diff --git a/src/main/deploy/choreo/DepottoLPreTrench.traj b/src/main/deploy/choreo/DepottoLPreTrench.traj index b5cc7f81..1fe75771 100644 --- a/src/main/deploy/choreo/DepottoLPreTrench.traj +++ b/src/main/deploy/choreo/DepottoLPreTrench.traj @@ -5,8 +5,8 @@ "waypoints":[ {"x":0.703999767303467, "y":5.975247383117676, "heading":3.141592653589793, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":1.293079853057861, "y":5.975247383117676, "heading":3.141592653589793, "intervals":45, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.228600025177002, "y":6.443007469177246, "heading":1.2762303344743435, "intervals":36, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.228600025177002, "y":6.443007469177246, "heading":1.2762303344743435, "intervals":35, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.2912423610687256, "y":7.39899206161499, "heading":0.0, "intervals":24, "split":false, "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}, @@ -19,8 +19,8 @@ "waypoints":[ {"x":{"exp":"0.703999767303467 m", "val":0.703999767303467}, "y":{"exp":"Depot.y", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, "intervals":12, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"1.2930798530578613 m", "val":1.293079853057861}, "y":{"exp":"5.975247383117676 m", "val":5.975247383117676}, "heading":{"exp":"Depot.heading", "val":3.141592653589793}, 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"split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.912209987640381, "y":7.509117603302002, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":6.535889625549316, "y":6.891277313232422, "heading":0.0, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.912209987640381, "y":7.39899206161499, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.2912423610687256, "y":7.39899206161499, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"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":16.541, "h":8.0692}}, "enabled":false}, - {"from":"first", "to":"last", "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, + {"from":0, "to":3, "data":{"type":"MaxVelocity", "props":{"max":2.7}}, "enabled":true}, {"from":3, "to":3, "data":{"type":"KeepOutCircle", "props":{"x":4.845995046198368, "y":5.897945664823055, "r":1.0}}, "enabled":false}, {"from":2, "to":3, "data":{"type":"KeepInLane", "props":{"tolerance":0.01}}, "enabled":true}, {"from":2, "to":2, "data":{"type":"MaxAngularVelocity", "props":{"max":0.0}}, "enabled":true}, @@ -22,14 +22,14 @@ "params":{ "waypoints":[ {"x":{"exp":"LCleanup.x", "val":6.068130016326904}, "y":{"exp":"LCleanup.y", "val":3.792367458343506}, "heading":{"exp":"LCleanup.heading", "val":-1.5707963267948966}, "intervals":42, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"6.535889625549316 m", "val":6.535889625549316}, "y":{"exp":"6.891277313232422 m", "val":6.891277313232422}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"5.912209987640381 m", "val":5.912209987640381}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"LPreTrench.x", "val":3.3465769290924072}, "y":{"exp":"LPreTrench.y", "val":7.509117603302002}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"6.535889625549316 m", "val":6.535889625549316}, "y":{"exp":"6.891277313232422 m", "val":6.891277313232422}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":14, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.912209987640381 m", "val":5.912209987640381}, "y":{"exp":"LPreTrench.y", "val":7.39899206161499}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":{"exp":"LPreTrench.x", "val":3.2912423610687256}, "y":{"exp":"LPreTrench.y", "val":7.39899206161499}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":false}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, 