diff --git a/TeamCode/build.gradle b/TeamCode/build.gradle index 436ce67..442471b 100644 --- a/TeamCode/build.gradle +++ b/TeamCode/build.gradle @@ -26,4 +26,8 @@ android { dependencies { implementation project(':FtcRobotController') annotationProcessor files('lib/OpModeAnnotationProcessor.jar') + + implementation 'org.apache.commons:commons-math3:3.6.1' + implementation 'com.fasterxml.jackson.core:jackson-databind:2.12.7' + implementation 'com.acmerobotics.roadrunner:core:0.5.6' } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java index a297fbd..fe6f35f 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java @@ -14,9 +14,8 @@ import org.firstinspires.ftc.teamcode.vision.TargetingPipeline; import org.openftc.easyopencv.OpenCvCamera; import org.openftc.easyopencv.OpenCvCameraFactory; -// Class for the camera public class Camera { - private HardwareMap hardwareMap; + private final HardwareMap hardwareMap; private OpenCvCamera targetingCamera; private TargetingPipeline targetingPipeline; private boolean targetingCameraInitialized; diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java index 0291831..4c750ce 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Robot.java @@ -2,8 +2,11 @@ package org.firstinspires.ftc.teamcode.hardware; import com.qualcomm.robotcore.hardware.HardwareMap; +import lombok.Getter; + public class Robot { + @Getter private Drive drive; public Robot(HardwareMap hardwareMap) { @@ -13,8 +16,4 @@ public class Robot { private void init(HardwareMap hardwareMap) { this.drive = new Drive(hardwareMap); } - - public Drive getDrive() { - return this.drive; - } } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java new file mode 100644 index 0000000..f029065 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java @@ -0,0 +1,94 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive; + +import com.acmerobotics.dashboard.config.Config; +import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; +import com.qualcomm.robotcore.hardware.PIDFCoefficients; + +/* + * Constants shared between multiple drive types. + * + * TODO: Tune or adjust the following constants to fit your robot. Note that the non-final + * fields may also be edited through the dashboard (connect to the robot's WiFi network and + * navigate to https://192.168.49.1:8080/dash). Make sure to save the values here after you + * adjust them in the dashboard; **config variable changes don't persist between app restarts**. + * + * These are not the only parameters; some are located in the localizer classes, drive base classes, + * and op modes themselves. + */ +@Config +public class DriveConstants { + + /* + * These are motor constants that should be listed online for your motors. + */ + public static final double TICKS_PER_REV = 1; + public static final double MAX_RPM = 1; + + /* + * Set RUN_USING_ENCODER to true to enable built-in hub velocity control using drive encoders. + * Set this flag to false if drive encoders are not present and an alternative localization + * method is in use (e.g., tracking wheels). + * + * If using the built-in motor velocity PID, update MOTOR_VELO_PID with the tuned coefficients + * from DriveVelocityPIDTuner. + */ + public static final boolean RUN_USING_ENCODER = false; + public static PIDFCoefficients MOTOR_VELO_PID = new PIDFCoefficients(0, 0, 0, + getMotorVelocityF(MAX_RPM / 60 * TICKS_PER_REV)); + + /* + * These are physical constants that can be determined from your robot (including the track + * width; it will be tune empirically later although a rough estimate is important). Users are + * free to chose whichever linear distance unit they would like so long as it is consistently + * used. The default values were selected with inches in mind. Road runner uses radians for + * angular distances although most angular parameters are wrapped in Math.toRadians() for + * convenience. Make sure to exclude any gear ratio included in MOTOR_CONFIG from GEAR_RATIO. + */ + public static double WHEEL_RADIUS = 2; // in + public static double GEAR_RATIO = 1; // output (wheel) speed / input (motor) speed + public static double TRACK_WIDTH = 1; // in + + /* + * These are the feedforward parameters used to model the drive motor behavior. If you are using + * the built-in velocity PID, *these values are fine as is*. However, if you do not have drive + * motor encoders or have elected not to use them for velocity control, these values should be + * empirically tuned. + */ + public static double kV = 1.0 / rpmToVelocity(MAX_RPM); + public static double kA = 0; + public static double kStatic = 0; + + /* + * These values are used to generate the trajectories for you robot. To ensure proper operation, + * the constraints should never exceed ~80% of the robot's actual capabilities. While Road + * Runner is designed to enable faster autonomous motion, it is a good idea for testing to start + * small and gradually increase them later after everything is working. All distance units are + * inches. + */ + public static double MAX_VEL = 30; + public static double MAX_ACCEL = 30; + public static double MAX_ANG_VEL = Math.toRadians(60); + public static double MAX_ANG_ACCEL = Math.toRadians(60); + + /* + * Adjust the orientations here to match your robot. See the FTC SDK documentation for details. + */ + public static RevHubOrientationOnRobot.LogoFacingDirection LOGO_FACING_DIR = + RevHubOrientationOnRobot.LogoFacingDirection.UP; + public static RevHubOrientationOnRobot.UsbFacingDirection USB_FACING_DIR = + RevHubOrientationOnRobot.UsbFacingDirection.FORWARD; + + + public static double encoderTicksToInches(double ticks) { + return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV; + } + + public static double rpmToVelocity(double rpm) { + return rpm * GEAR_RATIO * 2 * Math.PI * WHEEL_RADIUS / 60.0; + } + + public static double getMotorVelocityF(double ticksPerSecond) { + // see https://docs.google.com/document/d/1tyWrXDfMidwYyP_5H4mZyVgaEswhOC35gvdmP-V-5hA/edit#heading=h.61g9ixenznbx + return 32767 / ticksPerSecond; + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java new file mode 100644 index 0000000..583e7b7 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java @@ -0,0 +1,311 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive; + +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.MAX_ACCEL; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.MAX_ANG_ACCEL; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.MAX_ANG_VEL; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.MAX_VEL; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.MOTOR_VELO_PID; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.RUN_USING_ENCODER; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.TRACK_WIDTH; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.encoderTicksToInches; + +import androidx.annotation.NonNull; + +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.roadrunner.control.PIDCoefficients; +import com.acmerobotics.roadrunner.drive.DriveSignal; +import com.acmerobotics.roadrunner.followers.HolonomicPIDVAFollower; +import com.acmerobotics.roadrunner.followers.TrajectoryFollower; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.trajectory.Trajectory; +import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder; +import com.acmerobotics.roadrunner.trajectory.constraints.AngularVelocityConstraint; +import com.acmerobotics.roadrunner.trajectory.constraints.MecanumVelocityConstraint; +import com.acmerobotics.roadrunner.trajectory.constraints.MinVelocityConstraint; +import com.acmerobotics.roadrunner.trajectory.constraints.ProfileAccelerationConstraint; +import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint; +import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint; +import com.qualcomm.hardware.lynx.LynxModule; +import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.DcMotorEx; +import com.qualcomm.robotcore.hardware.HardwareMap; +import com.qualcomm.robotcore.hardware.IMU; +import com.qualcomm.robotcore.hardware.PIDFCoefficients; +import com.qualcomm.robotcore.hardware.VoltageSensor; +import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType; + +import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequence; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceRunner; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.util.LynxModuleUtil; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.kV; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.kA; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.kStatic; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.List; + + + +/* + * Simple mecanum drive hardware implementation for REV hardware. + */ +@Config +public class MecanumDrive extends com.acmerobotics.roadrunner.drive.MecanumDrive { + public static PIDCoefficients TRANSLATIONAL_PID = new PIDCoefficients(0, 0, 0); + public static PIDCoefficients HEADING_PID = new PIDCoefficients(0, 0, 0); + + public static double LATERAL_MULTIPLIER = 1; + + public static double VX_WEIGHT = 1; + public static double VY_WEIGHT = 1; + public static double OMEGA_WEIGHT = 1; + + private TrajectorySequenceRunner trajectorySequenceRunner; + + private static final TrajectoryVelocityConstraint VEL_CONSTRAINT = getVelocityConstraint(MAX_VEL, MAX_ANG_VEL, TRACK_WIDTH); + private static final TrajectoryAccelerationConstraint ACCEL_CONSTRAINT = getAccelerationConstraint(MAX_ACCEL); + + private TrajectoryFollower follower; + + private DcMotorEx leftFront, leftRear, rightRear, rightFront; + private List motors; + + private IMU imu; + private VoltageSensor batteryVoltageSensor; + + private List lastEncPositions = new ArrayList<>(); + private List lastEncVels = new ArrayList<>(); + + public MecanumDrive(HardwareMap hardwareMap) { + super(kV, kA, kStatic, TRACK_WIDTH, TRACK_WIDTH, LATERAL_MULTIPLIER); + + follower = new HolonomicPIDVAFollower(TRANSLATIONAL_PID, TRANSLATIONAL_PID, HEADING_PID, + new Pose2d(0.5, 0.5, Math.toRadians(5.0)), 0.5); + + LynxModuleUtil.ensureMinimumFirmwareVersion(hardwareMap); + + batteryVoltageSensor = hardwareMap.voltageSensor.iterator().next(); + + for (LynxModule module : hardwareMap.getAll(LynxModule.class)) { + module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO); + } + + // TODO: adjust the names of the following hardware devices to match your configuration + imu = hardwareMap.get(IMU.class, "imu"); + IMU.Parameters parameters = new IMU.Parameters(new RevHubOrientationOnRobot( + DriveConstants.LOGO_FACING_DIR, DriveConstants.USB_FACING_DIR)); + imu.initialize(parameters); + + leftFront = hardwareMap.get(DcMotorEx.class, "leftFront"); + leftRear = hardwareMap.get(DcMotorEx.class, "leftRear"); + rightRear = hardwareMap.get(DcMotorEx.class, "rightRear"); + rightFront = hardwareMap.get(DcMotorEx.class, "rightFront"); + + motors = Arrays.asList(leftFront, leftRear, rightRear, rightFront); + + for (DcMotorEx motor : motors) { + MotorConfigurationType motorConfigurationType = motor.getMotorType().clone(); + motorConfigurationType.setAchieveableMaxRPMFraction(1.0); + motor.setMotorType(motorConfigurationType); + } + + if (RUN_USING_ENCODER) { + setMode(DcMotor.RunMode.RUN_USING_ENCODER); + } + + setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE); + + if (RUN_USING_ENCODER && MOTOR_VELO_PID != null) { + setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, MOTOR_VELO_PID); + } + + // TODO: reverse any motors using DcMotor.setDirection() + + List lastTrackingEncPositions = new ArrayList<>(); + List lastTrackingEncVels = new ArrayList<>(); + + // TODO: if desired, use setLocalizer() to change the localization method + // setLocalizer(new StandardTrackingWheelLocalizer(hardwareMap, lastTrackingEncPositions, lastTrackingEncVels)); + + trajectorySequenceRunner = new TrajectorySequenceRunner( + follower, HEADING_PID, batteryVoltageSensor, + lastEncPositions, lastEncVels, lastTrackingEncPositions, lastTrackingEncVels + ); + } + + public TrajectoryBuilder trajectoryBuilder(Pose2d startPose) { + return new TrajectoryBuilder(startPose, VEL_CONSTRAINT, ACCEL_CONSTRAINT); + } + + public TrajectoryBuilder trajectoryBuilder(Pose2d startPose, boolean reversed) { + return new TrajectoryBuilder(startPose, reversed, VEL_CONSTRAINT, ACCEL_CONSTRAINT); + } + + public TrajectoryBuilder trajectoryBuilder(Pose2d startPose, double startHeading) { + return new TrajectoryBuilder(startPose, startHeading, VEL_CONSTRAINT, ACCEL_CONSTRAINT); + } + + public TrajectorySequenceBuilder trajectorySequenceBuilder(Pose2d startPose) { + return new TrajectorySequenceBuilder( + startPose, + VEL_CONSTRAINT, ACCEL_CONSTRAINT, + MAX_ANG_VEL, MAX_ANG_ACCEL + ); + } + + public void turnAsync(double angle) { + trajectorySequenceRunner.followTrajectorySequenceAsync( + trajectorySequenceBuilder(getPoseEstimate()) + .turn(angle) + .build() + ); + } + + public void turn(double angle) { + turnAsync(angle); + waitForIdle(); + } + + public void followTrajectoryAsync(Trajectory trajectory) { + trajectorySequenceRunner.followTrajectorySequenceAsync( + trajectorySequenceBuilder(trajectory.start()) + .addTrajectory(trajectory) + .build() + ); + } + + public void followTrajectory(Trajectory trajectory) { + followTrajectoryAsync(trajectory); + waitForIdle(); + } + + public void followTrajectorySequenceAsync(TrajectorySequence trajectorySequence) { + trajectorySequenceRunner.followTrajectorySequenceAsync(trajectorySequence); + } + + public void followTrajectorySequence(TrajectorySequence trajectorySequence) { + followTrajectorySequenceAsync(trajectorySequence); + waitForIdle(); + } + + public Pose2d getLastError() { + return trajectorySequenceRunner.getLastPoseError(); + } + + public void update() { + updatePoseEstimate(); + DriveSignal signal = trajectorySequenceRunner.update(getPoseEstimate(), getPoseVelocity()); + if (signal != null) setDriveSignal(signal); + } + + public void waitForIdle() { + while (!Thread.currentThread().isInterrupted() && isBusy()) + update(); + } + + public boolean isBusy() { + return trajectorySequenceRunner.isBusy(); + } + + public void setMode(DcMotor.RunMode runMode) { + for (DcMotorEx motor : motors) { + motor.setMode(runMode); + } + } + + public void setZeroPowerBehavior(DcMotor.ZeroPowerBehavior zeroPowerBehavior) { + for (DcMotorEx motor : motors) { + motor.setZeroPowerBehavior(zeroPowerBehavior); + } + } + + public void setPIDFCoefficients(DcMotor.RunMode runMode, PIDFCoefficients coefficients) { + PIDFCoefficients compensatedCoefficients = new PIDFCoefficients( + coefficients.p, coefficients.i, coefficients.d, + coefficients.f * 12 / batteryVoltageSensor.getVoltage() + ); + + for (DcMotorEx motor : motors) { + motor.setPIDFCoefficients(runMode, compensatedCoefficients); + } + } + + public void setWeightedDrivePower(Pose2d drivePower) { + Pose2d vel = drivePower; + + if (Math.abs(drivePower.getX()) + Math.abs(drivePower.getY()) + + Math.abs(drivePower.getHeading()) > 1) { + // re-normalize the powers according to the weights + double denom = VX_WEIGHT * Math.abs(drivePower.getX()) + + VY_WEIGHT * Math.abs(drivePower.getY()) + + OMEGA_WEIGHT * Math.abs(drivePower.getHeading()); + + vel = new Pose2d( + VX_WEIGHT * drivePower.getX(), + VY_WEIGHT * drivePower.getY(), + OMEGA_WEIGHT * drivePower.getHeading() + ).div(denom); + } + + setDrivePower(vel); + } + + @NonNull + @Override + public List getWheelPositions() { + lastEncPositions.clear(); + + List wheelPositions = new ArrayList<>(); + for (DcMotorEx motor : motors) { + int position = motor.getCurrentPosition(); + lastEncPositions.add(position); + wheelPositions.add(encoderTicksToInches(position)); + } + return wheelPositions; + } + + @Override + public List getWheelVelocities() { + lastEncVels.clear(); + + List wheelVelocities = new ArrayList<>(); + for (DcMotorEx motor : motors) { + int vel = (int) motor.getVelocity(); + lastEncVels.add(vel); + wheelVelocities.add(encoderTicksToInches(vel)); + } + return wheelVelocities; + } + + @Override + public void setMotorPowers(double v, double v1, double v2, double v3) { + leftFront.setPower(v); + leftRear.setPower(v1); + rightRear.setPower(v2); + rightFront.setPower(v3); + } + + @Override + public double getRawExternalHeading() { + return imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS); + } + + @Override + public Double getExternalHeadingVelocity() { + return (double) imu.getRobotAngularVelocity(AngleUnit.RADIANS).zRotationRate; + } + + public static TrajectoryVelocityConstraint getVelocityConstraint(double maxVel, double maxAngularVel, double trackWidth) { + return new MinVelocityConstraint(Arrays.asList( + new AngularVelocityConstraint(maxAngularVel), + new MecanumVelocityConstraint(maxVel, trackWidth) + )); + } + + public static TrajectoryAccelerationConstraint getAccelerationConstraint(double maxAccel) { + return new ProfileAccelerationConstraint(maxAccel); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/StandardTrackingWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/StandardTrackingWheelLocalizer.java new file mode 100644 index 0000000..b08629b --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/StandardTrackingWheelLocalizer.java @@ -0,0 +1,100 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive; + +import androidx.annotation.NonNull; + +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.localization.ThreeTrackingWheelLocalizer; +import com.qualcomm.robotcore.hardware.DcMotorEx; +import com.qualcomm.robotcore.hardware.HardwareMap; + +import org.firstinspires.ftc.teamcode.util.Encoder; + +import java.util.Arrays; +import java.util.List; + +/* + * Sample tracking wheel localizer implementation assuming the standard configuration: + * + * /--------------\ + * | ____ | + * | ---- | + * | || || | + * | || || | + * | | + * | | + * \--------------/ + * + */ +@Config +public class StandardTrackingWheelLocalizer extends ThreeTrackingWheelLocalizer { + public static double TICKS_PER_REV = 0; + public static double WHEEL_RADIUS = 2; // in + public static double GEAR_RATIO = 1; // output (wheel) speed / input (encoder) speed + + public static double LATERAL_DISTANCE = 10; // in; distance between the left and right wheels + public static double FORWARD_OFFSET = 4; // in; offset of the lateral wheel + + private Encoder leftEncoder, rightEncoder, frontEncoder; + + private List lastEncPositions, lastEncVels; + + public StandardTrackingWheelLocalizer(HardwareMap hardwareMap, List lastTrackingEncPositions, List lastTrackingEncVels) { + super(Arrays.asList( + new Pose2d(0, LATERAL_DISTANCE / 2, 0), // left + new Pose2d(0, -LATERAL_DISTANCE / 2, 0), // right + new Pose2d(FORWARD_OFFSET, 0, Math.toRadians(90)) // front + )); + + lastEncPositions = lastTrackingEncPositions; + lastEncVels = lastTrackingEncVels; + + leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "leftEncoder")); + rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "rightEncoder")); + frontEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "frontEncoder")); + + // TODO: reverse any encoders using Encoder.setDirection(Encoder.Direction.REVERSE) + } + + public static double encoderTicksToInches(double ticks) { + return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV; + } + + @NonNull + @Override + public List getWheelPositions() { + int leftPos = leftEncoder.getCurrentPosition(); + int rightPos = rightEncoder.getCurrentPosition(); + int frontPos = frontEncoder.getCurrentPosition(); + + lastEncPositions.clear(); + lastEncPositions.add(leftPos); + lastEncPositions.add(rightPos); + lastEncPositions.add(frontPos); + + return Arrays.asList( + encoderTicksToInches(leftPos), + encoderTicksToInches(rightPos), + encoderTicksToInches(frontPos) + ); + } + + @NonNull + @Override + public List getWheelVelocities() { + int leftVel = (int) leftEncoder.getCorrectedVelocity(); + int rightVel = (int) rightEncoder.getCorrectedVelocity(); + int frontVel = (int) frontEncoder.getCorrectedVelocity(); + + lastEncVels.clear(); + lastEncVels.add(leftVel); + lastEncVels.add(rightVel); + lastEncVels.add(frontVel); + + return Arrays.asList( + encoderTicksToInches(leftVel), + encoderTicksToInches(rightVel), + encoderTicksToInches(frontVel) + ); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/AutomaticFeedforwardTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/AutomaticFeedforwardTuner.java new file mode 100644 index 0000000..57857ba --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/AutomaticFeedforwardTuner.java @@ -0,0 +1,221 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.MAX_RPM; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.RUN_USING_ENCODER; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.rpmToVelocity; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.util.NanoClock; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.util.RobotLog; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.robotcore.internal.system.Misc; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.util.LoggingUtil; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.util.RegressionUtil; + +import java.util.ArrayList; +import java.util.List; + +/* + * Op mode for computing kV, kStatic, and kA from various drive routines. For the curious, here's an + * outline of the procedure: + * 1. Slowly ramp the motor power and record encoder values along the way. + * 2. Run a linear regression on the encoder velocity vs. motor power plot to obtain a slope (kV) + * and an optional intercept (kStatic). + * 3. Accelerate the robot (apply constant power) and record the encoder counts. + * 4. Adjust the encoder data based on the velocity tuning data and find kA with another linear + * regression. + */ +@Config +@Autonomous(group = "drive") +public class AutomaticFeedforwardTuner extends LinearOpMode { + public static double MAX_POWER = 0.7; + public static double DISTANCE = 100; // in + + @Override + public void runOpMode() throws InterruptedException { + if (RUN_USING_ENCODER) { + RobotLog.setGlobalErrorMsg("Feedforward constants usually don't need to be tuned " + + "when using the built-in drive motor velocity PID."); + } + + Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); + + MecanumDrive drive = new MecanumDrive(hardwareMap); + + NanoClock clock = NanoClock.system(); + + telemetry.addLine("Press play to begin the feedforward tuning routine"); + telemetry.update(); + + waitForStart(); + + if (isStopRequested()) return; + + telemetry.clearAll(); + telemetry.addLine("Would you like to fit kStatic?"); + telemetry.addLine("Press (Y/Δ) for yes, (B/O) for no"); + telemetry.update(); + + boolean fitIntercept = false; + while (!isStopRequested()) { + if (gamepad1.y) { + fitIntercept = true; + while (!isStopRequested() && gamepad1.y) { + idle(); + } + break; + } else if (gamepad1.b) { + while (!isStopRequested() && gamepad1.b) { + idle(); + } + break; + } + idle(); + } + + telemetry.clearAll(); + telemetry.addLine(Misc.formatInvariant( + "Place your robot on the field with at least %.2f in of room in front", DISTANCE)); + telemetry.addLine("Press (Y/Δ) to begin"); + telemetry.update(); + + while (!isStopRequested() && !gamepad1.y) { + idle(); + } + while (!isStopRequested() && gamepad1.y) { + idle(); + } + + telemetry.clearAll(); + telemetry.addLine("Running..."); + telemetry.update(); + + double maxVel = rpmToVelocity(MAX_RPM); + double finalVel = MAX_POWER * maxVel; + double accel = (finalVel * finalVel) / (2.0 * DISTANCE); + double rampTime = Math.sqrt(2.0 * DISTANCE / accel); + + List timeSamples = new ArrayList<>(); + List positionSamples = new ArrayList<>(); + List powerSamples = new ArrayList<>(); + + drive.setPoseEstimate(new Pose2d()); + + double startTime = clock.seconds(); + while (!isStopRequested()) { + double elapsedTime = clock.seconds() - startTime; + if (elapsedTime > rampTime) { + break; + } + double vel = accel * elapsedTime; + double power = vel / maxVel; + + timeSamples.add(elapsedTime); + positionSamples.add(drive.getPoseEstimate().getX()); + powerSamples.add(power); + + drive.setDrivePower(new Pose2d(power, 0.0, 0.0)); + drive.updatePoseEstimate(); + } + drive.setDrivePower(new Pose2d(0.0, 0.0, 0.0)); + + RegressionUtil.RampResult rampResult = RegressionUtil.fitRampData( + timeSamples, positionSamples, powerSamples, fitIntercept, + LoggingUtil.getLogFile(Misc.formatInvariant( + "DriveRampRegression-%d.csv", System.currentTimeMillis()))); + + telemetry.clearAll(); + telemetry.addLine("Quasi-static ramp up test complete"); + if (fitIntercept) { + telemetry.addLine(Misc.formatInvariant("kV = %.5f, kStatic = %.5f (R^2 = %.2f)", + rampResult.kV, rampResult.kStatic, rampResult.rSquare)); + } else { + telemetry.addLine(Misc.formatInvariant("kV = %.5f (R^2 = %.2f)", + rampResult.kStatic, rampResult.rSquare)); + } + telemetry.addLine("Would you like to fit kA?"); + telemetry.addLine("Press (Y/Δ) for yes, (B/O) for no"); + telemetry.update(); + + boolean fitAccelFF = false; + while (!isStopRequested()) { + if (gamepad1.y) { + fitAccelFF = true; + while (!isStopRequested() && gamepad1.y) { + idle(); + } + break; + } else if (gamepad1.b) { + while (!isStopRequested() && gamepad1.b) { + idle(); + } + break; + } + idle(); + } + + if (fitAccelFF) { + telemetry.clearAll(); + telemetry.addLine("Place the robot back in its starting position"); + telemetry.addLine("Press (Y/Δ) to continue"); + telemetry.update(); + + while (!isStopRequested() && !gamepad1.y) { + idle(); + } + while (!isStopRequested() && gamepad1.y) { + idle(); + } + + telemetry.clearAll(); + telemetry.addLine("Running..."); + telemetry.update(); + + double maxPowerTime = DISTANCE / maxVel; + + timeSamples.clear(); + positionSamples.clear(); + powerSamples.clear(); + + drive.setPoseEstimate(new Pose2d()); + drive.setDrivePower(new Pose2d(MAX_POWER, 0.0, 0.0)); + + startTime = clock.seconds(); + while (!isStopRequested()) { + double elapsedTime = clock.seconds() - startTime; + if (elapsedTime > maxPowerTime) { + break; + } + + timeSamples.add(elapsedTime); + positionSamples.add(drive.getPoseEstimate().getX()); + powerSamples.add(MAX_POWER); + + drive.updatePoseEstimate(); + } + drive.setDrivePower(new Pose2d(0.0, 0.0, 0.0)); + + RegressionUtil.AccelResult accelResult = RegressionUtil.fitAccelData( + timeSamples, positionSamples, powerSamples, rampResult, + LoggingUtil.getLogFile(Misc.formatInvariant( + "DriveAccelRegression-%d.csv", System.currentTimeMillis()))); + + telemetry.clearAll(); + telemetry.addLine("Constant power test complete"); + telemetry.addLine(Misc.formatInvariant("kA = %.5f (R^2 = %.2f)", + accelResult.kA, accelResult.rSquare)); + telemetry.update(); + } + + while (!isStopRequested()) { + idle(); + } + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/BackAndForth.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/BackAndForth.java new file mode 100644 index 0000000..dbb659d --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/BackAndForth.java @@ -0,0 +1,52 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.trajectory.Trajectory; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; + +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +/* + * Op mode for preliminary tuning of the follower PID coefficients (located in the drive base + * classes). The robot drives back and forth in a straight line indefinitely. Utilization of the + * dashboard is recommended for this tuning routine. To access the dashboard, connect your computer + * to the RC's WiFi network. In your browser, navigate to https://192.168.49.1:8080/dash if you're + * using the RC phone or https://192.168.43.1:8080/dash if you are using the Control Hub. Once + * you've successfully connected, start the program, and your robot will begin moving forward and + * backward. You should observe the target position (green) and your pose estimate (blue) and adjust + * your follower PID coefficients such that you follow the target position as accurately as possible. + * If you are using SampleMecanumDrive, you should be tuning TRANSLATIONAL_PID and HEADING_PID. + * If you are using SampleTankDrive, you should be tuning AXIAL_PID, CROSS_TRACK_PID, and HEADING_PID. + * These coefficients can be tuned live in dashboard. + * + * This opmode is designed as a convenient, coarse tuning for the follower PID coefficients. It + * is recommended that you use the FollowerPIDTuner opmode for further fine tuning. + */ +@Config +@Autonomous(group = "drive") +public class BackAndForth extends LinearOpMode { + + public static double DISTANCE = 50; + + @Override + public void runOpMode() throws InterruptedException { + MecanumDrive drive = new MecanumDrive(hardwareMap); + + Trajectory trajectoryForward = drive.trajectoryBuilder(new Pose2d()) + .forward(DISTANCE) + .build(); + + Trajectory trajectoryBackward = drive.trajectoryBuilder(trajectoryForward.end()) + .back(DISTANCE) + .build(); + + waitForStart(); + + while (opModeIsActive() && !isStopRequested()) { + drive.followTrajectory(trajectoryForward); + drive.followTrajectory(trajectoryBackward); + } + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/DriveVelocityPIDTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/DriveVelocityPIDTuner.java new file mode 100644 index 0000000..dad03d5 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/DriveVelocityPIDTuner.java @@ -0,0 +1,171 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.MAX_ACCEL; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.MAX_VEL; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.MOTOR_VELO_PID; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.RUN_USING_ENCODER; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.kV; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.profile.MotionProfile; +import com.acmerobotics.roadrunner.profile.MotionProfileGenerator; +import com.acmerobotics.roadrunner.profile.MotionState; +import com.acmerobotics.roadrunner.util.NanoClock; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.util.RobotLog; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +import java.util.List; + +/* + * This routine is designed to tune the PID coefficients used by the REV Expansion Hubs for closed- + * loop velocity control. Although it may seem unnecessary, tuning these coefficients is just as + * important as the positional parameters. Like the other manual tuning routines, this op mode + * relies heavily upon the dashboard. To access the dashboard, connect your computer to the RC's + * WiFi network. In your browser, navigate to https://192.168.49.1:8080/dash if you're using the RC + * phone or https://192.168.43.1:8080/dash if you are using the Control Hub. Once you've successfully + * connected, start the program, and your robot will begin moving forward and backward according to + * a motion profile. Your job is to graph the velocity errors over time and adjust the PID + * coefficients (note: the tuning variable will not appear until the op mode finishes initializing). + * Once you've found a satisfactory set of gains, add them to the DriveConstants.java file under the + * MOTOR_VELO_PID field. + * + * Recommended tuning process: + * + * 1. Increase kP until any phase lag is eliminated. Concurrently increase kD as necessary to + * mitigate oscillations. + * 2. Add kI (or adjust kF) until the steady state/constant velocity plateaus are reached. + * 3. Back off kP and kD a little until the response is less oscillatory (but without lag). + * + * Pressing Y/Δ (Xbox/PS4) will pause the tuning process and enter driver override, allowing the + * user to reset the position of the bot in the event that it drifts off the path. + * Pressing B/O (Xbox/PS4) will cede control back to the tuning process. + */ +@Config +@Autonomous(group = "drive") +public class DriveVelocityPIDTuner extends LinearOpMode { + public static double DISTANCE = 72; // in + + enum Mode { + DRIVER_MODE, + TUNING_MODE + } + + private static MotionProfile generateProfile(boolean movingForward) { + MotionState start = new MotionState(movingForward ? 0 : DISTANCE, 0, 0, 0); + MotionState goal = new MotionState(movingForward ? DISTANCE : 0, 0, 0, 0); + return MotionProfileGenerator.generateSimpleMotionProfile(start, goal, MAX_VEL, MAX_ACCEL); + } + + @Override + public void runOpMode() { + if (!RUN_USING_ENCODER) { + RobotLog.setGlobalErrorMsg("%s does not need to be run if the built-in motor velocity" + + "PID is not in use", getClass().getSimpleName()); + } + + Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); + + MecanumDrive drive = new MecanumDrive(hardwareMap); + + Mode mode = Mode.TUNING_MODE; + + double lastKp = MOTOR_VELO_PID.p; + double lastKi = MOTOR_VELO_PID.i; + double lastKd = MOTOR_VELO_PID.d; + double lastKf = MOTOR_VELO_PID.f; + + drive.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, MOTOR_VELO_PID); + + NanoClock clock = NanoClock.system(); + + telemetry.addLine("Ready!"); + telemetry.update(); + telemetry.clearAll(); + + waitForStart(); + + if (isStopRequested()) return; + + boolean movingForwards = true; + MotionProfile activeProfile = generateProfile(true); + double profileStart = clock.seconds(); + + + while (!isStopRequested()) { + telemetry.addData("mode", mode); + + switch (mode) { + case TUNING_MODE: + if (gamepad1.y) { + mode = Mode.DRIVER_MODE; + drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); + } + + // calculate and set the motor power + double profileTime = clock.seconds() - profileStart; + + if (profileTime > activeProfile.duration()) { + // generate a new profile + movingForwards = !movingForwards; + activeProfile = generateProfile(movingForwards); + profileStart = clock.seconds(); + } + + MotionState motionState = activeProfile.get(profileTime); + double targetPower = kV * motionState.getV(); + drive.setDrivePower(new Pose2d(targetPower, 0, 0)); + + List velocities = drive.getWheelVelocities(); + + // update telemetry + telemetry.addData("targetVelocity", motionState.getV()); + for (int i = 0; i < velocities.size(); i++) { + telemetry.addData("measuredVelocity" + i, velocities.get(i)); + telemetry.addData( + "error" + i, + motionState.getV() - velocities.get(i) + ); + } + break; + case DRIVER_MODE: + if (gamepad1.b) { + drive.setMode(DcMotor.RunMode.RUN_USING_ENCODER); + + mode = Mode.TUNING_MODE; + movingForwards = true; + activeProfile = generateProfile(movingForwards); + profileStart = clock.seconds(); + } + + drive.setWeightedDrivePower( + new Pose2d( + -gamepad1.left_stick_y, + -gamepad1.left_stick_x, + -gamepad1.right_stick_x + ) + ); + break; + } + + if (lastKp != MOTOR_VELO_PID.p || lastKd != MOTOR_VELO_PID.d + || lastKi != MOTOR_VELO_PID.i || lastKf != MOTOR_VELO_PID.f) { + drive.