstimation").setPoses(); + }); + } + return poseEst; + } + + + /** + * Filter pose via the ambiguity and find best estimate between all of the camera's throwing out distances more than + * 10m for a short amount of time. + * + * @param pose Estimated robot pose. + * @return Could be empty if there isn't a good reading. + */ + @Deprecated(since = "2024", forRemoval = true) + private Optional filterPose(Optional pose) + { + if (pose.isPresent()) + { + double bestTargetAmbiguity = 1; // 1 is max ambiguity + for (PhotonTrackedTarget target : pose.get().targetsUsed) + { + double ambiguity = target.getPoseAmbiguity(); + if (ambiguity != -1 && ambiguity < bestTargetAmbiguity) + { + bestTargetAmbiguity = ambiguity; + } + } + //ambiguity to high dont use estimate + if (bestTargetAmbiguity > maximumAmbiguity) + { + return Optional.empty(); + } + + //est pose is very far from recorded robot pose + if (PhotonUtils.getDistanceToPose(currentPose.get(), pose.get().estimatedPose.toPose2d()) > 1) + { + longDistangePoseEstimationCount++; + + //if it calculates that were 10 meter away for more than 10 times in a row its probably right + if (longDistangePoseEstimationCount < 10) + { + return Optional.empty(); + } + } else + { + longDistangePoseEstimationCount = 0; + } + return pose; + } + return Optional.empty(); + } + + + /** + * Get distance of the robot from the AprilTag pose. + * + * @param id AprilTag ID + * @return Distance + */ + public double getDistanceFromAprilTag(int id) + { + Optional tag = fieldLayout.getTagPose(id); + return tag.map(pose3d -> PhotonUtils.getDistanceToPose(currentPose.get(), pose3d.toPose2d())).orElse(-1.0); + } + + /** + * Get tracked target from a camera of AprilTagID + * + * @param id AprilTag ID + * @param camera Camera to check. + * @return Tracked target. + */ + public PhotonTrackedTarget getTargetFromId(int id, Cameras camera) + { + PhotonTrackedTarget target = null; + for (PhotonPipelineResult result : camera.resultsList) + { + if (result.hasTargets()) + { + for (PhotonTrackedTarget i : result.getTargets()) + { + if (i.getFiducialId() == id) + { + return i; + } + } + } + } + return target; + + } + + /** + * Vision simulation. + * + * @return Vision Simulation + */ + public VisionSystemSim getVisionSim() + { + return visionSim; + } + + /** + * Open up the photon vision camera streams on the localhost, assumes running photon vision on localhost. + */ + private void openSimCameraViews() + { + if (Desktop.isDesktopSupported() && Desktop.getDesktop().isSupported(Desktop.Action.BROWSE)) + { +// try +// { +// Desktop.getDesktop().browse(new URI("http://localhost:1182/")); +// Desktop.getDesktop().browse(new URI("http://localhost:1184/")); +// Desktop.getDesktop().browse(new URI("http://localhost:1186/")); +// } catch (IOException | URISyntaxException e) +// { +// e.printStackTrace(); +// } + } + } + + /** + * Update the {@link Field2d} to include tracked targets/ + */ + public void updateVisionField() + { + + List targets = new ArrayList(); + for (Cameras c : Cameras.values()) + { + if (!c.resultsList.isEmpty()) + { + PhotonPipelineResult latest = c.resultsList.get(0); + if (latest.hasTargets()) + { + targets.addAll(latest.targets); + } + } + } + + List poses = new ArrayList<>(); + for (PhotonTrackedTarget target : targets) + { + if (fieldLayout.getTagPose(target.getFiducialId()).isPresent()) + { + Pose2d targetPose = fieldLayout.getTagPose(target.getFiducialId()).get().toPose2d(); + poses.add(targetPose); + } + } + + field2d.getObject("tracked targets").setPoses(poses); + } + + /** + * Camera Enum to select each camera + */ + public enum Cameras + { + /** + * Left Camera + */ + LEFT_CAM("left", + new Rotation3d(0, Math.toRadians(-24.094), Math.toRadians(30)), + new Translation3d(Units.inchesToMeters(12.056), + Units.inchesToMeters(10.981), + Units.inchesToMeters(8.44)), + VecBuilder.fill(4, 4, 8), VecBuilder.fill(0.5, 0.5, 1)), + /** + * Right Camera + */ + RIGHT_CAM("right", + new Rotation3d(0, Math.toRadians(-24.094), Math.toRadians(-30)), + new Translation3d(Units.inchesToMeters(12.056), + Units.inchesToMeters(-10.981), + Units.inchesToMeters(8.44)), + VecBuilder.fill(4, 4, 8), VecBuilder.fill(0.5, 0.5, 1)), + /** + * Center Camera + */ + CENTER_CAM("center", + new Rotation3d(0, Units.degreesToRadians(18), 0), + new Translation3d(Units.inchesToMeters(-4.628), + Units.inchesToMeters(-10.687), + Units.inchesToMeters(16.129)), + VecBuilder.fill(4, 4, 8), VecBuilder.fill(0.5, 0.5, 1)); + + /** + * Latency alert to use when high latency is detected. + */ + public final Alert latencyAlert; + /** + * Camera instance for comms. + */ + public final PhotonCamera camera; + /** + * Pose estimator for camera. + */ + public final PhotonPoseEstimator poseEstimator; + /** + * Standard Deviation for single tag readings for pose estimation. + */ + private final Matrix singleTagStdDevs; + /** + * Standard deviation for multi-tag readings for pose estimation. + */ + private final Matrix multiTagStdDevs; + /** + * Transform of the camera rotation and translation relative to the center of the robot + */ + private final Transform3d robotToCamTransform; + /** + * Current standard deviations used. + */ + public Matrix curStdDevs; + /** + * Estimated robot pose. + */ + public Optional estimatedRobotPose = Optional.empty(); + + /** + * Simulated camera instance which only exists during simulations. + */ + public PhotonCameraSim cameraSim; + /** + * Results list to be updated periodically and cached to avoid unnecessary queries. + */ + public List resultsList = new ArrayList<>(); + /** + * Last read from the camera timestamp to prevent lag due to slow data fetches. + */ + private double lastReadTimestamp = Microseconds.of(NetworkTablesJNI.now()).in(Seconds); + + /** + * Construct a Photon Camera class with help. Standard deviations are fake values, experiment and determine + * estimation noise on an actual robot. + * + * @param name Name of the PhotonVision camera found in the PV UI. + * @param robotToCamRotation {@link Rotation3d} of the camera. + * @param robotToCamTranslation {@link Translation3d} relative to the center of the robot. + * @param singleTagStdDevs Single AprilTag standard deviations of estimated poses from the camera. + * @param multiTagStdDevsMatrix Multi AprilTag standard deviations of estimated poses from the camera. + */ + Cameras(String name, Rotation3d robotToCamRotation, Translation3d robotToCamTranslation, + Matrix singleTagStdDevs, Matrix multiTagStdDevsMatrix) + { + latencyAlert = new Alert("'" + name + "' Camera is experiencing high latency.", AlertType.kWarning); + + camera = new PhotonCamera(name); + + // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html + robotToCamTransform = new Transform3d(robotToCamTranslation, robotToCamRotation); + + poseEstimator = new PhotonPoseEstimator(Vision.fieldLayout, + PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, + robotToCamTransform); + poseEstimator.setMultiTagFallbackStrategy(PoseStrategy.LOWEST_AMBIGUITY); + + this.singleTagStdDevs = singleTagStdDevs; + this.multiTagStdDevs = multiTagStdDevsMatrix; + + if (Robot.isSimulation()) + { + SimCameraProperties cameraProp = new SimCameraProperties(); + // A 640 x 480 camera with a 100 degree diagonal FOV. + cameraProp.setCalibration(960, 720, Rotation2d.fromDegrees(100)); + // Approximate detection noise with average and standard deviation error in pixels. + cameraProp.setCalibError(0.25, 0.08); + // Set the camera image capture framerate (Note: this is limited by robot loop rate). + cameraProp.setFPS(30); + // The average and standard deviation in milliseconds of image data latency. + cameraProp.setAvgLatencyMs(35); + cameraProp.setLatencyStdDevMs(5); + + cameraSim = new PhotonCameraSim(camera, cameraProp); + cameraSim.enableDrawWireframe(true); + } + } + + /** + * Add camera to {@link VisionSystemSim} for simulated photon vision. + * + * @param systemSim {@link VisionSystemSim} to use. + */ + public void addToVisionSim(VisionSystemSim systemSim) + { + if (Robot.isSimulation()) + { + systemSim.addCamera(cameraSim, robotToCamTransform); + } + } + + /** + * Get the result with the least ambiguity from the best tracked target within the Cache. This may not be the most + * recent result! + * + * @return The result in the cache with the least ambiguous best tracked target. This is not the most recent result! + */ + public Optional getBestResult() + { + if (resultsList.isEmpty()) + { + return Optional.empty(); + } + + PhotonPipelineResult bestResult = resultsList.get(0); + double amiguity = bestResult.getBestTarget().getPoseAmbiguity(); + double currentAmbiguity = 0; + for (PhotonPipelineResult result : resultsList) + { + currentAmbiguity = result.getBestTarget().getPoseAmbiguity(); + if (currentAmbiguity < amiguity && currentAmbiguity > 0) + { + bestResult = result; + amiguity = currentAmbiguity; + } + } + return Optional.of(bestResult); + } + + /** + * Get the latest result from the current cache. + * + * @return Empty optional if nothing is found. Latest result if something is there. + */ + public Optional getLatestResult() + { + return resultsList.isEmpty() ? Optional.empty() : Optional.of(resultsList.get(0)); + } + + /** + * Get the estimated robot pose. Updates the current robot pose estimation, standard deviations, and flushes the + * cache of results. + * + * @return Estimated pose. + */ + public Optional getEstimatedGlobalPose() + { + updateUnreadResults(); + return estimatedRobotPose; + } + + /** + * Update the latest results, cached with a maximum refresh rate of 1req/15ms. Sorts the list by timestamp. + */ + private void updateUnreadResults() + { + double mostRecentTimestamp = resultsList.isEmpty() ? 