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index b7309781..947fe32b 100644 --- a/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj +++ b/src/main/deploy/choreo/LPreTrenchtoLNeutral.traj @@ -3,8 +3,8 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.3465769290924072, "y":7.509117603302002, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":5.743162631988525, "y":7.509117603302002, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.2912423610687256, "y":7.39899206161499, "heading":0.0, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.743162631988525, "y":7.39899206161499, "heading":0.0, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":7.564816951751709, "y":6.902011394500732, "heading":-0.7102714504381418, "intervals":25, "split":false, "fixTranslation":true, 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{"x":{"exp":"LPreTrench.x", "val":3.2912423610687256}, "y":{"exp":"LPreTrench.y", "val":7.39899206161499}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":26, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.743162631988525 m", "val":5.743162631988525}, "y":{"exp":"LPreTrench.y", "val":7.39899206161499}, "heading":{"exp":"LPreTrench.heading", "val":0.0}, "intervals":30, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"7.564816951751709 m", "val":7.564816951751709}, "y":{"exp":"6.902011394500732 m", "val":6.902011394500732}, "heading":{"exp":"-0.7102714504381418 rad", "val":-0.7102714504381418}, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"LNeutral.x", "val":8.254300117492676}, "y":{"exp":"5.897287845611572 m", "val":5.897287845611572}, "heading":{"exp":"LNeutral.heading", "val":-1.5707963267948966}, 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a/src/main/deploy/choreo/RPreTrenchReversedtoOutpost.traj b/src/main/deploy/choreo/RPreTrenchReversedtoOutpost.traj index 3f2facbd..5ca78a94 100644 --- a/src/main/deploy/choreo/RPreTrenchReversedtoOutpost.traj +++ b/src/main/deploy/choreo/RPreTrenchReversedtoOutpost.traj @@ -6,7 +6,8 @@ {"x":3.32966947555542, "y":0.688210129737854, "heading":3.141592653589793, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.539198637008667, "y":1.188900351524353, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":1.5101455450057983, "y":1.159216046333313, "heading":0.0, "intervals":25, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":0.4514080882072449, "y":0.5556368231773376, "heading":1.5707963267948966, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + 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"vx":0.94368, "vy":3.25976, "omega":-0.34342, "ax":0.53258, "ay":-3.32191, "alpha":-8.85858, "fx":[76.70417,-10.65224,-51.59633,20.76563], "fy":[-47.91259,2.60101,-76.63326,-97.74556]}, + {"t":3.20783, "x":1.54406, "y":4.82202, "heading":1.0161, "vx":0.96464, "vy":3.12902, "omega":-0.69207, "ax":-0.00907, "ay":-3.76168, "alpha":-10.15881, "fx":[84.12145,-37.2382,-64.11461,16.63163], "fy":[-59.11526,3.0876,-84.11552,-108.63107]}, + {"t":3.24718, "x":1.58202, "y":4.94226, "heading":0.98887, "vx":0.96428, "vy":2.98097, "omega":-1.09189, "ax":-0.81642, "ay":-3.97155, "alpha":-10.75464, "fx":[82.38764,-69.07921,-74.79888,7.49728], "fy":[-69.45671,3.49788,-82.90584,-113.78908]}, + {"t":3.28654, "x":1.61934, "y":5.0565, "heading":0.94589, "vx":0.93215, "vy":2.82466, "omega":-1.51517, "ax":-1.7064, "ay":-4.05585, "alpha":-10.89942, "fx":[73.02042,-92.34279,-86.37178,-7.15663], "fy":[-82.27659,6.32989,-76.14906,-116.13258]}, + {"t":3.3259, "x":1.6547, "y":5.16453, "heading":0.88626, "vx":0.86499, "vy":2