diff --git a/src/main/deploy/choreo/2 - L.traj b/src/main/deploy/choreo/2 - L.traj index 081af558..15d604b6 100644 --- a/src/main/deploy/choreo/2 - L.traj +++ b/src/main/deploy/choreo/2 - L.traj @@ -3,30 +3,32 @@ "version":1, "snapshot":{ "waypoints":[ - {"x":7.6, "y":6.0, "heading":3.141592653589793, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.243371963500977, "y":5.417099475860596, "heading":-2.1486982637571423, "intervals":53, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.7615543603897097, "y":6.718713760375977, "heading":2.210182356559985, "intervals":50, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.6, "y":6.0, "heading":3.141592653589793, "intervals":38, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.243371963500977, "y":5.417099475860596, "heading":-2.1486982637571423, "intervals":48, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.7615543603897097, "y":6.718713760375977, "heading":2.210182356559985, "intervals":45, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":3.648894786834717, "y":5.400829315185547, "heading":-1.0603080584239757, "intervals":40, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":17.548, "h":8.052}}, "enabled":true}, {"from":1, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":2, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}], + {"from":2, "to":null, "data":{"type":"StopPoint", 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"fy":[-70.48781,-70.48656,-70.4865,-70.48775]}, + {"t":8.45819, "x":3.7, "y":2.6, "heading":1.0472, "vx":0.49146, "vy":0.87081, "omega":3.11559, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0,36,67,125,195,265] + }, + "events":[ + {"name":"Coral 1", "from":{"target":1, "targetTimestamp":1.29733, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[ + {"type":"named", "data":{"name":"AutoAlign"}}, + {"type":"named", "data":{"name":"PlaceL4"}}, + {"type":"named", "data":{"name":"Outake"}}, + {"type":"named", "data":{"name":"Stow"}}]}}}, + {"name":"Coral 2", "from":{"target":6, "targetTimestamp":5.16591, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"sequential", "data":{"commands":[ + {"type":"named", "data":{"name":"AutoAlign"}}, + {"type":"named", "data":{"name":"PlaceL4"}}, + {"type":"named", "data":{"name":"Outake"}}, + {"type":"named", "data":{"name":"Stow"}}]}}}, + {"name":"Intake1", "from":{"target":2, "targetTimestamp":2.14074, "offset":{"exp":"0 s", "val":0.0}}, "event":{"type":"parallel", "data":{"commands":[ + {"type":"named", "data":{"name":"CoralStationPose"}}, + {"type":"named", "data":{"name":"Intake"}}]}}}] +} diff --git a/src/main/deploy/choreo/autos.chor b/src/main/deploy/choreo/autos.chor index d0ee0721..4f7e9e1f 100755 --- a/src/main/deploy/choreo/autos.chor +++ b/src/main/deploy/choreo/autos.chor @@ -28,20 +28,20 @@ } }, "mass":{ - "exp":"74.088 kg", - "val":74.088 + "exp":"59.421 kg", + "val":59.421 }, "inertia":{ - "exp":"6.883 kg m ^ 2", - "val":6.883 + "exp":"17.168 kg m ^ 2", + "val":17.168 }, "gearing":{ "exp":"5.143", "val":5.143 }, "radius":{ - "exp":"0.048 m", - "val":0.048 + "exp":"0.049 m", + "val":0.049 }, "vmax":{ "exp":"4640 rpm", diff --git a/src/main/deploy/pathplanner/autos/1 - L.auto b/src/main/deploy/pathplanner/autos/1 - L.auto index 66e56376..3dc3cb0e 100644 --- a/src/main/deploy/pathplanner/autos/1 - L.auto +++ b/src/main/deploy/pathplanner/autos/1 - L.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "Left - Reef Left" + "pathName": "Left 1P" } }, { diff --git a/src/main/deploy/pathplanner/autos/1 - M PoleL.auto b/src/main/deploy/pathplanner/autos/1 - M PoleL.auto index 47a07022..c6b8e441 100644 --- a/src/main/deploy/pathplanner/autos/1 - M PoleL.auto +++ b/src/main/deploy/pathplanner/autos/1 - M PoleL.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "Center - ReefCenter" + "pathName": "Center 1P" } }, { diff --git a/src/main/deploy/pathplanner/autos/1 - M PoleR.auto b/src/main/deploy/pathplanner/autos/1 - M PoleR.auto index fc820102..ffc0d63b 100644 --- a/src/main/deploy/pathplanner/autos/1 - M PoleR.auto +++ b/src/main/deploy/pathplanner/autos/1 - M PoleR.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "Center - ReefCenter" + "pathName": "Center 1P" } }, { diff --git a/src/main/deploy/pathplanner/autos/1 - R.auto b/src/main/deploy/pathplanner/autos/1 - R.auto index 608b22a6..b1d726da 100644 --- a/src/main/deploy/pathplanner/autos/1 - R.auto +++ b/src/main/deploy/pathplanner/autos/1 - R.