Skip to content

started #7

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
YHerm merged 2 commits into from
Apr 3, 2025
Merged

started #7

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
69602ce
started
YHerm Apr 2, 2025
9f1aae0
format
YHerm Apr 3, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
26 changes: 10 additions & 16 deletions src/main/java/frc/JoysticksBindings.java
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,18 +1,12 @@
package frc;

import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.joysticks.JoystickPorts;
import frc.joysticks.SmartJoystick;
import frc.robot.Robot;
import frc.robot.subsystems.DoubleJointedArm;
import frc.robot.visualizers.FollowPathCommand;
import frc.robot.visualizers.FollowPathWithSideCommand;
import frc.robot.visualizers.PathGenerator;

import java.util.List;

public class JoysticksBindings {

Expand All @@ -37,25 +31,25 @@ private static void mainJoystickButtons(Robot robot) {
// bindings...
// robot.getArm().applyTestBinds(usedJoystick);
usedJoystick.A.onTrue(
new InstantCommand(() -> robot.getArmVisualizer().showPath(Robot.pathDown)).andThen(new WaitCommand(0.3))
new InstantCommand(() -> robot.getArmVisualizer().showPath(Robot.pathDown.getStates())).andThen(new WaitCommand(0.3))
.andThen(new FollowPathCommand(Robot.pathDown, p -> robot.getArm().setPosition(p, true)))
);
usedJoystick.B.onTrue(
new InstantCommand(() -> robot.getArmVisualizer().showPath(Robot.pathLeft)).andThen(new WaitCommand(0.3))
new InstantCommand(() -> robot.getArmVisualizer().showPath(Robot.pathLeft.getStates())).andThen(new WaitCommand(0.3))
.andThen(new FollowPathCommand(Robot.pathLeft, p -> robot.getArm().setPosition(p, false)))
);
usedJoystick.Y.onTrue(
new InstantCommand(() -> robot.getArmVisualizer().showPath(Robot.pathUp)).andThen(new WaitCommand(0.3))
new InstantCommand(() -> robot.getArmVisualizer().showPath(Robot.pathUp.getStates())).andThen(new WaitCommand(0.3))
.andThen(new FollowPathCommand(Robot.pathUp, p -> robot.getArm().setPosition(p, false)))
);

List<Pair<Translation2d, Boolean>> flipArm = PathGenerator
.flipArm(Robot.pathLeft.get(Robot.pathLeft.size() - 1), false, DoubleJointedArm.TOTAL_LENGTH_METERS);
usedJoystick.X.onTrue(
new InstantCommand(() -> robot.getArmVisualizer().showPath(PathGenerator.createTranslation2dList(flipArm)))
.andThen(new WaitCommand(0.3))
.andThen(new FollowPathWithSideCommand(flipArm, p -> robot.getArm().setPosition(p.getFirst(), p.getSecond())))
);
// List<Pair<Translation2d, Boolean>> flipArm = PathGenerator
// .flipArm(Robot.pathLeft.get(Robot.pathLeft.size() - 1), false, DoubleJointedArm.TOTAL_LENGTH_METERS);
// usedJoystick.X.onTrue(
// new InstantCommand(() -> robot.getArmVisualizer().showPath(PathGenerator.createTranslation2dList(flipArm)))
// .andThen(new WaitCommand(0.3))
// .andThen(new FollowPathWithSideCommand(flipArm, p -> robot.getArm().setPosition(p.getFirst(), p.getSecond())))
// );
}

private static void secondJoystickButtons(Robot robot) {
Expand Down
34 changes: 27 additions & 7 deletions src/main/java/frc/robot/Robot.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,15 +4,19 @@

package frc.robot;

import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.RobotManager;
import frc.robot.hardware.phoenix6.BusChain;
import frc.robot.subsystems.DoubleJointedArm;
import frc.robot.visualizers.DoubleJointedArmVisualizer;
import frc.robot.visualizers.PathGenerator;
import frc.utils.battery.BatteryUtil;

import java.util.List;
Expand All @@ -35,16 +39,32 @@ public class Robot {
DoubleJointedArm.SECOND_JOINT_LENGTH_METERS
);