.66503, "omega":-1.94414, "ax":-2.60335, "ay":-3.98796, "alpha":-10.68007, "fx":[55.58188,-104.4997,-97.68427,-25.56752], "fy":[-96.41097,13.18755,-65.34443,-115.17066]}, + {"t":3.36526, "x":1.68673, "y":5.26633, "heading":0.80974, "vx":0.76253, "vy":2.50808, "omega":-2.36448, "ax":-3.46609, "ay":-3.73775, "alpha":-10.24857, "fx":[31.98167,-109.49244,-107.22555,-44.48919], "fy":[-107.89461,23.48755,-52.12568,-110.65887]}, + {"t":3.40461, "x":1.71406, "y":5.36215, "heading":0.71668, "vx":0.62611, "vy":2.36097, "omega":-2.76784, "ax":-4.27097, "ay":-5.83506, "alpha":-1.18752, "fx":[-59.27287,-77.66623,-80.40164,-65.11481], "fy":[-104.07401,-90.87866,-89.56113,-101.3805]}, + {"t":3.44397, "x":1.73539, "y":5.45055, "heading":0.60775, "vx":0.45802, "vy":2.13131, "omega":-2.81458, "ax":-2.55787, "ay":-6.24789, "alpha":5.59838, "fx":[-94.96489,-34.3526,34.18936,-74.03331], "fy":[-79.20106,-118.99376,-118.67959,-96.32204]}, + {"t":3.48333, "x":1.75144, "y":5.5296, "heading":0.49697, "vx":0.35735, "vy":1.88541, "omega":-2.59424, "ax":-2.11407, "ay":-6.35405, "alpha":5.7482, "fx":[-101.16472,-36.69808,42.66013,-44.60844], "fy":[-71.76686,-118.63178,-116.4576,-113.36096]}, + {"t":3.52269, "x":1.76386, "y":5.59888, "heading":0.39487, "vx":0.27414, "vy":1.63533, "omega":-2.36801, "ax":-1.42106, "ay":-6.38756, "alpha":6.38607, "fx":[-105.0461,-41.03722,42.09708,10.00637], "fy":[-66.21818,-117.32543,-116.85786,-122.03168]}, + {"t":3.56204, "x":1.77355, "y":5.6583, "heading":0.30167, "vx":0.21821, "vy":1.38394, "omega":-2.11667, "ax":-0.97049, "ay":-6.16877, "alpha":7.62696, "fx":[-107.86635,-45.47743,39.34842,49.81302], "fy":[-61.66251,-115.74096,-117.90851,-112.65182]}, + {"t":3.6014, "x":1.78139, "y":5.70799, "heading":0.21836, "vx":0.18002, "vy":1.14115, "omega":-1.81649, "ax":-0.83995, "ay":-5.96297, "alpha":8.54992, "fx":[-109.9589,-49.55255,35.99938,67.96297], "fy":[-57.9422,-114.09511,-119.03015,-103.28628]}, + {"t":3.64076, "x":1.78782, "y":5.74828, "heading":0.14687, "vx":0.14696, "vy":0.90646, "omega":-1.47999, "ax":-0.85007, "ay":-5.83368, "alpha":9.09307, "fx":[-111.46406,-53.03646,32.71049,75.57154], "fy":[-55.05801,-112.54463,-120.01191,-98.1888]}, + {"t":3.68012, "x":1.79295, "y":5.77944, "heading":0.08862, "vx":0.1135, "vy":0.67686, "omega":-1.1221, "ax":-0.90487, "ay":-5.76034, "alpha":9.39132, "fx":[-112.47749,-55.82246,29.8177,78.63998], "fy":[-53.00875,-111.20849,-120.78809,-95.94768]}, + {"t":3.71947, "x":1.79672, "y":5.80162, "heading":0.04446, "vx":0.07789, "vy":0.45015, "omega":-0.75249, "ax":-0.96499, "ay":-5.72389, "alpha":9.5371, "fx":[-113.07612,-57.87038,27.50091,79.62715], "fy":[-51.76248,-110.17151,-121.35454,-95.25402]}, + {"t":3.75883, "x":1.79903, "y":5.8149, "heading":0.01484, "vx":0.03991, "vy":0.22487, "omega":-0.37713, "ax":-1.01397, "ay":-5.71356, "alpha":9.58216, "fx":[-113.31961,-59.17182,25.85607,79.5775], "fy":[-51.26496,-109.4898,-121.72906,-95.37562]}, + {"t":3.79819, "x":1.79982, "y":5.81933, "heading":0.0, "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/deploy/choreo/rebuiltChoreo.chor b/src/main/deploy/choreo/rebuiltChoreo.chor index d7b8091f..77084939 100644 --- a/src/main/deploy/choreo/rebuiltChoreo.chor +++ b/src/main/deploy/choreo/rebuiltChoreo.chor @@ -127,12 +127,12 @@ }, "LPreTrench":{ "x":{ - "exp":"3.3465769290924072 m", - "val":3.3465769290924072 + "exp":"3.2912423610687256 m", + "val":3.2912423610687256 }, "y":{ - "exp":"7.509117603302002 m", - "val":7.509117603302002 + "exp":"7.39899206161499 m", + "val":7.39899206161499 }, "heading":{ "exp":"0 deg", diff --git a/src/main/java/frc/robot/Autos.java b/src/main/java/frc/robot/Autos.java index 