0.0 : resultsList.get(0).getTimestampSeconds(); + double currentTimestamp = Microseconds.of(NetworkTablesJNI.now()).in(Seconds); + double debounceTime = Milliseconds.of(15).in(Seconds); + for (PhotonPipelineResult result : resultsList) + { + mostRecentTimestamp = Math.max(mostRecentTimestamp, result.getTimestampSeconds()); + } + if ((resultsList.isEmpty() || (currentTimestamp - mostRecentTimestamp >= debounceTime)) && + (currentTimestamp - lastReadTimestamp) >= debounceTime) + { + resultsList = Robot.isReal() ? camera.getAllUnreadResults() : cameraSim.getCamera().getAllUnreadResults(); + lastReadTimestamp = currentTimestamp; + resultsList.sort((PhotonPipelineResult a, PhotonPipelineResult b) -> { + return a.getTimestampSeconds() >= b.getTimestampSeconds() ? 1 : -1; + }); + if (!resultsList.isEmpty()) + { + updateEstimatedGlobalPose(); + } + } + } + + /** + * The latest estimated robot pose on the field from vision data. This may be empty. This should only be called once + * per loop. + * + *

Also includes updates for the standard deviations, which can (optionally) be retrieved with + * {@link Cameras#updateEstimationStdDevs} + * + * @return An {@link EstimatedRobotPose} with an estimated pose, estimate timestamp, and targets used for + * estimation. + */ + private void updateEstimatedGlobalPose() + { + Optional visionEst = Optional.empty(); + for (var change : resultsList) + { + visionEst = poseEstimator.update(change); + updateEstimationStdDevs(visionEst, change.getTargets()); + } + estimatedRobotPose = visionEst; + } + + /** + * Calculates new standard deviations This algorithm is a heuristic that creates dynamic standard deviations based + * on number of tags, estimation strategy, and distance from the tags. + * + * @param estimatedPose The estimated pose to guess standard deviations for. + * @param targets All targets in this camera frame + */ + private void updateEstimationStdDevs( + Optional estimatedPose, List targets) + { + if (estimatedPose.isEmpty()) + { + // No pose input. Default to single-tag std devs + curStdDevs = singleTagStdDevs; + + } else + { + // Pose present. Start running Heuristic + var estStdDevs = singleTagStdDevs; + int numTags = 0; + double avgDist = 0; + + // Precalculation - see how many tags we found, and calculate an average-distance metric + for (var tgt : targets) + { + var tagPose = poseEstimator.getFieldTags().getTagPose(tgt.getFiducialId()); + if (tagPose.isEmpty()) + { + continue; + } + numTags++; + avgDist += + tagPose + .get() + .toPose2d() + .getTranslation() + .getDistance(estimatedPose.get().estimatedPose.toPose2d().getTranslation()); + } + + if (numTags == 0) + { + // No tags visible. Default to single-tag std devs + curStdDevs = singleTagStdDevs; + } else + { + // One or more tags visible, run the full heuristic. + avgDist /= numTags; + // Decrease std devs if multiple targets are visible + if (numTags > 1) + { + estStdDevs = multiTagStdDevs; + } + // Increase std devs based on (average) distance + if (numTags == 1 && avgDist > 4) + { + estStdDevs = VecBuilder.fill(Double.MAX_VALUE, Double.MAX_VALUE, Double.MAX_VALUE); + } else + { + estStdDevs = estStdDevs.times(1 + (avgDist * avgDist / 30)); + } + curStdDevs = estStdDevs; + } + } + } + + + } + +} \ No newline at end of file diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json new file mode 100644 index 0000000..03df051 --- /dev/null +++ b/vendordeps/AdvantageKit.json @@ -0,0 +1,35 @@ +{ + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "4.1.0", + "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", + "frcYear": "2025", + "mavenUrls": [ + "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" + ], + "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", + "javaDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-java", + "version": "4.1.0" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-wpilibio", + "version": "4.1.0", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [] +} \ No newline at end of file diff --git a/vendordeps/ChoreoLib-2025.0.2.json b/vendordeps/ChoreoLib-2025.0.2.json new file mode 100644 index 0000000..95f610a --- /dev/null +++ b/vendordeps/ChoreoLib-2025.0.2.json @@ -0,0 +1,44 @@ +{ + "fileName": "ChoreoLib-2025.0.2.json", + "name": "ChoreoLib", + "version": "2025.0.2", + "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", + "frcYear": "2025", + "mavenUrls": [ + "https://lib.choreo.autos/dep", + "https://repo1.maven.org/maven2" + ], + "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025.json", + "javaDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-java", + "version": "2025.0.2" + }, + { + "groupId": "com.google.code.gson", + "artifactId": "gson", + "version": "2.11.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-cpp", + "version": "2025.0.2", + "libName": "ChoreoLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/DogLog.json b/vendordeps/DogLog.json new file mode 100644 index 0000000..b410eb1 --- /dev/null +++ b/vendordeps/DogLog.json @@ -0,0 +1,20 @@ +{ + "javaDependencies": [ + { + "groupId": "com.github.jonahsnider", + "artifactId": "doglog", + "version": "2025.3.0" + } + ], + "fileName": "DogLog.json", + "frcYear": "2025", + "jsonUrl": "https://doglog.dev/vendordep.json", + "name": "DogLog", + "jniDependencies": [], + "mavenUrls": [ + "https://jitpack.io" + ], + "cppDependencies": [], + "version": "2025.3.0", + "uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4" +} \ No newline at end of file diff --git a/vendordeps/PathplannerLib-2025.2.2.json b/vendordeps/PathplannerLib-2025.2.2.json new file mode 100644 index 0000000..a5bf9ee --- /dev/null +++ b/vendordeps/PathplannerLib-2025.2.2.json @@ -0,0 +1,38 @@ +{ + "fileName": "PathplannerLib-2025.2.2.json", + "name": "PathplannerLib", + "version": "2025.2.2", + "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", + "frcYear": "2025", + "mavenUrls": [ + "https://3015rangerrobotics.github.io/pathplannerlib/repo" + ], + "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json", + "javaDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-java", + "version": "2025.2.2" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "com.pathplanner.lib", + "artifactId": "PathplannerLib-cpp", + "version": "2025.2.2", + "libName": "PathplannerLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix5-5.35.1.json b/vendordeps/Phoenix5-5.35.1.json new file mode 100644 index 0000000..69df8b5 --- /dev/null +++ b/vendordeps/Phoenix5-5.35.1.json @@ -0,0 +1,171 @@ +{ + "fileName": "Phoenix5-5.35.1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.35.1", + "frcYear": "2025", + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json", + "requires": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-frc2025-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + }, + { + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-replay-frc2025-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.35.1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.35.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.35.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.35.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.35.1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.35.1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.35.1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.35.1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.35.1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.35.1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix6-25.2.1.json b/vendordeps/Phoenix6-25.2.1.json new file mode 100644 index 0000000..1397da1 --- /dev/null +++ b/vendordeps/Phoenix6-25.2.1.json @@ -0,0 +1,419 @@ +{ + "fileName": "Phoenix6-25.2.1.json", + "name": "CTRE-Phoenix (v6)", + "version": "25.2.1", + "frcYear": "2025", + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "25.2.1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "25.2.1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "25.2.1", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "25.2.1", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "25.2.1", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "25.2.1", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "25.2.1", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "25.2.1", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "25.2.1", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simCANCoder", + "version": "25.2.1", + "libName": "CTRE_SimCANCoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "25.2.1", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "25.2.1", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "25.2.1", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "25.2.1", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "25.2.1", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordeps/REVLib-2025.0.2.json