From 6371ec144e3d6c4892a56f55507941116d9561dc Mon Sep 17 00:00:00 2001 From: David Shen Date: Wed, 16 Apr 2025 19:44:20 -0500 Subject: [PATCH 1/4] biscuit stator current limit --- src/main/java/frc/robot/constants/RobotConstants.java | 4 ++-- src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java | 3 +++ 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/constants/RobotConstants.java b/src/main/java/frc/robot/constants/RobotConstants.java index fb677c8..0223eb9 100644 --- a/src/main/java/frc/robot/constants/RobotConstants.java +++ b/src/main/java/frc/robot/constants/RobotConstants.java @@ -437,12 +437,12 @@ public static TalonFXSConfiguration getFXSConfig() { CurrentLimitsConfigs current = new CurrentLimitsConfigs() - .withStatorCurrentLimit(100) + .withStatorCurrentLimit(60) .withStatorCurrentLimitEnable(true) .withSupplyCurrentLimit(20) .withSupplyCurrentLowerLimit(5) .withSupplyCurrentLowerTime(2) - .withSupplyCurrentLimitEnable(true); + .withSupplyCurrentLimitEnable(false); fxsConfig.CurrentLimits = current; HardwareLimitSwitchConfigs hwLimit = diff --git a/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java b/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java index 26a3065..9fd8a96 100644 --- a/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java +++ b/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java @@ -42,6 +42,7 @@ public class BiscuitIOFXS implements BiscuitIO, Checkable { private StatusSignal fwdLimitSwitch; private StatusSignal rawQuadrature; private StatusSignal rawPulseWidth; + // private StatusSignal statorCurrent; private boolean didZero; private boolean fwdLimitSwitchOpen; private Angle offset; @@ -73,6 +74,8 @@ public BiscuitIOFXS() { rawQuadrature.setUpdateFrequency(20); rawPulseWidth = talon.getRawPulseWidthPosition(); rawPulseWidth.setUpdateFrequency(200); + // statorCurrent = talon.getStatorCurrent(); + // statorCurrent.setUpdateFrequency(4); zero(); } From d8ff74af980bff734001831026d289f06b6b8de3 Mon Sep 17 00:00:00 2001 From: David Shen Date: Thu, 17 Apr 2025 20:23:42 -0500 Subject: [PATCH 2/4] l1 loading, auto delays, cam ignoring logic --- .../auton/MiddleBargeAutonCommand.java | 6 ++-- .../frc/robot/constants/AlgaeConstants.java | 2 +- .../frc/robot/constants/RobotConstants.java | 4 +-- .../frc/robot/subsystems/auto/AutoSwitch.java | 14 +++++---- .../subsystems/biscuit/BiscuitSubsystem.java | 11 ++++++- .../tagAlign/TagAlignSubsystem.java | 29 ++++++++++--------- .../subsystems/vision/VisionSubsystem.java | 28 +++++++++++++++--- 7 files changed, 65 insertions(+), 29 deletions(-) diff --git a/src/main/java/frc/robot/commands/auton/MiddleBargeAutonCommand.java b/src/main/java/frc/robot/commands/auton/MiddleBargeAutonCommand.java index f24ef45..34b74ca 100644 --- a/src/main/java/frc/robot/commands/auton/MiddleBargeAutonCommand.java +++ b/src/main/java/frc/robot/commands/auton/MiddleBargeAutonCommand.java @@ -44,7 +44,8 @@ public MiddleBargeAutonCommand( List delays, List bargePaths, List algaeLevels, - Pose2d startPose) { + Pose2d startPose, + double startDelay) { addRequirements( driveSubsystem, algaeSubsystem, biscuitSubsystem, coralSubsystem, elevatorSubsystem); this.driveSubsystem = driveSubsystem; @@ -57,7 +58,8 @@ public MiddleBargeAutonCommand( addCommands( new PrepOdomForAutoCommand( - robotStateSubsystem, driveSubsystem, Rotation2d.fromDegrees(180.0), startPose)); + robotStateSubsystem, driveSubsystem, Rotation2d.fromDegrees(180.0), startPose), + new WaitCommand(startDelay)); for (int i = 0; i < grabPaths.size(); i++) { boolean