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, MOTOR_VELO_PID); + + lastKp = MOTOR_VELO_PID.p; + lastKi = MOTOR_VELO_PID.i; + lastKd = MOTOR_VELO_PID.d; + lastKf = MOTOR_VELO_PID.f; + } + + telemetry.update(); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/FollowerPIDTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/FollowerPIDTuner.java new file mode 100644 index 0000000..a527570 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/FollowerPIDTuner.java @@ -0,0 +1,56 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; + +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequence; + + +/* + * Op mode for preliminary tuning of the follower PID coefficients (located in the drive base + * classes). The robot drives in a DISTANCE-by-DISTANCE square indefinitely. Utilization of the + * dashboard is recommended for this tuning routine. To access the dashboard, connect your computer + * to the RC's WiFi network. In your browser, navigate to https://192.168.49.1:8080/dash if you're + * using the RC phone or https://192.168.43.1:8080/dash if you are using the Control Hub. Once + * you've successfully connected, start the program, and your robot will begin driving in a square. + * You should observe the target position (green) and your pose estimate (blue) and adjust your + * follower PID coefficients such that you follow the target position as accurately as possible. + * If you are using SampleMecanumDrive, you should be tuning TRANSLATIONAL_PID and HEADING_PID. + * If you are using SampleTankDrive, you should be tuning AXIAL_PID, CROSS_TRACK_PID, and HEADING_PID. + * These coefficients can be tuned live in dashboard. + */ +@Config +@Autonomous(group = "drive") +public class FollowerPIDTuner extends LinearOpMode { + public static double DISTANCE = 48; // in + + @Override + public void runOpMode() throws InterruptedException { + MecanumDrive drive = new MecanumDrive(hardwareMap); + + Pose2d startPose = new Pose2d(-DISTANCE / 2, -DISTANCE / 2, 0); + + drive.setPoseEstimate(startPose); + + waitForStart(); + + if (isStopRequested()) return; + + while (!isStopRequested()) { + TrajectorySequence trajSeq = drive.trajectorySequenceBuilder(startPose) + .forward(DISTANCE) + .turn(Math.toRadians(90)) + .forward(DISTANCE) + .turn(Math.toRadians(90)) + .forward(DISTANCE) + .turn(Math.toRadians(90)) + .forward(DISTANCE) + .turn(Math.toRadians(90)) + .build(); + drive.followTrajectorySequence(trajSeq); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/LocalizationTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/LocalizationTest.java new file mode 100644 index 0000000..0ab260a --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/LocalizationTest.java @@ -0,0 +1,45 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.hardware.DcMotor; + +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +/** + * This is a simple teleop routine for testing localization. Drive the robot around like a normal + * teleop routine and make sure the robot's estimated pose matches the robot's actual pose (slight + * errors are not out of the ordinary, especially with sudden drive motions). The goal of this + * exercise is to ascertain whether the localizer has been configured properly (note: the pure + * encoder localizer heading may be significantly off if the track width has not been tuned). + */ +@TeleOp(group = "drive") +public class LocalizationTest extends LinearOpMode { + @Override + public void runOpMode() throws InterruptedException { + MecanumDrive drive = new MecanumDrive(hardwareMap); + + drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); + + waitForStart(); + + while (!isStopRequested()) { + drive.setWeightedDrivePower( + new Pose2d( + -gamepad1.left_stick_y, + -gamepad1.left_stick_x, + -gamepad1.right_stick_x + ) + ); + + drive.update(); + + Pose2d poseEstimate = drive.getPoseEstimate(); + telemetry.addData("x", poseEstimate.getX()); + telemetry.addData("y", poseEstimate.getY()); + telemetry.addData("heading", poseEstimate.getHeading()); + telemetry.update(); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/ManualFeedforwardTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/ManualFeedforwardTuner.java new file mode 100644 index 0000000..113ff71 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/ManualFeedforwardTuner.java @@ -0,0 +1,152 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.MAX_ACCEL; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.MAX_VEL; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.RUN_USING_ENCODER; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.kA; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.kStatic; +import static org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants.kV; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.kinematics.Kinematics; +import com.acmerobotics.roadrunner.profile.MotionProfile; +import com.acmerobotics.roadrunner.profile.MotionProfileGenerator; +import com.acmerobotics.roadrunner.profile.MotionState; +import com.acmerobotics.roadrunner.util.NanoClock; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.hardware.VoltageSensor; +import com.qualcomm.robotcore.util.RobotLog; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +import java.util.Objects; + +/* + * This routine is designed to tune the open-loop feedforward coefficients. Although it may seem unnecessary, + * tuning these coefficients is just as important as the positional parameters. Like the other + * manual tuning routines, this op mode relies heavily upon the dashboard. To access the dashboard, + * connect your computer to the RC's WiFi network. In your browser, navigate to + * https://192.168.49.1:8080/dash if you're using the RC phone or https://192.168.43.1:8080/dash if + * you are using the Control Hub. Once you've successfully connected, start the program, and your + * robot will begin moving forward and backward according to a motion profile. Your job is to graph + * the velocity errors over time and adjust the feedforward coefficients. Once you've found a + * satisfactory set of gains, add them to the appropriate fields in the DriveConstants.java file. + * + * Pressing Y/Δ (Xbox/PS4) will pause the tuning process and enter driver override, allowing the + * user to reset the position of the bot in the event that it drifts off the path. + * Pressing B/O (Xbox/PS4) will cede control back to the tuning process. + */ +@Config +@Autonomous(group = "drive") +public class ManualFeedforwardTuner extends LinearOpMode { + public static double DISTANCE = 72; // in + + private FtcDashboard dashboard = FtcDashboard.getInstance(); + + private MecanumDrive drive; + + enum Mode { + DRIVER_MODE, + TUNING_MODE + } + + private Mode mode; + + private static MotionProfile generateProfile(boolean movingForward) { + MotionState start = new MotionState(movingForward ? 0 : DISTANCE, 0, 0, 0); + MotionState goal = new MotionState(movingForward ? DISTANCE : 0, 0, 0, 0); + return MotionProfileGenerator.generateSimpleMotionProfile(start, goal, MAX_VEL, MAX_ACCEL); + } + + @Override + public void runOpMode() { + if (RUN_USING_ENCODER) { + RobotLog.setGlobalErrorMsg("Feedforward constants usually don't need to be tuned " + + "when using the built-in drive motor velocity PID."); + } + + Telemetry telemetry = new MultipleTelemetry(this.telemetry, dashboard.getTelemetry()); + + drive = new MecanumDrive(hardwareMap); + + final VoltageSensor voltageSensor = hardwareMap.voltageSensor.iterator().next(); + + mode = Mode.TUNING_MODE; + + NanoClock clock = NanoClock.system(); + + telemetry.addLine("Ready!"); + telemetry.update(); + telemetry.clearAll(); + + waitForStart(); + + if (isStopRequested()) return; + + boolean movingForwards = true; + MotionProfile activeProfile = generateProfile(true); + double profileStart = clock.seconds(); + + + while (!isStopRequested()) { + telemetry.addData("mode", mode); + + switch (mode) { + case TUNING_MODE: + if (gamepad1.y) { + mode = Mode.DRIVER_MODE; + } + + // calculate and set the motor power + double profileTime = clock.seconds() - profileStart; + + if (profileTime > activeProfile.duration()) { + // generate a new profile + movingForwards = !movingForwards; + activeProfile = generateProfile(movingForwards); + profileStart = clock.seconds(); + } + + MotionState motionState = activeProfile.get(profileTime); + double targetPower = Kinematics.calculateMotorFeedforward(motionState.getV(), motionState.getA(), kV, kA, kStatic); + + final double NOMINAL_VOLTAGE = 12.0; + final double voltage = voltageSensor.getVoltage(); + drive.setDrivePower(new Pose2d(NOMINAL_VOLTAGE / voltage * targetPower, 0, 0)); + drive.updatePoseEstimate(); + + Pose2d poseVelo = Objects.requireNonNull(drive.getPoseVelocity(), "poseVelocity() must not be null. Ensure that the getWheelVelocities() method has been overridden in your localizer."); + double currentVelo = poseVelo.getX(); + + // update telemetry + telemetry.addData("targetVelocity", motionState.getV()); + telemetry.addData("measuredVelocity", currentVelo); + telemetry.addData("error", motionState.getV() - currentVelo); + break; + case DRIVER_MODE: + if (gamepad1.b) { + mode = Mode.TUNING_MODE; + movingForwards = true; + activeProfile = generateProfile(movingForwards); + profileStart = clock.seconds(); + } + + drive.setWeightedDrivePower( + new Pose2d( + -gamepad1.left_stick_y, + -gamepad1.left_stick_x, + -gamepad1.right_stick_x + ) + ); + break; + } + + telemetry.update(); + } + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MaxAngularVeloTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MaxAngularVeloTuner.java new file mode 100644 index 0000000..40ed050 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MaxAngularVeloTuner.java @@ -0,0 +1,73 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.util.ElapsedTime; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +import java.util.Objects; + +/** + * This routine is designed to calculate the maximum angular velocity your bot can achieve under load. + *

+ * Upon pressing start, your bot will turn at max power for RUNTIME seconds. + *

+ * Further fine tuning of MAX_ANG_VEL may be desired. + */ + +@Config +@Autonomous(group = "drive") +public class MaxAngularVeloTuner extends LinearOpMode { + public static double RUNTIME = 4.0; + + private ElapsedTime timer; + private double maxAngVelocity = 0.0; + + @Override + public void runOpMode() throws InterruptedException { + MecanumDrive drive = new MecanumDrive(hardwareMap); + + drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); + + Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); + + telemetry.addLine("Your bot will turn at full speed for " + RUNTIME + " seconds."); + telemetry.addLine("Please ensure you have enough space cleared."); + telemetry.addLine(""); + telemetry.addLine("Press start when ready."); + telemetry.update(); + + waitForStart(); + + telemetry.clearAll(); + telemetry.update(); + + drive.setDrivePower(new Pose2d(0, 0, 1)); + timer = new ElapsedTime(); + + while (!isStopRequested() && timer.seconds() < RUNTIME) { + drive.updatePoseEstimate(); + + Pose2d poseVelo = Objects.requireNonNull(drive.getPoseVelocity(), "poseVelocity() must not be null. Ensure that the getWheelVelocities() method has been overridden in your localizer."); + + maxAngVelocity = Math.max(poseVelo.getHeading(), maxAngVelocity); + } + + drive.setDrivePower(new Pose2d()); + + telemetry.addData("Max Angular Velocity (rad)", maxAngVelocity); + telemetry.addData("Max Angular Velocity (deg)", Math.toDegrees(maxAngVelocity)); + telemetry.addData("Max Recommended Angular Velocity (rad)", maxAngVelocity * 0.8); + telemetry.addData("Max Recommended Angular Velocity (deg)", Math.toDegrees(maxAngVelocity * 0.8)); + telemetry.update(); + + while (!isStopRequested()) idle(); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MaxVelocityTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MaxVelocityTuner.java new file mode 100644 index 0000000..99d13b5 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MaxVelocityTuner.java @@ -0,0 +1,84 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.hardware.DcMotor; +import com.qualcomm.robotcore.hardware.VoltageSensor; +import com.qualcomm.robotcore.util.ElapsedTime; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +import java.util.Objects; + +/** + * This routine is designed to calculate the maximum velocity your bot can achieve under load. It + * will also calculate the effective kF value for your velocity PID. + *

+ * Upon pressing start, your bot will run at max power for RUNTIME seconds. + *

+ * Further fine tuning of kF may be desired. + */ +@Config +@Autonomous(group = "drive") +public class MaxVelocityTuner extends LinearOpMode { + public static double RUNTIME = 2.0; + + private ElapsedTime timer; + private double maxVelocity = 0.0; + + private VoltageSensor batteryVoltageSensor; + + @Override + public void runOpMode() throws InterruptedException { + MecanumDrive drive = new MecanumDrive(hardwareMap); + + drive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER); + + batteryVoltageSensor = hardwareMap.voltageSensor.iterator().next(); + + Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); + + telemetry.addLine("Your bot will go at full speed for " + RUNTIME + " seconds."); + telemetry.addLine("Please ensure you have enough space cleared."); + telemetry.addLine(""); + telemetry.addLine("Press start when ready."); + telemetry.update(); + + waitForStart(); + + telemetry.clearAll(); + telemetry.update(); + + drive.setDrivePower(new Pose2d(1, 0, 0)); + timer = new ElapsedTime(); + + while (!isStopRequested() && timer.seconds() < RUNTIME) { + drive.updatePoseEstimate(); + + Pose2d poseVelo = Objects.requireNonNull(drive.getPoseVelocity(), "poseVelocity() must not be null. Ensure that the getWheelVelocities() method has been overridden in your localizer."); + + maxVelocity = Math.max(poseVelo.vec().norm(), maxVelocity); + } + + drive.setDrivePower(new Pose2d()); + + double effectiveKf = DriveConstants.getMotorVelocityF(veloInchesToTicks(maxVelocity)); + + telemetry.addData("Max Velocity", maxVelocity); + telemetry.addData("Max Recommended Velocity", maxVelocity * 0.8); + telemetry.addData("Voltage Compensated kF", effectiveKf * batteryVoltageSensor.getVoltage() / 12); + telemetry.update(); + + while (!isStopRequested() && opModeIsActive()) idle(); + } + + private double veloInchesToTicks(double inchesPerSec) { + return inchesPerSec / (2 * Math.PI * DriveConstants.WHEEL_RADIUS) / DriveConstants.GEAR_RATIO * DriveConstants.TICKS_PER_REV; + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MotorDirectionDebugger.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MotorDirectionDebugger.java new file mode 100644 index 0000000..9a4d9dc --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/MotorDirectionDebugger.java @@ -0,0 +1,93 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.qualcomm.robotcore.eventloop.opmode.Disabled; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +/** + * This is a simple teleop routine for debugging your motor configuration. + * Pressing each of the buttons will power its respective motor. + * + * Button Mappings: + * + * Xbox/PS4 Button - Motor + * X / ▢ - Front Left + * Y / Δ - Front Right + * B / O - Rear Right + * A / X - Rear Left + * The buttons are mapped to match the wheels spatially if you + * were to rotate the gamepad 45deg°. x/square is the front left + * ________ and each button corresponds to the wheel as you go clockwise + * / ______ \ + * ------------.-' _ '-..+ Front of Bot + * / _ ( Y ) _ \ ^ + * | ( X ) _ ( B ) | Front Left \ Front Right + * ___ '. ( A ) /| Wheel \ Wheel + * .' '. '-._____.-' .' (x/▢) \ (Y/Δ) + * | | | \ + * '.___.' '. | Rear Left \ Rear Right + * '. / Wheel \ Wheel + * \. .' (A/X) \ (B/O) + * \________/ + * + * Uncomment the @Disabled tag below to use this opmode. + */ +@Disabled +@Config +@TeleOp(group = "drive") +public class MotorDirectionDebugger extends LinearOpMode { + public static double MOTOR_POWER = 0.7; + + @Override + public void runOpMode() throws InterruptedException { + Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); + + MecanumDrive drive = new MecanumDrive(hardwareMap); + + telemetry.addLine("Press play to begin the debugging opmode"); + telemetry.update(); + + waitForStart(); + + if (isStopRequested()) return; + + telemetry.clearAll(); + telemetry.setDisplayFormat(Telemetry.DisplayFormat.HTML); + + while (!isStopRequested()) { + telemetry.addLine("Press each button to turn on its respective motor"); + telemetry.addLine(); + telemetry.addLine("Xbox/PS4 Button - Motor"); + telemetry.addLine("  X / ▢         - Front Left"); + telemetry.addLine("  Y / Δ         - Front Right"); + telemetry.addLine("  B / O         - Rear  Right"); + telemetry.addLine("  A / X         - Rear  Left"); + telemetry.addLine(); + + if(gamepad1.x) { + drive.setMotorPowers(MOTOR_POWER, 0, 0, 0); + telemetry.addLine("Running Motor: Front Left"); + } else if(gamepad1.y) { + drive.setMotorPowers(0, 0, 0, MOTOR_POWER); + telemetry.addLine("Running Motor: Front Right"); + } else if(gamepad1.b) { + drive.setMotorPowers(0, 0, MOTOR_POWER, 0); + telemetry.addLine("Running Motor: Rear Right"); + } else if(gamepad1.a) { + drive.setMotorPowers(0, MOTOR_POWER, 0, 0); + telemetry.addLine("Running Motor: Rear Left"); + } else { + drive.setMotorPowers(0, 0, 0, 0); + telemetry.addLine("Running Motor: None"); + } + + telemetry.update(); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/SplineTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/SplineTest.java new file mode 100644 index 0000000..945374a --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/SplineTest.java @@ -0,0 +1,38 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.geometry.Vector2d; +import com.acmerobotics.roadrunner.trajectory.Trajectory; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; + +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +/* + * This is an example of a more complex path to really test the tuning. + */ +@Autonomous(group = "drive") +public class SplineTest extends LinearOpMode { + @Override + public void runOpMode() throws InterruptedException { + MecanumDrive drive = new MecanumDrive(hardwareMap); + + waitForStart(); + + if (isStopRequested()) return; + + Trajectory traj = drive.trajectoryBuilder(new Pose2d()) + .splineTo(new Vector2d(30, 30), 0) + .build(); + + drive.followTrajectory(traj); + + sleep(2000); + + drive.followTrajectory( + drive.trajectoryBuilder(traj.end(), true) + .splineTo(new Vector2d(0, 0), Math.toRadians(180)) + .build() + ); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/StrafeTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/StrafeTest.java new file mode 100644 index 0000000..35e0550 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/StrafeTest.java @@ -0,0 +1,46 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.trajectory.Trajectory; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +/* + * This is a simple routine to test translational drive capabilities. + */ +@Config +@Autonomous(group = "drive") +public class StrafeTest extends LinearOpMode { + public static double DISTANCE = 60; // in + + @Override + public void runOpMode() throws InterruptedException { + Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); + + MecanumDrive drive = new MecanumDrive(hardwareMap); + + Trajectory trajectory = drive.trajectoryBuilder(new Pose2d()) + .strafeRight(DISTANCE) + .build(); + + waitForStart(); + + if (isStopRequested()) return; + + drive.followTrajectory(trajectory); + + Pose2d poseEstimate = drive.getPoseEstimate(); + telemetry.addData("finalX", poseEstimate.getX()); + telemetry.addData("finalY", poseEstimate.getY()); + telemetry.addData("finalHeading", poseEstimate.getHeading()); + telemetry.update(); + + while (!isStopRequested() && opModeIsActive()) ; + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/StraightTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/StraightTest.java new file mode 100644 index 0000000..b02da08 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/StraightTest.java @@ -0,0 +1,46 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.trajectory.Trajectory; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +/* + * This is a simple routine to test translational drive capabilities. + */ +@Config +@Autonomous(group = "drive") +public class StraightTest extends LinearOpMode { + public static double DISTANCE = 60; // in + + @Override + public void runOpMode() throws InterruptedException { + Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); + + MecanumDrive drive = new MecanumDrive(hardwareMap); + + Trajectory trajectory = drive.trajectoryBuilder(new Pose2d()) + .forward(DISTANCE) + .build(); + + waitForStart(); + + if (isStopRequested()) return; + + drive.followTrajectory(trajectory); + + Pose2d poseEstimate = drive.getPoseEstimate(); + telemetry.addData("finalX", poseEstimate.getX()); + telemetry.addData("finalY", poseEstimate.getY()); + telemetry.addData("finalHeading", poseEstimate.getHeading()); + telemetry.update(); + + while (!isStopRequested() && opModeIsActive()) ; + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackWidthTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackWidthTuner.java new file mode 100644 index 0000000..639377f --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackWidthTuner.java @@ -0,0 +1,88 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.util.Angle; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.util.MovingStatistics; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.robotcore.internal.system.Misc; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +/* + * This routine determines the effective track width. The procedure works by executing a point turn + * with a given angle and measuring the difference between that angle and the actual angle (as + * indicated by an external IMU/gyro, track wheels, or some other localizer). The quotient + * given angle / actual angle gives a multiplicative adjustment to the estimated track width + * (effective track width = estimated track width * given angle / actual angle). The routine repeats + * this procedure a few times and averages the values for additional accuracy. Note: a relatively + * accurate track width estimate is important or else the angular constraints will be thrown off. + */ +@Config +@Autonomous(group = "drive") +public class TrackWidthTuner extends LinearOpMode { + public static double ANGLE = 180; // deg + public static int NUM_TRIALS = 5; + public static int DELAY = 1000; // ms + + @Override + public void runOpMode() throws InterruptedException { + Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); + + MecanumDrive drive = new MecanumDrive(hardwareMap); + // TODO: if you haven't already, set the localizer to something that doesn't depend on + // drive encoders for computing the heading + + telemetry.addLine("Press play to begin the track width tuner routine"); + telemetry.addLine("Make sure your robot has enough clearance to turn smoothly"); + telemetry.update(); + + waitForStart(); + + if (isStopRequested()) return; + + telemetry.clearAll(); + telemetry.addLine("Running..."); + telemetry.update(); + + MovingStatistics trackWidthStats = new MovingStatistics(NUM_TRIALS); + for (int i = 0; i < NUM_TRIALS; i++) { + drive.setPoseEstimate(new Pose2d()); + + // it is important to handle heading wraparounds + double headingAccumulator = 0; + double lastHeading = 0; + + drive.turnAsync(Math.toRadians(ANGLE)); + + while (!isStopRequested() && drive.isBusy()) { + double heading = drive.getPoseEstimate().getHeading(); + headingAccumulator += Angle.normDelta(heading - lastHeading); + lastHeading = heading; + + drive.update(); + } + + double trackWidth = DriveConstants.TRACK_WIDTH * Math.toRadians(ANGLE) / headingAccumulator; + trackWidthStats.add(trackWidth); + + sleep(DELAY); + } + + telemetry.clearAll(); + telemetry.addLine("Tuning complete"); + telemetry.addLine(Misc.formatInvariant("Effective track width = %.2f (SE = %.3f)", + trackWidthStats.getMean(), + trackWidthStats.getStandardDeviation() / Math.sqrt(NUM_TRIALS))); + telemetry.update(); + + while (!isStopRequested()) { + idle(); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackingWheelForwardOffsetTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackingWheelForwardOffsetTuner.java new file mode 100644 index 0000000..dd9590b --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackingWheelForwardOffsetTuner.java @@ -0,0 +1,104 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.MultipleTelemetry; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.util.Angle; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.util.MovingStatistics; +import com.qualcomm.robotcore.util.RobotLog; + +import org.firstinspires.ftc.robotcore.external.Telemetry; +import org.firstinspires.ftc.robotcore.internal.system.Misc; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.StandardTrackingWheelLocalizer; + +/** + * This routine determines the effective forward offset for the lateral tracking wheel. + * The procedure executes a point turn at a given angle for a certain number of trials, + * along with a specified delay in milliseconds. The purpose of this is to track the + * change in the y position during the turn. The offset, or distance, of the lateral tracking + * wheel from the center or rotation allows the wheel to spin during a point turn, leading + * to an incorrect measurement for the y position. This creates an arc around around + * the center of rotation with an arc length of change in y and a radius equal to the forward + * offset. We can compute this offset by calculating (change in y position) / (change in heading) + * which returns the radius if the angle (change in heading) is in radians. This is based + * on the arc length formula of length = theta * radius. + * + * To run this routine, simply adjust the desired angle and specify the number of trials + * and the desired delay. Then, run the procedure. Once it finishes, it will print the + * average of all the calculated forward offsets derived from the calculation. This calculated + * forward offset is then added onto the current forward offset to produce an overall estimate + * for the forward offset. You can run this procedure as many times as necessary until a + * satisfactory result is produced. + */ +@Config +@Autonomous(group="drive") +public class TrackingWheelForwardOffsetTuner extends LinearOpMode { + public static double ANGLE = 180; // deg + public static int NUM_TRIALS = 5; + public static int DELAY = 1000; // ms + + @Override + public void runOpMode() throws InterruptedException { + Telemetry telemetry = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry()); + + MecanumDrive drive = new MecanumDrive(hardwareMap); + + if (!(drive.getLocalizer() instanceof StandardTrackingWheelLocalizer)) { + RobotLog.setGlobalErrorMsg("StandardTrackingWheelLocalizer is not being set in the " + + "drive class. Ensure that \"setLocalizer(new StandardTrackingWheelLocalizer" + + "(hardwareMap));\" is called in SampleMecanumDrive.java"); + } + + telemetry.addLine("Press play to begin the forward offset tuner"); + telemetry.addLine("Make sure your robot has enough clearance to turn smoothly"); + telemetry.update(); + + waitForStart(); + + if (isStopRequested()) return; + + telemetry.clearAll(); + telemetry.addLine("Running..."); + telemetry.update(); + + MovingStatistics forwardOffsetStats = new MovingStatistics(NUM_TRIALS); + for (int i = 0; i < NUM_TRIALS; i++) { + drive.setPoseEstimate(new Pose2d()); + + // it is important to handle heading wraparounds + double headingAccumulator = 0; + double lastHeading = 0; + + drive.turnAsync(Math.toRadians(ANGLE)); + + while (!isStopRequested() && drive.isBusy()) { + double heading = drive.getPoseEstimate().getHeading(); + headingAccumulator += Angle.norm(heading - lastHeading); + lastHeading = heading; + + drive.update(); + } + + double forwardOffset = StandardTrackingWheelLocalizer.FORWARD_OFFSET + + drive.getPoseEstimate().getY() / headingAccumulator; + forwardOffsetStats.add(forwardOffset); + + sleep(DELAY); + } + + telemetry.clearAll(); + telemetry.addLine("Tuning complete"); + telemetry.addLine(Misc.formatInvariant("Effective forward offset = %.2f (SE = %.3f)", + forwardOffsetStats.getMean(), + forwardOffsetStats.getStandardDeviation() / Math.sqrt(NUM_TRIALS))); + telemetry.update(); + + while (!isStopRequested()) { + idle(); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackingWheelLateralDistanceTuner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackingWheelLateralDistanceTuner.java new file mode 100644 index 0000000..5d10cac --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TrackingWheelLateralDistanceTuner.java @@ -0,0 +1,130 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.util.Angle; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; +import com.qualcomm.robotcore.eventloop.opmode.TeleOp; +import com.qualcomm.robotcore.util.RobotLog; + +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.StandardTrackingWheelLocalizer; + +/** + * Opmode designed to assist the user in tuning the `StandardTrackingWheelLocalizer`'s + * LATERAL_DISTANCE value. The LATERAL_DISTANCE is the center-to-center distance of the parallel + * wheels. + * + * Tuning Routine: + * + * 1. Set the LATERAL_DISTANCE value in StandardTrackingWheelLocalizer.java to the physical + * measured value. This need only be an estimated value as you will be tuning it anyways. + * + * 2. Make a mark on the bot (with a piece of tape or sharpie or however you wish) and make an + * similar mark right below the indicator on your bot. This will be your reference point to + * ensure you've turned exactly 360°. + * + * 3. Although not entirely necessary, having the bot's pose being drawn in dashbooard does help + * identify discrepancies in the LATERAL_DISTANCE value. To access the dashboard, + * connect your computer to the RC's WiFi network. In your browser, navigate to + * https://192.168.49.1:8080/dash if you're using the RC phone or https://192.168.43.1:8080/dash + * if you are using the Control Hub. + * Ensure the field is showing (select the field view in top right of the page). + * + * 4. Press play to begin the tuning routine. + * + * 5. Use the right joystick on gamepad 1 to turn the bot counterclockwise. + * + * 6. Spin the bot 10 times, counterclockwise. Make sure to keep track of these turns. + * + * 7. Once the bot has finished spinning 10 times, press A to finishing the routine. The indicators + * on the bot and on the ground you created earlier should be lined up. + * + * 8. Your effective LATERAL_DISTANCE will be given. Stick this value into your + * StandardTrackingWheelLocalizer.java class. + * + * 9. If this value is incorrect, run the routine again while adjusting the LATERAL_DISTANCE value + * yourself. Read the heading output and follow the advice stated in the note below to manually + * nudge the values yourself. + * + * Note: + * It helps to pay attention to how the pose on the field is drawn in dashboard. A blue circle with + * a line from the circumference to the center should be present, representing the bot. The line + * indicates forward. If your LATERAL_DISTANCE value is tuned currently, the pose drawn in + * dashboard should keep track with the pose of your actual bot. If the drawn bot turns slower than + * the actual bot, the LATERAL_DISTANCE should be decreased. If the drawn bot turns faster than the + * actual bot, the LATERAL_DISTANCE should be increased. + * + * If your drawn bot oscillates around a point in dashboard, don't worry. This is because the + * position of the perpendicular wheel isn't perfectly set and causes a discrepancy in the + * effective center of rotation. You can ignore this effect. The center of rotation will be offset + * slightly but your heading will still be fine. This does not affect your overall tracking + * precision. The heading should still line up. + */ +@Config +@TeleOp(group = "drive") +public class TrackingWheelLateralDistanceTuner extends LinearOpMode { + public static int NUM_TURNS = 10; + + @Override + public void runOpMode() throws InterruptedException { + MecanumDrive drive = new MecanumDrive(hardwareMap); + + if (!(drive.getLocalizer() instanceof StandardTrackingWheelLocalizer)) { + RobotLog.setGlobalErrorMsg("StandardTrackingWheelLocalizer is not being set in the " + + "drive class. Ensure that \"setLocalizer(new StandardTrackingWheelLocalizer" + + "(hardwareMap));\" is called in SampleMecanumDrive.java"); + } + + telemetry.addLine("Prior to beginning the routine, please read the directions " + + "located in the comments of the opmode file."); + telemetry.addLine("Press play to begin the tuning routine."); + telemetry.addLine(""); + telemetry.addLine("Press Y/△ to stop the routine."); + telemetry.update(); + + waitForStart(); + + if (isStopRequested()) return; + + telemetry.clearAll(); + telemetry.update(); + + double headingAccumulator = 0; + double lastHeading = 0; + + boolean tuningFinished = false; + + while (!isStopRequested() && !tuningFinished) { + Pose2d vel = new Pose2d(0, 0, -gamepad1.right_stick_x); + drive.setDrivePower(vel); + + drive.update(); + + double heading = drive.getPoseEstimate().getHeading(); + double deltaHeading = heading - lastHeading; + + headingAccumulator += Angle.normDelta(deltaHeading); + lastHeading = heading; + + telemetry.clearAll(); + telemetry.addLine("Total Heading (deg): " + Math.toDegrees(headingAccumulator)); + telemetry.addLine("Raw Heading (deg): " + Math.toDegrees(heading)); + telemetry.addLine(); + telemetry.addLine("Press Y/△ to conclude routine"); + telemetry.update(); + + if (gamepad1.y) + tuningFinished = true; + } + + telemetry.clearAll(); + telemetry.addLine("Localizer's total heading: " + Math.toDegrees(headingAccumulator) + "°"); + telemetry.addLine("Effective LATERAL_DISTANCE: " + + (headingAccumulator / (NUM_TURNS * Math.PI * 2)) * StandardTrackingWheelLocalizer.LATERAL_DISTANCE); + + telemetry.update(); + + while (!isStopRequested()) idle(); + } +} \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TurnTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TurnTest.java new file mode 100644 index 0000000..396687c --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TurnTest.java @@ -0,0 +1,27 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode; + +import com.acmerobotics.dashboard.config.Config; +import com.qualcomm.robotcore.eventloop.opmode.Autonomous; +import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; + +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; + +/* + * This is a simple routine to test turning capabilities. + */ +@Config +@Autonomous(group = "drive") +public class TurnTest extends LinearOpMode { + public static double ANGLE = 90; // deg + + @Override + public void runOpMode() throws InterruptedException { + MecanumDrive drive = new MecanumDrive(hardwareMap); + + waitForStart(); + + if (isStopRequested()) return; + + drive.turn(Math.toRadians(ANGLE)); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/EmptySequenceException.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/EmptySequenceException.java new file mode 100644 index 0000000..7f5bd17 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/EmptySequenceException.java @@ -0,0 +1,4 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence; + + +public class EmptySequenceException extends RuntimeException { } diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/TrajectorySequence.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/TrajectorySequence.java new file mode 100644 index 0000000..b7551ea --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/TrajectorySequence.java @@ -0,0 +1,44 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence; + +import com.acmerobotics.roadrunner.geometry.Pose2d; + +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment.SequenceSegment; + +import java.util.Collections; +import java.util.List; + +public class TrajectorySequence { + private final List sequenceList; + + public TrajectorySequence(List sequenceList) { + if (sequenceList.size() == 0) throw new EmptySequenceException(); + + this.sequenceList = Collections.unmodifiableList(sequenceList); + } + + public Pose2d start() { + return sequenceList.get(0).getStartPose(); + } + + public Pose2d end() { + return sequenceList.get(sequenceList.size() - 1).getEndPose(); + } + + public double duration() { + double total = 0.0; + + for (SequenceSegment segment : sequenceList) { + total += segment.getDuration(); + } + + return total; + } + + public SequenceSegment get(int i) { + return sequenceList.get(i); + } + + public int size() { + return sequenceList.size(); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/TrajectorySequenceBuilder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/TrajectorySequenceBuilder.java new file mode 100644 index 0000000..bea0906 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/TrajectorySequenceBuilder.java @@ -0,0 +1,711 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence; + +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.geometry.Vector2d; +import com.acmerobotics.roadrunner.path.PathContinuityViolationException; +import com.acmerobotics.roadrunner.profile.MotionProfile; +import com.acmerobotics.roadrunner.profile.MotionProfileGenerator; +import com.acmerobotics.roadrunner.profile.MotionState; +import com.acmerobotics.roadrunner.trajectory.DisplacementMarker; +import com.acmerobotics.roadrunner.trajectory.DisplacementProducer; +import com.acmerobotics.roadrunner.trajectory.MarkerCallback; +import com.acmerobotics.roadrunner.trajectory.SpatialMarker; +import com.acmerobotics.roadrunner.trajectory.TemporalMarker; +import com.acmerobotics.roadrunner.trajectory.TimeProducer; +import com.acmerobotics.roadrunner.trajectory.Trajectory; +import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder; +import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker; +import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint; +import com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint; +import com.acmerobotics.roadrunner.util.Angle; + +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment.SequenceSegment; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment.TrajectorySegment; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment.TurnSegment; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment.WaitSegment; + +import java.util.ArrayList; +import java.util.Collections; +import java.util.Comparator; +import java.util.List; + +public class TrajectorySequenceBuilder { + private final double resolution = 0.25; + + private final TrajectoryVelocityConstraint baseVelConstraint; + private final TrajectoryAccelerationConstraint baseAccelConstraint; + + private TrajectoryVelocityConstraint currentVelConstraint; + private TrajectoryAccelerationConstraint currentAccelConstraint; + + private final double baseTurnConstraintMaxAngVel; + private final double baseTurnConstraintMaxAngAccel; + + private double currentTurnConstraintMaxAngVel; + private double currentTurnConstraintMaxAngAccel; + + private final List sequenceSegments; + + private final List temporalMarkers; + private final List displacementMarkers; + private final List spatialMarkers; + + private Pose2d lastPose; + + private double tangentOffset; + + private boolean setAbsoluteTangent; + private double absoluteTangent; + + private TrajectoryBuilder currentTrajectoryBuilder; + + private double currentDuration; + private double currentDisplacement; + + private double lastDurationTraj; + private double lastDisplacementTraj; + + public TrajectorySequenceBuilder( + Pose2d startPose, + Double startTangent, + TrajectoryVelocityConstraint baseVelConstraint, + TrajectoryAccelerationConstraint baseAccelConstraint, + double baseTurnConstraintMaxAngVel, + double