b/vendordeps/REVLib-2025.0.2.json new file mode 100644 index 0000000..c29aefa --- /dev/null +++ b/vendordeps/REVLib-2025.0.2.json @@ -0,0 +1,71 @@ +{ + "fileName": "REVLib-2025.0.2.json", + "name": "REVLib", + "version": "2025.0.2", + "frcYear": "2025", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2025.0.2" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2025.0.2", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2025.0.2", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2025.0.2", + "libName": "REVLibDriver", + 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a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json new file mode 100644 index 0000000..a85f5c1 --- /dev/null +++ b/vendordeps/maple-sim.json @@ -0,0 +1,26 @@ +{ + "fileName": "maple-sim.json", + "name": "maplesim", + "version": "0.3.6", + "frcYear": "2025", + "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", + "mavenUrls": [ + "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", + "https://repo1.maven.org/maven2" + ], + "jsonUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json", + "javaDependencies": [ + { + "groupId": "org.ironmaple", + "artifactId": "maplesim-java", + "version": "0.3.6" + }, + { + "groupId": "org.dyn4j", + "artifactId": "dyn4j", + "version": "5.0.2" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} \ No newline at end of file diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json new file mode 100644 index 0000000..6af3d3e --- /dev/null +++ b/vendordeps/photonlib.json @@ -0,0 +1,71 @@ +{ + "fileName": "photonlib.json", + "name": "photonlib", + "version": "v2025.1.1", + "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", + "frcYear": "2025", + "mavenUrls": [ + "https://maven.photonvision.org/repository/internal", + "https://maven.photonvision.org/repository/snapshots" + ], + "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json", + "jniDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-cpp", + "version": "v2025.1.1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-cpp", + "version": "v2025.1.1", + "libName": "photonlib", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-cpp", + "version": "v2025.1.1", + "libName": "photontargeting", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxathena", + "linuxx86-64", + "osxuniversal" + ] + } + ], + "javaDependencies": [ + { + "groupId": "org.photonvision", + "artifactId": "photonlib-java", + "version": "v2025.1.1" + }, + { + "groupId": "org.photonvision", + "artifactId": "photontargeting-java", + "version": "v2025.1.1" + } + ] +} \ No newline at end of file diff --git a/vendordeps/yagsl-2025.2.2.json b/vendordeps/yagsl-2025.2.2.json new file mode 100644 index 0000000..fa43cc7 --- /dev/null +++ b/vendordeps/yagsl-2025.2.2.json @@ -0,0 +1,64 @@ +{ + "fileName": "yagsl-2025.2.2.json", + "name": "YAGSL", + "version": "2025.2.2", + "frcYear": "2025", + "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", + "mavenUrls": [ + "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/repos" + ], + "jsonUrl": "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json", + "javaDependencies": [ + { + "groupId": "swervelib", + "artifactId": "YAGSL-java", + "version": "2025.2.2" + } + ], + "requires": [ + { + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "errorMessage": "REVLib is required!", + "offlineFileName": "REVLib-2025.0.0.json", + "onlineUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json" + }, + { + "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", + "errorMessage": "ReduxLib is required!", + "offlineFileName": "ReduxLib-2025.0.0.json", + "onlineUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json" + }, + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Phoenix6 is required!", + "offlineFileName": "Phoenix6-25.1.0.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" + }, + { + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "errorMessage": "Phoenix5 is required!", + "offlineFileName": "Phoenix5-5.35.0.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json" + }, + { + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "errorMessage": "Studica is required!", + "offlineFileName": "Studica-2025.0.0.json", + "onlineUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.0.json" + }, + { + "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", + "errorMessage": "ThriftyLib is required!", + "offlineFileName": "ThriftyLib.json", + "onlineUrl": "https://docs.home.thethriftybot.com/ThriftyLib.json" + }, + { + "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", + "errorMessage": "maple-sim is required for simulation", + "offlineFileName": "maple-sim.json", + "onlineUrl": "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json" + } + ], + "jniDependencies": [], + "cppDependencies": [] +} \ No newline at end of file From 2b14208914efe54d74ca2f33692de8b64077e4e4 Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Sun, 9 Feb 2025 20:04:12 +0300 Subject: [PATCH 02/15] Typo Correction --- src/main/java/frc/robot/subsystems/Vision/Vision.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Vision/Vision.java b/src/main/java/frc/robot/subsystems/Vision/Vision.java index ba7366e..e278884 100644 --- a/src/main/java/frc/robot/subsystems/Vision/Vision.java +++ b/src/main/java/frc/robot/subsystems/Vision/Vision.java @@ -482,15 +482,15 @@ public Optional getBestResult() } PhotonPipelineResult bestResult = resultsList.get(0); - double amiguity = bestResult.getBestTarget().getPoseAmbiguity(); + double ambiguity = bestResult.getBestTarget().getPoseAmbiguity(); double currentAmbiguity = 0; for (PhotonPipelineResult result : resultsList) { currentAmbiguity = result.getBestTarget().getPoseAmbiguity(); - if (currentAmbiguity < amiguity && currentAmbiguity > 0) + if (currentAmbiguity < ambiguity && currentAmbiguity > 0) { bestResult = result; - amiguity = currentAmbiguity; + ambiguity = currentAmbiguity; } } return Optional.of(bestResult); From 89c578fb66518c3f726afdb926c3b04d0beaf67b Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Sun, 9 Feb 2025 20:09:29 +0300 Subject: [PATCH 03/15] Added Ankle Subsystem - It includes basic level functions ( setAngle / setAngleTest / stopMotors ) --- .../AnkleSubsystem/AnkleConstants.java | 12 +++ .../AnkleSubsystem/AnkleSubsystem.java | 91 +++++++++++++++++++ 2 files changed, 103 insertions(+) create mode 100644 src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java create mode 100644 src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java new file mode 100644 index 0000000..2bc517c --- /dev/null +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java @@ -0,0 +1,12 @@ +package frc.robot.subsystems.AnkleSubsystem; + +public class AnkleConstants { + public final static int RedlineID = 1; + public final static int SparkID = 1; + public final static double maxAngle = 0; + public final static double minAngle = 0; + public static double kP = 0.04; + public static double kI = 0; + public static double kD = 0; + +} diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java new file mode 100644 index 0000000..8f3de3e --- /dev/null +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java @@ -0,0 +1,91 @@ +package frc.robot.subsystems.AnkleSubsystem; + +import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX; +import com.revrobotics.RelativeEncoder; +import com.revrobotics.spark.ClosedLoopSlot; +import com.revrobotics.spark.SparkBase.ControlType; +import com.revrobotics.spark.SparkBase.PersistMode; +import com.revrobotics.spark.SparkBase.ResetMode; +import com.revrobotics.spark.SparkClosedLoopController; +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; +import com.revrobotics.spark.config.SparkMaxConfig; +import com.revrobotics.spark.SparkLowLevel.MotorType; + +import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class AnkleSubsystem extends SubsystemBase { + private SparkMax m_motor; + private WPI_VictorSPX m_wheelMotor; + private SparkClosedLoopController closedLoopController; + private SparkMaxConfig motorConfig; + private RelativeEncoder encoder; + + public AnkleSubsystem() { + m_motor = new SparkMax(AnkleConstants.SparkID, MotorType.kBrushless); + m_wheelMotor = new WPI_VictorSPX(AnkleConstants.RedlineID); + encoder = m_motor.getEncoder(); + closedLoopController = m_motor.getClosedLoopController(); + motorConfig = new SparkMaxConfig(); + + motorConfig.closedLoop + .feedbackSensor(FeedbackSensor.kPrimaryEncoder) + .p(AnkleConstants.kP) + .i(AnkleConstants.kI) + .d(AnkleConstants.kD) + .outputRange(-0.9, 0.9); + + motorConfig.closedLoop.maxMotion + .maxVelocity(1000) + .maxAcceleration(1000) + .allowedClosedLoopError(1); + m_motor.configure(motorConfig, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); + + } + + public void setAngle(double angle) { + if(isAngleInRange(angle)) { + closedLoopController.setReference(angle, ControlType.kMAXMotionPositionControl, + ClosedLoopSlot.kSlot0); + } else { + setDefault(); + } + } + public void setAngleTest() { + double angle = SmartDashboard.getNumber("testAngle Ankle", 0); + if(isAngleInRange(angle)) { + closedLoopController.setReference(angle, ControlType.kMAXMotionPositionControl, + ClosedLoopSlot.kSlot0); + } else { + setDefault(); + } + } + public void setDefault() { + closedLoopController.setReference(0, ControlType.kMAXMotionPositionControl, + ClosedLoopSlot.kSlot0); + if(encoder.getPosition() == 0) { + stopAngleMotor(); + } + } + public boolean isAngleInRange(double angle) { + return angle <= AnkleConstants.maxAngle && angle >= AnkleConstants.minAngle; + } + public void stopAngleMotor() { + m_motor.set(0); + } + public void setWheelMotor(double velocity) { + m_wheelMotor.set(velocity); + } + @Override + public void periodic() { + encoder.setPosition(0); + // This method will be called once per scheduler run + } + + @Override + public void simulationPeriodic() { + // This method will be called once per scheduler run during simulation + } +} From d3b1295842f0cb9809ba863462b0dc442d4c506c Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Sun, 9 Feb 2025 21:20:05 +0300 Subject: [PATCH 04/15] Added PID Debugger --- src/main/java/frc/robot/PIDDebugger.java | 22 ++++++ src/main/java/frc/robot/RobotContainer.java | 10 +-- .../AnkleSubsystem/AnkleConstants.java | 2 + .../AnkleSubsystem/AnkleSubsystem.java | 78 ++++++++++++------- .../robot/subsystems/RobotStatusManager.java | 12 ++- 5 files changed, 85 insertions(+), 39 deletions(-) create mode 100644 src/main/java/frc/robot/PIDDebugger.java diff --git a/src/main/java/frc/robot/PIDDebugger.java b/src/main/java/frc/robot/PIDDebugger.java new file mode 100644 index 0000000..7aef2a7 --- /dev/null +++ b/src/main/java/frc/robot/PIDDebugger.java @@ -0,0 +1,22 @@ +package frc.robot; + + +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; + +public class PIDDebugger { + + public PIDDebugger() { + + } + + public void setSparkPIDControllerToDashboard(String prefix, double kP, double kI, double kD, double kMinOutput, + double kIz, double kMaxOutput) { + SmartDashboard.putNumber(prefix + "P", kP); + SmartDashboard.putNumber(prefix + "I", kI); + SmartDashboard.putNumber(prefix + "D", kD); + SmartDashboard.putNumber(prefix + "MinOutput", kMinOutput); + SmartDashboard.putNumber(prefix + "MaxOutput", kMaxOutput); + SmartDashboard.putNumber(prefix + "Iz", kIz); + } + +} \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 0180b23..e9c7cbf 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -5,16 +5,11 @@ package frc.robot; import com.pathplanner.lib.auto.NamedCommands; -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.DriverStation; import edu.wpi.first.wpilibj.Filesystem; -import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; -import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.OperatorConstants; import frc.robot.subsystems.Drive.Swerve; import java.io.File; @@ -32,6 +27,7 @@ public class RobotContainer { // Replace with CommandPS4Controller or CommandJoystick if needed final CommandXboxController driverController = new CommandXboxController(0); + private PIDDebugger m_PidDebugger = new PIDDebugger(); // The robot's subsystems and commands are defined here... private final Swerve drivebase = new Swerve(new File(Filesystem.getDeployDirectory(), "swerve")); @@ -68,11 +64,11 @@ public RobotContainer() { } private void configureBindings() { - drivebase.setDefaultCommand( - Robot.isSimulation() ? driveFieldOrientedAnglularVelocityKeyboard : driveFieldOrientedAnglularVelocity); + drivebase.setDefaultCommand(Robot.isSimulation() ? driveFieldOrientedAnglularVelocityKeyboard : driveFieldOrientedAnglularVelocity); driverController.button(5).whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly()); driverController.button(10).onTrue((Commands.runOnce(drivebase::zeroGyro))); driverController.button(4).whileTrue(drivebase.centerModulesCommand()); + //driverController.button(3).whileTrue(drivebase.pa); Go barge command } diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java index 2bc517c..7ebbf23 100644 --- a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java @@ -5,6 +5,8 @@ public class AnkleConstants { public final static int SparkID = 1; public final static double maxAngle = 0; public final static double minAngle = 0; + public static final double MaxOutput = 0; + public static final double MinOutput = 0; public static double kP = 0.04; public static double kI = 0; public static double kD = 0; diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java index 8f3de3e..d312e98 100644 --- a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java @@ -11,10 +11,9 @@ import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; import com.revrobotics.spark.config.SparkMaxConfig; import com.revrobotics.spark.SparkLowLevel.MotorType; - -import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.PIDDebugger; public class AnkleSubsystem extends SubsystemBase { private SparkMax m_motor; @@ -22,6 +21,8 @@ public class AnkleSubsystem extends SubsystemBase { private SparkClosedLoopController closedLoopController; private SparkMaxConfig motorConfig; private RelativeEncoder encoder; + private PIDDebugger m_pidDebugger, m_pidController; + public double kP, kI, kD, kIz, kMaxOutput, kMinOutput; public AnkleSubsystem() { m_motor = new SparkMax(AnkleConstants.SparkID, MotorType.kBrushless); @@ -29,55 +30,51 @@ public AnkleSubsystem() { encoder = m_motor.getEncoder(); closedLoopController = m_motor.getClosedLoopController(); motorConfig = new SparkMaxConfig(); - - motorConfig.closedLoop - .feedbackSensor(FeedbackSensor.kPrimaryEncoder) - .p(AnkleConstants.kP) - .i(AnkleConstants.kI) - .d(AnkleConstants.kD) - .outputRange(-0.9, 0.9); - - motorConfig.closedLoop.maxMotion - .maxVelocity(1000) - .maxAcceleration(1000) - .allowedClosedLoopError(1); + m_pidDebugger = new PIDDebugger(); + configureMotorConfig(motorConfig); m_motor.configure(motorConfig, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); } public void setAngle(double angle) { - if(isAngleInRange(angle)) { - closedLoopController.setReference(angle, ControlType.kMAXMotionPositionControl, - ClosedLoopSlot.kSlot0); - } else { - setDefault(); - } + if (isAngleInRange(angle)) { + closedLoopController.setReference(angle, ControlType.kMAXMotionPositionControl, + ClosedLoopSlot.kSlot0); + } else { + setDefault(); + } } + public void setAngleTest() { - double angle = SmartDashboard.getNumber("testAngle Ankle", 0); - if(isAngleInRange(angle)) { - closedLoopController.setReference(angle, ControlType.kMAXMotionPositionControl, - ClosedLoopSlot.kSlot0); - } else { - setDefault(); - } + double angle = SmartDashboard.getNumber("testAngleAnkle", 0); + if (isAngleInRange(angle)) { + closedLoopController.setReference(angle, ControlType.kMAXMotionPositionControl, + ClosedLoopSlot.kSlot0); + } else { + setDefault(); + } } + public void setDefault() { closedLoopController.setReference(0, ControlType.kMAXMotionPositionControl, - ClosedLoopSlot.kSlot0); - if(encoder.getPosition() == 0) { - stopAngleMotor(); + ClosedLoopSlot.kSlot0); + if (encoder.getPosition() == 0) { + stopAngleMotor(); } } + public boolean isAngleInRange(double angle) { return angle <= AnkleConstants.maxAngle && angle >= AnkleConstants.minAngle; } + public void stopAngleMotor() { m_motor.set(0); } + public void setWheelMotor(double velocity) { m_wheelMotor.set(velocity); } + @Override public void periodic() { encoder.setPosition(0); @@ -88,4 +85,25 @@ public void periodic() { public void simulationPeriodic() { // This method will be called once per scheduler run during simulation } + + public void configureMotorConfig(SparkMaxConfig motorConfig) { + String prefix = "ankle"; + double kP = SmartDashboard.getNumber(prefix + "P", AnkleConstants.kP); + double kI = SmartDashboard.getNumber(prefix + "I", AnkleConstants.kI); + double kD = SmartDashboard.getNumber(prefix + "D", AnkleConstants.kD); + double kMinOutput = SmartDashboard.getNumber(prefix + "MinOutput", AnkleConstants.MinOutput); + double kMaxOutput = SmartDashboard.getNumber(prefix + "MaxOutput", AnkleConstants.MaxOutput); + motorConfig.closedLoop + .feedbackSensor(FeedbackSensor.kPrimaryEncoder) + .p(kP) + .i(kI) + .d(kD) + .outputRange(kMinOutput, kMaxOutput); + + motorConfig.closedLoop.maxMotion + .maxVelocity(1000) + .maxAcceleration(1000) + .allowedClosedLoopError(1); + } + } diff --git a/src/main/java/frc/robot/subsystems/RobotStatusManager.java b/src/main/java/frc/robot/subsystems/RobotStatusManager.java index 35fa653..516a765 100644 --- a/src/main/java/frc/robot/subsystems/RobotStatusManager.java +++ b/src/main/java/frc/robot/subsystems/RobotStatusManager.java @@ -1,6 +1,7 @@ package frc.robot.subsystems; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.PIDDebugger; import frc.robot.Constants.GeneralConstants; import edu.wpi.first.wpilibj.AddressableLED; import edu.wpi.first.wpilibj.AddressableLEDBuffer; @@ -15,7 +16,8 @@ public enum RobotStatus { ShootingL2(0, 0, 255, true), // Blinking Blue ShootingL3(255, 0, 0, true), // Blinking Red Removing_Algae(0, 255, 0, true), // Blinking Green - Climbing(0, 0, 0, false), // Rainbow + Climbing(0, 0, 0, false), + Test_Mode(0,0,0, false), // Rainbow Nothing(0, 0, 0, false); // Sliding public final int r, g, b; public final boolean blinking; @@ -27,6 +29,7 @@ public enum RobotStatus { this.blinking = blinking; } } + private PIDDebugger m_PidDebugger; private RobotStatus currentStatus; private