last = i == grabPaths.size() - 1; diff --git a/src/main/java/frc/robot/constants/AlgaeConstants.java b/src/main/java/frc/robot/constants/AlgaeConstants.java index d1ee81b..fba8521 100644 --- a/src/main/java/frc/robot/constants/AlgaeConstants.java +++ b/src/main/java/frc/robot/constants/AlgaeConstants.java @@ -30,7 +30,7 @@ public class AlgaeConstants { public static final double kCoralHoldSpeed = -0.05; public static final double kBargeScoreSpeed = -1; public static final double kProcessorScoreSpeed = -1; - public static final double kCoralScoreSpeed = 0.4; // 0.5; + public static final double kCoralScoreSpeed = 0.3; // 0.5; was 0.4 public static final double kIntakingSpeed = 1; // 0.75 public static final double kCoralIntakingSpeed = -0.3; // -0.75; diff --git a/src/main/java/frc/robot/constants/RobotConstants.java b/src/main/java/frc/robot/constants/RobotConstants.java index 0223eb9..68eb0e5 100644 --- a/src/main/java/frc/robot/constants/RobotConstants.java +++ b/src/main/java/frc/robot/constants/RobotConstants.java @@ -349,7 +349,7 @@ public static TalonFXSConfiguration getFXSConfig() { public static class CompConstants { public static Angle kElevatorFunnelSetpoint = Rotations.of(0.3676757); - public static Angle kElevatorL1LoadSetpoint = Rotations.of(0.278); // 0.63 + public static Angle kElevatorL1LoadSetpoint = Rotations.of(0.278 + 0.352); // 0.278 public static Angle kElevatorStowSetpoint = kElevatorFunnelSetpoint; // Biscuit @@ -366,7 +366,7 @@ public static class CompConstants { // Idle public static Angle kBiscuitStowSetpoint = Rotations.of(1.862 / 2); public static Angle kFunnelSetpoint = kBiscuitStowSetpoint; - public static Angle kL1CoralLoadSetpoint = Rotations.of(6.29); // 0.05 is about an inch + public static Angle kL1CoralLoadSetpoint = Rotations.of(6.29 + 0.25); // was 6.29 public static Angle kPrestageSetpoint = Rotations.of(-2.94); public static Angle kPrestageAlgaeSetpoint = kBiscuitStowSetpoint; diff --git a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java index 78daca4..f7456e1 100644 --- a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java +++ b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java @@ -348,10 +348,11 @@ private AutoCommandInterface getAutoCommand(int switchPos) { visionSubsystem, new ArrayList(Arrays.asList("startBargeToG", "bargeToI", "bargeToE")), new ArrayList(Arrays.asList(0.0, 0.0, 0.0)), - new ArrayList(Arrays.asList(0.5, 0.0, 0.0)), + new ArrayList(Arrays.asList(0.0, 0.0, 0.0)), new ArrayList(Arrays.asList("GToBarge", "IToBarge", "EToNearBarge")), new ArrayList<>(Arrays.asList(ScoringLevel.L2, ScoringLevel.L3, ScoringLevel.L3)), - AutonConstants.kMiddleBargeStart); + AutonConstants.kMiddleBargeStart, + 0.5); } case 0x11 -> { @@ -369,7 +370,8 @@ private AutoCommandInterface getAutoCommand(int switchPos) { new ArrayList(Arrays.asList(0.0, 0.0, 0.0)), new ArrayList(Arrays.asList("GToBarge", "EToBarge", "IToNearBarge")), new ArrayList<>(Arrays.asList(ScoringLevel.L2, ScoringLevel.L3, ScoringLevel.L3)), - AutonConstants.kMiddleBargeStart); + AutonConstants.kMiddleBargeStart, + 0.5); } case 0x12 -> { @@ -387,7 +389,8 @@ private AutoCommandInterface getAutoCommand(int switchPos) { new ArrayList(Arrays.asList(0.0, 0.0, 0.0)), new ArrayList(Arrays.asList("GToBarge", "IToBarge", "bargeAway")), new ArrayList<>(Arrays.asList(ScoringLevel.L2, ScoringLevel.L3, ScoringLevel.L2)), - AutonConstants.kMiddleBargeStart); + AutonConstants.kMiddleBargeStart, + 2.0); } case 0x13 -> { @@ -405,7 +408,8 @@ private AutoCommandInterface