baseTurnConstraintMaxAngAccel + ) { + this.baseVelConstraint = baseVelConstraint; + this.baseAccelConstraint = baseAccelConstraint; + + this.currentVelConstraint = baseVelConstraint; + this.currentAccelConstraint = baseAccelConstraint; + + this.baseTurnConstraintMaxAngVel = baseTurnConstraintMaxAngVel; + this.baseTurnConstraintMaxAngAccel = baseTurnConstraintMaxAngAccel; + + this.currentTurnConstraintMaxAngVel = baseTurnConstraintMaxAngVel; + this.currentTurnConstraintMaxAngAccel = baseTurnConstraintMaxAngAccel; + + sequenceSegments = new ArrayList<>(); + + temporalMarkers = new ArrayList<>(); + displacementMarkers = new ArrayList<>(); + spatialMarkers = new ArrayList<>(); + + lastPose = startPose; + + tangentOffset = 0.0; + + setAbsoluteTangent = (startTangent != null); + absoluteTangent = startTangent != null ? startTangent : 0.0; + + currentTrajectoryBuilder = null; + + currentDuration = 0.0; + currentDisplacement = 0.0; + + lastDurationTraj = 0.0; + lastDisplacementTraj = 0.0; + } + + public TrajectorySequenceBuilder( + Pose2d startPose, + TrajectoryVelocityConstraint baseVelConstraint, + TrajectoryAccelerationConstraint baseAccelConstraint, + double baseTurnConstraintMaxAngVel, + double baseTurnConstraintMaxAngAccel + ) { + this( + startPose, null, + baseVelConstraint, baseAccelConstraint, + baseTurnConstraintMaxAngVel, baseTurnConstraintMaxAngAccel + ); + } + + public TrajectorySequenceBuilder lineTo(Vector2d endPosition) { + return addPath(() -> currentTrajectoryBuilder.lineTo(endPosition, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder lineTo( + Vector2d endPosition, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.lineTo(endPosition, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder lineToConstantHeading(Vector2d endPosition) { + return addPath(() -> currentTrajectoryBuilder.lineToConstantHeading(endPosition, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder lineToConstantHeading( + Vector2d endPosition, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.lineToConstantHeading(endPosition, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder lineToLinearHeading(Pose2d endPose) { + return addPath(() -> currentTrajectoryBuilder.lineToLinearHeading(endPose, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder lineToLinearHeading( + Pose2d endPose, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.lineToLinearHeading(endPose, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder lineToSplineHeading(Pose2d endPose) { + return addPath(() -> currentTrajectoryBuilder.lineToSplineHeading(endPose, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder lineToSplineHeading( + Pose2d endPose, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.lineToSplineHeading(endPose, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder strafeTo(Vector2d endPosition) { + return addPath(() -> currentTrajectoryBuilder.strafeTo(endPosition, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder strafeTo( + Vector2d endPosition, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.strafeTo(endPosition, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder forward(double distance) { + return addPath(() -> currentTrajectoryBuilder.forward(distance, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder forward( + double distance, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.forward(distance, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder back(double distance) { + return addPath(() -> currentTrajectoryBuilder.back(distance, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder back( + double distance, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.back(distance, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder strafeLeft(double distance) { + return addPath(() -> currentTrajectoryBuilder.strafeLeft(distance, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder strafeLeft( + double distance, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.strafeLeft(distance, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder strafeRight(double distance) { + return addPath(() -> currentTrajectoryBuilder.strafeRight(distance, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder strafeRight( + double distance, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.strafeRight(distance, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder splineTo(Vector2d endPosition, double endHeading) { + return addPath(() -> currentTrajectoryBuilder.splineTo(endPosition, endHeading, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder splineTo( + Vector2d endPosition, + double endHeading, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.splineTo(endPosition, endHeading, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder splineToConstantHeading(Vector2d endPosition, double endHeading) { + return addPath(() -> currentTrajectoryBuilder.splineToConstantHeading(endPosition, endHeading, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder splineToConstantHeading( + Vector2d endPosition, + double endHeading, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.splineToConstantHeading(endPosition, endHeading, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder splineToLinearHeading(Pose2d endPose, double endHeading) { + return addPath(() -> currentTrajectoryBuilder.splineToLinearHeading(endPose, endHeading, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder splineToLinearHeading( + Pose2d endPose, + double endHeading, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.splineToLinearHeading(endPose, endHeading, velConstraint, accelConstraint)); + } + + public TrajectorySequenceBuilder splineToSplineHeading(Pose2d endPose, double endHeading) { + return addPath(() -> currentTrajectoryBuilder.splineToSplineHeading(endPose, endHeading, currentVelConstraint, currentAccelConstraint)); + } + + public TrajectorySequenceBuilder splineToSplineHeading( + Pose2d endPose, + double endHeading, + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + return addPath(() -> currentTrajectoryBuilder.splineToSplineHeading(endPose, endHeading, velConstraint, accelConstraint)); + } + + private TrajectorySequenceBuilder addPath(AddPathCallback callback) { + if (currentTrajectoryBuilder == null) newPath(); + + try { + callback.run(); + } catch (PathContinuityViolationException e) { + newPath(); + callback.run(); + } + + Trajectory builtTraj = currentTrajectoryBuilder.build(); + + double durationDifference = builtTraj.duration() - lastDurationTraj; + double displacementDifference = builtTraj.getPath().length() - lastDisplacementTraj; + + lastPose = builtTraj.end(); + currentDuration += durationDifference; + currentDisplacement += displacementDifference; + + lastDurationTraj = builtTraj.duration(); + lastDisplacementTraj = builtTraj.getPath().length(); + + return this; + } + + public TrajectorySequenceBuilder setTangent(double tangent) { + setAbsoluteTangent = true; + absoluteTangent = tangent; + + pushPath(); + + return this; + } + + private TrajectorySequenceBuilder setTangentOffset(double offset) { + setAbsoluteTangent = false; + + this.tangentOffset = offset; + this.pushPath(); + + return this; + } + + public TrajectorySequenceBuilder setReversed(boolean reversed) { + return reversed ? this.setTangentOffset(Math.toRadians(180.0)) : this.setTangentOffset(0.0); + } + + public TrajectorySequenceBuilder setConstraints( + TrajectoryVelocityConstraint velConstraint, + TrajectoryAccelerationConstraint accelConstraint + ) { + this.currentVelConstraint = velConstraint; + this.currentAccelConstraint = accelConstraint; + + return this; + } + + public TrajectorySequenceBuilder resetConstraints() { + this.currentVelConstraint = this.baseVelConstraint; + this.currentAccelConstraint = this.baseAccelConstraint; + + return this; + } + + public TrajectorySequenceBuilder setVelConstraint(TrajectoryVelocityConstraint velConstraint) { + this.currentVelConstraint = velConstraint; + + return this; + } + + public TrajectorySequenceBuilder resetVelConstraint() { + this.currentVelConstraint = this.baseVelConstraint; + + return this; + } + + public TrajectorySequenceBuilder setAccelConstraint(TrajectoryAccelerationConstraint accelConstraint) { + this.currentAccelConstraint = accelConstraint; + + return this; + } + + public TrajectorySequenceBuilder resetAccelConstraint() { + this.currentAccelConstraint = this.baseAccelConstraint; + + return this; + } + + public TrajectorySequenceBuilder setTurnConstraint(double maxAngVel, double maxAngAccel) { + this.currentTurnConstraintMaxAngVel = maxAngVel; + this.currentTurnConstraintMaxAngAccel = maxAngAccel; + + return this; + } + + public TrajectorySequenceBuilder resetTurnConstraint() { + this.currentTurnConstraintMaxAngVel = baseTurnConstraintMaxAngVel; + this.currentTurnConstraintMaxAngAccel = baseTurnConstraintMaxAngAccel; + + return this; + } + + public TrajectorySequenceBuilder addTemporalMarker(MarkerCallback callback) { + return this.addTemporalMarker(currentDuration, callback); + } + + public TrajectorySequenceBuilder UNSTABLE_addTemporalMarkerOffset(double offset, MarkerCallback callback) { + return this.addTemporalMarker(currentDuration + offset, callback); + } + + public TrajectorySequenceBuilder addTemporalMarker(double time, MarkerCallback callback) { + return this.addTemporalMarker(0.0, time, callback); + } + + public TrajectorySequenceBuilder addTemporalMarker(double scale, double offset, MarkerCallback callback) { + return this.addTemporalMarker(time -> scale * time + offset, callback); + } + + public TrajectorySequenceBuilder addTemporalMarker(TimeProducer time, MarkerCallback callback) { + this.temporalMarkers.add(new TemporalMarker(time, callback)); + return this; + } + + public TrajectorySequenceBuilder addSpatialMarker(Vector2d point, MarkerCallback callback) { + this.spatialMarkers.add(new SpatialMarker(point, callback)); + return this; + } + + public TrajectorySequenceBuilder addDisplacementMarker(MarkerCallback callback) { + return this.addDisplacementMarker(currentDisplacement, callback); + } + + public TrajectorySequenceBuilder UNSTABLE_addDisplacementMarkerOffset(double offset, MarkerCallback callback) { + return this.addDisplacementMarker(currentDisplacement + offset, callback); + } + + public TrajectorySequenceBuilder addDisplacementMarker(double displacement, MarkerCallback callback) { + return this.addDisplacementMarker(0.0, displacement, callback); + } + + public TrajectorySequenceBuilder addDisplacementMarker(double scale, double offset, MarkerCallback callback) { + return addDisplacementMarker((displacement -> scale * displacement + offset), callback); + } + + public TrajectorySequenceBuilder addDisplacementMarker(DisplacementProducer displacement, MarkerCallback callback) { + displacementMarkers.add(new DisplacementMarker(displacement, callback)); + + return this; + } + + public TrajectorySequenceBuilder turn(double angle) { + return turn(angle, currentTurnConstraintMaxAngVel, currentTurnConstraintMaxAngAccel); + } + + public TrajectorySequenceBuilder turn(double angle, double maxAngVel, double maxAngAccel) { + pushPath(); + + MotionProfile turnProfile = MotionProfileGenerator.generateSimpleMotionProfile( + new MotionState(lastPose.getHeading(), 0.0, 0.0, 0.0), + new MotionState(lastPose.getHeading() + angle, 0.0, 0.0, 0.0), + maxAngVel, + maxAngAccel + ); + + sequenceSegments.add(new TurnSegment(lastPose, angle, turnProfile, Collections.emptyList())); + + lastPose = new Pose2d( + lastPose.getX(), lastPose.getY(), + Angle.norm(lastPose.getHeading() + angle) + ); + + currentDuration += turnProfile.duration(); + + return this; + } + + public TrajectorySequenceBuilder waitSeconds(double seconds) { + pushPath(); + sequenceSegments.add(new WaitSegment(lastPose, seconds, Collections.emptyList())); + + currentDuration += seconds; + return this; + } + + public TrajectorySequenceBuilder addTrajectory(Trajectory trajectory) { + pushPath(); + + sequenceSegments.add(new TrajectorySegment(trajectory)); + return this; + } + + private void pushPath() { + if (currentTrajectoryBuilder != null) { + Trajectory builtTraj = currentTrajectoryBuilder.build(); + sequenceSegments.add(new TrajectorySegment(builtTraj)); + } + + currentTrajectoryBuilder = null; + } + + private void newPath() { + if (currentTrajectoryBuilder != null) + pushPath(); + + lastDurationTraj = 0.0; + lastDisplacementTraj = 0.0; + + double tangent = setAbsoluteTangent ? absoluteTangent : Angle.norm(lastPose.getHeading() + tangentOffset); + + currentTrajectoryBuilder = new TrajectoryBuilder(lastPose, tangent, currentVelConstraint, currentAccelConstraint, resolution); + } + + public TrajectorySequence build() { + pushPath(); + + List globalMarkers = convertMarkersToGlobal( + sequenceSegments, + temporalMarkers, displacementMarkers, spatialMarkers + ); + + return new TrajectorySequence(projectGlobalMarkersToLocalSegments(globalMarkers, sequenceSegments)); + } + + private List convertMarkersToGlobal( + List sequenceSegments, + List temporalMarkers, + List displacementMarkers, + List spatialMarkers + ) { + ArrayList trajectoryMarkers = new ArrayList<>(); + + // Convert temporal markers + for (TemporalMarker marker : temporalMarkers) { + trajectoryMarkers.add( + new TrajectoryMarker(marker.getProducer().produce(currentDuration), marker.getCallback()) + ); + } + + // Convert displacement markers + for (DisplacementMarker marker : displacementMarkers) { + double time = displacementToTime( + sequenceSegments, + marker.getProducer().produce(currentDisplacement) + ); + + trajectoryMarkers.add( + new TrajectoryMarker( + time, + marker.getCallback() + ) + ); + } + + // Convert spatial markers + for (SpatialMarker marker : spatialMarkers) { + trajectoryMarkers.add( + new TrajectoryMarker( + pointToTime(sequenceSegments, marker.getPoint()), + marker.getCallback() + ) + ); + } + + return trajectoryMarkers; + } + + private List projectGlobalMarkersToLocalSegments(List markers, List sequenceSegments) { + if (sequenceSegments.isEmpty()) return Collections.emptyList(); + + markers.sort(Comparator.comparingDouble(TrajectoryMarker::getTime)); + + int segmentIndex = 0; + double currentTime = 0; + + for (TrajectoryMarker marker : markers) { + SequenceSegment segment = null; + + double markerTime = marker.getTime(); + double segmentOffsetTime = 0; + + while (segmentIndex < sequenceSegments.size()) { + SequenceSegment seg = sequenceSegments.get(segmentIndex); + + if (currentTime + seg.getDuration() >= markerTime) { + segment = seg; + segmentOffsetTime = markerTime - currentTime; + break; + } else { + currentTime += seg.getDuration(); + segmentIndex++; + } + } + if (segmentIndex >= sequenceSegments.size()) { + segment = sequenceSegments.get(sequenceSegments.size()-1); + segmentOffsetTime = segment.getDuration(); + } + + SequenceSegment newSegment = null; + + if (segment instanceof WaitSegment) { + WaitSegment thisSegment = (WaitSegment) segment; + + List newMarkers = new ArrayList<>(thisSegment.getMarkers()); + newMarkers.add(new TrajectoryMarker(segmentOffsetTime, marker.getCallback())); + + newSegment = new WaitSegment(thisSegment.getStartPose(), thisSegment.getDuration(), newMarkers); + } else if (segment instanceof TurnSegment) { + TurnSegment thisSegment = (TurnSegment) segment; + + List newMarkers = new ArrayList<>(thisSegment.getMarkers()); + newMarkers.add(new TrajectoryMarker(segmentOffsetTime, marker.getCallback())); + + newSegment = new TurnSegment(thisSegment.getStartPose(), thisSegment.getTotalRotation(), thisSegment.getMotionProfile(), newMarkers); + } else if (segment instanceof TrajectorySegment) { + TrajectorySegment thisSegment = (TrajectorySegment) segment; + + List newMarkers = new ArrayList<>(thisSegment.getTrajectory().getMarkers()); + newMarkers.add(new TrajectoryMarker(segmentOffsetTime, marker.getCallback())); + + newSegment = new TrajectorySegment(new Trajectory(thisSegment.getTrajectory().getPath(), thisSegment.getTrajectory().getProfile(), newMarkers)); + } + + sequenceSegments.set(segmentIndex, newSegment); + } + + return sequenceSegments; + } + + // Taken from Road Runner's TrajectoryGenerator.displacementToTime() since it's private + // note: this assumes that the profile position is monotonic increasing + private Double motionProfileDisplacementToTime(MotionProfile profile, double s) { + double tLo = 0.0; + double tHi = profile.duration(); + while (!(Math.abs(tLo - tHi) < 1e-6)) { + double tMid = 0.5 * (tLo + tHi); + if (profile.get(tMid).getX() > s) { + tHi = tMid; + } else { + tLo = tMid; + } + } + return 0.5 * (tLo + tHi); + } + + private Double displacementToTime(List sequenceSegments, double s) { + double currentTime = 0.0; + double currentDisplacement = 0.0; + + for (SequenceSegment segment : sequenceSegments) { + if (segment instanceof TrajectorySegment) { + TrajectorySegment thisSegment = (TrajectorySegment) segment; + + double segmentLength = thisSegment.getTrajectory().getPath().length(); + + if (currentDisplacement + segmentLength > s) { + double target = s - currentDisplacement; + double timeInSegment = motionProfileDisplacementToTime( + thisSegment.getTrajectory().getProfile(), + target + ); + + return currentTime + timeInSegment; + } else { + currentDisplacement += segmentLength; + currentTime += thisSegment.getTrajectory().duration(); + } + } else { + currentTime += segment.getDuration(); + } + } + + return 0.0; + } + + private Double pointToTime(List sequenceSegments, Vector2d point) { + class ComparingPoints { + private final double distanceToPoint; + private final double totalDisplacement; + private final double thisPathDisplacement; + + public ComparingPoints(double distanceToPoint, double totalDisplacement, double thisPathDisplacement) { + this.distanceToPoint = distanceToPoint; + this.totalDisplacement = totalDisplacement; + this.thisPathDisplacement = thisPathDisplacement; + } + } + + List projectedPoints = new ArrayList<>(); + + for (SequenceSegment segment : sequenceSegments) { + if (segment instanceof TrajectorySegment) { + TrajectorySegment thisSegment = (TrajectorySegment) segment; + + double displacement = thisSegment.getTrajectory().getPath().project(point, 0.25); + Vector2d projectedPoint = thisSegment.getTrajectory().getPath().get(displacement).vec(); + double distanceToPoint = point.minus(projectedPoint).norm(); + + double totalDisplacement = 0.0; + + for (ComparingPoints comparingPoint : projectedPoints) { + totalDisplacement += comparingPoint.totalDisplacement; + } + + totalDisplacement += displacement; + + projectedPoints.add(new ComparingPoints(distanceToPoint, displacement, totalDisplacement)); + } + } + + ComparingPoints closestPoint = null; + + for (ComparingPoints comparingPoint : projectedPoints) { + if (closestPoint == null) { + closestPoint = comparingPoint; + continue; + } + + if (comparingPoint.distanceToPoint < closestPoint.distanceToPoint) + closestPoint = comparingPoint; + } + + return displacementToTime(sequenceSegments, closestPoint.thisPathDisplacement); + } + + private interface AddPathCallback { + void run(); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/TrajectorySequenceRunner.