public static List<Translation2d> pathUp;
public static List<Translation2d> pathLeft;
public static List<Translation2d> pathDown;
public static Trajectory pathUp;
public static Trajectory pathLeft;
public static Trajectory pathDown;

public Robot() {
BatteryUtil.scheduleLimiter();

pathUp = PathGenerator.straightLine(new Translation2d(-0.4, 0.05), new Translation2d(-0.4, 1));
pathLeft = PathGenerator.straightLine(new Translation2d(-0.4, 1), new Translation2d(0.4, 1));
pathDown = PathGenerator.straightLine(new Translation2d(0.4, 1), new Translation2d(0.4, 0.05));
pathUp = TrajectoryGenerator.generateTrajectory(
new Pose2d(new Translation2d(-0.4, 0.05), Rotation2d.fromDegrees(90)),
List.of(),
new Pose2d(new Translation2d(-0.4, 1), Rotation2d.fromDegrees(90)),
new TrajectoryConfig(2, 2).setStartVelocity(0).setEndVelocity(0)
);

pathLeft = TrajectoryGenerator.generateTrajectory(
new Pose2d(new Translation2d(-0.4, 1), Rotation2d.fromDegrees(0)),
List.of(),
new Pose2d(new Translation2d(0.4, 1), Rotation2d.fromDegrees(0)),
new TrajectoryConfig(2, 2).setStartVelocity(0).setEndVelocity(0)
);
pathDown = TrajectoryGenerator.generateTrajectory(
new Pose2d(new Translation2d(0.4, 1), Rotation2d.fromDegrees(-90)),
List.of(),
new Pose2d(new Translation2d(0.4, 0.05), Rotation2d.fromDegrees(-90)),
new TrajectoryConfig(2, 2).setStartVelocity(0).setEndVelocity(0)
);
}

public void periodic() {
Expand Down
10 changes: 7 additions & 3 deletions src/main/java/frc/robot/visualizers/DoubleJointedArmVisualizer.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
Expand Down Expand Up @@ -63,11 +64,14 @@ public void showTargetPosition(boolean show) {
TARGET_POSITION_MARK.setLineWeight(show ? DEFAULT_LINE_WIDTH : 0);
}

public void showPath(List<Translation2d> path) {
public void showPath(List<Trajectory.State> path) {
ArrayList<MechanismLigament2d> pathVisualize = new ArrayList<>(path.size());
for (int i = 0; i < path.size(); i++) {
MechanismRoot2d root = mechanism
.getRoot(paths.size() + ", " + i, path.get(i).getX() + armRootPosition.getX(), path.get(i).getY() + armRootPosition.getY());
MechanismRoot2d root = mechanism.getRoot(
paths.size() + ", " + i,
path.get(i).poseMeters.getX() + armRootPosition.getX(),
path.get(i).poseMeters.getY() + armRootPosition.getY()
);
MechanismLigament2d mark = new MechanismLigament2d(
paths.size() + ", " + i + " mark",
0.01,
Expand Down
18 changes: 9 additions & 9 deletions src/main/java/frc/robot/visualizers/FollowPathCommand.java
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,37 +1,37 @@
package frc.robot.visualizers;

import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.wpilibj2.command.Command;
import frc.utils.time.TimeUtil;

import java.util.List;
import java.util.function.Consumer;

public class FollowPathCommand extends Command {

private final Consumer<Translation2d> setPosition;
private final List<Translation2d> path;
private final Trajectory path;

private int currentPoint = 0;
private double startTime = 0;

public FollowPathCommand(List<Translation2d> path, Consumer<Translation2d> setPosition) {
this.path = path;
public FollowPathCommand(Trajectory trajectory, Consumer<Translation2d> setPosition) {
this.path = trajectory;
this.setPosition = setPosition;
}

@Override
public void initialize() {
currentPoint = 0;
startTime = TimeUtil.getCurrentTimeSeconds();
}

@Override
public void execute() {
setPosition.accept(path.get(currentPoint));
currentPoint++;
setPosition.accept(path.sample(TimeUtil.getCurrentTimeSeconds() - startTime).poseMeters.getTranslation());
}

@Override
public boolean isFinished() {
return currentPoint >= path.size();
return TimeUtil.getCurrentTimeSeconds() - startTime >= path.getTotalTimeSeconds();
}

}