getAutoCommand(int switchPos) { new ArrayList(Arrays.asList(0.0, 0.0, 0.0)), new ArrayList(Arrays.asList("GToBarge", "EToBarge", "bargeAway")), new ArrayList<>(Arrays.asList(ScoringLevel.L2, ScoringLevel.L3, ScoringLevel.L2)), - AutonConstants.kMiddleBargeStart); + AutonConstants.kMiddleBargeStart, + 2.0); } case 0x14 -> { diff --git a/src/main/java/frc/robot/subsystems/biscuit/BiscuitSubsystem.java b/src/main/java/frc/robot/subsystems/biscuit/BiscuitSubsystem.java index 7dd98c7..ffd4476 100644 --- a/src/main/java/frc/robot/subsystems/biscuit/BiscuitSubsystem.java +++ b/src/main/java/frc/robot/subsystems/biscuit/BiscuitSubsystem.java @@ -100,7 +100,16 @@ public void periodic() { case NORMAL: if (isFinished() && FastMath.abs(inputs.velocity) <= BiscuitConstants.kZeroVelThresh - && setPoint != prevSetPoint) curState = BiscuitState.CHECK_ZERO; + && prevSetPoint != setPoint) { + if (FastMath.abs(RobotConstants.kMicAlgaeSetpoint.minus(setPoint).in(Rotations)) + < BiscuitConstants.kCloseEnough + || FastMath.abs(RobotConstants.kProcessorSetpoint.minus(setPoint).in(Rotations)) + < BiscuitConstants.kCloseEnough) { + curState = BiscuitState.CHECK_ZERO; + } else { + prevSetPoint = setPoint; + } + } break; case CHECK_ZERO: prevSetPoint = setPoint; diff --git a/src/main/java/frc/robot/subsystems/tagAlign/TagAlignSubsystem.java b/src/main/java/frc/robot/subsystems/tagAlign/TagAlignSubsystem.java index 1020718..a3b1eba 100644 --- a/src/main/java/frc/robot/subsystems/tagAlign/TagAlignSubsystem.java +++ b/src/main/java/frc/robot/subsystems/tagAlign/TagAlignSubsystem.java @@ -295,11 +295,25 @@ public void startAuto( } private void tagAlign() { + boolean blueSide = driveSubsystem.getPoseMeters().getX() < (DriveConstants.kFieldMaxX / 2); + alignX.reset(); alignY.reset(); curState = TagAlignStates.TAG_ALIGN; + if (scoreLeft) { + visionSubsystem.setUsingLeftCam(false); + visionSubsystem.setUsingRightCam(true); + } else { + visionSubsystem.setUsingLeftCam(true); + visionSubsystem.setUsingRightCam(false); + } + + visionSubsystem.setTrustedTag( + (blueSide ? TagServoingConstants.kBlueTargetTag : TagServoingConstants.kRedTargetTag) + [(fieldRelHexant + (blueSide ? 0 : 3)) % 6]); + this.driveXCloseEnough = algae ? TagServoingConstants.kAlgaeDriveXCloseEnough @@ -319,6 +333,7 @@ private void tagAlign() { public void terminate() { driveSubsystem.stopDriving(); + visionSubsystem.setTrustedTag(-1); visionSubsystem.setUsingLeftCam(true); visionSubsystem.setUsingRightCam(true); curState = TagAlignStates.DONE; @@ -417,25 +432,11 @@ public void periodic() { case TAG_ALIGN -> { if (justAlgae && (FastMath.abs(alignY.getError()) < driveYCloseEnough)) { finalDrive = true; - if (scoreLeft) { - visionSubsystem.setUsingLeftCam(false); - visionSubsystem.setUsingRightCam(true); - } else { - visionSubsystem.setUsingLeftCam(true); - visionSubsystem.setUsingRightCam(false); - } } else { if (( /*isAuto ? true :*/ FastMath.abs(alignX.getError()) < driveXCloseEnough) && FastMath.abs(alignY.getError()) < driveYCloseEnough) { finalDrive = true; - if (scoreLeft) { - visionSubsystem.setUsingLeftCam(false); - visionSubsystem.setUsingRightCam(true); - } else { - visionSubsystem.setUsingLeftCam(true); - visionSubsystem.setUsingRightCam(false); - } } } if (finalDrive diff --git a/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java index 59334d6..c0d828f 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java @@ -110,6 +110,7 @@ public class VisionSubsystem extends MeasurableSubsystem { private boolean[] acceptUpdates = new