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/TrajectorySequenceRunner.java new file mode 100644 index 0000000..fb7b6b1 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/TrajectorySequenceRunner.java @@ -0,0 +1,307 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence; + +import androidx.annotation.Nullable; + +import com.acmerobotics.dashboard.FtcDashboard; +import com.acmerobotics.dashboard.canvas.Canvas; +import com.acmerobotics.dashboard.config.Config; +import com.acmerobotics.dashboard.telemetry.TelemetryPacket; +import com.acmerobotics.roadrunner.control.PIDCoefficients; +import com.acmerobotics.roadrunner.control.PIDFController; +import com.acmerobotics.roadrunner.drive.DriveSignal; +import com.acmerobotics.roadrunner.followers.TrajectoryFollower; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.profile.MotionState; +import com.acmerobotics.roadrunner.trajectory.Trajectory; +import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker; +import com.acmerobotics.roadrunner.util.NanoClock; +import com.qualcomm.robotcore.hardware.VoltageSensor; + +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment.SequenceSegment; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment.TrajectorySegment; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment.TurnSegment; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment.WaitSegment; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.util.DashboardUtil; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.util.LogFiles; + + +import java.util.ArrayList; +import java.util.Collections; +import java.util.LinkedList; +import java.util.List; + +@Config +public class TrajectorySequenceRunner { + public static String COLOR_INACTIVE_TRAJECTORY = "#4caf507a"; + public static String COLOR_INACTIVE_TURN = "#7c4dff7a"; + public static String COLOR_INACTIVE_WAIT = "#dd2c007a"; + + public static String COLOR_ACTIVE_TRAJECTORY = "#4CAF50"; + public static String COLOR_ACTIVE_TURN = "#7c4dff"; + public static String COLOR_ACTIVE_WAIT = "#dd2c00"; + + public static int POSE_HISTORY_LIMIT = 100; + + private final TrajectoryFollower follower; + + private final PIDFController turnController; + + private final NanoClock clock; + + private TrajectorySequence currentTrajectorySequence; + private double currentSegmentStartTime; + private int currentSegmentIndex; + private int lastSegmentIndex; + + private Pose2d lastPoseError = new Pose2d(); + + List remainingMarkers = new ArrayList<>(); + + private final FtcDashboard dashboard; + private final LinkedList poseHistory = new LinkedList<>(); + + private VoltageSensor voltageSensor; + + private List lastDriveEncPositions, lastDriveEncVels, lastTrackingEncPositions, lastTrackingEncVels; + + public TrajectorySequenceRunner( + TrajectoryFollower follower, PIDCoefficients headingPIDCoefficients, VoltageSensor voltageSensor, + List lastDriveEncPositions, List lastDriveEncVels, List lastTrackingEncPositions, List lastTrackingEncVels + ) { + this.follower = follower; + + turnController = new PIDFController(headingPIDCoefficients); + turnController.setInputBounds(0, 2 * Math.PI); + + this.voltageSensor = voltageSensor; + + this.lastDriveEncPositions = lastDriveEncPositions; + this.lastDriveEncVels = lastDriveEncVels; + this.lastTrackingEncPositions = lastTrackingEncPositions; + this.lastTrackingEncVels = lastTrackingEncVels; + + clock = NanoClock.system(); + + dashboard = FtcDashboard.getInstance(); + dashboard.setTelemetryTransmissionInterval(25); + } + + public void followTrajectorySequenceAsync(TrajectorySequence trajectorySequence) { + currentTrajectorySequence = trajectorySequence; + currentSegmentStartTime = clock.seconds(); + currentSegmentIndex = 0; + lastSegmentIndex = -1; + } + + public @Nullable + DriveSignal update(Pose2d poseEstimate, Pose2d poseVelocity) { + Pose2d targetPose = null; + DriveSignal driveSignal = null; + + TelemetryPacket packet = new TelemetryPacket(); + Canvas fieldOverlay = packet.fieldOverlay(); + + SequenceSegment currentSegment = null; + + if (currentTrajectorySequence != null) { + if (currentSegmentIndex >= currentTrajectorySequence.size()) { + for (TrajectoryMarker marker : remainingMarkers) { + marker.getCallback().onMarkerReached(); + } + + remainingMarkers.clear(); + + currentTrajectorySequence = null; + } + + if (currentTrajectorySequence == null) + return new DriveSignal(); + + double now = clock.seconds(); + boolean isNewTransition = currentSegmentIndex != lastSegmentIndex; + + currentSegment = currentTrajectorySequence.get(currentSegmentIndex); + + if (isNewTransition) { + currentSegmentStartTime = now; + lastSegmentIndex = currentSegmentIndex; + + for (TrajectoryMarker marker : remainingMarkers) { + marker.getCallback().onMarkerReached(); + } + + remainingMarkers.clear(); + + remainingMarkers.addAll(currentSegment.getMarkers()); + Collections.sort(remainingMarkers, (t1, t2) -> Double.compare(t1.getTime(), t2.getTime())); + } + + double deltaTime = now - currentSegmentStartTime; + + if (currentSegment instanceof TrajectorySegment) { + Trajectory currentTrajectory = ((TrajectorySegment) currentSegment).getTrajectory(); + + if (isNewTransition) + follower.followTrajectory(currentTrajectory); + + if (!follower.isFollowing()) { + currentSegmentIndex++; + + driveSignal = new DriveSignal(); + } else { + driveSignal = follower.update(poseEstimate, poseVelocity); + lastPoseError = follower.getLastError(); + } + + targetPose = currentTrajectory.get(deltaTime); + } else if (currentSegment instanceof TurnSegment) { + MotionState targetState = ((TurnSegment) currentSegment).getMotionProfile().get(deltaTime); + + turnController.setTargetPosition(targetState.getX()); + + double correction = turnController.update(poseEstimate.getHeading()); + + double targetOmega = targetState.getV(); + double targetAlpha = targetState.getA(); + + lastPoseError = new Pose2d(0, 0, turnController.getLastError()); + + Pose2d startPose = currentSegment.getStartPose(); + targetPose = startPose.copy(startPose.getX(), startPose.getY(), targetState.getX()); + + driveSignal = new DriveSignal( + new Pose2d(0, 0, targetOmega + correction), + new Pose2d(0, 0, targetAlpha) + ); + + if (deltaTime >= currentSegment.getDuration()) { + currentSegmentIndex++; + driveSignal = new DriveSignal(); + } + } else if (currentSegment instanceof WaitSegment) { + lastPoseError = new Pose2d(); + + targetPose = currentSegment.getStartPose(); + driveSignal = new DriveSignal(); + + if (deltaTime >= currentSegment.getDuration()) { + currentSegmentIndex++; + } + } + + while (remainingMarkers.size() > 0 && deltaTime > remainingMarkers.get(0).getTime()) { + remainingMarkers.get(0).getCallback().onMarkerReached(); + remainingMarkers.remove(0); + } + } + + poseHistory.add(poseEstimate); + + if (POSE_HISTORY_LIMIT > -1 && poseHistory.size() > POSE_HISTORY_LIMIT) { + poseHistory.removeFirst(); + } + + final double NOMINAL_VOLTAGE = 12.0; + double voltage = voltageSensor.getVoltage(); + if (driveSignal != null && !DriveConstants.RUN_USING_ENCODER) { + driveSignal = new DriveSignal( + driveSignal.getVel().times(NOMINAL_VOLTAGE / voltage), + driveSignal.getAccel().times(NOMINAL_VOLTAGE / voltage) + ); + } + + if (targetPose != null) { + LogFiles.record( + targetPose, poseEstimate, voltage, + lastDriveEncPositions, lastDriveEncVels, lastTrackingEncPositions, lastTrackingEncVels + ); + } + + packet.put("x", poseEstimate.getX()); + packet.put("y", poseEstimate.getY()); + packet.put("heading (deg)", Math.toDegrees(poseEstimate.getHeading())); + + packet.put("xError", getLastPoseError().getX()); + packet.put("yError", getLastPoseError().getY()); + packet.put("headingError (deg)", Math.toDegrees(getLastPoseError().getHeading())); + + draw(fieldOverlay, currentTrajectorySequence, currentSegment, targetPose, poseEstimate); + + dashboard.sendTelemetryPacket(packet); + + return driveSignal; + } + + private void draw( + Canvas fieldOverlay, + TrajectorySequence sequence, SequenceSegment currentSegment, + Pose2d targetPose, Pose2d poseEstimate + ) { + if (sequence != null) { + for (int i = 0; i < sequence.size(); i++) { + SequenceSegment segment = sequence.get(i); + + if (segment instanceof TrajectorySegment) { + fieldOverlay.setStrokeWidth(1); + fieldOverlay.setStroke(COLOR_INACTIVE_TRAJECTORY); + + DashboardUtil.drawSampledPath(fieldOverlay, ((TrajectorySegment) segment).getTrajectory().getPath()); + } else if (segment instanceof TurnSegment) { + Pose2d pose = segment.getStartPose(); + + fieldOverlay.setFill(COLOR_INACTIVE_TURN); + fieldOverlay.fillCircle(pose.getX(), pose.getY(), 2); + } else if (segment instanceof WaitSegment) { + Pose2d pose = segment.getStartPose(); + + fieldOverlay.setStrokeWidth(1); + fieldOverlay.setStroke(COLOR_INACTIVE_WAIT); + fieldOverlay.strokeCircle(pose.getX(), pose.getY(), 3); + } + } + } + + if (currentSegment != null) { + if (currentSegment instanceof TrajectorySegment) { + Trajectory currentTrajectory = ((TrajectorySegment) currentSegment).getTrajectory(); + + fieldOverlay.setStrokeWidth(1); + fieldOverlay.setStroke(COLOR_ACTIVE_TRAJECTORY); + + DashboardUtil.drawSampledPath(fieldOverlay, currentTrajectory.getPath()); + } else if (currentSegment instanceof TurnSegment) { + Pose2d pose = currentSegment.getStartPose(); + + fieldOverlay.setFill(COLOR_ACTIVE_TURN); + fieldOverlay.fillCircle(pose.getX(), pose.getY(), 3); + } else if (currentSegment instanceof WaitSegment) { + Pose2d pose = currentSegment.getStartPose(); + + fieldOverlay.setStrokeWidth(1); + fieldOverlay.setStroke(COLOR_ACTIVE_WAIT); + fieldOverlay.strokeCircle(pose.getX(), pose.getY(), 3); + } + } + + if (targetPose != null) { + fieldOverlay.setStrokeWidth(1); + fieldOverlay.setStroke("#4CAF50"); + DashboardUtil.drawRobot(fieldOverlay, targetPose); + } + + fieldOverlay.setStroke("#3F51B5"); + DashboardUtil.drawPoseHistory(fieldOverlay, poseHistory); + + fieldOverlay.setStroke("#3F51B5"); + DashboardUtil.drawRobot(fieldOverlay, poseEstimate); + } + + public Pose2d getLastPoseError() { + return lastPoseError; + } + + public boolean isBusy() { + return currentTrajectorySequence != null; + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/SequenceSegment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/SequenceSegment.java new file mode 100644 index 0000000..552fb6b --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/SequenceSegment.java @@ -0,0 +1,40 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment; + +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker; + +import java.util.List; + +public abstract class SequenceSegment { + private final double duration; + private final Pose2d startPose; + private final Pose2d endPose; + private final List markers; + + protected SequenceSegment( + double duration, + Pose2d startPose, Pose2d endPose, + List markers + ) { + this.duration = duration; + this.startPose = startPose; + this.endPose = endPose; + this.markers = markers; + } + + public double getDuration() { + return this.duration; + } + + public Pose2d getStartPose() { + return startPose; + } + + public Pose2d getEndPose() { + return endPose; + } + + public List getMarkers() { + return markers; + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/TrajectorySegment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/TrajectorySegment.java new file mode 100644 index 0000000..e138386 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/TrajectorySegment.java @@ -0,0 +1,20 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment; + +import com.acmerobotics.roadrunner.trajectory.Trajectory; + +import java.util.Collections; + +public final class TrajectorySegment extends SequenceSegment { + private final Trajectory trajectory; + + public TrajectorySegment(Trajectory trajectory) { + // Note: Markers are already stored in the `Trajectory` itself. + // This class should not hold any markers + super(trajectory.duration(), trajectory.start(), trajectory.end(), Collections.emptyList()); + this.trajectory = trajectory; + } + + public Trajectory getTrajectory() { + return this.trajectory; + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/TurnSegment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/TurnSegment.java new file mode 100644 index 0000000..c39ab19 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/TurnSegment.java @@ -0,0 +1,36 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment; + +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.profile.MotionProfile; +import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker; +import com.acmerobotics.roadrunner.util.Angle; + +import java.util.List; + +public final class TurnSegment extends SequenceSegment { + private final double totalRotation; + private final MotionProfile motionProfile; + + public TurnSegment(Pose2d startPose, double totalRotation, MotionProfile motionProfile, List markers) { + super( + motionProfile.duration(), + startPose, + new Pose2d( + startPose.getX(), startPose.getY(), + Angle.norm(startPose.getHeading() + totalRotation) + ), + markers + ); + + this.totalRotation = totalRotation; + this.motionProfile = motionProfile; + } + + public final double getTotalRotation() { + return this.totalRotation; + } + + public final MotionProfile getMotionProfile() { + return this.motionProfile; + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/WaitSegment.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/WaitSegment.java new file mode 100644 index 0000000..5476a46 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/trajectorysequence/sequencesegment/WaitSegment.java @@ -0,0 +1,12 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.sequencesegment; + +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.trajectory.TrajectoryMarker; + +import java.util.List; + +public final class WaitSegment extends SequenceSegment { + public WaitSegment(Pose2d pose, double seconds, List markers) { + super(seconds, pose, pose, markers); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/AssetsTrajectoryManager.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/AssetsTrajectoryManager.java new file mode 100644 index 0000000..d479547 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/AssetsTrajectoryManager.java @@ -0,0 +1,70 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.util; + +import androidx.annotation.Nullable; + +import com.acmerobotics.roadrunner.trajectory.Trajectory; +import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder; +import com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfig; +import com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfigManager; +import com.acmerobotics.roadrunner.trajectory.config.TrajectoryGroupConfig; + +import org.firstinspires.ftc.robotcore.internal.system.AppUtil; + +import java.io.IOException; +import java.io.InputStream; + +/** + * Set of utilities for loading trajectories from assets (the plugin save location). + */ +public class AssetsTrajectoryManager { + + /** + * Loads the group config. + */ + public static @Nullable + TrajectoryGroupConfig loadGroupConfig() { + try { + InputStream inputStream = AppUtil.getDefContext().getAssets().open( + "trajectory/" + TrajectoryConfigManager.GROUP_FILENAME); + return TrajectoryConfigManager.loadGroupConfig(inputStream); + } catch (IOException e) { + return null; + } + } + + /** + * Loads a trajectory config with the given name. + */ + public static @Nullable TrajectoryConfig loadConfig(String name) { + try { + InputStream inputStream = AppUtil.getDefContext().getAssets().open( + "trajectory/" + name + ".yaml"); + return TrajectoryConfigManager.loadConfig(inputStream); + } catch (IOException e) { + return null; + } + } + + /** + * Loads a trajectory builder with the given name. + */ + public static @Nullable TrajectoryBuilder loadBuilder(String name) { + TrajectoryGroupConfig groupConfig = loadGroupConfig(); + TrajectoryConfig config = loadConfig(name); + if (groupConfig == null || config == null) { + return null; + } + return config.toTrajectoryBuilder(groupConfig); + } + + /** + * Loads a trajectory with the given name. + */ + public static @Nullable Trajectory load(String name) { + TrajectoryBuilder builder = loadBuilder(name); + if (builder == null) { + return null; + } + return builder.build(); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/AxesSigns.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/AxesSigns.java new file mode 100644 index 0000000..70b75b8 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/AxesSigns.java @@ -0,0 +1,45 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.util; + +/** + * IMU axes signs in the order XYZ (after remapping). + */ +public enum AxesSigns { + PPP(0b000), + PPN(0b001), + PNP(0b010), + PNN(0b011), + NPP(0b100), + NPN(0b101), + NNP(0b110), + NNN(0b111); + + public final int bVal; + + AxesSigns(int bVal) { + this.bVal = bVal; + } + + public static AxesSigns fromBinaryValue(int bVal) { + int maskedVal = bVal & 0x07; + switch (maskedVal) { + case 0b000: + return AxesSigns.PPP; + case 0b001: + return AxesSigns.PPN; + case 0b010: + return AxesSigns.PNP; + case 0b011: + return AxesSigns.PNN; + case 0b100: + return AxesSigns.NPP; + case 0b101: + return AxesSigns.NPN; + case 0b110: + return AxesSigns.NNP; + case 0b111: + return AxesSigns.NNN; + default: + throw new IllegalStateException("Unexpected value for maskedVal: " + maskedVal); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/AxisDirection.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/AxisDirection.java new file mode 100644 index 0000000..df5aa27 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/AxisDirection.java @@ -0,0 +1,8 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.util; + +/** + * A direction for an axis to be remapped to + */ +public enum AxisDirection { + POS_X, NEG_X, POS_Y, NEG_Y, POS_Z, NEG_Z +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/DashboardUtil.