final AddressableLED ledStrip; @@ -40,7 +43,8 @@ public enum RobotStatus { private static final int LED_LENGTH = GeneralConstants.LED_LENGTH; public RobotStatusManager() { - this.currentStatus = RobotStatus.Alignment; + m_PidDebugger = new PIDDebugger(); + this.currentStatus = RobotStatus.Nothing; // LED Şeridi Baslat ledStrip = new AddressableLED(GeneralConstants.LED_PWM_PORT); @@ -131,6 +135,10 @@ public void periodic() { updateMovingPixelEffect(); return; } + if (currentStatus == RobotStatus.Test_Mode) { + m_PidDebugger.setSparkPIDControllerToDashboard("ankle", 0,0,0,0,0,0); + return; + } if (currentStatus.blinking && blinkTimer.get() > 0.3) { isBlinkOn = !isBlinkOn; From 2789628294519e3fa6ec2c5c153114c733469c5c Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Sun, 9 Feb 2025 21:53:29 +0300 Subject: [PATCH 05/15] PID Debugger has been improved. --- src/main/java/frc/robot/Robot.java | 1 + src/main/java/frc/robot/RobotContainer.java | 1 - .../frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java | 1 + .../frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java | 4 ++-- src/main/java/frc/robot/subsystems/RobotStatusManager.java | 2 ++ 5 files changed, 6 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 51fbf0b..f2906cd 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -134,6 +134,7 @@ public void teleopPeriodic() { @Override public void testInit() { // Cancels all running commands at the start of test mode. + statusManager.setStatus(RobotStatusManager.RobotStatus.Test_Mode); CommandScheduler.getInstance().cancelAll(); } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index e9c7cbf..f1141ce 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -27,7 +27,6 @@ public class RobotContainer { // Replace with CommandPS4Controller or CommandJoystick if needed final CommandXboxController driverController = new CommandXboxController(0); - private PIDDebugger m_PidDebugger = new PIDDebugger(); // The robot's subsystems and commands are defined here... private final Swerve drivebase = new Swerve(new File(Filesystem.getDeployDirectory(), "swerve")); diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java index 7ebbf23..f04d471 100644 --- a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java @@ -10,5 +10,6 @@ public class AnkleConstants { public static double kP = 0.04; public static double kI = 0; public static double kD = 0; + public static double gearRatio = 4; } diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java index d312e98..b36e5f9 100644 --- a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java @@ -38,7 +38,7 @@ public AnkleSubsystem() { public void setAngle(double angle) { if (isAngleInRange(angle)) { - closedLoopController.setReference(angle, ControlType.kMAXMotionPositionControl, + closedLoopController.setReference(angle * AnkleConstants.gearRatio, ControlType.kMAXMotionPositionControl, ClosedLoopSlot.kSlot0); } else { setDefault(); @@ -46,7 +46,7 @@ public void setAngle(double angle) { } public void setAngleTest() { - double angle = SmartDashboard.getNumber("testAngleAnkle", 0); + double angle = SmartDashboard.getNumber("testAngleAnkle", 0) * AnkleConstants.gearRatio; if (isAngleInRange(angle)) { closedLoopController.setReference(angle, ControlType.kMAXMotionPositionControl, ClosedLoopSlot.kSlot0); diff --git a/src/main/java/frc/robot/subsystems/RobotStatusManager.java b/src/main/java/frc/robot/subsystems/RobotStatusManager.java index 516a765..0b7e732 100644 --- a/src/main/java/frc/robot/subsystems/RobotStatusManager.java +++ b/src/main/java/frc/robot/subsystems/RobotStatusManager.java @@ -137,6 +137,8 @@ public void periodic() { } if (currentStatus == RobotStatus.Test_Mode) { m_PidDebugger.setSparkPIDControllerToDashboard("ankle", 0,0,0,0,0,0); + SmartDashboard.putNumber("testAngleAnkle", 0); + SmartDashboard.putNumber("testAngleArm", 0); return; } From 9d97695e8151dcf81850c9c1b7fbaa5525629e70 Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Sun, 9 Feb 2025 22:03:25 +0300 Subject: [PATCH 06/15] The code file has been cleaned. --- .../frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java index b36e5f9..dfa67d8 100644 --- a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java @@ -13,7 +13,6 @@ import com.revrobotics.spark.SparkLowLevel.MotorType; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.PIDDebugger; public class AnkleSubsystem extends SubsystemBase { private SparkMax m_motor; @@ -21,7 +20,6 @@ public class AnkleSubsystem extends SubsystemBase { private SparkClosedLoopController closedLoopController; private SparkMaxConfig motorConfig; private RelativeEncoder encoder; - private PIDDebugger m_pidDebugger, m_pidController; public double kP, kI, kD, kIz, kMaxOutput, kMinOutput; public AnkleSubsystem() { @@ -30,7 +28,6 @@ public AnkleSubsystem() { encoder = m_motor.getEncoder(); closedLoopController = m_motor.getClosedLoopController(); motorConfig = new SparkMaxConfig(); - m_pidDebugger = new PIDDebugger(); configureMotorConfig(motorConfig); m_motor.configure(motorConfig, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); From ad0fc0a10de9468a5e9a9095e44ae549dfa65b28 Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Sun, 9 Feb 2025 22:12:33 +0300 Subject: [PATCH 07/15] todo's --- src/main/java/frc/robot/RobotContainer.java | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f1141ce..601becf 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -67,7 +67,11 @@ private void configureBindings() { driverController.button(5).whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly()); driverController.button(10).onTrue((Commands.runOnce(drivebase::zeroGyro))); driverController.button(4).whileTrue(drivebase.centerModulesCommand()); - + if(DriverStation.isTest()) { + // todo Arm / Ankle test code will add + } else { + // todo all codes will be here + } //driverController.button(3).whileTrue(drivebase.pa); Go barge command } From 311a48a2c536f019aeff45b3c2f3a6589b40eafc Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Sun, 9 Feb 2025 22:33:36 +0300 Subject: [PATCH 08/15] Current Angle Trackment --- .../frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java | 4 ++++ src/main/java/frc/robot/subsystems/RobotStatusManager.java | 1 + 2 files changed, 5 insertions(+) diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java index dfa67d8..676077a 100644 --- a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java @@ -20,6 +20,7 @@ public class AnkleSubsystem extends SubsystemBase { private SparkClosedLoopController closedLoopController; private SparkMaxConfig motorConfig; private RelativeEncoder encoder; + private double currentAngle; public double kP, kI, kD, kIz, kMaxOutput, kMinOutput; public AnkleSubsystem() { @@ -35,6 +36,7 @@ public AnkleSubsystem() { public void setAngle(double angle) { if (isAngleInRange(angle)) { + currentAngle = angle; closedLoopController.setReference(angle * AnkleConstants.gearRatio, ControlType.kMAXMotionPositionControl, ClosedLoopSlot.kSlot0); } else { @@ -55,6 +57,7 @@ public void setAngleTest() { public void setDefault() { closedLoopController.setReference(0, ControlType.kMAXMotionPositionControl, ClosedLoopSlot.kSlot0); + currentAngle = 0; if (encoder.getPosition() == 0) { stopAngleMotor(); } @@ -75,6 +78,7 @@ public void setWheelMotor(double velocity) { @Override public void periodic() { encoder.setPosition(0); + SmartDashboard.putNumber("Current Angle (Ankle)", currentAngle); // This method will be called once per scheduler run } diff --git a/src/main/java/frc/robot/subsystems/RobotStatusManager.java b/src/main/java/frc/robot/subsystems/RobotStatusManager.java index 0b7e732..afb054e 100644 --- a/src/main/java/frc/robot/subsystems/RobotStatusManager.java +++ b/src/main/java/frc/robot/subsystems/RobotStatusManager.java @@ -136,6 +136,7 @@ public void periodic() { return; } if (currentStatus == RobotStatus.Test_Mode) { + m_PidDebugger.setSparkPIDControllerToDashboard("arm", 0,0,0,0,0,0); m_PidDebugger.setSparkPIDControllerToDashboard("ankle", 0,0,0,0,0,0); SmartDashboard.putNumber("testAngleAnkle", 0); SmartDashboard.putNumber("testAngleArm", 0); From d523177e81180859e6933a9e1a873fe48fe13d8d Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Mon, 10 Feb 2025 01:17:15 +0300 Subject: [PATCH 09/15] Fixed, where is encoder value set --- .../frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java | 4 ++-- .../frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java index f04d471..9b6a24a 100644 --- a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleConstants.java @@ -3,8 +3,8 @@ public class AnkleConstants { public final static int RedlineID = 1; public final static int SparkID = 1; - public final static double maxAngle = 0; - public final static double minAngle = 0; + public final static double maxAngle = 0/360; + public final static double minAngle = 0/360; public static final double MaxOutput = 0; public static final double MinOutput = 0; public static double kP = 0.04; diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java index 676077a..97edce9 100644 --- a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java @@ -31,7 +31,7 @@ public AnkleSubsystem() { motorConfig = new