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Merged
YHerm merged 4 commits into from
Apr 3, 2025
Merged

Option Auto Pick #9

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d6112d7
working i guess
YHerm Apr 3, 2025
c838d35
Clean
YHerm Apr 3, 2025
fb37f81
Clean
YHerm Apr 3, 2025
7c86cfe
save trajectory in arm
YHerm Apr 3, 2025
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25 changes: 1 addition & 24 deletions src/main/java/frc/JoysticksBindings.java
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Original file line number Diff line number Diff line change
@@ -1,11 +1,8 @@
package frc;

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.structures.FollowTrajectoryDemo;


public class JoysticksBindings {
Expand All @@ -29,27 +26,7 @@ public static void configureBindings(Robot robot) {
private static void mainJoystickButtons(Robot robot) {
SmartJoystick usedJoystick = MAIN_JOYSTICK;
// bindings...
// robot.getArm().applyTestBinds(usedJoystick);
usedJoystick.A.onTrue(
new InstantCommand(() -> robot.getArmVisualizer().showPath(Robot.pathDown.getStates())).andThen(new WaitCommand(0.3))
.andThen(new FollowTrajectoryDemo(Robot.pathDown, p -> robot.getArm().setPosition(p, true)))
);
usedJoystick.B.onTrue(
new InstantCommand(() -> robot.getArmVisualizer().showPath(Robot.pathLeft.getStates())).andThen(new WaitCommand(0.3))
.andThen(new FollowTrajectoryDemo(Robot.pathLeft, p -> robot.getArm().setPosition(p, false)))
);
usedJoystick.Y.onTrue(
new InstantCommand(() -> robot.getArmVisualizer().showPath(Robot.pathUp.getStates())).andThen(new WaitCommand(0.3))
.andThen(new FollowTrajectoryDemo(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())))
// );
robot.getArm().applyTestBinds(usedJoystick);
}

private static void secondJoystickButtons(Robot robot) {
Expand Down
5 changes: 4 additions & 1 deletion src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ public Robot() {

pathLeft = TrajectoryGenerator.generateTrajectory(
new Pose2d(new Translation2d(-0.4, 1), Rotation2d.fromDegrees(0)),
List.of(),
List.of(new Translation2d(0.1, 1.2)),
new Pose2d(new Translation2d(0.4, 1), Rotation2d.fromDegrees(0)),
new TrajectoryConfig(2, 2).setStartVelocity(0).setEndVelocity(0)
);
Expand All @@ -73,6 +73,9 @@ public void periodic() {

armVisualizer.setAngles(arm.getElbowAngle(), arm.getWristAngle());
armVisualizer.setTargetPositionMeters(arm.getPositionMeters());
if (arm.hasTrajectoryChanged()) {
armVisualizer.showPath(arm.getCurrentTrajectory().getStates());
}

CommandScheduler.getInstance().run(); // Should be last
}
Expand Down
58 changes: 56 additions & 2 deletions src/main/java/frc/robot/structures/doublejointedarm/DoubleJointedArm.java
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Original file line number Diff line number Diff line change
@@ -1,9 +1,15 @@
package frc.robot.structures.doublejointedarm;

import edu.wpi.first.math.MathUtil;
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.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.joysticks.Axis;
import frc.joysticks.SmartJoystick;
import frc.robot.Robot;
import frc.robot.structures.FollowTrajectoryDemo;
import frc.robot.subsystems.GBSubsystem;
import frc.utils.alerts.Alert;
import org.littletonrobotics.junction.Logger;
Expand All @@ -15,14 +21,32 @@ public class DoubleJointedArm extends GBSubsystem {
public static final double ELBOW_LENGTH_METERS = 0.8;
public static final double WRIST_LENGTH_METERS = 0.5;
public static final double TOTAL_LENGTH_METERS = ELBOW_LENGTH_METERS + WRIST_LENGTH_METERS;
public static final Rotation2d SWITCH_DIRECTION_TOLERANCE = Rotation2d.fromDegrees(3);