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/DashboardUtil.java new file mode 100644 index 0000000..da69f63 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/DashboardUtil.java @@ -0,0 +1,54 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.util; + +import com.acmerobotics.dashboard.canvas.Canvas; +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.acmerobotics.roadrunner.geometry.Vector2d; +import com.acmerobotics.roadrunner.path.Path; + +import java.util.List; + +/** + * Set of helper functions for drawing Road Runner paths and trajectories on dashboard canvases. + */ +public class DashboardUtil { + private static final double DEFAULT_RESOLUTION = 2.0; // distance units; presumed inches + private static final double ROBOT_RADIUS = 9; // in + + + public static void drawPoseHistory(Canvas canvas, List poseHistory) { + double[] xPoints = new double[poseHistory.size()]; + double[] yPoints = new double[poseHistory.size()]; + for (int i = 0; i < poseHistory.size(); i++) { + Pose2d pose = poseHistory.get(i); + xPoints[i] = pose.getX(); + yPoints[i] = pose.getY(); + } + canvas.strokePolyline(xPoints, yPoints); + } + + public static void drawSampledPath(Canvas canvas, Path path, double resolution) { + int samples = (int) Math.ceil(path.length() / resolution); + double[] xPoints = new double[samples]; + double[] yPoints = new double[samples]; + double dx = path.length() / (samples - 1); + for (int i = 0; i < samples; i++) { + double displacement = i * dx; + Pose2d pose = path.get(displacement); + xPoints[i] = pose.getX(); + yPoints[i] = pose.getY(); + } + canvas.strokePolyline(xPoints, yPoints); + } + + public static void drawSampledPath(Canvas canvas, Path path) { + drawSampledPath(canvas, path, DEFAULT_RESOLUTION); + } + + public static void drawRobot(Canvas canvas, Pose2d pose) { + canvas.strokeCircle(pose.getX(), pose.getY(), ROBOT_RADIUS); + Vector2d v = pose.headingVec().times(ROBOT_RADIUS); + double x1 = pose.getX() + v.getX() / 2, y1 = pose.getY() + v.getY() / 2; + double x2 = pose.getX() + v.getX(), y2 = pose.getY() + v.getY(); + canvas.strokeLine(x1, y1, x2, y2); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/Encoder.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/Encoder.java new file mode 100644 index 0000000..7872c6c --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/Encoder.java @@ -0,0 +1,125 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.util; + +import com.acmerobotics.roadrunner.util.NanoClock; +import com.qualcomm.robotcore.hardware.DcMotorEx; +import com.qualcomm.robotcore.hardware.DcMotorSimple; + +/** + * Wraps a motor instance to provide corrected velocity counts and allow reversing independently of the corresponding + * slot's motor direction + */ +public class Encoder { + private final static int CPS_STEP = 0x10000; + + private static double inverseOverflow(double input, double estimate) { + // convert to uint16 + int real = (int) input & 0xffff; + // initial, modulo-based correction: it can recover the remainder of 5 of the upper 16 bits + // because the velocity is always a multiple of 20 cps due to Expansion Hub's 50ms measurement window + real += ((real % 20) / 4) * CPS_STEP; + // estimate-based correction: it finds the nearest multiple of 5 to correct the upper bits by + real += Math.round((estimate - real) / (5 * CPS_STEP)) * 5 * CPS_STEP; + return real; + } + + public enum Direction { + FORWARD(1), + REVERSE(-1); + + private int multiplier; + + Direction(int multiplier) { + this.multiplier = multiplier; + } + + public int getMultiplier() { + return multiplier; + } + } + + private DcMotorEx motor; + private NanoClock clock; + + private Direction direction; + + private int lastPosition; + private int velocityEstimateIdx; + private double[] velocityEstimates; + private double lastUpdateTime; + + public Encoder(DcMotorEx motor, NanoClock clock) { + this.motor = motor; + this.clock = clock; + + this.direction = Direction.FORWARD; + + this.lastPosition = 0; + this.velocityEstimates = new double[3]; + this.lastUpdateTime = clock.seconds(); + } + + public Encoder(DcMotorEx motor) { + this(motor, NanoClock.system()); + } + + public Direction getDirection() { + return direction; + } + + private int getMultiplier() { + return getDirection().getMultiplier() * (motor.getDirection() == DcMotorSimple.Direction.FORWARD ? 1 : -1); + } + + /** + * Allows you to set the direction of the counts and velocity without modifying the motor's direction state + * @param direction either reverse or forward depending on if encoder counts should be negated + */ + public void setDirection(Direction direction) { + this.direction = direction; + } + + /** + * Gets the position from the underlying motor and adjusts for the set direction. + * Additionally, this method updates the velocity estimates used for compensated velocity + * + * @return encoder position + */ + public int getCurrentPosition() { + int multiplier = getMultiplier(); + int currentPosition = motor.getCurrentPosition() * multiplier; + if (currentPosition != lastPosition) { + double currentTime = clock.seconds(); + double dt = currentTime - lastUpdateTime; + velocityEstimates[velocityEstimateIdx] = (currentPosition - lastPosition) / dt; + velocityEstimateIdx = (velocityEstimateIdx + 1) % 3; + lastPosition = currentPosition; + lastUpdateTime = currentTime; + } + return currentPosition; + } + + /** + * Gets the velocity directly from the underlying motor and compensates for the direction + * See {@link #getCorrectedVelocity} for high (>2^15) counts per second velocities (such as on REV Through Bore) + * + * @return raw velocity + */ + public double getRawVelocity() { + int multiplier = getMultiplier(); + return motor.getVelocity() * multiplier; + } + + /** + * Uses velocity estimates gathered in {@link #getCurrentPosition} to estimate the upper bits of velocity + * that are lost in overflow due to velocity being transmitted as 16 bits. + * CAVEAT: must regularly call {@link #getCurrentPosition} for the compensation to work correctly. + * + * @return corrected velocity + */ + public double getCorrectedVelocity() { + double median = velocityEstimates[0] > velocityEstimates[1] + ? Math.max(velocityEstimates[1], Math.min(velocityEstimates[0], velocityEstimates[2])) + : Math.max(velocityEstimates[0], Math.min(velocityEstimates[1], velocityEstimates[2])); + return inverseOverflow(getRawVelocity(), median); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/LogFiles.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/LogFiles.java new file mode 100644 index 0000000..f0ddbbe --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/LogFiles.java @@ -0,0 +1,273 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.util; + +import android.annotation.SuppressLint; +import android.content.Context; + +import com.acmerobotics.roadrunner.geometry.Pose2d; +import com.fasterxml.jackson.core.JsonFactory; +import com.fasterxml.jackson.databind.ObjectMapper; +import com.fasterxml.jackson.databind.ObjectWriter; +import com.qualcomm.hardware.rev.RevHubOrientationOnRobot; +import com.qualcomm.robotcore.eventloop.opmode.OpMode; +import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerImpl; +import com.qualcomm.robotcore.eventloop.opmode.OpModeManagerNotifier; +import com.qualcomm.robotcore.util.RobotLog; +import com.qualcomm.robotcore.util.WebHandlerManager; + +import org.firstinspires.ftc.ftccommon.external.WebHandlerRegistrar; +import org.firstinspires.ftc.robotcore.internal.system.AppUtil; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.DriveConstants; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive; +import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.StandardTrackingWheelLocalizer; + + +import java.io.File; +import java.io.FileInputStream; +import java.io.IOException; +import java.text.DateFormat; +import java.text.SimpleDateFormat; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.Date; +import java.util.List; +import java.util.Objects; + +import fi.iki.elonen.NanoHTTPD; + +public final class LogFiles { + private static final File ROOT = + new File(AppUtil.ROOT_FOLDER + "/RoadRunner/logs/"); + + public static LogFile log = new LogFile("uninitialized"); + + public static class LogFile { + public String version = "quickstart1 v2"; + + public String opModeName; + public long msInit = System.currentTimeMillis(); + public long nsInit = System.nanoTime(); + public long nsStart, nsStop; + + public double ticksPerRev = DriveConstants.TICKS_PER_REV; + public double maxRpm = DriveConstants.MAX_RPM; + public boolean runUsingEncoder = DriveConstants.RUN_USING_ENCODER; + public double motorP = DriveConstants.MOTOR_VELO_PID.p; + public double motorI = DriveConstants.MOTOR_VELO_PID.i; + public double motorD = DriveConstants.MOTOR_VELO_PID.d; + public double motorF = DriveConstants.MOTOR_VELO_PID.f; + public double wheelRadius = DriveConstants.WHEEL_RADIUS; + public double gearRatio = DriveConstants.GEAR_RATIO; + public double trackWidth = DriveConstants.TRACK_WIDTH; + public double kV = DriveConstants.kV; + public double kA = DriveConstants.kA; + public double kStatic = DriveConstants.kStatic; + public double maxVel = DriveConstants.MAX_VEL; + public double maxAccel = DriveConstants.MAX_ACCEL; + public double maxAngVel = DriveConstants.MAX_ANG_VEL; + public double maxAngAccel = DriveConstants.MAX_ANG_ACCEL; + + public double mecTransP = MecanumDrive.TRANSLATIONAL_PID.kP; + public double mecTransI = MecanumDrive.TRANSLATIONAL_PID.kI; + public double mecTransD = MecanumDrive.TRANSLATIONAL_PID.kD; + public double mecHeadingP = MecanumDrive.HEADING_PID.kP; + public double mecHeadingI = MecanumDrive.HEADING_PID.kI; + public double mecHeadingD = MecanumDrive.HEADING_PID.kD; + public double mecLateralMultiplier = MecanumDrive.LATERAL_MULTIPLIER; + + public double tankAxialP = SampleTankDrive.AXIAL_PID.kP; + public double tankAxialI = SampleTankDrive.AXIAL_PID.kI; + public double tankAxialD = SampleTankDrive.AXIAL_PID.kD; + public double tankCrossTrackP = SampleTankDrive.CROSS_TRACK_PID.kP; + public double tankCrossTrackI = SampleTankDrive.CROSS_TRACK_PID.kI; + public double tankCrossTrackD = SampleTankDrive.CROSS_TRACK_PID.kD; + public double tankHeadingP = SampleTankDrive.HEADING_PID.kP; + public double tankHeadingI = SampleTankDrive.HEADING_PID.kI; + public double tankHeadingD = SampleTankDrive.HEADING_PID.kD; + + public double trackingTicksPerRev = StandardTrackingWheelLocalizer.TICKS_PER_REV; + public double trackingWheelRadius = StandardTrackingWheelLocalizer.WHEEL_RADIUS; + public double trackingGearRatio = StandardTrackingWheelLocalizer.GEAR_RATIO; + public double trackingLateralDistance = StandardTrackingWheelLocalizer.LATERAL_DISTANCE; + public double trackingForwardOffset = StandardTrackingWheelLocalizer.FORWARD_OFFSET; + + public RevHubOrientationOnRobot.LogoFacingDirection LOGO_FACING_DIR = DriveConstants.LOGO_FACING_DIR; + public RevHubOrientationOnRobot.UsbFacingDirection USB_FACING_DIR = DriveConstants.USB_FACING_DIR; + + public List nsTimes = new ArrayList<>(); + + public List targetXs = new ArrayList<>(); + public List targetYs = new ArrayList<>(); + public List targetHeadings = new ArrayList<>(); + + public List xs = new ArrayList<>(); + public List ys = new ArrayList<>(); + public List headings = new ArrayList<>(); + + public List voltages = new ArrayList<>(); + + public List> driveEncPositions = new ArrayList<>(); + public List> driveEncVels = new ArrayList<>(); + public List> trackingEncPositions = new ArrayList<>(); + public List> trackingEncVels = new ArrayList<>(); + + public LogFile(String opModeName) { + this.opModeName = opModeName; + } + } + + public static void record( + Pose2d targetPose, Pose2d pose, double voltage, + List lastDriveEncPositions, List lastDriveEncVels, List lastTrackingEncPositions, List lastTrackingEncVels + ) { + long nsTime = System.nanoTime(); + if (nsTime - log.nsStart > 3 * 60 * 1_000_000_000L) { + return; + } + + log.nsTimes.add(nsTime); + + log.targetXs.add(targetPose.getX()); + log.targetYs.add(targetPose.getY()); + log.targetHeadings.add(targetPose.getHeading()); + + log.xs.add(pose.getX()); + log.ys.add(pose.getY()); + log.headings.add(pose.getHeading()); + + log.voltages.add(voltage); + + while (log.driveEncPositions.size() < lastDriveEncPositions.size()) { + log.driveEncPositions.add(new ArrayList<>()); + } + while (log.driveEncVels.size() < lastDriveEncVels.size()) { + log.driveEncVels.add(new ArrayList<>()); + } + while (log.trackingEncPositions.size() < lastTrackingEncPositions.size()) { + log.trackingEncPositions.add(new ArrayList<>()); + } + while (log.trackingEncVels.size() < lastTrackingEncVels.size()) { + log.trackingEncVels.add(new ArrayList<>()); + } + + for (int i = 0; i < lastDriveEncPositions.size(); i++) { + log.driveEncPositions.get(i).add(lastDriveEncPositions.get(i)); + } + for (int i = 0; i < lastDriveEncVels.size(); i++) { + log.driveEncVels.get(i).add(lastDriveEncVels.get(i)); + } + for (int i = 0; i < lastTrackingEncPositions.size(); i++) { + log.trackingEncPositions.get(i).add(lastTrackingEncPositions.get(i)); + } + for (int i = 0; i < lastTrackingEncVels.size(); i++) { + log.trackingEncVels.get(i).add(lastTrackingEncVels.get(i)); + } + } + + private static final OpModeManagerNotifier.Notifications notifHandler = new OpModeManagerNotifier.Notifications() { + @SuppressLint("SimpleDateFormat") + final DateFormat dateFormat = new SimpleDateFormat("yyyy_MM_dd__HH_mm_ss_SSS"); + + final ObjectWriter jsonWriter = new ObjectMapper(new JsonFactory()) + .writerWithDefaultPrettyPrinter(); + + @Override + public void onOpModePreInit(OpMode opMode) { + log = new LogFile(opMode.getClass().getCanonicalName()); + + // clean up old files + File[] fs = Objects.requireNonNull(ROOT.listFiles()); + Arrays.sort(fs, (a, b) -> Long.compare(a.lastModified(), b.lastModified())); + long totalSizeBytes = 0; + for (File f : fs) { + totalSizeBytes += f.length(); + } + + int i = 0; + while (i < fs.length && totalSizeBytes >= 32 * 1000 * 1000) { + totalSizeBytes -= fs[i].length(); + if (!fs[i].delete()) { + RobotLog.setGlobalErrorMsg("Unable to delete file " + fs[i].getAbsolutePath()); + } + ++i; + } + } + + @Override + public void onOpModePreStart(OpMode opMode) { + log.nsStart = System.nanoTime(); + } + + @Override + public void onOpModePostStop(OpMode opMode) { + log.nsStop = System.nanoTime(); + + if (!(opMode instanceof OpModeManagerImpl.DefaultOpMode)) { + //noinspection ResultOfMethodCallIgnored + ROOT.mkdirs(); + + String filename = dateFormat.format(new Date(log.msInit)) + "__" + opMode.getClass().getSimpleName() + ".json"; + File file = new File(ROOT, filename); + try { + jsonWriter.writeValue(file, log); + } catch (IOException e) { + RobotLog.setGlobalErrorMsg(new RuntimeException(e), + "Unable to write data to " + file.getAbsolutePath()); + } + } + } + }; + + @WebHandlerRegistrar + public static void registerRoutes(Context context, WebHandlerManager manager) { + //noinspection ResultOfMethodCallIgnored + ROOT.mkdirs(); + + // op mode manager only stores a weak reference, so we need to keep notifHandler alive ourselves + // don't use @OnCreateEventLoop because it's unreliable + OpModeManagerImpl.getOpModeManagerOfActivity( + AppUtil.getInstance().getActivity() + ).registerListener(notifHandler); + + manager.register("/logs", session -> { + final StringBuilder sb = new StringBuilder(); + sb.append("Logs

    "); + File[] fs = Objects.requireNonNull(ROOT.listFiles()); + Arrays.sort(fs, (a, b) -> Long.compare(b.lastModified(), a.lastModified())); + for (File f : fs) { + sb.append("
  • "); + sb.append(f.getName()); + sb.append("
    • "); + } + sb.append("
"); + return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.OK, + NanoHTTPD.MIME_HTML, sb.toString()); + }); + + manager.register("/logs/download", session -> { + final String[] pairs = session.getQueryParameterString().split("&"); + if (pairs.length != 1) { + return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.BAD_REQUEST, + NanoHTTPD.MIME_PLAINTEXT, "expected one query parameter, got " + pairs.length); + } + + final String[] parts = pairs[0].split("="); + if (!parts[0].equals("file")) { + return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.BAD_REQUEST, + NanoHTTPD.MIME_PLAINTEXT, "expected file query parameter, got " + parts[0]); + } + + File f = new File(ROOT, parts[1]); + if (!f.exists()) { + return NanoHTTPD.newFixedLengthResponse(NanoHTTPD.Response.Status.NOT_FOUND, + NanoHTTPD.MIME_PLAINTEXT, "file " + f + " doesn't exist"); + } + + return NanoHTTPD.newChunkedResponse(NanoHTTPD.Response.Status.OK, + "application/json", new FileInputStream(f)); + }); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/LoggingUtil.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/LoggingUtil.java new file mode 100644 index 0000000..a820757 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/LoggingUtil.java @@ -0,0 +1,60 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.util; + +import org.firstinspires.ftc.robotcore.internal.system.AppUtil; + +import java.io.File; +import java.util.ArrayList; +import java.util.Collections; +import java.util.List; + +/** + * Utility functions for log files. + */ +public class LoggingUtil { + public static final File ROAD_RUNNER_FOLDER = + new File(AppUtil.ROOT_FOLDER + "/RoadRunner/"); + + private static final long LOG_QUOTA = 25 * 1024 * 1024; // 25MB log quota for now + + private static void buildLogList(List logFiles, File dir) { + for (File file : dir.listFiles()) { + if (file.isDirectory()) { + buildLogList(logFiles, file); + } else { + logFiles.add(file); + } + } + } + + private static void pruneLogsIfNecessary() { + List logFiles = new ArrayList<>(); + buildLogList(logFiles, ROAD_RUNNER_FOLDER); + Collections.sort(logFiles, (lhs, rhs) -> + Long.compare(lhs.lastModified(), rhs.lastModified())); + + long dirSize = 0; + for (File file: logFiles) { + dirSize += file.length(); + } + + while (dirSize > LOG_QUOTA) { + if (logFiles.size() == 0) break; + File fileToRemove = logFiles.remove(0); + dirSize -= fileToRemove.length(); + //noinspection ResultOfMethodCallIgnored + fileToRemove.delete(); + } + } + + /** + * Obtain a log file with the provided name + */ + public static File getLogFile(String name) { + //noinspection ResultOfMethodCallIgnored + ROAD_RUNNER_FOLDER.mkdirs(); + + pruneLogsIfNecessary(); + + return new File(ROAD_RUNNER_FOLDER, name); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/LynxModuleUtil.