boolean[VisionConstants.kNumCams]; private boolean ignoreRearCams = false; private boolean isAuto = false; + private int trustedReefTag = -1; public VisionSubsystem(DriveSubsystem driveSubsystem) { this.driveSubsystem = driveSubsystem; @@ -169,6 +170,11 @@ public void setUsingRightCam(boolean useRight) { acceptUpdates[2] = useRight; } + public void setTrustedTag(int trusted) { + this.trustedReefTag = trusted; + Logger.recordOutput("Vision/trusted reef tag", trustedReefTag); + } + // Getter Methods public double getYawUpdateCamera() { return trustedCameraYawIdx; @@ -423,11 +429,25 @@ public void periodic() { validResults.clear(); for (int i = 0; i < VisionConstants.kNumCams; i++) { - if (!ignoreRearCams && !isAuto || (i == 0 || i == 2) && acceptUpdates[i]) { + if (!ignoreRearCams && !isAuto || (i == 0 || i == 2)) { + boolean seeGoodTag = false; + if (cams[i].hasNewUpdate()) { - timeSinceLastUpdate = getSeconds(); - validResults.add(new Pair(cams[i].getResults(), i)); - lastResult[i] = (WallEyeTagResult) cams[i].getResults(); + if (!acceptUpdates[i] && (i == 0 || i == 2)) { + var tags = ((WallEyeTagResult) cams[i].getResults()).getTagIDs(); + for (int j = 0; j < tags.length; j++) { + if (tags[j] == trustedReefTag) { + seeGoodTag = true; + break; + } + } + } + + if (acceptUpdates[i] || seeGoodTag) { + timeSinceLastUpdate = getSeconds(); + validResults.add(new Pair(cams[i].getResults(), i)); + lastResult[i] = (WallEyeTagResult) cams[i].getResults(); + } } } } From 38db09190b3286838935886600f5dab08d150c5d Mon Sep 17 00:00:00 2001 From: David Shen Date: Sat, 19 Apr 2025 21:05:09 -0500 Subject: [PATCH 3/4] barge auton vision bug, auton delays/offsets, l3 eject speed, earlier elevator raise in auto barge --- src/main/deploy/choreo/bargeToI.traj | 551 ++++++++++-------- .../auton/DriveAlgaeAutonServoCommand.java | 2 +- .../frc/robot/constants/AutonConstants.java | 2 +- .../robot/constants/BargeAlignConstants.java | 7 +- .../robot/constants/RobotStateConstants.java | 2 +- .../frc/robot/subsystems/auto/AutoSwitch.java | 8 +- .../subsystems/coral/CoralSubsystem.java | 3 +- .../tagAlign/BargeAlignSubsystem.java | 35 +- .../subsystems/vision/VisionSubsystem.java | 5 +- 9 files changed, 356 insertions(+), 259 deletions(-) diff --git a/src/main/deploy/choreo/bargeToI.traj b/src/main/deploy/choreo/bargeToI.traj index b1d79e1..7f69c8d 100644 --- a/src/main/deploy/choreo/bargeToI.traj +++ b/src/main/deploy/choreo/bargeToI.traj @@ -5,7 +5,8 @@ "waypoints":[ {"x":7.7, "y":5.08871412277, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":7.263868808746338, "y":5.408873081207275, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":6.224161148071289, "y":5.7393598556518555, "heading":-1.8760194001518105, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":6.242984294891357, "y":5.787315368652344, "heading":-1.8760194001518105, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":5.800686836242676, "y":5.568177223205566, "heading":-1.8760194001518105, "intervals":91, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":5.422460748154253, "y":5.032141990263579, "heading":4.1887902047863905, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -14,17 +15,19 @@ {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":4.0}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":5.0}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":4.0}}, "enabled":false}, - {"from":2, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":false}, - {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":0.2}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":1.0}}, "enabled":false}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":0.1}}, "enabled":true}, {"from":0, "to":0, "data":{"type":"MaxAcceleration", "props":{"max":3.0}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.5}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":0.5}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":2.0}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ {"x":{"exp":"barge.x", "val":7.7}, "y":{"exp":"barge.y", "val":5.08871412277}, "heading":{"exp":"barge.heading", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"7.263868808746338 m", "val":7.263868808746338}, "y":{"exp":"5.408873081207275 m", "val":5.408873081207275}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"6.224161148071289 m", "val":6.224161148071289}, "y":{"exp":"5.7393598556518555 m", "val":5.7393598556518555}, "heading":{"exp":"-1.8760194001518105 rad", "val":-1.8760194001518105}, "intervals":48, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"6.242984294891357 m", "val":6.242984294891357}, "y":{"exp":"5.787315368652344 m", "val":5.787315368652344}, "heading":{"exp":"-1.8760194001518105 rad", "val":-1.8760194001518105}, "intervals":13, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"5.800686836242676 m", "val":5.800686836242676}, "y":{"exp":"5.568177223205566 m", "val":5.568177223205566}, "heading":{"exp":"-1.8760194001518105 rad", "val":-1.8760194001518105}, "intervals":91, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"I.x", "val":5.422460748154253}, "y":{"exp":"I.y", "val":5.032141990263579}, "heading":{"exp":"I.heading", "val":4.1887902047863905}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -33,10 +36,11 @@ {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":{"exp":"4 m / s", "val":4.0}}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"5 m / s ^ 2", "val":5.0}}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"4 rad / s", "val":4.0}}}, "enabled":false}, - {"from":2, "to":3, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":false}, - {"from":2, "to":3, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.2 rad / s", "val":0.2}}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"1 m / s ^ 2", "val":1.0}}}, "enabled":false}, + {"from":3, "to":4, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.1 rad / s", "val":0.1}}}, "enabled":true}, {"from":0, "to":0, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"3 m / s ^ 2", "val":3.0}}}, "enabled":false}, - {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.5 rad / s", "val":0.5}}}, "enabled":true}], + {"from":0, "to":1, "data":{"type":"MaxAngularVelocity", "props":{"max":{"exp":"0.5 rad / s", "val":0.5}}}, "enabled":true}, + {"from":3, "to":4, "data":{"type":"MaxAcceleration", "props":{"max":{"exp":"2 m / s ^ 2", "val":2.0}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -44,236 +48,309 @@ }, "trajectory":{ "sampleType":"Swerve", - "waypoints":[0.0,0.46587,0.9805,1.68917], + "waypoints":[0.0,0.46557,0.92942,1.20565,2.02055], "samples":[ - {"t":0.0, "x":7.7, "y":5.08871, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-4.09172, "ay":2.85013, "alpha":-39.65303, "fx":[23.8964,22.05276,-141.45208,-177.32499], "fy":[-62.72484,177.04659,121.87296,-46.15366]}, - {"t":0.0079, "x":7.69987, "y":5.0888, "heading":0.0, "vx":-0.03231, 