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "2 Piece Center Right.0" + "pathName": "Right 2P.0" } }, { diff --git a/src/main/deploy/pathplanner/autos/2 - R.auto b/src/main/deploy/pathplanner/autos/2 - R.auto index e9633060..7a7e623a 100644 --- a/src/main/deploy/pathplanner/autos/2 - R.auto +++ b/src/main/deploy/pathplanner/autos/2 - R.auto @@ -7,7 +7,7 @@ { "type": "path", "data": { - "pathName": "2 Piece Center Right.0" + "pathName": "Right 2P.0" } }, { @@ -25,13 +25,13 @@ { "type": "path", "data": { - "pathName": "2 Piece Center Right.1" + "pathName": "Right 2P.1" } }, { "type": "path", "data": { - "pathName": "2 Piece Center Right.2" + "pathName": "Right 2P.2" } }, { @@ -53,7 +53,7 @@ { "type": "path", "data": { - "pathName": "2 Piece Center Right.3" + "pathName": "Right 2P.3" } } ] diff --git a/src/main/java/frc/robot/constants/PathingConstants.java b/src/main/java/frc/robot/constants/PathingConstants.java index c9416419..62acae5b 100644 --- a/src/main/java/frc/robot/constants/PathingConstants.java +++ b/src/main/java/frc/robot/constants/PathingConstants.java @@ -20,8 +20,8 @@ public class PathingConstants { } } - public static final PIDConstants translationPIDConstants = new PIDConstants(1.0); - public static final PIDConstants rotationPIDConstants = new PIDConstants(5.0); + public static final PIDConstants translationPIDConstants = new PIDConstants(5.0, 0.0, 0.0); + public static final PIDConstants rotationPIDConstants = new PIDConstants(2.5); /** The default xy tolerance to terminate a corrected path. */ public static final double defaultTranslationTolerance = 0.01; diff --git a/src/main/java/frc/robot/util/CompoundCommands.java b/src/main/java/frc/robot/util/CompoundCommands.java index 2cd363b3..bfc86e29 100644 --- a/src/main/java/frc/robot/util/CompoundCommands.java +++ b/src/main/java/frc/robot/util/CompoundCommands.java @@ -197,7 +197,7 @@ public static Command armToStowSafely() { public static Command driveToLeftReef(int reefLevel) { return new DeferredCommand( () -> - PathGenerator.generateSimpleCorrectedPath( + PathGenerator.simpleGoToPoint( drive, reefTargets.getReefPose( false, @@ -216,7 +216,7 @@ public static Command driveToLeftReef(int reefLevel) { public static Command driveToRightReef(int reefLevel) { return new DeferredCommand( () -> - PathGenerator.generateSimpleCorrectedPath( + PathGenerator.simpleGoToPoint( drive, reefTargets.getReefPose( true, drive.getPose(), reefLevel, intake.getGamePiecePosition().getAsDouble())), @@ -230,7 +230,7 @@ public static Command driveToRightReef(int reefLevel) { public static Command driveToSource() { return new DeferredCommand( () -> - PathGenerator.generateSimpleCorrectedPath( + PathGenerator.simpleGoToPoint( drive, PositionConstants.getSourcePose(FieldUtil.isOnRightSide(drive.getPose()))), Set.of(drive)); } @@ -238,17 +238,14 @@ public static Command driveToSource() { /** Drives to the current alliance's left source. */ public static Command driveToLeftSource() { return new DeferredCommand( - () -> - PathGenerator.generateSimpleCorrectedPath(drive, PositionConstants.getLeftSourcePose()), + () -> PathGenerator.simpleGoToPoint(drive, PositionConstants.getLeftSourcePose()), Set.of(drive)); } /** Drives to the current alliance's right source. */ public static Command driveToRightSource() { return new DeferredCommand( - () -> - PathGenerator.generateSimpleCorrectedPath( - drive, PositionConstants.getRightSourcePose()), + () -> PathGenerator.simpleGoToPoint(drive, PositionConstants.getRightSourcePose()), Set.of(drive)); } diff --git a/src/main/java/frc/robot/util/PathGenerator.java b/src/main/java/frc/robot/util/PathGenerator.java index 8fed4a64..3436a17e 100644 --- a/src/main/java/frc/robot/util/PathGenerator.java +++ b/src/main/java/frc/robot/util/PathGenerator.java @@ -162,6 +162,26 @@ public static Command simpleGoToPoint( }); } + /** + * Uses simple PID control to drive to the target pose. The command will terminate once the robot + * is within the {@code translationTolerance} and {@code rotationTolerance}. + * + * @param drive The {@link Drive drivetrain} + * @param target The target pose + * @param translationTolerance The maximum distance to the target considered acceptable to + * terminate the command, measured in meters. + * @param rotationTolerance The maximum rotational error to the target considered acceptable to + * terminate the command. + * @return A command to drive to the target pose, terminating once at acceptable error. + */ + public static Command simpleGoToPoint(Drive drive, Pose2d target) { + return simpleGoToPoint( + drive, + target, + PathingConstants.defaultTranslationTolerance, + PathingConstants.defaultRotationTolerance); + } + /** * Chain commands from {@code generateSimplePath} to {@code simpleGoToPoint}, resulting in a * command that will not terminate until at acceptable error.