private Rotation2d elbowAngle = new Rotation2d();
private Rotation2d wristAngle = new Rotation2d();
private Trajectory currentTrajectory = null;
private boolean hasTrajectoryChanged = false;

public DoubleJointedArm(String logPath) {
super(logPath);
}

public boolean hasTrajectoryChanged() {
boolean check = hasTrajectoryChanged;
hasTrajectoryChanged = false;
return check;
}

public Trajectory getCurrentTrajectory() {
return currentTrajectory;
}

public void setCurrentTrajectory(Trajectory currentTrajectory) {
hasTrajectoryChanged = true;
this.currentTrajectory = currentTrajectory;
}

@Override
protected void subsystemPeriodic() {
Logger.recordOutput(getLogPath() + "/ElbowAngleDeg", elbowAngle.getDegrees());
Expand Down Expand Up @@ -64,11 +88,24 @@ public void setPosition(Translation2d positionMeters, boolean isElbowLeft) {
setAngles(targetAngles.get().elbowAngle(), targetAngles.get().wristAngle());
}

private static Optional<ArmAngles> toAngles(Translation2d positionMeters, boolean isElbowLeft) {
public void setPosition(Translation2d positionMeters) {
setPosition(positionMeters, isElbowLeft(positionMeters));
}

private boolean isElbowLeft(Translation2d positionMeters) {
double elbowRads = getElbowAngle().getRadians();
double positionRads = positionMeters.getAngle().getRadians();
double distanceFromStraightLineRads = Math.abs(MathUtil.angleModulus(elbowRads - positionRads));

boolean isLettingAutoPick = distanceFromStraightLineRads < SWITCH_DIRECTION_TOLERANCE.getRadians();
return isLettingAutoPick ? positionMeters.getX() > 0 : elbowRads > positionRads;
}

private Optional<ArmAngles> toAngles(Translation2d positionMeters, boolean isElbowLeft) {
return DoubleJointedArmKinematics.toAngles(positionMeters, ELBOW_LENGTH_METERS, WRIST_LENGTH_METERS, isElbowLeft);
}

private static Translation2d toPositionMeters(Rotation2d elbowAngle, Rotation2d wristAngle) {
private Translation2d toPositionMeters(Rotation2d elbowAngle, Rotation2d wristAngle) {
return DoubleJointedArmKinematics.toPositionMeters(new ArmAngles(elbowAngle, wristAngle), ELBOW_LENGTH_METERS, WRIST_LENGTH_METERS);
}

Expand All @@ -86,6 +123,23 @@ public void applyTestBinds(SmartJoystick joystick) {
.onTrue(new InstantCommand(() -> setPosition(toPositionMeters(Rotation2d.fromDegrees(150), Rotation2d.fromDegrees(75)), true)));
joystick.POV_UP
.onTrue(new InstantCommand(() -> setPosition(toPositionMeters(Rotation2d.fromDegrees(75), Rotation2d.fromDegrees(120)), false)));

joystick.R1.onTrue(
new InstantCommand(() -> setCurrentTrajectory(Robot.pathDown)).andThen(new WaitCommand(0.3))
.andThen(new FollowTrajectoryDemo(Robot.pathDown, this::setPosition))
);
joystick.getAxisAsButton(Axis.LEFT_TRIGGER)
.onTrue(
new InstantCommand(() -> setCurrentTrajectory(Robot.pathLeft)).andThen(new WaitCommand(0.3))
.andThen(new FollowTrajectoryDemo(Robot.pathLeft, this::setPosition))
);
joystick.L1.onTrue(
new InstantCommand(() -> setCurrentTrajectory(Robot.pathUp)).andThen(new WaitCommand(0.3))
.andThen(new FollowTrajectoryDemo(Robot.pathUp, this::setPosition))
);

joystick.START.onTrue(new InstantCommand(() -> setPosition(new Translation2d(0, 1), false)));
joystick.BACK.onTrue(new InstantCommand(() -> setPosition(new Translation2d(0, 1), true)));
}


Expand Down