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"fx":[16.60915,16.59566,16.59667,16.60353], "fy":[28.7296,29.05393,28.72776,28.72882]}, + {"t":2.00124, "x":5.42265, "y":5.03246, "heading":-2.09435, "vx":-0.01917, "vy":-0.03341, "omega":-0.00258, "ax":0.99482, "ay":1.72896, "alpha":0.01018, "fx":[16.58628,16.70385,16.49089,16.5515], "fy":[28.83347,28.86214,28.81034,28.77774]}, + {"t":2.0051, "x":5.42258, "y":5.03235, "heading":-2.09436, "vx":-0.01533, "vy":-0.02673, "omega":-0.00254, "ax":0.99374, "ay":1.7296, "alpha":0.04146, "fx":[16.63049,16.54295,16.50334,16.5841], "fy":[28.76742,29.13443,28.73486,28.69]}, + {"t":2.00896, "x":5.42253, "y":5.03226, "heading":-2.09437, "vx":-0.01149, "vy":-0.02005, "omega":-0.00238, "ax":0.99267, "ay":1.73025, "alpha":0.05674, "fx":[16.70872,16.6194,16.29943,16.56197], "fy":[28.89259,29.0359,28.79409,28.6469]}, + {"t":2.01282, "x":5.42249, "y":5.03219, "heading":-2.09438, "vx":-0.00766, "vy":-0.01337, "omega":-0.00216, "ax":0.99162, "ay":1.73087, "alpha":0.16586, "fx":[17.01329,16.38768,16.04971,16.6689], "fy":[28.88951,29.56582,28.65351,28.30255]}, + {"t":2.01669, "x":5.42247, "y":5.03215, "heading":-2.09439, "vx":-0.00383, "vy":-0.00669, "omega":-0.00152, "ax":0.99056, "ay":1.73151, "alpha":0.39391, "fx":[17.75101,16.10697,15.18561,17.0051], "fy":[29.42106,30.06114,28.46641,27.50515]}, + {"t":2.02055, "x":5.42246, "y":5.03214, "heading":-2.0944, "vx":0.0, "vy":0.0, "omega":0.0, "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] }, "events":[] diff --git a/src/main/java/frc/robot/commands/auton/DriveAlgaeAutonServoCommand.java b/src/main/java/frc/robot/commands/auton/DriveAlgaeAutonServoCommand.java index 7725e0c..bcb3dff 100644 --- a/src/main/java/frc/robot/commands/auton/DriveAlgaeAutonServoCommand.java +++ b/src/main/java/frc/robot/commands/auton/DriveAlgaeAutonServoCommand.java @@ -117,7 +117,7 @@ public void initialize() { robotStateSubsystem.clearCoral(); } - visionSubsystem.setIsAuto(false); + // visionSubsystem.setIsAuto(false); robotStateSubsystem.setAutoAlgaeLevel(algaeLevel); isServoing = false; diff --git a/src/main/java/frc/robot/constants/AutonConstants.java b/src/main/java/frc/robot/constants/AutonConstants.java index 56b7226..6cc1cd9 100644 --- a/src/main/java/frc/robot/constants/AutonConstants.java +++ b/src/main/java/frc/robot/constants/AutonConstants.java @@ -29,5 +29,5 @@ public class AutonConstants { new Pose2d(7.1, 7.257, Rotation2d.fromDegrees(180)); public static final Pose2d kMiddleBargeStart = - new Pose2d(7.1, 7.257, Rotation2d.fromDegrees(180)); + new Pose2d(7.1, 3.7209, Rotation2d.fromDegrees(180)); } diff --git a/src/main/java/frc/robot/constants/BargeAlignConstants.java b/src/main/java/frc/robot/constants/BargeAlignConstants.java index 07bc5f3..6efecf5 100644 --- a/src/main/java/frc/robot/constants/BargeAlignConstants.java +++ b/src/main/java/frc/robot/constants/BargeAlignConstants.java @@ -7,8 +7,11 @@ public class BargeAlignConstants { public static final double kBlueEjectAlgaeX = 7.67; // 7.72 public static final double kRedEjectAlgaeX = 9.86; // 9.81 - public static final double kBlueRaiseElevatorX = 7.02; // 7.22 - public static final double kRedRaiseElevatorX = 10.51; // 10.31 + public static final double kBlueRaiseElevatorX = 6.82; // 7.02 + public static final double kRedRaiseElevatorX = 10.71; // 10.51 + + public static final double kBlueUnsafeX = 7.02; + public static final double kRedUnsafeX = 10.51; public static final Rotation2d kBlueDesiredYaw = Rotation2d.fromDegrees(0.0); public static final Rotation2d kRedDesiredYaw = Rotation2d.fromDegrees(180.0); diff --git a/src/main/java/frc/robot/constants/RobotStateConstants.java b/src/main/java/frc/robot/constants/RobotStateConstants.java index 7720513..3ea646a 100644 --- a/src/main/java/frc/robot/constants/RobotStateConstants.java +++ b/src/main/java/frc/robot/constants/RobotStateConstants.java @@ -8,7 +8,7 @@ public class RobotStateConstants { public static final double[] kNodeAngles = {0.0, 60.0, 120.0, 180.0, -120.0, -60.0}; public static final double kAlgaeRetreatDistance = 0; - public static final double kBlueBargeSafeX = 7; // 7.6 + public static final double kBlueBargeSafeX = 7.02; // 7.6 public static final double kRedBargeSafeX = DriveConstants.kFieldMaxX - kBlueBargeSafeX; public static final double kCoralEjectTimer = 0.25; diff --git a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java index f7456e1..3ac7e98 100644 --- a/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java +++ b/src/main/java/frc/robot/subsystems/auto/AutoSwitch.java @@ -282,7 +282,7 @@ private AutoCommandInterface getAutoCommand(int switchPos) { PathHandlerConstants.kLoadLightDistance, PathHandlerConstants.kLoadLightDistance, PathHandlerConstants.kLoadLightDistance)), - new ArrayList<>(Arrays.asList(-0.0175, 0.0, 0.0)), + new ArrayList<>(Arrays.asList(-0.0075, -0.0075, -0.0075)), 'j', false, AutonConstants.kNonProcessorMid); @@ -366,12 +366,12 @@ private AutoCommandInterface getAutoCommand(int switchPos) { tagAlignSubsystem, visionSubsystem, new ArrayList(Arrays.asList("startBargeToG", "bargeToE", "bargeToI")), - new ArrayList(Arrays.asList(0.0, 0.0, 0.0)), + new ArrayList(Arrays.asList(-0.00475, 0.0, 0.0)), new ArrayList(Arrays.asList(0.0, 0.0, 0.0)), new ArrayList(Arrays.asList("GToBarge", "EToBarge", "IToNearBarge")), new ArrayList<>(Arrays.asList(ScoringLevel.L2, ScoringLevel.L3, ScoringLevel.L3)), AutonConstants.kMiddleBargeStart, - 0.5); + 0.0); } case 0x12 -> { @@ -550,7 +550,7 @@ private AutoCommandInterface getAutoCommand(int switchPos) { PathHandlerConstants.kLoadLightDistance, PathHandlerConstants.kLoadLightDistance, PathHandlerConstants.kLoadLightDistance)), - new ArrayList<>(Arrays.asList(0.0, 0.0, 0.0)), + new ArrayList<>(Arrays.asList(-0.0075, -0.0075, -0.0075)), 'e', true, AutonConstants.kProcessorMid); diff --git a/src/main/java/frc/robot/subsystems/coral/CoralSubsystem.java b/src/main/java/frc/robot/subsystems/coral/CoralSubsystem.java index a24d0d4..1bdee15 100644 --- a/src/main/java/frc/robot/subsystems/coral/CoralSubsystem.java +++ b/src/main/java/frc/robot/subsystems/coral/CoralSubsystem.java @@ -105,7 +105,8 @@ public void eject(ScoringLevel level) { // setSpeed(CoralConstants.kEjectingSpeed); switch (level) { - case L1, L2, L3 -> setPct(0.8); + case L1, L2 -> setPct(0.8); + case L3 -> setPct(0.75); case L4 -> setPct(1); } setState(CoralState.EJECTING); diff --git a/src/main/java/frc/robot/subsystems/tagAlign/BargeAlignSubsystem.java b/src/main/java/frc/robot/subsystems/tagAlign/BargeAlignSubsystem.java index 1345523..6649c50 100644 --- a/src/main/java/frc/robot/subsystems/tagAlign/BargeAlignSubsystem.java +++ b/src/main/java/frc/robot/subsystems/tagAlign/BargeAlignSubsystem.java @@ -83,8 +83,17 @@ private boolean isSafe() { private boolean shouldRaiseElevator() { double poseX = driveSubsystem.getPoseMeters().getX(); return isOnBlueSide - ? poseX > BargeAlignConstants.kBlueRaiseElevatorX - : poseX < BargeAlignConstants.kRedRaiseElevatorX; + ? (poseX > BargeAlignConstants.kBlueRaiseElevatorX + && poseX <= BargeAlignConstants.kBlueUnsafeX) + : (poseX < BargeAlignConstants.kRedRaiseElevatorX + && poseX >= BargeAlignConstants.kRedUnsafeX); + } + + private boolean shouldDriveBackwards() { + double poseX = driveSubsystem.getPoseMeters().getX(); + return