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/LynxModuleUtil.java new file mode 100644 index 0000000..398575a --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/LynxModuleUtil.java @@ -0,0 +1,124 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.util; + +import com.qualcomm.hardware.lynx.LynxModule; +import com.qualcomm.robotcore.hardware.HardwareMap; + +import org.firstinspires.ftc.robotcore.internal.system.Misc; + +import java.util.HashMap; +import java.util.Map; + +/** + * Collection of utilites for interacting with Lynx modules. + */ +public class LynxModuleUtil { + + private static final LynxFirmwareVersion MIN_VERSION = new LynxFirmwareVersion(1, 8, 2); + + /** + * Parsed representation of a Lynx module firmware version. + */ + public static class LynxFirmwareVersion implements Comparable { + public final int major; + public final int minor; + public final int eng; + + public LynxFirmwareVersion(int major, int minor, int eng) { + this.major = major; + this.minor = minor; + this.eng = eng; + } + + @Override + public boolean equals(Object other) { + if (other instanceof LynxFirmwareVersion) { + LynxFirmwareVersion otherVersion = (LynxFirmwareVersion) other; + return major == otherVersion.major && minor == otherVersion.minor && + eng == otherVersion.eng; + } else { + return false; + } + } + + @Override + public int compareTo(LynxFirmwareVersion other) { + int majorComp = Integer.compare(major, other.major); + if (majorComp == 0) { + int minorComp = Integer.compare(minor, other.minor); + if (minorComp == 0) { + return Integer.compare(eng, other.eng); + } else { + return minorComp; + } + } else { + return majorComp; + } + } + + @Override + public String toString() { + return Misc.formatInvariant("%d.%d.%d", major, minor, eng); + } + } + + /** + * Retrieve and parse Lynx module firmware version. + * @param module Lynx module + * @return parsed firmware version + */ + public static LynxFirmwareVersion getFirmwareVersion(LynxModule module) { + String versionString = module.getNullableFirmwareVersionString(); + if (versionString == null) { + return null; + } + + String[] parts = versionString.split("[ :,]+"); + try { + // note: for now, we ignore the hardware entry + return new LynxFirmwareVersion( + Integer.parseInt(parts[3]), + Integer.parseInt(parts[5]), + Integer.parseInt(parts[7]) + ); + } catch (NumberFormatException e) { + return null; + } + } + + /** + * Exception indicating an outdated Lynx firmware version. + */ + public static class LynxFirmwareVersionException extends RuntimeException { + public LynxFirmwareVersionException(String detailMessage) { + super(detailMessage); + } + } + + /** + * Ensure all of the Lynx modules attached to the robot satisfy the minimum requirement. + * @param hardwareMap hardware map containing Lynx modules + */ + public static void ensureMinimumFirmwareVersion(HardwareMap hardwareMap) { + Map outdatedModules = new HashMap<>(); + for (LynxModule module : hardwareMap.getAll(LynxModule.class)) { + LynxFirmwareVersion version = getFirmwareVersion(module); + if (version == null || version.compareTo(MIN_VERSION) < 0) { + for (String name : hardwareMap.getNamesOf(module)) { + outdatedModules.put(name, version); + } + } + } + if (outdatedModules.size() > 0) { + StringBuilder msgBuilder = new StringBuilder(); + msgBuilder.append("One or more of the attached Lynx modules has outdated firmware\n"); + msgBuilder.append(Misc.formatInvariant("Mandatory minimum firmware version for Road Runner: %s\n", + MIN_VERSION.toString())); + for (Map.Entry entry : outdatedModules.entrySet()) { + msgBuilder.append(Misc.formatInvariant( + "\t%s: %s\n", entry.getKey(), + entry.getValue() == null ? "Unknown" : entry.getValue().toString())); + } + throw new LynxFirmwareVersionException(msgBuilder.toString()); + } + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/RegressionUtil.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/RegressionUtil.java new file mode 100644 index 0000000..a4b1c49 --- /dev/null +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/util/RegressionUtil.java @@ -0,0 +1,156 @@ +package org.firstinspires.ftc.teamcode.hardware.roadrunner.util; + +import androidx.annotation.Nullable; + +import com.acmerobotics.roadrunner.kinematics.Kinematics; + +import org.apache.commons.math3.stat.regression.SimpleRegression; + +import java.io.File; +import java.io.FileNotFoundException; +import java.io.PrintWriter; +import java.util.ArrayList; +import java.util.List; + +/** + * Various regression utilities. + */ +public class RegressionUtil { + + /** + * Feedforward parameter estimates from the ramp regression and additional summary statistics + */ + public static class RampResult { + public final double kV, kStatic, rSquare; + + public RampResult(double kV, double kStatic, double rSquare) { + this.kV = kV; + this.kStatic = kStatic; + this.rSquare = rSquare; + } + } + + /** + * Feedforward parameter estimates from the ramp regression and additional summary statistics + */ + public static class AccelResult { + public final double kA, rSquare; + + public AccelResult(double kA, double rSquare) { + this.kA = kA; + this.rSquare = rSquare; + } + } + + /** + * Numerically compute dy/dx from the given x and y values. The returned list is padded to match + * the length of the original sequences. + * + * @param x x-values + * @param y y-values + * @return derivative values + */ + private static List numericalDerivative(List x, List y) { + List deriv = new ArrayList<>(x.size()); + for (int i = 1; i < x.size() - 1; i++) { + deriv.add( + (y.get(i + 1) - y.get(i - 1)) / + (x.get(i + 1) - x.get(i - 1)) + ); + } + // copy endpoints to pad output + deriv.add(0, deriv.get(0)); + deriv.add(deriv.get(deriv.size() - 1)); + return deriv; + } + + /** + * Run regression to compute velocity and static feedforward from ramp test data. + * + * Here's the general procedure for gathering the requisite data: + * 1. Slowly ramp the motor power/voltage and record encoder values along the way. + * 2. Run a linear regression on the encoder velocity vs. motor power plot to obtain a slope + * (kV) and an optional intercept (kStatic). + * + * @param timeSamples time samples + * @param positionSamples position samples + * @param powerSamples power samples + * @param fitStatic fit kStatic + * @param file log file + */ + public static RampResult fitRampData(List timeSamples, List positionSamples, + List powerSamples, boolean fitStatic, + @Nullable File file) { + if (file != null) { + try (PrintWriter pw = new PrintWriter(file)) { + pw.println("time,position,power"); + for (int i = 0; i < timeSamples.size(); i++) { + double time = timeSamples.get(i); + double pos = positionSamples.get(i); + double power = powerSamples.get(i); + pw.println(time + "," + pos + "," + power); + } + } catch (FileNotFoundException e) { + // ignore + } + } + + List velSamples = numericalDerivative(timeSamples, positionSamples); + + SimpleRegression rampReg = new SimpleRegression(fitStatic); + for (int i = 0; i < timeSamples.size(); i++) { + double vel = velSamples.get(i); + double power = powerSamples.get(i); + + rampReg.addData(vel, power); + } + + return new RampResult(Math.abs(rampReg.getSlope()), Math.abs(rampReg.getIntercept()), + rampReg.getRSquare()); + } + + /** + * Run regression to compute acceleration feedforward. + * + * @param timeSamples time samples + * @param positionSamples position samples + * @param powerSamples power samples + * @param rampResult ramp result + * @param file log file + */ + public static AccelResult fitAccelData(List timeSamples, List positionSamples, + List powerSamples, RampResult rampResult, + @Nullable File file) { + if (file != null) { + try (PrintWriter pw = new PrintWriter(file)) { + pw.println("time,position,power"); + for (int i = 0; i < timeSamples.size(); i++) { + double time = timeSamples.get(i); + double pos = positionSamples.get(i); + double power = powerSamples.get(i); + pw.println(time + "," + pos + "," + power); + } + } catch (FileNotFoundException e) { + // ignore + } + } + + List velSamples = numericalDerivative(timeSamples, positionSamples); + List accelSamples = numericalDerivative(timeSamples, velSamples); + + SimpleRegression accelReg = new SimpleRegression(false); + for (int i = 0; i < timeSamples.size(); i++) { + double vel = velSamples.get(i); + double accel = accelSamples.get(i); + double power = powerSamples.get(i); + + double powerFromVel = Kinematics.calculateMotorFeedforward( + vel, 0.0, rampResult.kV, 0.0, rampResult.kStatic); + double powerFromAccel = power - powerFromVel; + + accelReg.addData(accel, powerFromAccel); + } + + return new AccelResult(Math.abs(accelReg.getSlope()), accelReg.getRSquare()); + } +} diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Configurables.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Configurables.java index 50b418e..a2f575b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Configurables.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/Configurables.java @@ -1,7 +1,5 @@ package org.firstinspires.ftc.teamcode.util; -import com.qualcomm.robotcore.hardware.PIDFCoefficients; - import org.opencv.core.Point; import org.opencv.core.Rect; import org.opencv.core.Size; @@ -27,26 +25,13 @@ public class Configurables { public static double R_PUSHER_OPEN = 0.55; public static double R_PUSHER_DELAY = 0.15; - // Auto Aim Constants - public static double AUTO_AIM_OFFSET_X = 5; - public static double AUTO_AIM_WAIT = 0.2; - public static PIDFCoefficients AUTO_AIM_PID = new PIDFCoefficients(0.009, 0.3, 0.0019, 0); - public static double AUTO_AIM_ACCEPTABLE_ERROR = 2; - public static double AUTO_AIM_MIN_POWER = 0.14; - // CV Color Threshold Constants - public static Color CAMERA_RED_GOAL_LOWER = new Color(165, 80, 80); - public static Color CAMERA_RED_GOAL_UPPER = new Color(15, 255, 255); - public static Color CAMERA_RED_POWERSHOT_LOWER = new Color(165, 80, 80); - public static Color CAMERA_RED_POWERSHOT_UPPER = new Color(15, 255, 255); - public static Color CAMERA_BLUE_GOAL_LOWER = new Color(75, 40, 80); - public static Color CAMERA_BLUE_GOAL_UPPER = new Color(120, 255, 255); - public static Color CAMERA_BLUE_POWERSHOT_LOWER = new Color(75, 30, 50); - public static Color CAMERA_BLUE_POWERSHOT_UPPER = new Color(120, 255, 255); - public static Color CAMERA_ORANGE_LOWER = new Color(0, 70, 50); - public static Color CAMERA_ORANGE_UPPER = new Color(60, 255, 255); - public static Color CAMERA_WHITE_LOWER = new Color(0, 0, 40); - public static Color CAMERA_WHITE_UPPER = new Color(180, 30, 255); + public static Color FTC_RED_LOWER = new Color(165, 80, 80); + public static Color FTC_RED_UPPER = new Color(15, 255, 255); + public static Color FTC_BLUE_LOWER = new Color(75, 40, 80); + public static Color FTC_BLUE_UPPER = new Color(120, 255, 255); + public static Color FTC_WHITE_LOWER = new Color(0, 0, 40); + public static Color FTC_WHITE_UPPER = new Color(180, 30, 255); // CV Detection Constants public static double CV_MIN_STARTERSTACK_AREA = 0; @@ -54,26 +39,5 @@ public class Configurables { public static double CV_MIN_STARTERSTACK_QUAD_AREA = 1.3; public static double CV_MIN_GOAL_AREA = 0; public static double CV_MAX_GOAL_AREA = 0.3; - public static double CV_MIN_POWERSHOT_AREA = 0.001; - public static double CV_MAX_POWERSHOT_AREA = 0.05; - public static Rect CV_STARTERSTACK_LOCATION = new Rect(75, 50, 190, 90); - public static Point CV_POWERSHOT_OFFSET = new Point(-3, -20); // offset from the bottom left of the goal to the top right of the powershot box (for red) - public static Size CV_POWERSHOT_DIMENSIONS = new Size(100, 50); - public static Size CV_GOAL_PROPER_ASPECT = new Size(11, 8.5); - public static double CV_GOAL_PROPER_AREA = 1.25; - public static double CV_GOAL_ALLOWABLE_AREA_ERROR = 1; - public static double CV_GOAL_ALLOWABLE_SOLIDARITY_ERROR = 1; - public static double CV_GOAL_CUTOFF_Y_LINE = 65; - public static double CV_GOAL_PROPER_HEIGHT = 107; - public static double CV_GOAL_MIN_CONFIDENCE = 3; - - public static Color CV_POWERSHOT_OFFSETS_RED = new Color(-40, -30, -19); - public static Color CV_POWERSHOT_OFFSETS_BLUE = new Color(40, 30, 19); - - // Old CV Detection Constants - public static double CV_GOAL_SIDE_ALLOWABLE_Y_ERROR = 20; - public static double CV_GOAL_SIDE_ALLOWABLE_SIZE_ERROR = 100; - public static Size CV_GOAL_SIDE_ASPECT_RATIO = new Size(6.5,15.5); - public static double CV_GOAL_SIDE_ALLOWABLE_ASPECT_ERROR = 10; } \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/OpenCVUtil.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/OpenCVUtil.java index 3dffabb..b757c6b 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/OpenCVUtil.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/OpenCVUtil.java @@ -11,24 +11,6 @@ import org.opencv.imgproc.Moments; import java.util.Collections; import java.util.List; -import java.util.Locale; - -import static org.firstinspires.ftc.teamcode.util.Configurables.CAMERA_BLUE_GOAL_LOWER; -import static org.firstinspires.ftc.teamcode.util.Configurables.CAMERA_BLUE_GOAL_UPPER; -import static org.firstinspires.ftc.teamcode.util.Configurables.CAMERA_RED_GOAL_LOWER; -import static org.firstinspires.ftc.teamcode.util.Configurables.CAMERA_RED_GOAL_UPPER; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_GOAL_ALLOWABLE_AREA_ERROR; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_GOAL_SIDE_ALLOWABLE_ASPECT_ERROR; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_GOAL_SIDE_ALLOWABLE_SIZE_ERROR; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_GOAL_ALLOWABLE_SOLIDARITY_ERROR; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_GOAL_SIDE_ALLOWABLE_Y_ERROR; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_GOAL_SIDE_ASPECT_RATIO; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_GOAL_MIN_CONFIDENCE; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_GOAL_PROPER_AREA; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_GOAL_PROPER_ASPECT; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_GOAL_PROPER_HEIGHT; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_MAX_GOAL_AREA; -import static org.firstinspires.ftc.teamcode.util.Configurables.CV_MIN_GOAL_AREA; // CV Helper Functions public class OpenCVUtil { @@ -105,49 +87,4 @@ public class OpenCVUtil { Collections.sort(contours, (a, b) -> (int) Imgproc.contourArea(b) - (int) Imgproc.contourArea(a)); return contours.subList(0, Math.min(numContours, contours.size())); } - - public static MatOfPoint getHighGoalContour(List contours) { - Collections.sort(contours, (a, b) -> (int) Imgproc.contourArea(b) - (int) Imgproc.contourArea(a)); - // return null if nothing - if (contours.size() == 0) { - return null; - } - // check each contour for touching the top, aspect, and size - double properAspect = ((double) CV_GOAL_SIDE_ASPECT_RATIO.height) / ((double) CV_GOAL_SIDE_ASPECT_RATIO.width); - for (int i = 0; i < contours.size() - 1; i++) { - MatOfPoint contour = contours.get(i); - Rect rect = Imgproc.boundingRect(contour); - double area = Imgproc.contourArea(contour); - double aspect = ((double) rect.height) / ((double) rect.width); - if (rect.y <= -100 || Math.abs(properAspect - aspect) > CV_GOAL_SIDE_ALLOWABLE_ASPECT_ERROR || - area < CV_MIN_GOAL_AREA || area > CV_MAX_GOAL_AREA) { - contours.remove(i); - i--; - } - } - // check for 2 that can be combined - int goalCounter = -1; - for (int i = 0; i < contours.size() - 1; i++) { - MatOfPoint contour1 = contours.get(i); - MatOfPoint contour2 = contours.get(i + 1); - Rect rect1 = Imgproc.boundingRect(contour1); - Rect rect2 = Imgproc.boundingRect(contour2); - double area1 = Imgproc.contourArea(contour1); - double area2 = Imgproc.contourArea(contour2); - if (Math.abs(Math.abs(rect1.y) - Math.abs(rect2.y)) < CV_GOAL_SIDE_ALLOWABLE_Y_ERROR && - Math.abs(area1 - area2) < CV_GOAL_SIDE_ALLOWABLE_SIZE_ERROR) { - goalCounter = i; - break; - } - } - // return the results - if (goalCounter == -1) { - return contours.get(0); - } else { - MatOfPoint highGoal = new MatOfPoint(); - highGoal.push_back(contours.get(goalCounter)); - highGoal.push_back(contours.get(goalCounter + 1)); - return highGoal; - } - } } \ No newline at end of file diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/TargetingPipeline.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/TargetingPipeline.java index 16b9a38..6a7fd95 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/TargetingPipeline.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/TargetingPipeline.java @@ -1,7 +1,7 @@ package org.firstinspires.ftc.teamcode.vision; -import static org.firstinspires.ftc.teamcode.util.Configurables.CAMERA_RED_GOAL_LOWER; -import static org.firstinspires.ftc.teamcode.util.Configurables.CAMERA_RED_GOAL_UPPER; +import static org.firstinspires.ftc.teamcode.util.Configurables.FTC_RED_LOWER; +import static org.firstinspires.ftc.teamcode.util.Configurables.FTC_RED_UPPER; import static org.firstinspires.ftc.teamcode.util.Configurables.CV_MAX_GOAL_AREA; import static org.firstinspires.ftc.teamcode.util.Configurables.CV_MIN_GOAL_AREA; import static org.firstinspires.ftc.teamcode.util.Constants.ANCHOR; @@ -54,10 +54,10 @@ public class TargetingPipeline extends OpenCvPipeline { // Update the Red Goal Detection private void updateRed(Mat input) { // take pixels that are in the color range and put them into a mask, eroding and dilating them to remove white noise - redGoalLower1 = new Scalar(CAMERA_RED_GOAL_LOWER.getH(), CAMERA_RED_GOAL_LOWER.getS(), CAMERA_RED_GOAL_LOWER.getV()); - redGoalUpper1 = new Scalar(180, CAMERA_RED_GOAL_UPPER.getS(), CAMERA_RED_GOAL_UPPER.getV()); - redGoalLower2 = new Scalar(0, CAMERA_RED_GOAL_LOWER.getS(), CAMERA_RED_GOAL_LOWER.getV()); - redGoalUpper2 = new Scalar(CAMERA_RED_GOAL_UPPER.getH(), CAMERA_RED_GOAL_UPPER.getS(), CAMERA_RED_GOAL_UPPER.getV()); + redGoalLower1 = new Scalar(FTC_RED_LOWER.getH(), FTC_RED_LOWER.getS(), FTC_RED_LOWER.getV()); + redGoalUpper1 = new Scalar(180, FTC_RED_UPPER.getS(), FTC_RED_UPPER.getV()); + redGoalLower2 = new Scalar(0, FTC_RED_LOWER.getS(), FTC_RED_LOWER.getV()); + redGoalUpper2 = new Scalar(FTC_RED_UPPER.getH(), FTC_RED_UPPER.getS(), FTC_RED_UPPER.getV()); Core.inRange(hsv, redGoalLower1, redGoalUpper1, redMask1); Core.inRange(hsv, redGoalLower2, redGoalUpper2, redMask2); Core.add(redMask1, redMask2, redMask); diff --git a/build.dependencies.gradle b/build.dependencies.gradle index 9775838..3cd3424 100644 --- a/build.dependencies.gradle +++ b/build.dependencies.gradle @@ -1,6 +1,9 @@ repositories { mavenCentral() google() // Needed for androidx + maven { + url = 'https://maven.brott.dev/' + } } dependencies { @@ -17,5 +20,9 @@ dependencies { implementation 'org.tensorflow:tensorflow-lite-task-vision:0.4.3' runtimeOnly 'org.tensorflow:tensorflow-lite:2.12.0' implementation 'androidx.appcompat:appcompat:1.2.0' + implementation 'com.acmerobotics.dashboard:dashboard:0.4.12' + + compileOnly 'org.projectlombok:lombok:1.18.30' + annotationProcessor 'org.projectlombok:lombok:1.18.30' }