030a63be..5e8507a3 100644 --- a/src/main/java/frc/robot/Autos.java +++ b/src/main/java/frc/robot/Autos.java @@ -298,7 +298,7 @@ public Command scoreAtEndPath(Path path, AutoRoutine routine) { path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()), stopIntaking(), startScoring(), - swerve.stopForTime(() -> 5), + swerve.stop().repeatedly().withTimeout(5), stopScoring()); } @@ -361,7 +361,7 @@ public Command outpostPath(Path path, AutoRoutine routine) { Units.degreesToRadians(30))), startScoring(), // TODO tune tolerance - swerve.stopForTime(() -> 4)); // TODO tune time + swerve.stop().repeatedly().withTimeout(4)); } public Command outpostNoScorePath(Path path, AutoRoutine routine) { @@ -388,7 +388,7 @@ public Command outpostNoScorePath(Path path, AutoRoutine routine) { 0.25, Units.degreesToRadians(30))), // TODO tune tolerance - swerve.stopForTime(() -> 4)); // TODO tune time + swerve.stop().repeatedly().withTimeout(4)); } public Command depotPath(Path path, AutoRoutine routine) { @@ -415,7 +415,7 @@ public Command depotPath(Path path, AutoRoutine routine) { 0.25, Units.degreesToRadians(30))), // TODO tune tolerance - swerve.stopForTime(() -> 1)); // TODO tune time + swerve.stop().repeatedly().withTimeout(1)); } public void lockHoodUnderTrench(AutoRoutine routine, double toleranceMeters) { diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 7782091f..07fa0677 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -594,6 +594,7 @@ public Robot() { .alongWith(leds.blinkCmd(Color.kWhite, Color.kBlack, 20.0).withTimeout(1.0)) .ignoringDisable(true)); new Trigger(() -> Superstructure.getState().isAScoreState()) + .and(() -> isTeleop()) .whileTrue( swerve .driveOpenLoopFieldRelative( @@ -730,11 +731,7 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta driver .leftBumper() - .onTrue( - Commands.runOnce( - () -> - shooter - .resetTurretToCalculatedPosition())); // , intake.zeroPivotOffCancoder())); + .onTrue(shooter.resetTurretToCalculatedPosition()); // , intake.zeroPivotOffCancoder())); operator .leftBumper() @@ -744,14 +741,6 @@ private void addControllerBindings(Indexer indexer, Shooter shooter, Intake inta .rightBumper() .or(Autos.autoLeftClimbReq.negate()) .onTrue(Commands.runOnce(() -> leftClimbTarget = false)); - operator - .rightStick() - .onTrue( - Commands.runOnce( - () -> - shooter - .resetTurretToPosition(shooter::getCalculatedTurretRotations) - .ignoringDisable(true))); driver .rightBumper() diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java index 7d44f086..68ca51ad 100644 --- a/src/main/java/frc/robot/Superstructure.java +++ b/src/main/java/frc/robot/Superstructure.java @@ -170,9 +170,9 @@ public boolean isScoringActive() { @AutoLogOutput(key = "Superstructure/Score Request") private Trigger scoreReq = - new Trigger(() -> shotTarget == ShotTarget.SCORE) - // .and(() -> canScore()) - .or(Autos.autoScoreReq); + new Trigger(() -> shotTarget == ShotTarget.SCORE).or(Autos.autoScoreReq); + + // .and(() -> canScore()); @AutoLogOutput(key = "Superstructure/Feed Request") private Trigger feedReq = new Trigger(() -> shotTarget == ShotTarget.FEED); @@ -289,13 +289,10 @@ private void addTriggers() { operator.povUp().onTrue(Commands.parallel(intake.restRetracted(), shooter.stopTurret())); operator.povDown().onTrue(Commands.parallel(intake.restRetracted(), shooter.stopTurret())); shootReq = - driver - .rightTrigger() - .and(DriverStation::isTeleop) - .and(() -> canShoot()) - .or(Autos.autoScoreReq) - .and(() -> canShoot()); // Maybe should include if its our turn? //TODO fix auto - // bindings + new