isOnBlueSide + ? poseX > BargeAlignConstants.kBlueUnsafeX + : poseX < BargeAlignConstants.kRedUnsafeX; } private boolean shouldEjectAlgae() { @@ -131,6 +140,8 @@ public void periodic() { Logger.recordOutput("BargeAlign/Vomega", vOmega); if (shouldRaiseElevator()) { setState(BargeAlignStates.RAISE_ELEV); + } else if (shouldDriveBackwards()) { + setState(BargeAlignStates.REVERSE); } } case RAISE_ELEV -> { @@ -146,14 +157,18 @@ public void periodic() { } } case REVERSE -> { - if (isOnBlueSide) { - driveSubsystem.move( - -vX, getYStickReading(), BargeAlignConstants.kBlueRaiseElevatorX, true); - if (shouldRaiseElevator()) { - setState(BargeAlignStates.RAISE_ELEV); - } - } else { - driveSubsystem.move(vX, getYStickReading(), BargeAlignConstants.kRedRaiseElevatorX, true); + double vOmega = + driveOmega.calculate( + driveSubsystem.getPoseMeters().getRotation().getRadians(), targetYaw.getRadians()); + + driveSubsystem.move(-vX, getYStickReading(), vOmega, true); + + Logger.recordOutput("BargeAlign/Vx", vX); + Logger.recordOutput("BargeAlign/OmegaErr", driveOmega.getError()); + Logger.recordOutput("BargeAlign/Vomega", vOmega); + + if (shouldRaiseElevator()) { + setState(BargeAlignStates.RAISE_ELEV); } } case FINISHED -> {} diff --git a/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java b/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java index c0d828f..43d8241 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java @@ -136,7 +136,7 @@ public VisionSubsystem(DriveSubsystem driveSubsystem) { // Initialize our udpSubscribers udpSubscriber[0] = new UdpSubscriber(5802, cams[0]); udpSubscriber[1] = new UdpSubscriber(5803, cams[2]); - udpSubscriber[2] = new UdpSubscriber(5804, cams[1], cams[3], cams[4]); + udpSubscriber[2] = new UdpSubscriber(5804, cams[1], cams[3]); } // Setter Methods public void setVisionUpdating(boolean updating) { @@ -443,7 +443,8 @@ public void periodic() { } } - if (acceptUpdates[i] || seeGoodTag) { + if (((acceptUpdates[i] || seeGoodTag) && (i == 0 || i == 2)) + || ((i == 1 || i == 3) && !ignoreRearCams && !isAuto)) { timeSinceLastUpdate = getSeconds(); validResults.add(new Pair(cams[i].getResults(), i)); lastResult[i] = (WallEyeTagResult) cams[i].getResults(); From 8c83d269426638b65ef109b974aaf54bd86a6ad0 Mon Sep 17 00:00:00 2001 From: David Shen Date: Thu, 15 May 2025 18:14:59 -0400 Subject: [PATCH 4/4] biscuit voltage control --- .../java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java b/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java index 9fd8a96..66e7b8b 100644 --- a/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java +++ b/src/main/java/frc/robot/subsystems/biscuit/BiscuitIOFXS.java @@ -6,7 +6,7 @@ import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.configs.TalonFXSConfiguration; import com.ctre.phoenix6.configs.TalonFXSConfigurator; -import com.ctre.phoenix6.controls.MotionMagicDutyCycle; +import com.ctre.phoenix6.controls.MotionMagicVoltage; import com.ctre.phoenix6.hardware.TalonFXS; import com.ctre.phoenix6.signals.ForwardLimitTypeValue; import edu.wpi.first.math.MathUtil; @@ -51,8 +51,8 @@ public class BiscuitIOFXS implements BiscuitIO, Checkable { private boolean isRemovingAlgae = false; private TalonFXSConfigurator configurator; - private MotionMagicDutyCycle positionRequest = - new MotionMagicDutyCycle(0).withEnableFOC(false).withFeedForward(0); + private MotionMagicVoltage positionRequest = + new MotionMagicVoltage(0).withEnableFOC(false).withFeedForward(0); public BiscuitIOFXS() { // Logger initialization with class name