SparkMaxConfig(); configureMotorConfig(motorConfig); m_motor.configure(motorConfig, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); - + encoder.setPosition(0); } public void setAngle(double angle) { @@ -77,7 +77,6 @@ public void setWheelMotor(double velocity) { @Override public void periodic() { - encoder.setPosition(0); SmartDashboard.putNumber("Current Angle (Ankle)", currentAngle); // This method will be called once per scheduler run } @@ -105,6 +104,7 @@ public void configureMotorConfig(SparkMaxConfig motorConfig) { .maxVelocity(1000) .maxAcceleration(1000) .allowedClosedLoopError(1); + motorConfig.smartCurrentLimit(50); } } From 1d25a11023002f97887df55f0da2519ff3f7ed6b Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Mon, 10 Feb 2025 01:20:21 +0300 Subject: [PATCH 10/15] Fixed Conflicts. These will add on next update. --- src/main/java/frc/robot/Robot.java | 1 - src/main/java/frc/robot/RobotContainer.java | 5 ----- .../robot/subsystems/RobotStatusManager.java | 17 +++-------------- 3 files changed, 3 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index f2906cd..51fbf0b 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -134,7 +134,6 @@ public void teleopPeriodic() { @Override public void testInit() { // Cancels all running commands at the start of test mode. - statusManager.setStatus(RobotStatusManager.RobotStatus.Test_Mode); CommandScheduler.getInstance().cancelAll(); } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 601becf..69c3aa4 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -67,11 +67,6 @@ private void configureBindings() { driverController.button(5).whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly()); driverController.button(10).onTrue((Commands.runOnce(drivebase::zeroGyro))); driverController.button(4).whileTrue(drivebase.centerModulesCommand()); - if(DriverStation.isTest()) { - // todo Arm / Ankle test code will add - } else { - // todo all codes will be here - } //driverController.button(3).whileTrue(drivebase.pa); Go barge command } diff --git a/src/main/java/frc/robot/subsystems/RobotStatusManager.java b/src/main/java/frc/robot/subsystems/RobotStatusManager.java index afb054e..76d4299 100644 --- a/src/main/java/frc/robot/subsystems/RobotStatusManager.java +++ b/src/main/java/frc/robot/subsystems/RobotStatusManager.java @@ -1,7 +1,6 @@ package frc.robot.subsystems; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import frc.robot.PIDDebugger; import frc.robot.Constants.GeneralConstants; import edu.wpi.first.wpilibj.AddressableLED; import edu.wpi.first.wpilibj.AddressableLEDBuffer; @@ -16,8 +15,7 @@ public enum RobotStatus { ShootingL2(0, 0, 255, true), // Blinking Blue ShootingL3(255, 0, 0, true), // Blinking Red Removing_Algae(0, 255, 0, true), // Blinking Green - Climbing(0, 0, 0, false), - Test_Mode(0,0,0, false), // Rainbow + Climbing(0, 0, 0, false), // Rainbow Nothing(0, 0, 0, false); // Sliding public final int r, g, b; public final boolean blinking; @@ -29,7 +27,6 @@ public enum RobotStatus { this.blinking = blinking; } } - private PIDDebugger m_PidDebugger; private RobotStatus currentStatus; private final AddressableLED ledStrip; @@ -43,8 +40,7 @@ public enum RobotStatus { private static final int LED_LENGTH = GeneralConstants.LED_LENGTH; public RobotStatusManager() { - m_PidDebugger = new PIDDebugger(); - this.currentStatus = RobotStatus.Nothing; + this.currentStatus = RobotStatus.Alignment; // LED Şeridi Baslat ledStrip = new AddressableLED(GeneralConstants.LED_PWM_PORT); @@ -135,13 +131,6 @@ public void periodic() { updateMovingPixelEffect(); return; } - if (currentStatus == RobotStatus.Test_Mode) { - m_PidDebugger.setSparkPIDControllerToDashboard("arm", 0,0,0,0,0,0); - m_PidDebugger.setSparkPIDControllerToDashboard("ankle", 0,0,0,0,0,0); - SmartDashboard.putNumber("testAngleAnkle", 0); - SmartDashboard.putNumber("testAngleArm", 0); - return; - } if (currentStatus.blinking && blinkTimer.get() > 0.3) { isBlinkOn = !isBlinkOn; @@ -154,4 +143,4 @@ public void periodic() { } } } -} +} \ No newline at end of file From 8fdf9e1826e92d9f1aab817658e806e5c3ca8fdf Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Mon, 10 Feb 2025 01:21:46 +0300 Subject: [PATCH 11/15] Fixed conflicts. --- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 8 +++++++- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 51fbf0b..8e5c48f 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -151,4 +151,4 @@ public void simulationInit() { @Override public void simulationPeriodic() { } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 69c3aa4..0180b23 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -5,11 +5,16 @@ package frc.robot; import com.pathplanner.lib.auto.NamedCommands; +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.DriverStation; import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.RobotBase; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; +import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.Constants.OperatorConstants; import frc.robot.subsystems.Drive.Swerve; import java.io.File; @@ -63,7 +68,8 @@ public RobotContainer() { } private void configureBindings() { - drivebase.setDefaultCommand(Robot.isSimulation() ? driveFieldOrientedAnglularVelocityKeyboard : driveFieldOrientedAnglularVelocity); + drivebase.setDefaultCommand( + Robot.isSimulation() ? driveFieldOrientedAnglularVelocityKeyboard : driveFieldOrientedAnglularVelocity); driverController.button(5).whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly()); driverController.button(10).onTrue((Commands.runOnce(drivebase::zeroGyro))); driverController.button(4).whileTrue(drivebase.centerModulesCommand()); From 7a05b682ce176f8273d12d1eb37b66391ecfde42 Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Mon, 10 Feb 2025 01:46:01 +0300 Subject: [PATCH 12/15] Reapply "Added Arm Subsystem" This reverts commit d16e7b6d765f80e2da4b3942ab241ed1476877d7. --- .../robot/subsystems/ArmSubsystem/Arm.java | 94 +++++++++++++++++++ .../subsystems/ArmSubsystem/ArmConstants.java | 15 +++ 2 files changed, 109 insertions(+) create mode 100644 src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java create mode 100644 src/main/java/frc/robot/subsystems/ArmSubsystem/ArmConstants.java diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java b/src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java new file mode 100644 index 0000000..188842b --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java @@ -0,0 +1,94 @@ +package frc.robot.subsystems.ArmSubsystem; + +import com.revrobotics.spark.SparkMax; +import com.revrobotics.spark.SparkBase.PersistMode; +import com.revrobotics.spark.SparkBase.ResetMode; +import com.revrobotics.spark.SparkLowLevel.MotorType; +import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; +import com.revrobotics.spark.config.SparkMaxConfig; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Arm extends SubsystemBase { + + private final SparkMax m_motor; + private final SparkMax m_followerMotor; + private final SparkMaxConfig followerMotorConfig, m_motorConfig; + // Ayarlanan açı + private double currentAngle; + + public Arm() { + m_motor = new SparkMax(ArmConstants.masterNeoID, MotorType.kBrushless); + m_followerMotor = new SparkMax(ArmConstants.followerNeoID, MotorType.kBrushless); + followerMotorConfig = new SparkMaxConfig(); + m_motorConfig = new SparkMaxConfig(); + followerMotorConfig.follow(m_motor); + configureMotorConfig(m_motorConfig); + m_motor.configure(m_motorConfig, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); + m_followerMotor.configure(followerMotorConfig, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); + currentAngle = 0; + } + + // Arm'ı belirli bir açıya ayarlama fonksiyonu + public void setAngle(double angle) { + if (isAngleInRange(angle)) { + currentAngle = angle; + + } else { + stopMotor(); + } + } + + // Test için arm'ı sabit bir açıya ayarlama + public void setAngleTest() { + double testAngle = SmartDashboard.getNumber("testAngle", 0); + setAngle(testAngle); + } + + // Varsayılan pozisyona geri dönme (0 derece) + public void setDefault() { + setAngle(ArmConstants.defaultAngle); + } + + private boolean isAngleInRange(double angle) { + return angle >= ArmConstants.defaultAngle && angle <= ArmConstants.maxAngle; + } + + // Motoru durdurma + private void stopMotor() { + m_motor.setVoltage(0); + m_followerMotor.setVoltage(0); + } + + // Robotun her döngüsünde çalışacak fonksiyon + @Override + public void periodic() { + SmartDashboard.putNumber("Current Angle (Arm)", currentAngle); + } + + @Override + public void simulationPeriodic() { + // This method will be called once per scheduler run during simulation + } + + public void configureMotorConfig(SparkMaxConfig motorConfig) { + String prefix = "arm"; + double kP = SmartDashboard.getNumber(prefix + "P", ArmConstants.kP); + double kI = SmartDashboard.getNumber(prefix + "I", ArmConstants.kI); + double kD = SmartDashboard.getNumber(prefix + "D", ArmConstants.kD); + double kMinOutput = SmartDashboard.getNumber(prefix + "MinOutput", ArmConstants.MinOutput); + double kMaxOutput = SmartDashboard.getNumber(prefix + "MaxOutput", ArmConstants.MaxOutput); + motorConfig.closedLoop + .feedbackSensor(FeedbackSensor.kPrimaryEncoder) + .p(kP) + .i(kI) + .d(kD) + .outputRange(kMinOutput, kMaxOutput); + + motorConfig.closedLoop.maxMotion + .maxVelocity(1000) + .maxAcceleration(1000) + .allowedClosedLoopError(1); + } + +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem/ArmConstants.java b/src/main/java/frc/robot/subsystems/ArmSubsystem/ArmConstants.java new file mode 100644 index 0000000..12fa184 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ArmSubsystem/ArmConstants.java @@ -0,0 +1,15 @@ +package frc.robot.subsystems.ArmSubsystem; + +public class ArmConstants { + public final static int masterNeoID = 0; + public final static int followerNeoID = 0; + public final static double defaultAngle = 0; + public final static double maxAngle = 274.165 - 19.165; + public final static int gearRatio = 24; + public static final double MaxOutput = 0; + public static final double MinOutput = 0; + public static double kP = 0.04; + public static double kI = 0; + public static double kD = 0; +} + From 586f807571c938c3146572f3656f527d8d05a504 Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Mon, 10 Feb 2025 15:49:44 +0300 Subject: [PATCH 13/15] Fixed Angle Multiplier --- .../frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java index 97edce9..099f21e 100644 --- a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java @@ -45,9 +45,9 @@ public void setAngle(double angle) { } public void setAngleTest() { - double angle = SmartDashboard.getNumber("testAngleAnkle", 0) * AnkleConstants.gearRatio; + double angle = SmartDashboard.getNumber("testAngleAnkle", 0); if (isAngleInRange(angle)) { - closedLoopController.setReference(angle, ControlType.kMAXMotionPositionControl, + closedLoopController.setReference(angle * AnkleConstants.gearRatio, ControlType.kMAXMotionPositionControl, ClosedLoopSlot.kSlot0); } else { setDefault(); From f651b5d309a8b1f746c41cc7e6568755fa21fdb5 Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Wed, 12 Feb 2025 23:25:38 +0300 Subject: [PATCH 14/15] Added Arm Subsystem and fixed errors after reviews --- .../pathplanner/paths/Example Path.path | 28 ++++-------------- src/main/deploy/swerve/modules/backleft.json | 4 +-- src/main/deploy/swerve/modules/backright.json | 4 +-- src/main/deploy/swerve/modules/frontleft.json | 4 +-- .../deploy/swerve/modules/frontright.json | 4 +-- src/main/java/frc/robot/RobotContainer.java | 5 ++++ .../AnkleSubsystem/AnkleSubsystem.java | 29 ++++++++++--------- .../robot/subsystems/ArmSubsystem/Arm.java | 8 ++--- .../subsystems/ArmSubsystem/ArmConstants.java | 2 +- .../frc/robot/subsystems/Drive/Swerve.java | 2 +- 10 files changed, 40 insertions(+), 50 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/Example Path.path index b362c7b..9e41553 100644 --- a/src/main/deploy/pathplanner/paths/Example Path.path +++ b/src/main/deploy/pathplanner/paths/Example Path.path @@ -8,36 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 8.564640410958912, - "y": 2.6351241438356174 + "x": 7.789895007209807, + "y": -1.860191735760635 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.9517551369863013, - "y": 5.42990154109589 + "x": 4.612885273979555, + "y": 6.076005993145134 }, "prevControl": { - "x": 7.7935855263157885, - "y": 6.622861842105262 - }, - "nextControl": { - "x": 2.2635141527995155, - "y": 4.905671091395238 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 7.753253424657535, - "y": 2.66517551369863 - }, - "prevControl": { - "x": 7.716611842105262, - "y": 7.190542763157895 + "x": 7.152226027404213, + "y": 5.685338184925955 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json index bc087bb..0c88f06 100644 --- a/src/main/deploy/swerve/modules/backleft.json +++ b/src/main/deploy/swerve/modules/backleft.json @@ -6,7 +6,7 @@ "absoluteEncoderOffset": 0, "drive": { "type": "sparkflex_vortex", - "id": 63, + "id": 53, "canbus": "rio" }, "inverted": { @@ -15,7 +15,7 @@ }, "angle": { "type": "sparkmax_neo", - "id": 73, + "id": 43, "canbus": "rio" }, "encoder": { diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json index a0e0797..5b9cd64 100644 --- a/src/main/deploy/swerve/modules/backright.json +++ b/src/main/deploy/swerve/modules/backright.json @@ -6,7 +6,7 @@ "absoluteEncoderOffset": 0, "drive": { "type": "sparkflex_vortex", - "id": 64, + "id": 54, "canbus": "rio" }, "inverted": { @@ -15,7 +15,7 @@ }, "angle": { "type": "sparkmax_neo", - "id": 74, + "id": 44, "canbus": "rio" }, "encoder": { diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json index 58b201f..52d62a6 100644 --- a/src/main/deploy/swerve/modules/frontleft.json +++ b/src/main/deploy/swerve/modules/frontleft.json @@ -6,7 +6,7 @@ "absoluteEncoderOffset": 0, "drive": { "type": "sparkflex_vortex", - "id": 61, + "id": 51, "canbus": "rio" }, "inverted": { @@ -15,7 +15,7 @@ }, "angle": { "type": "sparkmax_neo", - "id": 71, + "id": 41, "canbus": "rio" }, "encoder": { diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json index 339d706..d9fe8d4 100644 --- a/src/main/deploy/swerve/modules/frontright.json +++ b/src/main/deploy/swerve/modules/frontright.json @@ -6,7 +6,7 @@ "absoluteEncoderOffset": 0, "drive": { "type": "sparkflex_vortex", - "id": 62, + "id": 52, "canbus": "rio" }, "inverted": { @@ -15,7 +15,7 @@ }, "angle": { "type": "sparkmax_neo", - "id": 72, + "id": 42, "canbus": "rio" }, "encoder": { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 0180b23..35fadea 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -73,6 +73,11 @@ private void configureBindings() { driverController.button(5).whileTrue(Commands.runOnce(drivebase::lock, drivebase).repeatedly()); driverController.button(10).onTrue((Commands.runOnce(drivebase::zeroGyro))); driverController.button(4).whileTrue(drivebase.centerModulesCommand()); + driverController.button(2).whileTrue( + drivebase.driveToPose( + new Pose2d(new Translation2d(7, 4), Rotation2d.fromDegrees(0))) + ); + driverController.button(1).whileTrue(drivebase.sysIdDriveMotorCommand()); //driverController.button(3).whileTrue(drivebase.pa); Go barge command } diff --git a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java index 099f21e..1531f78 100644 --- a/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java +++ b/src/main/java/frc/robot/subsystems/AnkleSubsystem/AnkleSubsystem.java @@ -20,8 +20,8 @@ public class AnkleSubsystem extends SubsystemBase { private SparkClosedLoopController closedLoopController; private SparkMaxConfig motorConfig; private RelativeEncoder encoder; - private double currentAngle; - public double kP, kI, kD, kIz, kMaxOutput, kMinOutput; + private double currentAngleSetpoint; + private double kP, kI, kD, kIz, kMaxOutput, kMinOutput; public AnkleSubsystem() { m_motor = new SparkMax(AnkleConstants.SparkID, MotorType.kBrushless); @@ -29,14 +29,13 @@ public AnkleSubsystem() { encoder = m_motor.getEncoder(); closedLoopController = m_motor.getClosedLoopController(); motorConfig = new SparkMaxConfig(); - configureMotorConfig(motorConfig); - m_motor.configure(motorConfig, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); + m_motor.configure(configCreator(motorConfig), ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); encoder.setPosition(0); } - public void setAngle(double angle) { + private void setAngle(double angle) { if (isAngleInRange(angle)) { - currentAngle = angle; + currentAngleSetpoint = angle; closedLoopController.setReference(angle * AnkleConstants.gearRatio, ControlType.kMAXMotionPositionControl, ClosedLoopSlot.kSlot0); } else { @@ -44,7 +43,7 @@ public void setAngle(double angle) { } } - public void setAngleTest() { + private void setAngleTest() { double angle = SmartDashboard.getNumber("testAngleAnkle", 0); if (isAngleInRange(angle)) { closedLoopController.setReference(angle * AnkleConstants.gearRatio, ControlType.kMAXMotionPositionControl, @@ -54,30 +53,30 @@ public void setAngleTest() { } } - public void setDefault() { + private void setDefault() { closedLoopController.setReference(0, ControlType.kMAXMotionPositionControl, ClosedLoopSlot.kSlot0); - currentAngle = 0; + currentAngleSetpoint = 0; if (encoder.getPosition() == 0) { stopAngleMotor(); } } - public boolean isAngleInRange(double angle) { + private boolean isAngleInRange(double angle) { return angle <= AnkleConstants.maxAngle && angle >= AnkleConstants.minAngle; } - public void stopAngleMotor() { + private void stopAngleMotor() { m_motor.set(0); } - public void setWheelMotor(double velocity) { + private void setWheelMotor(double velocity) { m_wheelMotor.set(velocity); } @Override public void periodic() { - SmartDashboard.putNumber("Current Angle (Ankle)", currentAngle); + SmartDashboard.putNumber("Current Angle (Ankle)", currentAngleSetpoint); // This method will be called once per scheduler run } @@ -86,7 +85,7 @@ public void simulationPeriodic() { // This method will be called once per scheduler run during simulation } - public void configureMotorConfig(SparkMaxConfig motorConfig) { + private SparkMaxConfig configCreator(SparkMaxConfig motorConfig) { String prefix = "ankle"; double kP = SmartDashboard.getNumber(prefix + "P", AnkleConstants.kP); double kI = SmartDashboard.getNumber(prefix + "I", AnkleConstants.kI); @@ -105,6 +104,8 @@ public void configureMotorConfig(SparkMaxConfig motorConfig) { .maxAcceleration(1000) .allowedClosedLoopError(1); motorConfig.smartCurrentLimit(50); + + return