Trigger(() -> canShoot()) + .and( + (driver.rightTrigger().and(DriverStation::isTeleop)) + .or(Autos.autoScoreReq.and(DriverStation::isAutonomous))); intakeReq = driver.leftTrigger().and(DriverStation::isTeleop).or(Autos.autoIntakeReq); diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java index 00b4ad4c..c21a39a6 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java @@ -424,13 +424,22 @@ private void updateVision() { } /** - * Runs the modules to the specified ChassisSpeeds (robot velocity) + * Runs the modules to the specified ChassisSpeeds (robot velocity) and with the specified force + * feedforwards * * @param speeds the ChassisSpeeds to run the drivetrain at * @param openLoop boolean for if the drivetrain should run with feedforward control (open loop) * or with feedback control (closed loop) + * @param moduleForcesXNewton the x-components of the force feedforwards. Should be in order FL, + * FR, BL, BR. Should have the same length as the modules array + * @param moduleForcesYNewtons the y-components of the force feedforwards. Same order and length + * as x-components */ - private void drive(ChassisSpeeds speeds, boolean openLoop) { + private void drive( + ChassisSpeeds speeds, + boolean openLoop, + double[] moduleForcesXNewtons, + double[] moduleForcesYNewtons) { // Converts time continuous chassis speeds to setpoints after the specified time (dtSeconds) speeds = ChassisSpeeds.discretize(speeds, 0.02); @@ -444,6 +453,9 @@ private void drive(ChassisSpeeds speeds, boolean openLoop) { SwerveModuleState[] optimizedStates = new SwerveModuleState[modules.length]; + // Instead of storing velocity here we store Newtons of force + SwerveModuleState[] forceSetpoints = new SwerveModuleState[modules.length]; + for (int i = 0; i < optimizedStates.length; i++) { if (openLoop) { // Heuristic to enable/disable FOC @@ -454,14 +466,41 @@ private void drive(ChassisSpeeds speeds, boolean openLoop) { + Math.pow(this.getVelocityRobotRelative().vyMetersPerSecond, 2)) < SWERVE_CONSTANTS.getMaxLinearSpeed() * 0.9; // 0.9 is 90% of drivetrain max speed optimizedStates[i] = modules[i].runOpenLoop(states[i], focEnable); + + // Needs some value to update + forceSetpoints[i] = new SwerveModuleState(); } else { - optimizedStates[i] = modules[i].runClosedLoop(states[i]); + + double robotRelForceX = + moduleForcesXNewtons[i] * getRotation().unaryMinus().getCos() + - moduleForcesYNewtons[i] * getRotation().unaryMinus().getSin(); + double robotRelForceY = + moduleForcesXNewtons[i] * getRotation().unaryMinus().getSin() + + moduleForcesYNewtons[i] * getRotation().unaryMinus().getCos(); + + forceSetpoints[i] = + new SwerveModuleState( + Math.hypot(robotRelForceX, robotRelForceY), + new Rotation2d(robotRelForceX, robotRelForceY)); + + optimizedStates[i] = modules[i].runClosedLoop(states[i], robotRelForceX, robotRelForceY); } } - + Logger.recordOutput("SwerveStates/Force Setpoints", forceSetpoints); Logger.recordOutput("SwerveStates/SetpointsOptimized", optimizedStates); } + /** + * Runs the modules to the specified ChassisSpeeds (robot velocity) + * + * @param speeds the ChassisSpeeds to run the drivetrain at + * @param openLoop boolean for if the drivetrain should run with feedforward control (open loop) + * or with feedback control (closed loop) + */ + private void drive(ChassisSpeeds speeds, boolean openLoop) { + drive(speeds, openLoop, new double[] {0.0, 0.0, 0.0, 0.0}, new double[] {0.0, 0.0, 0.0, 0.0}); + } + /** * Drive closed-loop at robot relative speeds * @@ -544,10 +583,6 @@ public Command stop() { }); } - public Command stopForTime(DoubleSupplier seconds) { - return stop().repeatedly().withTimeout(seconds.getAsDouble()); - } - public Command translateToPose( Supplier