motorConfig; } } diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java b/src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java index 188842b..221f7f6 100644 --- a/src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java +++ b/src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java @@ -30,7 +30,7 @@ public Arm() { } // Arm'ı belirli bir açıya ayarlama fonksiyonu - public void setAngle(double angle) { + private void setAngle(double angle) { if (isAngleInRange(angle)) { currentAngle = angle; @@ -40,13 +40,13 @@ public void setAngle(double angle) { } // Test için arm'ı sabit bir açıya ayarlama - public void setAngleTest() { + private void setAngleTest() { double testAngle = SmartDashboard.getNumber("testAngle", 0); setAngle(testAngle); } // Varsayılan pozisyona geri dönme (0 derece) - public void setDefault() { + private void setDefault() { setAngle(ArmConstants.defaultAngle); } @@ -71,7 +71,7 @@ public void simulationPeriodic() { // This method will be called once per scheduler run during simulation } - public void configureMotorConfig(SparkMaxConfig motorConfig) { + private void configureMotorConfig(SparkMaxConfig motorConfig) { String prefix = "arm"; double kP = SmartDashboard.getNumber(prefix + "P", ArmConstants.kP); double kI = SmartDashboard.getNumber(prefix + "I", ArmConstants.kI); diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem/ArmConstants.java b/src/main/java/frc/robot/subsystems/ArmSubsystem/ArmConstants.java index 12fa184..b3ad59b 100644 --- a/src/main/java/frc/robot/subsystems/ArmSubsystem/ArmConstants.java +++ b/src/main/java/frc/robot/subsystems/ArmSubsystem/ArmConstants.java @@ -8,7 +8,7 @@ public class ArmConstants { public final static int gearRatio = 24; public static final double MaxOutput = 0; public static final double MinOutput = 0; - public static double kP = 0.04; + public static double kP = 0.05; public static double kI = 0; public static double kD = 0; } diff --git a/src/main/java/frc/robot/subsystems/Drive/Swerve.java b/src/main/java/frc/robot/subsystems/Drive/Swerve.java index 21cb8f3..b161683 100644 --- a/src/main/java/frc/robot/subsystems/Drive/Swerve.java +++ b/src/main/java/frc/robot/subsystems/Drive/Swerve.java @@ -348,7 +348,7 @@ public Command driveWithSetpointGeneratorFieldRelative(Supplier f public Command sysIdDriveMotorCommand() { return SwerveDriveTest.generateSysIdCommand( - SwerveDriveTest.setDriveSysIdRoutine( + SwerveDriveTest.setDriveSysIdRoutine( new Config(), this, swerveDrive, 12, true), 3.0, 5.0, 3.0); From 7c592021d52fe8646bda41d8f7fb49e7c4cf8483 Mon Sep 17 00:00:00 2001 From: recepsirin0 Date: Thu, 13 Feb 2025 14:23:16 +0300 Subject: [PATCH 15/15] - --- src/main/deploy/swerve/modules/backleft.json | 2 +- src/main/deploy/swerve/modules/backright.json | 2 +- src/main/deploy/swerve/modules/frontleft.json | 4 ++-- src/main/deploy/swerve/modules/frontright.json | 4 ++-- src/main/deploy/swerve/modules/pidfproperties.json | 10 +++++----- src/main/deploy/swerve/swervedrive.json | 2 +- src/main/java/frc/robot/Constants.java | 4 ++-- src/main/java/frc/robot/RobotContainer.java | 4 ++-- .../java/frc/robot/subsystems/ArmSubsystem/Arm.java | 6 +++--- .../frc/robot/subsystems/Drive/SwerveConstants.java | 2 +- .../java/frc/robot/subsystems/RobotStatusManager.java | 2 +- 11 files changed, 21 insertions(+), 21 deletions(-) diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json index 0c88f06..e572aa2 100644 --- a/src/main/deploy/swerve/modules/backleft.json +++ b/src/main/deploy/swerve/modules/backleft.json @@ -3,7 +3,7 @@ "front": -11.5, "left": 11.5 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 164.5, "drive": { "type": "sparkflex_vortex", "id": 53, diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json index 5b9cd64..3f07d3f 100644 --- a/src/main/deploy/swerve/modules/backright.json +++ b/src/main/deploy/swerve/modules/backright.json @@ -3,7 +3,7 @@ "front": -11.5, "left": -11.5 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 118, "drive": { "type": "sparkflex_vortex", "id": 54, diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json index 52d62a6..0a789da 100644 --- a/src/main/deploy/swerve/modules/frontleft.json +++ b/src/main/deploy/swerve/modules/frontleft.json @@ -3,7 +3,7 @@ "front": 11.5, "left": 11.5 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 211.2, "drive": { "type": "sparkflex_vortex", "id": 51, @@ -20,7 +20,7 @@ }, "encoder": { "type": "thrifty", - "id": 1, + "id": 2, "canbus": null }, "absoluteEncoderInverted": false diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json index d9fe8d4..35857ad 100644 --- a/src/main/deploy/swerve/modules/frontright.json +++ b/src/main/deploy/swerve/modules/frontright.json @@ -3,7 +3,7 @@ "front": 11.5, "left": -11.5 }, - "absoluteEncoderOffset": 0, + "absoluteEncoderOffset": 42.6, "drive": { "type": "sparkflex_vortex", "id": 52, @@ -20,7 +20,7 @@ }, "encoder": { "type": "thrifty", - "id": 2, + "id": 1, "canbus": null }, "absoluteEncoderInverted": false diff --git a/src/main/deploy/swerve/modules/pidfproperties.json b/src/main/deploy/swerve/modules/pidfproperties.json index 3834a36..79aa48f 100644 --- a/src/main/deploy/swerve/modules/pidfproperties.json +++ b/src/main/deploy/swerve/modules/pidfproperties.json @@ -1,16 +1,16 @@ { "drive": { - "p": 0.0020645, + "p": 0.04, "i": 0, - "d": 0, - "f": 0, + "d": 0.000125, + "f": 0.01, "iz": 0 }, "angle": { - "p": 0.0020645, + "p": 0, "i": 0, "d": 0, "f": 0, "iz": 0 } -} \ No newline at end of file +} diff --git a/src/main/deploy/swerve/swervedrive.json b/src/main/deploy/swerve/swervedrive.json index a4cdb4b..a838fe6 100644 --- a/src/main/deploy/swerve/swervedrive.json +++ b/src/main/deploy/swerve/swervedrive.json @@ -1,7 +1,7 @@ { "imu": { "type": "pigeon2", - "id": 51, + "id": 31, "canbus": "rio" }, "invertedIMU": false, diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index a79e045..cafa423 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -11,7 +11,7 @@ public static class OperatorConstants { } public static class GeneralConstants { - public static final int LED_LENGTH = 30; - public static final int LED_PWM_PORT = 1; + public static final int LED_LENGTH = 73; + public static final int LED_PWM_PORT = 8; } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 35fadea..8215b9d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -38,8 +38,8 @@ public class RobotContainer { SwerveInputStream driveAngularVelocity = SwerveInputStream.of(drivebase.getSwerveDrive(), - () -> driverController.getLeftY() * -1, - () -> driverController.getLeftX() * -1) + () -> driverController.getLeftY(), + () -> driverController.getLeftX()) .withControllerRotationAxis(driverController::getRightX) .deadband(OperatorConstants.DEADBAND) .scaleTranslation(0.8) diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java b/src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java index 221f7f6..3922bc4 100644 --- a/src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java +++ b/src/main/java/frc/robot/subsystems/ArmSubsystem/Arm.java @@ -23,8 +23,7 @@ public Arm() { followerMotorConfig = new SparkMaxConfig(); m_motorConfig = new SparkMaxConfig(); followerMotorConfig.follow(m_motor); - configureMotorConfig(m_motorConfig); - m_motor.configure(m_motorConfig, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); + m_motor.configure(configCreator(m_motorConfig), ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); m_followerMotor.configure(followerMotorConfig, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); currentAngle = 0; } @@ -71,7 +70,7 @@ public void simulationPeriodic() { // This method will be called once per scheduler run during simulation } - private void configureMotorConfig(SparkMaxConfig motorConfig) { + private SparkMaxConfig configCreator(SparkMaxConfig motorConfig) { String prefix = "arm"; double kP = SmartDashboard.getNumber(prefix + "P", ArmConstants.kP); double kI = SmartDashboard.getNumber(prefix + "I", ArmConstants.kI); @@ -89,6 +88,7 @@ private void configureMotorConfig(SparkMaxConfig motorConfig) { .maxVelocity(1000) .maxAcceleration(1000) .allowedClosedLoopError(1); + return motorConfig; } } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Drive/SwerveConstants.java b/src/main/java/frc/robot/subsystems/Drive/SwerveConstants.java index f00cfad..e30a01c 100644 --- a/src/main/java/frc/robot/subsystems/Drive/SwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/Drive/SwerveConstants.java @@ -2,6 +2,6 @@ public class SwerveConstants { - public final static double MAX_SPEED = 3; + public final static double MAX_SPEED = 5; public final static double WHEEL_LOCK_TIME = 10; // seconds } diff --git a/src/main/java/frc/robot/subsystems/RobotStatusManager.java b/src/main/java/frc/robot/subsystems/RobotStatusManager.java index 07529db..e7764c6 100644 --- a/src/main/java/frc/robot/subsystems/RobotStatusManager.java +++ b/src/main/java/frc/robot/subsystems/RobotStatusManager.java @@ -40,7 +40,7 @@ public enum RobotStatus { private static final int LED_LENGTH = GeneralConstants.LED_LENGTH; public RobotStatusManager() { - this.currentStatus = RobotStatus.Alignment; + this.currentStatus = RobotStatus.Climbing; // LED Şeridi Baslat ledStrip = new AddressableLED(GeneralConstants.LED_PWM_PORT);