target, Supplier speedsModifier, @@ -966,7 +1001,11 @@ public Consumer choreoDriveController() { sample.getChassisSpeeds().plus(feedback), getPose().getRotation()); Logger.recordOutput("Choreo/Target Speeds Robot Relative", speeds); - this.drive(speeds, false); + // These are field relative i believe + double[] moduleForcesX = sample.moduleForcesX(); + double[] moduleForcesY = sample.moduleForcesY(); + + this.drive(speeds, false, moduleForcesX, moduleForcesY); }; } diff --git a/src/main/java/frc/robot/subsystems/swerve/module/Module.java b/src/main/java/frc/robot/subsystems/swerve/module/Module.java index f6c8490d..0f4d45f5 100644 --- a/src/main/java/frc/robot/subsystems/swerve/module/Module.java +++ b/src/main/java/frc/robot/subsystems/swerve/module/Module.java @@ -62,6 +62,7 @@ public void setTurnVoltage(double volts) { io.setTurnVoltage(volts); } + /** Stops the module */ public void stop() { io.setDriveVoltage(0); } @@ -73,10 +74,37 @@ public void stop() { * @return the optimized state */ public SwerveModuleState runClosedLoop(SwerveModuleState state) { + return runClosedLoop(state, 0.0, 0.0); + } + + /** + * Runs closed loop to the specified state, with a force feedforward. Used for automated actions, + * like auto. + * + * @param state setpoint state + * @param forceXNewtons the x-component of the requested force vector + * @param forceYNewtons the y-component of the requested force vector + * @return the optimized state + */ + public SwerveModuleState runClosedLoop( + SwerveModuleState state, double forceXNewtons, double forceYNewtons) { state.optimize(getAngle()); + // Force on the motor is the total force vector projected onto the velocity vector + // to project a onto b take ||a||*cos(theta) where theta is the angle between the two vectors + // We want the magnitude of the projection, so we can ignore the direction of this later + final double thetaRads = + Math.atan2(forceYNewtons, forceXNewtons) - inputs.turnPosition.getRadians(); + double forceNewtons = Math.hypot(forceXNewtons, forceYNewtons) * Math.cos(thetaRads); + if (Math.signum(forceNewtons) * Math.signum(state.speedMetersPerSecond) < 0) { + forceNewtons = 0; + } + io.setTurnPositionSetpoint(state.angle); - io.setDriveVelocitySetpoint(state.speedMetersPerSecond); + io.setDriveVelocitySetpoint(state.speedMetersPerSecond, forceNewtons); + + Logger.recordOutput( + "Swerve/" + constants.prefix + " Module/Force Feedforward Newtons", forceNewtons); return state; } diff --git a/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOReal.java b/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOReal.java index 13ec9556..e7213c83 100644 --- a/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOReal.java +++ b/src/main/java/frc/robot/subsystems/swerve/module/ModuleIOReal.java @@ -214,7 +214,17 @@ public void setDriveVoltage(double volts) { } public void setDriveVelocitySetpoint(double setpointMetersPerSecond) { - driveTalon.setControl(driveVelocityControl.withVelocity(setpointMetersPerSecond)); + setDriveVelocitySetpoint(setpointMetersPerSecond, 0.0); + } + + public void setDriveVelocitySetpoint(double setpointMetersPerSecond, double forceNewtons) { + // Convert the requested force to the current required to output that force + // Conversion factor: Stall torque / Stall current (aka kT) + double forceFFAmps = forceNewtons * 9.37 / 483; + // Kelpie had no conversion from force to torque. maybe we should add this?? idk? comment claims + // its handled in sensor to mech ratio + driveTalon.setControl( + driveVelocityControl.withVelocity(setpointMetersPerSecond).withFeedForward(forceFFAmps)); } public void setTurnVoltage(double volts) {